CN207309933U - Volume speed regulating hydraulic system and power-assisted lower limb exoskeleton - Google Patents

Abstract

Volume speed regulating hydraulic system provided by the utility model and power-assisted lower limb exoskeleton, are related to wearable mechanical mechanism technical field.The volume speed regulating hydraulic system is applied to power-assisted lower limb exoskeleton, volume speed regulating hydraulic system is in the first valve opening state by adjusting high-speed switch valve, Power Component extracts the hydraulic oil in fuel tank to the rodless cavity of hydraulic cylinder, the piston rod elongation of driving hydraulic cylinder, and it is in the second valve opening state by adjusting high-speed switch valve, the piston rod of hydraulic cylinder is shunk so that the hydraulic oil in the rodless cavity of hydraulic cylinder is back to fuel tank.The volume speed regulating hydraulic system is simple in structure, and own wt is light, and uses high-speed switch valve, and pressure set-up delays are short, fast response time, and system heat generation is low, and energy consumption is low.The power-assisted lower limb exoskeleton, due to using the volume speed regulating hydraulic system, own wt is light, and the space that volume speed regulating hydraulic system takes power-assisted lower limb exoskeleton is small, and volume speed regulating hydraulic system response is fast, and system heat generation is low, and energy consumption is low.

Description

Volume speed regulating hydraulic system and power-assisted lower limb exoskeleton

Technical field

Wearable mechanical mechanism technical field is the utility model is related to, in particular to a kind of volumetric speed control hydraulic pressure System and power-assisted lower limb exoskeleton.

Background technology

Assistance exoskeleton is that mechanical structure is power subject taking human as control main body, and machinery and people are mutually independent servo-actuated System, people can dress assistance exoskeleton and carry out a series of activities.Development of the appearance of assistance exoskeleton to productivity has huge Big effect, main function is that human motion is followed during human motion, with speed, the strength of machine power lifting wearer With the locomitivity such as endurance, improve human motion Energy Efficiency Ratio, the extension mankind understand and the nature remodeling world in terms of ability.

Power unit is the key components of assistance exoskeleton, and existing assistance exoskeleton dynamical system is carried out device type For mainly there is hydraulic-driven, air pressure driving and motor to drive three kinds.In being applied in current ectoskeleton field, hydraulic system is negative There is greater advantage in terms of reppearing power, be also widely used.

For hydraulic power unit in this area substantially there are own wt weight, pressurization time delay is high, time length, The problems such as efficiency is low, and system energy consumption is high.

Utility model content

The purpose of this utility model is to provide a kind of volume speed regulating hydraulic system, the volume speed regulating hydraulic system itself weight Amount is light, and pressure set-up delays are short, fast response time, and system heat generation is low, and energy consumption is low.

The another object of the utility model is to provide a kind of power-assisted lower limb exoskeleton, it includes provided by the utility model Volume speed regulating hydraulic system, volume speed regulating hydraulic system own wt is light, and the space of occupancy power-assisted lower limb exoskeleton is small, and volume The response of speed-regulating hydraulic system is fast, and system heat generation is low, and energy consumption is low.

The utility model, which solves its technical problem, to be realized using following technical solution：

The utility model provides a kind of volume speed regulating hydraulic system, applied to power-assisted lower limb exoskeleton, the power-assisted lower limb Ectoskeleton includes thigh and shank, and the shank is hinged with the thigh；The volume speed regulating hydraulic system includes fuel tank, power Component, hydraulic cylinder and high-speed switch valve；First hydraulic fluid port of the high-speed switch valve is connected with the rodless cavity of the hydraulic cylinder, described Second hydraulic fluid port of high-speed switch valve is connected with the fuel tank by the Power Component, the 3rd hydraulic fluid port of the high-speed switch valve with The fuel tank connection, the hydraulic cylinder are used to be connected with the thigh, and the piston rod of the hydraulic cylinder is used to connect with the shank Connect.

When the high-speed switch valve is under the first valve opening state, the Power Component extracts the hydraulic oil in the fuel tank To the rodless cavity of the hydraulic cylinder, to drive the piston rod of the hydraulic cylinder to extend；When the high-speed switch valve is opened in second Under valve state, the piston rod of the hydraulic cylinder is shunk so that the hydraulic oil in the rodless cavity of the hydraulic cylinder is back to the oil Case.

Further, the high-speed switch valve includes valve body, valve pocket, spool and drive component；The valve body has accommodating Chamber, offers first hydraulic fluid port, second hydraulic fluid port and the 3rd hydraulic fluid port on the side wall of the accommodating cavity.

The spool is fixedly connected with the valve body, and the spool includes valve core, and the valve core is placed in the appearance Intracavitary is put, intercommunicating pore is provided with the valve pocket, the valve pocket is slided with the inner wall of the accommodating cavity and the valve core respectively Connection, the driving component are connected with the valve pocket, and the driving component is used to drive the relatively described accommodating cavity of the valve pocket Inner wall and the valve core slide, and first hydraulic fluid port is connected with second hydraulic fluid port by the intercommunicating pore, alternatively, will Second hydraulic fluid port is connected with the 3rd hydraulic fluid port by the intercommunicating pore, alternatively, sealing first hydraulic fluid port, second oil Mouth and the 3rd hydraulic fluid port.

Further, it is provided with the first oil groove, the second oil groove and the 3rd oil groove on the valve core, first oil groove, Second oil groove and the 3rd oil groove respectively with first hydraulic fluid port, second hydraulic fluid port and the 3rd hydraulic fluid port is opposite sets Put；Under first valve opening state, the intercommunicating pore by first hydraulic fluid port, second hydraulic fluid port, first oil groove and The second oil groove connection；Under second valve opening state, the intercommunicating pore by second hydraulic fluid port, the 3rd hydraulic fluid port, Second oil groove is connected with the 3rd oil groove.

Further, first oil groove, second oil groove and the 3rd oil groove are annular in shape.

Further, the quantity of the intercommunicating pore is multiple that multiple intercommunicating pores are arranged at intervals.

Further, the spool includes connecting portion, and the connecting portion connects T-shaped, the connection with the valve core Portion is connected with the valve body, and the high-speed switch valve further includes return unit, and the return unit is arranged on the valve pocket and the company Between socket part.

Further, the driving component includes the electromagnetic drive component and mandril being connected with each other, and the mandril is away from institute The one end for stating electromagnetic drive component is connected with the valve pocket.

Further, the Power Component includes servomotor and gear pump, and the servomotor connects with the gear pump Connect, the gear pump is connected with the fuel tank, and the outlet of the gear pump is connected with the high-speed switch valve.

Further, the volume speed regulating hydraulic system further includes check valve, filter and overflow valve, the high-speed switch The outlet of valve, the check valve, the filter and the gear pump is sequentially connected；The overflow valve is arranged on the check valve It is connected between the high-speed switch valve, and with the fuel tank.

A kind of power-assisted lower limb exoskeleton provided by the utility model, including body, two thighs, two shanks, control system System and the volume speed regulating hydraulic system described in two.Each thigh is hinged with the body respectively, two shanks point Be not hinged with two one end of the thigh away from the body, the both ends of each hydraulic cylinder respectively with a thigh Hinged shank connection therewith；Two high-speed switch valves are electrically connected with the control system respectively, the control System is used to control two high-speed switch valves to be in first valve opening state or second valve opening state respectively.

The beneficial effect of the utility model embodiment is：

Volume speed regulating hydraulic system provided by the utility model is in the first valve opening state by adjusting high-speed switch valve, moves Power component extracts the hydraulic oil in fuel tank to the rodless cavity of hydraulic cylinder, the piston rod elongation of driving hydraulic cylinder, and passes through adjusting height Fast switch valve is in the second valve opening state, and the piston rod of hydraulic cylinder is shunk so that the hydraulic oil reflux in the rodless cavity of hydraulic cylinder To fuel tank.The volume speed regulating hydraulic system is simple in structure, and own wt is light, and uses high-speed switch valve, and pressure set-up delays are short, Fast response time, and system heat generation is low, energy consumption is low.

Power-assisted lower limb exoskeleton provided by the utility model, due to using the volume speed regulating hydraulic system, own wt is light, The space that volume speed regulating hydraulic system takes power-assisted lower limb exoskeleton is small, and volume speed regulating hydraulic system response is fast, system heat generation Low, energy consumption is low.

Brief description of the drawings

, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment Attached drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiment of the utility model, therefore should not be by Regard the restriction to scope as, for those of ordinary skill in the art, without creative efforts, may be used also To obtain other relevant attached drawings according to these attached drawings.

Fig. 1 is the structure diagram for the power-assisted lower limb exoskeleton that the utility model specific embodiment provides.

Fig. 2 is the structure diagram for the volume speed regulating hydraulic system that the utility model specific embodiment provides.

Fig. 3 is a kind of usage state diagram for the high-speed switch valve that the utility model specific embodiment provides.

Fig. 4 is another usage state diagram for the high-speed switch valve that the utility model specific embodiment provides.

Icon：100- power-assisted lower limb exoskeletons；110- bodies；120- hips；130- thighs；140- shanks；150- foots； 170- lower limb bearing systems；200- volume speed regulating hydraulic systems；212- fuel tanks；213- check valves；214- filters；215- overflows Valve；216- Power Components；2161- servomotors；2162- gear pumps；220- hydraulic cylinders；221- rodless cavities；223- piston rods； 300- high-speed switch valves；310- valve bodies；The first hydraulic fluid ports of 311-；The second hydraulic fluid ports of 312-；The 3rd hydraulic fluid ports of 313-；314- accommodating cavities； 320- valve pockets；321- intercommunicating pores；330- spools；331- valve cores；The first oil grooves of 3311-；The second oil grooves of 3312-；3313- the 3rd Oil groove；332- connecting portions；340- drive components；3401- electromagnetic drive components；341- armature；342- armature pipes；343- coils； 344- pole shoes；3402- mandrils；350- return units.

Embodiment

It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and The component of the utility model embodiment shown can be arranged and designed with a variety of configurations.

Therefore, requirement is not intended to limit to the detailed description of the embodiment of the utility model provided in the accompanying drawings below The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model Embodiment, those of ordinary skill in the art's all other embodiments obtained without creative efforts, all Belong to the scope of the utility model protection.

It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.

In the description of the utility model, it is necessary to explanation, term " on " etc. instruction orientation or position relationship be base In orientation shown in the drawings or position relationship, or the utility model product using when the orientation usually put or position close System, is for only for ease of and describes the utility model and simplified description, rather than the device or element of instruction or hint meaning are necessary With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.

In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important Property.

In the description of the utility model, it is also necessary to explanation, unless in addition having more specific regulation and limiting, term " setting ", " connection " should do more broadly understanding, for example, " connection " can be fixedly connected or be detachably connected, or It is integrally connected；Can mechanically connect or be electrically connected；It can be directly connected, can also be by between intermediary Connect connected, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition Concrete meaning of the above-mentioned term in the utility model.

Below in conjunction with the accompanying drawings, elaborate to an embodiment of the utility model, in the case where there is no conflict, under Feature in the embodiment stated can be mutually combined.

Fig. 1 is the structure diagram of power-assisted lower limb exoskeleton 100 provided in this embodiment.Fig. 1 is refer to, the present embodiment carries A kind of power-assisted lower limb exoskeleton 100 is supplied, it includes body 110,130, two, the thigh shank 140, two of hip 120, two Foot 150, hip power delivery system (figure is not marked), (figure is not for two lower limb bearing systems, 170, two foot sensing shoe systems Mark), control system (figure do not mark) and two volume speed regulating hydraulic systems 200.

Hip 120 is connected with body 110, and each thigh 130 is hinged with body 110 respectively, and two shanks 140 are respectively with two A one end of thigh 130 away from body 110 is hinged, and two foots 150 are respectively with two shanks 140 away from two thighs 130 One end connects.Hip power delivery system is connected with hip 120, and two lower limb bearing systems 170 are separately positioned on a thigh 130 With the junction of a shank 140, two foot sensing shoe systems are separately positioned on two foots 150.Volumetric speed control hydraulic pressure system System 200 includes hydraulic cylinder 220, the both ends of each hydraulic cylinder 220 respectively with a thigh 130 and with hinged small of the thigh 130 Leg 140 connects.Hip power delivery system, two lower limb bearing systems, 170, two foot sensing shoe systems and two volumetric speed controls Hydraulic system 200 is electrically connected with control system respectively.

It is understood that hip power delivery system, two lower limb bearing systems, 170, two foot sensing shoe systems point Control signal Yong Yu not be generated, control system is used to receive control signal, and controls two volume speed regulating hydraulic systems respectively 200, to drive two hydraulic cylinders 220 to extend or shrink respectively.

It should be noted that in the present embodiment, due to using the volume speed regulating hydraulic system 200, power-assisted lower limb exoskeleton 100 own wt is light, and the space that volume speed regulating hydraulic system 200 takes power-assisted lower limb exoskeleton 100 is small, and volumetric speed control liquid Pressure system 200 responds soon, and system heat generation is low, and energy consumption is low.

Fig. 2 is the structure diagram of volume speed regulating hydraulic system 200 provided in this embodiment.Fig. 2 is refer to, specifically, In the present embodiment, volume speed regulating hydraulic system 200 further includes fuel tank 212, check valve 213, filter 214, overflow valve 215, dynamic Power component 216 and high-speed switch valve 300.

High-speed switch valve 300 is connected with fuel tank 212 by Power Component 216, it is preferable that in the present embodiment, Power Component 216 include servomotor 2161 and gear pump 2162, and servomotor 2161 is connected with gear pump 2162, gear pump 2162 and fuel tank 212 connections, and the outlet of gear pump 2162 is connected with high-speed switch valve 300.

In the present embodiment, check valve 213 and filter 214 are arranged between high-speed switch valve 300 and fuel tank 212.Specifically , the outlet of high-speed switch valve 300, check valve 213, filter 214 and gear pump 2162 is sequentially connected.Overflow valve 215 is set It is connected between check valve 213 and high-speed switch valve 300, and with fuel tank 212.

High-speed switch valve 300 is connected with the rodless cavity 221 of hydraulic cylinder 220, and high-speed switch valve 300 is connected with fuel tank 212, liquid Cylinder pressure 220 is used to be connected with thigh 130, and the piston rod 223 of hydraulic cylinder 220 is used to be connected with shank 140.

It is understood that check valve 213 is used for the hydraulic oil one-way flow for controlling Power Component 216 to extract, anti-non-return Stream.Filter 214 has the function that to purify hydraulic oil.Overflow valve 215 is used as safety valve.In other preferred embodiments, unidirectionally Valve 213, filter 214 and overflow valve 215 are optionally set.

It should be appreciated that in the present embodiment, servomotor 2161 and gear pump 2162 is selected to extract oil as Power Component 216 Hydraulic oil in case 212, has the characteristics of small, light-weight, meets the feature of light-duty volume speed regulating hydraulic system 200.

Also, high-speed switch valve 300 is used for the rodless cavity 221 and fuel tank 212 of connection liquid cylinder pressure 220, and pass through power Component 216 is connected with fuel tank 212, formed fuel tank 212 in hydraulic oil to hydraulic cylinder 220 rodless cavity 221, from hydraulic cylinder 220 Rodless cavity 221 arrives the circuit of fuel tank 212.

When high-speed switch valve 300 is under the first valve opening state, the hydraulic oil in the extraction fuel tank 212 of Power Component 216 is extremely The rodless cavity 221 of hydraulic cylinder 220, is extended with the piston rod 223 of driving hydraulic cylinder 220.When high-speed switch valve 300 is opened in second Under valve state, the piston rod 223 of hydraulic cylinder 220 is shunk so that the hydraulic oil in the rodless cavity 221 of hydraulic cylinder 220 is back to oil Case 212.

It is understood that when high-speed switch valve 300 is in closed valve state, the piston rod 223 of hydraulic cylinder 220 is static.

300 fast response time of high-speed switch valve, energy consumption are low and efficient.

It should be noted that utility model people has found, using the high-speed switch valve or cone valve type structure of ball-valve type structure High-speed switch valve cannot agree with the use of power-assisted lower limb exoskeleton 100 well.For example, ball-valve type structure is in order to which ensure can The sealing and spool leaned on are not stuck, and requirement on machining accuracy is very high, and difficulty of processing is big, and manufacture is of high cost, moreover, switch valve work It is difficult to make gap adjustment, is normally only used for the occasion of small latus rectum or low pressure.On the other hand, the general latus rectum of the series of valves is smaller, Through-current capability is poor, and no load discharge is less than 10L/min under rated pressure, in the case of rated pressure is reached, Flow will reduce rapidly, if the structure improves the no load discharge under rated pressure, will substantially reduce its response speed, and be unsatisfactory for The use of ectoskeleton high-speed switch valve 300.

Fig. 3 is a kind of usage state diagram of high-speed switch valve 300 provided in this embodiment.Fig. 4 is provided in this embodiment Another usage state diagram of high-speed switch valve 300.Incorporated by reference to reference to Fig. 3 and Fig. 4, in the present embodiment, high-speed switch valve 300 wraps Include valve body 310, valve pocket 320, spool 330 and drive component 340.

Valve body 310 has accommodating cavity 314, and the first hydraulic fluid port 311,312 and of the second hydraulic fluid port are offered on the side wall of accommodating cavity 314 3rd hydraulic fluid port 313.The rodless cavity 221 of hydraulic cylinder 220 is connected with the first hydraulic fluid port 311, and the second hydraulic fluid port 312 passes through Power Component 216 It is connected with fuel tank 212, the 3rd hydraulic fluid port 313 is connected with fuel tank 212.

Spool 330 is fixedly connected with valve body 310, is provided with intercommunicating pore 321 on valve pocket 320, valve pocket 320 respectively with accommodating cavity 314 inner wall and valve core 331 is slidably connected, and drive component 340 is connected with valve pocket 320, and drive component 340 is used to drive valve pocket The inner wall and valve core 331 of 320 opposite accommodating cavities 314 slide, and the first hydraulic fluid port 311 and the second hydraulic fluid port 312 are passed through intercommunicating pore 321 connections, alternatively, the second hydraulic fluid port 312 is connected with the 3rd hydraulic fluid port 313 by intercommunicating pore 321, alternatively, the first hydraulic fluid port of sealing 311st, the second hydraulic fluid port 312 and the 3rd hydraulic fluid port 313.

It is understood that high-speed switch valve 300 provided in this embodiment is a kind of linear motion formula structure, response speed It hurry up.

Specifically, in the present embodiment, spool 330 includes being connected with each other T-shaped valve core 331 and connecting portion 332.Connection Portion 332 is fixedly connected with valve body 310, and valve core 331 is placed in accommodating cavity 314.The first oil groove is provided with valve core 331 3311st, the second oil groove 3312 and the 3rd oil groove 3313.First oil groove 3311, the second oil groove 3312 and the 3rd oil groove 3313 respectively with First hydraulic fluid port 311, the second hydraulic fluid port 312 and the 3rd hydraulic fluid port 313 are oppositely arranged, to connect in the first oil groove 3311 and the first hydraulic fluid port 311 The first cavity volume is formed when logical, the second oil groove 3312 forms the second cavity volume, the 3rd oil groove 3313 when being connected with the second hydraulic fluid port 312 The 3rd cavity volume is formed when being connected with the 3rd hydraulic fluid port 313.

Four intercommunicating pores 321 are provided with valve pocket 320, four intercommunicating pores 321 are arranged at intervals.The diameter of intercommunicating pore 321 is big In the distance of the first oil groove 3311 and the second oil groove 3312, and more than the distance of the second oil groove 3312 and the 3rd oil groove 3313.Two The distance between a intercommunicating pore 321 is more than the distance of the first oil groove 3311 and the second oil groove 3312, and is more than the second oil groove 3312 With the distance of the 3rd oil groove 3313.

It is understood that drive component 340 drives valve pocket 320 to be slided with respect to the inner wall and valve core 331 of accommodating cavity 314 During to first position, for the first valve opening state of high-speed switch valve 300, the first hydraulic fluid port 311, the second hydraulic fluid port 312, the first oil groove 3311 connect with the second oil groove 3312, and the hydraulic oil in fuel tank 212 can pass through the second oil groove 3312, first from the second hydraulic fluid port 312 Oil groove 3311, and flowed out from the first hydraulic fluid port 311.

When the driving valve pocket 320 of drive component 340 slides into the second place with respect to the inner wall and valve core 331 of accommodating cavity 314, For the second valve opening state of high-speed switch valve 300, the second hydraulic fluid port 312, the 3rd hydraulic fluid port 313, the second oil groove 3312 and the 3rd oil groove 3313 connect, and the hydraulic oil in rodless cavity 221 can pass through the 3rd oil groove 3313, the second oil groove 3312 from the 3rd hydraulic fluid port 313, and Flowed out from the second hydraulic fluid port 312.

When the driving valve pocket 320 of drive component 340 slides into the third place with respect to the inner wall and valve core 331 of accommodating cavity 314, For the closed valve state of high-speed switch valve 300, valve pocket 320 seals the first hydraulic fluid port 311, the second hydraulic fluid port 312 and the 3rd hydraulic fluid port 313.

It should be appreciated that the quantity of intercommunicating pore 321 can have different changes, such as one, two, three or other quantity.

Preferably, the first oil groove 3311, the second oil groove 3312 and the 3rd oil groove 3313 are annular in shape.It is understood that The first cavity volume (figure is not marked), the second cavity volume (figure is not marked) and the 3rd cavity volume (figure is not marked) formed is by valve pocket 320 Linear motion control fluid flow, it is simple in structure, it is easy to operate, and easy to control.

In the present embodiment, drive component 340 includes the electromagnetic drive component 3401 and mandril 3402 being connected with each other.

Electromagnetic drive component 3401 includes armature 341, armature pipe 342, coil 343, pole shoe 344, armature 341 and pole shoe 344 are separately positioned in armature pipe 342, and around being located at outside armature pipe 342, one end and the armature 341 of mandril 3402 connect coil 343 Connecing, the other end is connected through pole shoe 344 with valve pocket 320, and electromagnetic drive component 3401 can control mandril 3402 flexible after being powered, with Valve pocket 320 is driven to be slided with respect to the inner wall and valve core 331 of accommodating cavity 314.

To accelerate the response speed of high-speed switch valve 300, return unit is additionally provided between valve pocket 320 and connecting portion 332 350.In the present embodiment, return unit 350 is return spring.

It is understood that the high-speed switch valve 300 of this direct dynamic structure is simple in structure, and it is small, it is light-weight.Valve pocket 320 slide construction small opening big flow easy to implement, saves the open and close time of valve and reduces throttling loss.Also, this In embodiment, spool 330 is fixed, and the mode that valve pocket 320 moves makes hydraulic power be transported as power-assisted or weakening hydraulic power to valve pocket 320 Dynamic influence, and heavy moving parts are reduced, improve response speed.

Continuing with combination referring to Figures 1 and 2, it is to be understood that in the present embodiment, two high-speed switch valves 300 are distinguished It is electrically connected with control system, control system is used to control two high-speed switch valves 300 to be in the first valve opening state, second open respectively Valve state or closed valve state.

To sum up, volume speed regulating hydraulic system 200 provided in this embodiment, when high-speed switch valve 300 is in closed valve state, The piston rod 223 of hydraulic cylinder 220 is static.When high-speed switch valve 300 is in the first valve opening state, fuel tank 212 and hydraulic cylinder 220 Rodless cavity 221 connect, the hydraulic oil in fuel tank 212 can be extracted to the rodless cavity of hydraulic cylinder 220 by Power Component 216 In 221, due to the increase of oil pressure in rodless cavity 221, piston rod 223 can be driven to extend.When high-speed switch valve 300 is in second During valve opening state, piston rod 223 is acted on by external force to be shunk so that the hydraulic oil in rodless cavity 221 is back in fuel tank 212.It is complete Into a period of motion.

Specific to power-assisted lower limb exoskeleton 100 provided in this embodiment, during its work, with one of volumetric speed control hydraulic pressure Exemplified by system 200 and one of thigh 130 and shank 140, control system can be according to the control of the generation of sensing shoe system Signal, control high-speed switch valve 300 are in the first valve opening state, are extracted hydraulic oil to hydraulic cylinder 220 by Power Component 216 Rodless cavity 221 in, driving piston rod 223 extend so that shank 140 extends.When being elongated to demand position, control system root According to control signal, control high-speed switch valve 300 is in the second valve opening state, and fuel tank 212 and the rodless cavity 221 of hydraulic cylinder 220 connect Logical, by human body lower limbs strength, piston rod 223 is shunk so that the hydraulic oil in rodless cavity 221 is back in fuel tank 212, is completed One period of motion.

The volume speed regulating hydraulic system 200 is matched with the kinematics characteristic of ectoskeleton institute, when piston rod 223 stretches out, The volume speed regulating hydraulic system 200 of power-assisted lower limb exoskeleton 100 drives two leg piston rod 223 of assistance exoskeleton, makes power-assisted dermoskeleton Bone follows human motion to provide power-assisted for human body.From human cinology's model, the operation of two lower limb alternating cyclical of human body, speed Degree change is fast and the velocity peak values time is short.Therefore had periodically, intermittently using the assistance exoskeleton hydraulic system of piston rod 223 Property and peak flow duration short feature.The system integration, more compact structure, quality smaller, meets carrying in ectoskeleton On.The dynamic response performance of system can effectively be improved using high-speed switch valve 300, so as to influence the property of whole ectoskeleton Energy.Volumetric speed control mode flow follows the change of assistance exoskeleton hydraulic system transient demand flow and changes, and only exists slightly Overshoot, agree with the demand volume of assistance exoskeleton hydraulic system, therefore its is efficient, heating power is few, can preferably solve The certainly problem of temperature rise of system.

The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the present invention, for this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on, should be included within the scope of protection of this utility model.

Claims (10)

1. a kind of volume speed regulating hydraulic system, applied to power-assisted lower limb exoskeleton, the power-assisted lower limb exoskeleton include thigh and Shank, the shank are hinged with the thigh；It is characterized in that, the volume speed regulating hydraulic system include fuel tank, Power Component, Hydraulic cylinder and high-speed switch valve；First hydraulic fluid port of the high-speed switch valve is connected with the rodless cavity of the hydraulic cylinder, the high speed Second hydraulic fluid port of switch valve is connected with the fuel tank by the Power Component, the 3rd hydraulic fluid port of the high-speed switch valve with it is described Fuel tank connects, and the hydraulic cylinder is used to be connected with the thigh, and the piston rod of the hydraulic cylinder is used to be connected with the shank；

When the high-speed switch valve is under the first valve opening state, the Power Component extracts hydraulic oil in the fuel tank to institute The rodless cavity of hydraulic cylinder is stated, to drive the piston rod of the hydraulic cylinder to extend；When the high-speed switch valve is in the second valve opening shape Under state, the piston rod of the hydraulic cylinder is shunk so that the hydraulic oil in the rodless cavity of the hydraulic cylinder is back to the fuel tank.

2. volume speed regulating hydraulic system as claimed in claim 1, it is characterised in that the high-speed switch valve includes valve body, valve Set, spool and drive component；The valve body has accommodating cavity, and first hydraulic fluid port, institute are offered on the side wall of the accommodating cavity State the second hydraulic fluid port and the 3rd hydraulic fluid port；

The spool is fixedly connected with the valve body, and the spool includes valve core, and the valve core is placed in the accommodating cavity It is interior, intercommunicating pore is provided with the valve pocket, the valve pocket is slidably connected with the inner wall of the accommodating cavity and the valve core respectively, The driving component is connected with the valve pocket, the driving component be used for drive the relatively described accommodating cavity of the valve pocket inner wall and The valve core slides, and first hydraulic fluid port is connected with second hydraulic fluid port by the intercommunicating pore, alternatively, by described the Two hydraulic fluid ports are connected with the 3rd hydraulic fluid port by the intercommunicating pore, alternatively, sealing the first hydraulic fluid port, second hydraulic fluid port and the institute State the 3rd hydraulic fluid port.

3. volume speed regulating hydraulic system as claimed in claim 2, it is characterised in that the first oil is provided with the valve core Groove, the second oil groove and the 3rd oil groove, first oil groove, second oil groove and the 3rd oil groove are oily with described first respectively Mouth, second hydraulic fluid port and the 3rd hydraulic fluid port are oppositely arranged；Under first valve opening state, the intercommunicating pore is by described One hydraulic fluid port, second hydraulic fluid port, first oil groove are connected with second oil groove；It is described under second valve opening state Intercommunicating pore connects second hydraulic fluid port, the 3rd hydraulic fluid port, the second oil groove with the 3rd oil groove.

4. volume speed regulating hydraulic system as claimed in claim 3, it is characterised in that first oil groove, second oil groove It is annular in shape with the 3rd oil groove.

5. volume speed regulating hydraulic system as claimed in claim 2, it is characterised in that the quantity of the intercommunicating pore is more to be multiple A intercommunicating pore is arranged at intervals.

6. volume speed regulating hydraulic system as claimed in claim 2, it is characterised in that the spool includes connecting portion, the company Socket part connects T-shaped with the valve core, and the connecting portion is connected with the valve body, and the high-speed switch valve further includes reset Part, the return unit are arranged between the valve pocket and the connecting portion.

7. volume speed regulating hydraulic system as claimed in claim 2, it is characterised in that the driving component includes what is be connected with each other Electromagnetic drive component and mandril, the one end of the mandril away from the electromagnetic drive component are connected with the valve pocket.

8. volume speed regulating hydraulic system as claimed in claim 1, it is characterised in that the Power Component include servomotor and Gear pump, the servomotor are connected with the gear pump, the gear pump is connected with the fuel tank, and the gear pump goes out Mouth is connected with the high-speed switch valve.

9. volume speed regulating hydraulic system as claimed in claim 8, it is characterised in that the volume speed regulating hydraulic system further includes Check valve, filter and overflow valve, the outlet of the high-speed switch valve, the check valve, the filter and the gear pump It is sequentially connected；The overflow valve is arranged between the check valve and the high-speed switch valve, and is connected with the fuel tank.

10. a kind of power-assisted lower limb exoskeleton, it is characterised in that including body, two thighs, two shanks, control system and two A such as claim 1-9 any one of them volume speed regulating hydraulic systems, each thigh are hinged with the body respectively, and two A shank is hinged with two one end of the thigh away from the body respectively, the both ends of each hydraulic cylinder respectively with One thigh is connected with the hinged shank therewith；Two high-speed switch valves are electrically connected with the control system respectively Connect, the control system is used to control two high-speed switch valves to be in first valve opening state or described second open respectively Valve state.