CN108210254A

CN108210254A - It is a kind of without the double push rod fluid power assistant robots of pump and its control method

Info

Publication number: CN108210254A
Application number: CN201711330782.5A
Authority: CN
Inventors: 朱岩; 胡昆
Original assignee: Shenzhen Robo Medical Technology Co Ltd
Current assignee: Shenzhen Robo Medical Technology Co Ltd
Priority date: 2017-12-13
Filing date: 2017-12-13
Publication date: 2018-06-29
Anticipated expiration: 2037-12-13
Also published as: CN108210254B

Abstract

Include supporting mechanism, regulating mechanism and oil supply pipe without the double push rod fluid power assistant robots of pump and its control method, the assistant robot the invention discloses a kind of；Supporting mechanism includes thigh housing, shank housing, connecting plate and sole plate；Regulating mechanism is hydraulic cylinder, and respectively with thigh housing and shank housing hinge, hydraulic cylinder includes single-acting cylinder and double acting cylinder for the both ends of hydraulic cylinder；The first oil circuit of oil supply pipe, the second oil circuit and third oil circuit, the 4th oil circuit and the 5th oil circuit, the first oil circuit, the second oil circuit and third oil circuit are respectively connected with energy storage canister.The present invention's is a kind of without the double push rod fluid power assistant robots of pump and its control method, it is simple in structure, without hydraulic pump or motor as driving, it can accurately judge kneed motion state in practical walking process simultaneously, and output power size is adjusted according to kneed motion state, energy loss is reduced, saves energy.

Description

It is a kind of without the double push rod fluid power assistant robots of pump and its control method

Technical field

The present invention relates to rehabilitation medical instrument fields more particularly to a kind of without the double push rod fluid power assistant robots of pump and its control Method processed.

Background technology

Assistant robot is the emerging technology rapidly developed in recent years, is robot technology newly should in medical domain With.Assistant robot in currently available technology is mostly used as driving using motor, even if using hydraulic drive, it is also desirable to hydraulic pump Power is provided, such setting is so that the mechanism of assistant robot is more complicated, and motor or hydraulic pump are during driving The energy of consumption is larger, and cruise duration is shorter, needs often to supplement energy.In addition, human body is in normal walking, the swing of leg Phase and support phase alternate progress, and leg only just needs driving device to provide larger driving force in stance phase, and Shaking peroid can by realized under the action of the inertia force in hip joint rotation process it is corresponding swing, the driving force needed compared with It is small, but existing many assistant robots rely solely on same driving structure and provide power, can cause the waste of energy in this way.

Invention content

Present invention seek to address that the technical issues of above-mentioned mentioned, provide it is a kind of simple in structure, without hydraulic pump or motor As driving, while can be according to motion state adjustment output power size kneed in practical walking process, so as to reduce Energy loss during use, leg during walking can accurately be judged by saving the assistant robot of energy and providing one kind State in which, and the method to be worked according to state control without pump liquid power assistant robot.

The present invention is realized by following technical solution：It is a kind of without the double push rod fluid power assistant robots of pump, including branch Support mechanism, regulating mechanism and oil supply pipe；

The supporting mechanism includes thigh housing, shank housing, connecting plate and sole plate, the thigh housing and shank shell Body is hinged, and the shank housing is fixedly connected by connecting plate with sole plate；

The regulating mechanism is hydraulic cylinder, the both ends of the hydraulic cylinder respectively with thigh housing and shank housing hinge, institute It states hydraulic cylinder and includes single-acting cylinder and double acting cylinder, the single-acting cylinder includes the first cylinder body and connects with the first cylinder body activity The chamber of first cylinder interior is separated into top chamber and bottom chamber by the First piston bar connect, the piston of the First piston bar Room, the double acting cylinder include the second cylinder body and the second piston bar being flexibly connected with the second cylinder body, the second piston bar Piston the chamber of the second cylinder interior is separated into first chamber and second chamber.

The oil supply pipe includes the first oil circuit, the second oil circuit, third oil circuit, the 4th oil circuit and the 5th oil circuit, and described the One oil circuit and the second oil circuit can be connected with first chamber and second chamber respectively, and third oil circuit and the 4th oil circuit can be with bottom chambers Room connects, and the 5th oil circuit is connected with top chamber, and first oil circuit, the second oil circuit and third oil circuit connection have energy storage Tank, the energy storage canister can provide the power of driving First piston bar and second piston bar movement, be provided on the oil line pipe Control the valve body of its break-make and hydraulic oil flow direction.

Preferably, the thigh housing and shank housing are by being separately fixed at upper reinforcing plate and lower reinforcing plate hinge thereon It connects.

Preferably, mounting groove is provided on the lower reinforcing plate, the connection coordinated with mounting groove is provided on upper reinforcing plate Portion, connecting portion are rotatablely connected by axis pin and mounting groove.

Preferably, packet controller and sensor are gone back, motion state residing for leg and to controller during sensor detection walking Signal is sent, controller controls the break-make of asphalt channel and energy storage canister to work by receiving the signal.

Preferably, the sensor includes the foil gauge being arranged on connecting plate and the pressure being arranged on sole plate Sensor.

Preferably, the energy storage canister includes tank body, and the internal chamber of tank body is movably set with partition board, and partition board is by internal chamber Upper chamber and lower chamber are separated into, the bottom of partition board passes through elastic component and lower chamber elastic connection, upper chamber memory Hydraulic oil is contained, the oil inlet and oil outlet connected with upper chamber is provided on tank body, is respectively provided on oil inlet and oil outlet There is check valve.

Preferably, the oil return opening connected with lower chamber, first oil circuit, the second oil are additionally provided on the tank body Road, the 4th oil circuit and the 5th oil circuit are connected with oil return opening, and being provided on partition board can make in the indoor hydraulic oil flow direction of lower chamber The check valve of portion's chamber.

Preferably, the connecting plate and sole plate are elastic plate body.

Preferably, the valve body includes three position four-way electromagnetic valve and two-position two-way solenoid valve, first oil circuit, the second oil Road and third oil circuit control the break-make of its oil circuit and the flow direction of hydraulic oil, the third oil circuit, by three position four-way electromagnetic valve Two-position two-way solenoid valve is both provided on four oil circuits and the 5th oil circuit.

The present invention also provides a kind of control method without the double push rod fluid power assistant robots of pump, this method uses above-mentioned In one scheme without the double push rod fluid power assistant robots of pump, this includes being arranged on connecting plate without the double push rod fluid power assistant robots of pump On foil gauge, the pressure sensor that is arranged on sole plate and the controller of connection foil gauge and pressure sensor, the party Method includes the following steps：

The strain signal generated during the strain measurement connecting plate stress bending, and the strain signal detected is transmitted To controller；

The pressure signal that the pressure sensor detection sole plate generates when being under pressure, and the pressure signal that will be detected Send controller to；

The controller receives and processes the strain signal and pressure signal, judges leg at this time according to handling result Residing motion state, and control the connected state of energy storage canister work and oil line pipe；

When leg is in shaking peroid, control energy storage canister to second piston bar provide driving force, drive swing of leg, second First piston bar is driven to be synchronized with the movement during piston rod movement；

When leg is in the support phase, according to received signal, the size of power as needed for calculating controller controls energy storage Tank provides power to First piston bar and second piston bar simultaneously, so that First piston bar and second piston bar are fully extended, drives Dynamic leg is stretched, and after being stretched in leg, closes oil supply pipe, so as to provide leg the support force of upright state.

Advantageous effect is：Compared with prior art, it is of the invention a kind of to pass through storage without the double push rod fluid power assistant robots of pump Energy tank driving First piston bar and second piston bar movement, so as to provide the driving force and support force needed for leg, without using Hydraulic pump provides power, reduces the loss of energy so that assistant robot structure is lighter and handier, reduces production cost, together When can according to residing for leg in practical walking process motion state adjustment output power size, when leg is in shaking peroid When, only provide smaller drive force knee joint by double acting cylinder and swing, when leg be in the support phase, single-acting cylinder and pair Acting cylinder simultaneously provides knee joint larger driving force, so that it is guaranteed that leg can keep stable standing state, reduces The consumption of energy in walking process increases the cruise duration of assistant robot.

A kind of control method without the double push rod fluid power assistant robots of pump of the present invention is believed by combining the strain of foil gauge Number and pressure sensor pressure signal, controller can more accurately judge the motion state of leg during human body walking, and The work of hydraulic cylinder is controlled according to the motion state, and then the walking states of human body can be coordinated, ensures the stabilization of motion process Property.

Description of the drawings

The specific embodiment of the present invention is described in further detail below in conjunction with attached drawing, wherein：

Fig. 1 is a kind of structure diagram without the double push rod fluid power assistant robots of pump of the present invention；

Fig. 2 is the structure diagram at another visual angles of Fig. 1；

Fig. 3 is the structure diagram of energy storage canister in Fig. 1；

Fig. 4 is the fundamental diagram of the regulating mechanism in the present invention.

Specific embodiment

As shown in Figure 1 and Figure 4, it is a kind of without the double push rod fluid power assistant robots of pump, including supporting mechanism, regulating mechanism and confession Oil-piping；

Supporting mechanism includes thigh housing 1, shank housing 2, connecting plate 3 and sole plate 4, thigh housing 1 and shank housing 2 Hinged, shank housing 2 is fixedly connected by connecting plate 3 with sole plate 4；

Regulating mechanism is hydraulic cylinder, and the both ends of hydraulic cylinder are hinged with thigh housing 1 and shank housing 2 respectively, hydraulic cylinder packet Single-acting cylinder and double acting cylinder are included, single-acting cylinder includes the first cylinder body 5 and the first piston being flexibly connected with the first cylinder body 5 Chamber inside first cylinder body 5 is separated into top chamber 51 and bottom chamber 52, double acting by bar 6, the piston of First piston bar 6 Cylinder includes the second cylinder body 7 and the second piston bar 8 that is flexibly connected with the second cylinder body 7, and the piston of second piston bar 8 is by second Chamber inside cylinder body 7 is separated into first chamber 9 and second chamber 10.

Oil supply pipe includes the first oil circuit 11, the second oil circuit 12, third oil circuit 13, the 4th oil circuit 15 and the 5th oil circuit 16, First oil circuit, 11 and second oil circuit 12 can be connected with first chamber 9 and second chamber 10 respectively, third oil circuit 13 and the 4th Oil circuit 15 can be connected with bottom chamber 52, and the 5th oil circuit 16 is connected with top chamber 51, first oil circuit 11, second Oil circuit 12 and third oil circuit 13 are connected with energy storage canister 14, and the energy storage canister 14 can provide driving First piston bar 6 and second piston The power that bar 8 moves is provided with the valve body for controlling its break-make and hydraulic oil flow direction on oil line pipe.

When in use, thigh housing 1, shank housing 2, connecting plate 3 and sole plate 4 are fixed at leg, thigh housing 1 With arc sticking part can be respectively arranged on shank housing 2, wearing when can be close with thigh surface and shank surface respectively Fitting, so as to improve the stability of its wearing and comfort, connecting plate 3 and sole plate 4 can be elastic plate body, are expert at and pass by It can be resiliently deflected in journey, and then can preferably coordinate the different shape generated in walking process at ankle and at sole Variation, further improves the comfort of wearing, and contacted with ground in sole so that connecting plate 3 and sole plate 4 generate During elastic bending, moreover it is possible to absorb the impact force of a part, play the effect of buffering, make so as to play certain protection to leg With.

Human body during normal walking, the shaking peroid of leg and support phase alternately, when leg is in shaking peroid, At this time sole be detached from ground, leg shaking peroid include swing the later stage and swing the prometaphase, when in swing the later stage when, thigh with The angle of composition between shank gradually increases, and heel is made to be contacted with ground, and during this, the hydraulic oil in energy storage canister 14 leads to It crosses the first oil circuit 11 to flow into first chamber 9, driving second piston bar 8 is stretched out, and the hydraulic oil in second chamber 10 is from the at this time Two oil return lines 16 flow out, and First piston bar 6 is fixedly connected with second piston bar 8, and second piston bar 8 drives First piston bar 6 It is synchronized with the movement, so that First piston bar 6 is stretched out, First piston bar 6 is during stretching, by the 4th oil circuit to bottom chamber 52 Middle infeed hydraulic oil, the hydraulic oil in top chamber 51 are flowed out by the 5th oil circuit, when in swing the prometaphase when, leg is detached from Ground, and the angle formed between shank and thigh is gradually reduced, and the hydraulic oil in energy storage canister 14 is flowed by the second oil circuit 12 Enter in second chamber 10, driving second piston bar 8 is to fully collapsed condition, and the hydraulic oil in first chamber 9 is from second time at this time Oil pipe line 16 is discharged, and second piston bar 8 drives First piston bar 6 to move to fully collapsed condition, and First piston bar 6 was being shunk Cheng Zhong feeds hydraulic oil into top chamber 51 by the 5th oil circuit 16, and the hydraulic oil in bottom chamber 52 is from the 4th oil circuit 15 Outflow, when leg, which is in, supports early period, sole is contacted with ground at this time, and the support phase includes the support prometaphase and supports the later stage, When in the support prometaphase, leg is gradually stretched by bending, and energy storage canister 14 passes through the first oil circuit 11 and third oil circuit 13 at this time Hydraulic oil is fed into first chamber 9 and bottom chamber 52 respectively, while drive is provided to First piston bar 6 and second piston bar 8 Power so that First piston bar 6 and second piston bar 8 can be fully extended, so as to which leg be driven to stretch, and is stretching Afterwards, oil line pipe is closed, larger support force is provided leg, leg is stretched and keeps standing, at this time 10 He of second chamber Hydraulic oil in top chamber 51 flows out respectively from the second oil circuit 12 and the 5th oil circuit 16, when in support the later stage when, leg by Unbending movement is to flexuosity, and energy storage canister 14 only shrink by the fuel feeding into second chamber 10, driving second piston bar 8, second piston First piston bar 6 is driven to shrink in 8 contraction process of bar, the hydraulic oil in first chamber 9 is flowed out from the first oil circuit 11 at this time, is passed through 5th oil circuit 16 feeds hydraulic oil to top chamber 51, and the hydraulic oil in bottom chamber 52 is flowed out from the 4th oil circuit 15, outflow Hydraulic oil can be collected by fuel tank.

As shown in Fig. 2, it is further preferable that thigh housing 1 and shank housing 2 can by be separately fixed at thereon upper plus Strong plate 17 and lower reinforcing plate 18 are hinged, and upper reinforcing plate 17 and lower reinforcing plate 18 can be respectively arranged with two pieces, and upper reinforcing plate 17 is logical The lower end that screw is fixed at 1 both sides of thigh housing is crossed, lower reinforcing plate 18 is fixed at 2 liang of shank housing by screw The upper end of side further, can be provided with mounting groove 19 on lower reinforcing plate 18, be provided on upper reinforcing plate 17 and mounting groove Mounting groove 19 is provided on the connecting portion 20 of 19 cooperations or upper reinforcing plate 17, connecting portion 20 is provided on lower reinforcing plate 18, even After socket part 20 carries out grafting with mounting groove 19, it is rotatablely connected by axis pin 21 and mounting groove 19, it, can using such connection mode To improve the structural strength of 2 junction of thigh housing 1 and shank housing, and cause shank housing 2 relative to thigh housing 1 into More stablize during row rotation.

The present invention's can be examined without the double push rod fluid power assistant robots of pump with packet controller 22 and sensor 23, sensor 23 It surveys motion state residing for leg when walking and sends signal to controller 22, controller 22 controls oil circuit by receiving the signal The break-make and energy storage canister 14 of channel work, specifically, sensor 23 can include the foil gauge 24 being arranged on connecting plate 3, with And the pressure sensor 25 on sole plate 4 is arranged on, by being provided with controller 22 and sensor 23, it can cause walking aid device People's need not be adjusted control manually when in use, and control is more convenient, accurate, and controller can also be examined according to sensor The size of power needed for the signal calculating of survey, so as to the size of driving force that energy storage canister is controlled to provide, it is ensured that be capable of providing enough The driving force of size.

As shown in Figure 3, it is preferred that energy storage canister 14 can include tank body 26, the internal chamber of tank body 26 be movably set with every Internal chamber is separated into the upper chamber 28 of opposing seal and lower chamber 29 by plate 27, partition board 27, and the bottom of partition board 27 passes through Elastic component 30 and 29 elastic connection of lower chamber, elastic component 30 can be spring, and 28 memory of upper chamber contains hydraulic oil, tank body The oil inlet 31 connected with upper chamber 28 and oil outlet 32,32 and first oil circuit 11 of oil outlet, the second oil circuit are provided on 26 12 connect with third oil circuit 13, and oil inlet 31 and oil outlet 32 are respectively arranged with the unidirectional check valve 34 for flowing into and unidirectionally flowing out, By being provided with check valve 34, energy storage canister 14 is controlled without controller 22, controller 22 need to only carry out oil line pipe Control, you can the work of control energy storage canister 14, the hydraulic oil in upper chamber 28 can be reduced slowly with the growth of usage time, When needing to supplement hydraulic oil into energy storage canister 14, can hydraulic oil be injected into upper chamber 28, and make by oil inlet 31 It obtaining hydraulic oil and pressure is provided partition board 27, driving partition board 27 moves downward, spring is compressed, and then stores elastic potential energy, When the first oil circuit 11, the second oil circuit 12 or third oil circuit 13 in the open state, the hydraulic oil in upper chamber 28 is in partition board It is flowed out under the action of 27 thrusts from oil outlet 32, driving force is provided to First piston bar 6 or second piston bar 8.

It is further preferable that the oil return opening 33 connected with lower chamber 29 is also provided on tank body 26, the first oil circuit 11, Second oil circuit 12, the 4th oil circuit 15 and the 5th oil circuit 16 are connected with oil return opening 33, and lower chamber can be made by being provided on partition board 27 Hydraulic oil in 29 flows to the check valve 34 of upper chamber 28, and in common Fuel injection system, the hydraulic oil that energy storage canister 14 provides can be with It is back in lower chamber 29 by oil return opening 33, the hydraulic oil in lower chamber can feed top chamber 51 and bottom chamber It, can be by the way that from 31 time of oil inlet oil pressure or air pressure, partition board 27 be applied when requiring supplementation with hydraulic oil in upper not chamber in 52 Plus-pressure so that the hydraulic oil in lower chamber 29 is flowed by check valve 34 in not chamber, can realize liquid in this way Pressure oil recycles.

Valve body includes can be with three position four-way electromagnetic valve 35 and two-position two-way solenoid valve 36, the first oil circuit, the second oil circuit and the Three oil circuits by three position four-way electromagnetic valve 35 control its oil circuit break-make and hydraulic oil flow direction, third oil circuit, the 4th oil circuit and Two-position two-way solenoid valve 36 is both provided on 5th oil circuit, using a three position four-way electromagnetic valve 35 and three bi-bit bi-pass electromagnetism Valve 36 realizes the control to five oil circuits, and control structure is simpler, convenient for adjusting, specifically, the three position four-way electromagnetic valve 35 tools are there are three working position, i.e. left position, middle position and right position, and hydraulic oil can be distinguished from the first oil circuit and third oil circuit during in left position First chamber and bottom chamber are flowed to, hydraulic oil can flow to second chamber from the second oil circuit during in middle position, will during in right position First oil circuit, the second oil circuit and third oil circuit are closed, when leg, which is in, swings the prometaphase, be arranged on third oil circuit two Two-way electromagnetic valve 36 is closed, and the two-way electromagnetic valve 36 being arranged on the 4th oil circuit and the 5th oil circuit is opened, three position four-way electromagnetic valve 35 are in middle position；When leg, which is in, swings the later stage, the two-position two-way solenoid valve 36 being arranged on third oil circuit is closed, and is arranged on Two-position two-way solenoid valve 36 on 4th oil circuit and the 5th oil circuit is opened, and three position four-way electromagnetic valve 35 is in left position；At leg When the prometaphase is supported, the two-position two-way solenoid valve 36 being arranged on third oil circuit is opened, two be arranged on the 4th oil circuit Two-way electromagnetic valve 36 is closed, and the two-position two-way solenoid valve 36 being arranged on the 5th oil circuit is opened, and three position four-way electromagnetic valve 35 is in Left position；When leg is in the support later stage, the two-position two-way solenoid valve 36 being arranged on third oil circuit is closed, and is arranged on the 4th oil Two-position two-way solenoid valve 36 on road and the 5th oil circuit is opened, and three position four-way electromagnetic valve 35 is in middle position；When the state of being kept upright When, three position four-way electromagnetic valve 35 is located at right position, and all two-position two-way solenoid valves 36 are in off state.

The present invention also provides a kind of control method without the double push rod fluid power assistant robots of pump, this method uses above-mentioned In one scheme without the double push rod fluid power assistant robots of pump, this includes being arranged on connecting plate without the double push rod fluid power assistant robots of pump Foil gauge 24 on 3, the pressure sensor 25 being arranged on sole plate 4 and connection foil gauge 24 and pressure sensor 25 Controller 22, this method includes the following steps：

Foil gauge 24 detects the strain signal generated during the bending of 3 stress of connecting plate, and the strain signal detected is transmitted To controller 22；

Pressure sensor 25 detects the pressure signal generated when sole plate is under pressure, and the pressure signal detected is passed Give controller 22；

When leg is in shaking peroid, control energy storage canister 14 provides driving force to second piston bar 8, drives swing of leg, First piston bar 6 is driven to be synchronized with the movement in 8 motion process of second piston bar；

When leg is in the support phase, according to received signal, the size of required power, control storage are calculated by controller meter 22 Energy tank 14 provides power to First piston bar 6 and second piston bar 8 simultaneously, so that First piston bar 6 and second piston bar 8 are complete It stretches out, driving leg is stretched, and after being stretched in leg, closes oil supply pipe, so as to provide leg the support force of upright state.

Specific control process is as follows：

When pressure sensor 25 and foil gauge 24 do not receive signal, leg is in shaking peroid, passes through controller at this time 22 controls, and make second under the action of hip joint swings the driving force of the inertia force provided and the hydraulic oil of the offer of energy storage canister 14 Piston rod 8 drives First piston bar 6 to realize stretching motion, i.e. controller 22 controls the first oil circuit 11, the 12, the 4th oil of the second oil circuit 15 and the 5th oil circuit 16 of road is connected, and third oil circuit 13 is closed, and energy storage canister 14 is controlled to be supplied respectively to first chamber 9 and second chamber 10 oil, driving second piston bar 8 are stretched out and are shunk.

When pressure sensor 25 detects pressure signal, leg is in the support phase, and sole is contacted with ground at this time, normally During walking, leg is divided into three phases when being in the support phase：Support early period, support mid-term and support later stage, three phases difference Contacted for only heel with ground, sole is all contacted with ground, only forefoot is contacted with ground, support foil gauge early period 24 detects To normal strain signal, support mid-term foil gauge 24 can't detect signal, and support later stage foil gauge 24 detects negative strain signal, by Impact direction is different when connecting plate 3 is bent, thus the strain signal detected be divided into it is positive and negative.

When controller 22 receives pressure signal and normal strain signal, controller 22 controls the first oil circuit 11 connection first Chamber 9, third oil circuit 13 connects the bottom chamber 51 of the first cylinder body 5, while controller meter 22 calculates the size of required power, control Device 22 controls energy storage canister 14 to feed hydraulic pressure into bottom chamber and first chamber 9 by the first oil circuit 11 and third oil circuit 13 respectively Oil drives First piston bar 6 and second piston bar 8 to move simultaneously, and then leg-supporting is to stretching completely, and controls the second oil circuit 12 connect with second chamber 10, and the hydraulic oil in second chamber 10 is discharged, and the 5th oil circuit 16 is connected with top chamber 51, will be pushed up Hydraulic oil discharge in portion's chamber 51；When foil gauge 24 can't detect signal, leg is in upright standing state, closes oil circuit Pipeline provides leg larger support force, stretches leg and keep standing；Control receives pressure letter when controller 22 Number, when not receiving strain signal or receiving negative strain signal, 22 first oil circuit 11 of controller, the 12, the 4th oil of the second oil circuit 15 and the 5th oil circuit 16 of road is connected, and third oil circuit 13 is closed, and controls energy storage canister 14 to 12 fuel feeding of the second oil circuit, so that Two piston rods 8 drive First piston bar 6 to be synchronized with the movement, so that leg curvature, which is raised up to sole, is detached from ground.

The above embodiments are merely illustrative of the technical solutions of the present invention and is not intended to limit it, all without departing from the present invention Any modification of spirit and scope or equivalent replacement, shall fall within the scope of the technical solution of the present invention.

Claims

It is 1. a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that including supporting mechanism, regulating mechanism and fuel feed pump Road；

The supporting mechanism includes thigh housing (1), shank housing (2), connecting plate (3) and sole plate (4), the thigh housing (1) hinged with shank housing (2), the shank housing (2) is fixedly connected by connecting plate (3) with sole plate (4)；

The regulating mechanism is hydraulic cylinder, and the both ends of the hydraulic cylinder are hinged with thigh housing (1) and shank housing (2) respectively, The hydraulic cylinder include single-acting cylinder and double acting cylinder, the single-acting cylinder include the first cylinder body (5) and with the first cylinder body (5) First piston bar (6) of flexible connection, the piston of the First piston bar (6) separate the internal chamber of the first cylinder body (5) Into top chamber (51) and bottom chamber (52), the double acting cylinder includes the second cylinder body (7) and lives with the second cylinder body (7) The internal chamber of second cylinder body (7) is separated into the by the second piston bar (8) of dynamic connection, the piston of the second piston bar (8) One chamber (9) and second chamber (10)；

The oil supply pipe includes the first oil circuit (11), the second oil circuit (12), third oil circuit (13), the 4th oil circuit (15) and the 5th Oil circuit (16), first oil circuit (11) and the second oil circuit (12) can be connected with first chamber (9) and second chamber (10) respectively, Third oil circuit (13) and the 4th oil circuit (15) can be connected with bottom chamber (52), the 5th oil circuit (16) and top chamber (51) it connects, first oil circuit (11), the second oil circuit (12) and third oil circuit (13) are connected with energy storage canister (14), the energy storage Tank (14) can provide the power of driving First piston bar (6) and second piston bar (8) movement, and control is provided on the oil line pipe Make the valve body of its break-make and hydraulic oil flow direction.
It is 2. according to claim 1 a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that the thigh housing (1) and shank housing (2) is hinged by being separately fixed at upper reinforcing plate (17) thereon and lower reinforcing plate (18).
It is 3. according to claim 2 a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that the lower reinforcing plate (18) mounting groove (19) is provided on, the connecting portion (20) with mounting groove (19) cooperation, connection are provided on upper reinforcing plate (17) Portion (20) is rotatablely connected by axis pin (21) and mounting groove (19).
It is 4. according to claim 1 a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that go back packet controller (22) it detects motion state residing for leg when walking with sensor (23), sensor (23) and sends signal to controller (22), Controller (22) controls the break-make of asphalt channel and energy storage canister (14) to work by receiving the signal.
It is 5. according to claim 4 a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that the sensor (23) including the foil gauge (24) being arranged on connecting plate (3) and the pressure sensor (25) being arranged on sole plate (4).
It is 6. according to claim 1 a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that the energy storage canister (14) including tank body (26), the internal chamber of tank body (26) is movably set with partition board (27), and partition board (27) separates internal chamber Into upper chamber (28) and lower chamber (29), the bottom of partition board (27) is connected by elastic component (30) and lower chamber (29) elasticity It connects, upper chamber (28) memory contains hydraulic oil, and the oil inlet (31) connected with upper chamber (28) is provided on tank body (26) With oil outlet (32), check valve (34) is both provided on the oil inlet (31) and oil outlet (32).
It is 7. according to claim 6 a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that the tank body (26) On be additionally provided with the oil return opening (33) connected with lower chamber (29), first oil circuit (11), the second oil circuit (12), the 4th oil Road (15) and the 5th oil circuit (16) are connected with oil return opening (33), and the liquid that can make in lower chamber (29) is provided on partition board (27) Pressure oil flows to the check valve (34) of upper chamber (28).
It is 8. according to claim 1 a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that the connecting plate (3) and sole plate (4) is elastic plate body.
It is 9. according to claim 1 a kind of without the double push rod fluid power assistant robots of pump, which is characterized in that the valve body includes Three position four-way electromagnetic valve (35) and two-position two-way solenoid valve (36), first oil circuit (11), the second oil circuit (12) and third oil Road (13) controls the break-make of its oil circuit and the flow direction of hydraulic oil by three position four-way electromagnetic valve (35), the third oil circuit (13), Two-position two-way solenoid valve (36) is both provided on 4th oil circuit (15) and the 5th oil circuit (16).
10. a kind of control method without the double push rod fluid power assistant robots of pump, which is characterized in that this method uses claim 1- Any described a kind of without the double push rod fluid power assistant robots of pump in 9, this includes setting without the double push rod fluid power assistant robots of pump Foil gauge (24) on connecting plate (3), the pressure sensor (25) being arranged on sole plate (4) and connection foil gauge (24) and the controller of pressure sensor (25) (22), this method includes the following steps：

The strain signal generated during foil gauge (24) detection connecting plate (3) stress bending, and the strain signal that will be detected Send controller (22) to；

The pressure signal that pressure sensor (25) the detection sole plate (4) generates when being under pressure, and the pressure that will be detected Signal sends controller (22) to；

The controller (22) receives and processes the strain signal and pressure signal, judges leg at this time according to handling result Residing motion state, and control the connected state of energy storage canister (14) work and oil line pipe；

When leg is in shaking peroid, control energy storage canister (14) provides driving force to second piston bar (8), drives swing of leg, First piston bar (6) is driven to be synchronized with the movement in second piston bar (8) motion process；

When leg is in the support phase, according to received signal, the size of power as needed for calculating controller controls energy storage canister (14) while to First piston bar (6) and second piston bar (8) power is provided, so that First piston bar (6) and second piston bar (8) fully extended, driving leg is stretched, and after being stretched in leg, closes oil supply pipe, so as to provide upright state to leg Support force.