技术领域technical field
本发明涉及服务机器人技术领域，具体说是一种连杆关节一体化液压驱动外骨骼。The invention relates to the technical field of service robots, in particular to a hydraulically driven exoskeleton integrated with connecting rod joints.
背景技术Background technique
人体肌力较为薄弱，在山区、丛林等常规运输工具难以达到的无路地区往往无法胜任长时间负重行走、搬运、攀爬等野外作业。下肢外骨骼助力机器人是一种可快速匹配在人体下肢外侧面，可主动或被动跟随人体运动，为腿部提供合适助力的智能化装置。可穿戴下肢外骨骼助力机器人颠覆传统人机关系，充分发挥人机交互感知特性，引入人的智能决策能力，拓宽人体关节力量，完成人机任务协同。Human muscles are relatively weak, and they are often unable to perform long-term heavy-duty walking, carrying, climbing and other field operations in roadless areas that are difficult to reach by conventional means of transportation such as mountains and jungles. The lower extremity exoskeleton assisting robot is an intelligent device that can be quickly matched on the outer surface of the lower limbs of the human body, can actively or passively follow the movement of the human body, and provide appropriate assistance for the legs. The wearable lower extremity exoskeleton helps the robot to subvert the traditional human-machine relationship, give full play to the perception characteristics of human-computer interaction, introduce human's intelligent decision-making ability, broaden the strength of human joints, and complete the coordination of human-machine tasks.
下肢外骨骼助力机器人有着广泛的应用前景和用途。随着人体老年化，人体肌力和机能会逐渐老化或退化，下肢外骨骼助力机器人可为老人行走助力，帮助下肢行走功能丧失的残障人士步行，可提高下肢功能障碍人士行走能力。下肢外骨骼助力机器人可解放大量艰苦劳动，弥补常规交通和作业工具的不足，助人在崎岖地形行走或进行远距离重物搬运。针对士兵、消防员、救生员等特殊职业者，下肢外骨骼助力机器人可用于携带武器装备、灭火装置、救生用品等其它机械设备，提高特殊条件下的机动能力，获取局部机动优势。综上，可穿戴型下肢外骨骼助力机器人可拓展应用于医疗(如下肢康复训练)、军事(如协助单兵携带装备远距离崎岖山路行走)、灾害救助(如地震现场救助)等领域。The lower extremity exoskeleton assisting robot has a wide range of application prospects and uses. As the human body ages, the strength and function of the human body will gradually age or degenerate. The lower limb exoskeleton assisting robot can assist the elderly in walking, help the disabled who have lost the walking function of the lower limbs to walk, and can improve the walking ability of people with lower limb dysfunction. The lower extremity exoskeleton-assisted robot can liberate a lot of hard work, make up for the lack of conventional transportation and working tools, and help people walk on rough terrain or carry heavy objects over long distances. For soldiers, firefighters, lifeguards and other special occupations, lower extremity exoskeleton-assisted robots can be used to carry weapons and equipment, fire extinguishing devices, life-saving supplies and other mechanical equipment to improve mobility under special conditions and gain local mobility advantages. In summary, wearable lower extremity exoskeleton assisting robots can be expanded to be used in medical (such as lower limb rehabilitation training), military (such as assisting individual soldiers to carry equipment on long-distance rugged mountain roads), disaster relief (such as earthquake site rescue) and other fields.
针对下肢外骨骼机器人，主要技术指标有三个：一、结构轻便与紧凑性；二、穿戴者舒适性；三、控制的灵活性。在现有技术条件下，下肢外骨骼机器人有其局限性。国内外涉及下肢外骨骼机器人的专利主要有以下几项：分别是申请号为201310257360.5的“一种穿戴型下肢助力机器人、其折叠方法及用于装运的手拉箱”、申请号为201210370541.4的“便携式可穿戴下肢康复及助行外骨骼机器人”、申请号为200680006514.1的“下部肢体外骨骼”。所述各专利所采用的电机驱动方式，不利于对外骨骼机器人实施智能控制，影响了人机交互的协调性，降低了用户使用该机器人的安全性。不能满足人们对于助力机器人的使用要求。For lower extremity exoskeleton robots, there are three main technical indicators: 1. Lightweight and compact structure; 2. Wearer comfort; 3. Control flexibility. Under the current technical conditions, the lower extremity exoskeleton robot has its limitations. The patents related to lower limb exoskeleton robots at home and abroad mainly include the following items: "a wearable lower limb power-assisted robot, its folding method and a hand-drawn case for shipping" with application number 201310257360.5, and " Portable wearable lower limb rehabilitation and walking aid exoskeleton robot", application number 200680006514.1 "lower limb exoskeleton". The motor drive methods adopted in the above-mentioned patents are not conducive to the implementation of intelligent control of the exoskeleton robot, which affects the coordination of human-computer interaction and reduces the safety of users using the robot. Can not satisfy people's requirement for the use of power-assisted robot.
发明内容Contents of the invention
本发明为解决上述技术问题，提出一种连杆关节一体化液压驱动外骨骼，该外骨骼采用电液伺服驱动，将大腿与髋关节处的液压缸设计一体化，使结构更加简洁。不仅满足下肢外骨骼机器人大力矩、高响应速度和结构紧凑的需求，同时解决了人体关节中心与机械结构不匹配的问题。腰带及腿部绑带设计提高人体穿戴舒适性。液压系统的能量回收模块实现能量回收及能量快速释放，减小系统能耗。In order to solve the above technical problems, the present invention proposes a hydraulic drive exoskeleton integrated with connecting rod joints. The exoskeleton adopts electro-hydraulic servo drive and integrates the design of hydraulic cylinders at the thigh and hip joints to make the structure more concise. It not only meets the requirements of high torque, high response speed and compact structure of the lower extremity exoskeleton robot, but also solves the problem of mismatch between the human joint center and the mechanical structure. The waist belt and leg straps are designed to improve the wearing comfort of the human body. The energy recovery module of the hydraulic system realizes energy recovery and rapid energy release, reducing system energy consumption.
本发明所要解决的技术问题具体采用以下技术方案来实现：The technical problem to be solved by the present invention is realized by the following technical schemes:
一种连杆关节一体化液压驱动外骨骼，所述机器人主要由机械结构和液压系统组成。A hydraulically driven exoskeleton integrated with link joints, the robot is mainly composed of a mechanical structure and a hydraulic system.
所述机械机构包括鞋底、踝关节、小腿、膝关节、大腿、髋关节、腰带、载物支架和控制系统。The mechanical mechanism includes shoe soles, ankle joints, calves, knee joints, thighs, hip joints, waist belts, load supports and control systems.
所述鞋底和小腿通过踝关节连接，小腿和大腿通过膝关节连接，大腿和腰带通过髋关节连接，载物支架固定在腰带上，液压系统和控制系统固定于载物支架上。The sole and the lower leg are connected through the ankle joint, the lower leg and the thigh are connected through the knee joint, the thigh and the waist belt are connected through the hip joint, the load bracket is fixed on the waist belt, and the hydraulic system and the control system are fixed on the load bracket.
所述液压系统包括液压基站模块、关节驱动模块、能量回收模块。The hydraulic system includes a hydraulic base station module, a joint drive module, and an energy recovery module.
所述关节驱动模块由四条液压驱动支路并联组成，所述液压驱动支路分别对应为左髋关节液压驱动支路、右髋关节液压驱动支路，左膝关节液压驱动支路、右膝关节液压驱动支路，四个液压驱动支路结构相同。所述左髋关节液压驱动支路包括一号电磁伺服比例阀、一号左压力传感器、一号右压力传感器、左髋关节液压缸及一号液压缸位移传感器。所述左膝关节液压驱动支路包括二号电磁伺服比例阀、二号左压力传感器、二号右压力传感器、左膝关节液压缸及二号液压缸位移传感器。所述右膝关节液压驱动支路包括三号电磁伺服比例阀、三号左压力传感器、三号右压力传感器、右膝关节液压缸及三号液压缸位移传感器。所述右髋关节液压驱动支路包括四号电磁伺服比例阀、四号左压力传感器、四号右压力传感器、右髋关节液压缸及四号液压缸位移传感器。The joint driving module is composed of four hydraulic driving branches connected in parallel, and the hydraulic driving branches are respectively corresponding to the left hip joint hydraulic driving branch, the right hip joint hydraulic driving branch, the left knee joint hydraulic driving branch, the right knee joint hydraulic driving branch, and the right knee joint hydraulic driving branch. The four hydraulic drive branches have the same structure. The hydraulic drive branch of the left hip joint includes a No. 1 electromagnetic servo proportional valve, a No. 1 left pressure sensor, a No. 1 right pressure sensor, a left hip joint hydraulic cylinder and a No. 1 hydraulic cylinder displacement sensor. The left knee joint hydraulic drive branch includes No. 2 electromagnetic servo proportional valve, No. 2 left pressure sensor, No. 2 right pressure sensor, left knee joint hydraulic cylinder and No. 2 hydraulic cylinder displacement sensor. The right knee joint hydraulic drive branch includes No. 3 electromagnetic servo proportional valve, No. 3 left pressure sensor, No. 3 right pressure sensor, right knee joint hydraulic cylinder and No. 3 hydraulic cylinder displacement sensor. The right hip joint hydraulic drive branch includes No. 4 electromagnetic servo proportional valve, No. 4 left pressure sensor, No. 4 right pressure sensor, right hip joint hydraulic cylinder and No. 4 hydraulic cylinder displacement sensor.
所述踝关节为被动驱动模块，由脚底法兰和脚底连接器组成。The ankle joint is a passive drive module consisting of a sole flange and a sole connector.
所述小腿由一号小腿结构和二号小腿结构组成，小腿长度可调。The shank is composed of a No. 1 shank structure and a No. 2 shank structure, and the length of the shank is adjustable.
所述膝关节由两个连杆组成，所述的两个连杆与小腿、对应的左膝关节液压缸或右膝关节液压缸、大腿构成五连杆机构，使膝关节的运动中心可移动，解决人体关节中心不固定的问题。The knee joint is composed of two connecting rods, and the two connecting rods form a five-bar linkage mechanism with the lower leg, the corresponding hydraulic cylinder of the left knee joint or the hydraulic cylinder of the right knee joint, and the thigh, so that the center of motion of the knee joint can be moved , to solve the problem that the joint center of the human body is not fixed.
所述髋关节由三个连杆组成，髋关节与对应的左髋关节液压缸或右髋关节液压缸构成四连杆机构，使髋关节运动中心可移动，所述各髋关节处的液压缸均嵌入大腿，构成大腿一部分，使设计一体化，结构更加紧凑。。The hip joint is composed of three connecting rods. The hip joint and the corresponding hydraulic cylinder of the left hip joint or the hydraulic cylinder of the right hip joint form a four-bar linkage mechanism, so that the center of motion of the hip joint can be moved. The hydraulic cylinders at each hip joint They are all embedded in the thigh and form a part of the thigh, making the design integrated and the structure more compact. .
所述液压基站模块包括油箱、伺服电机、补油泵、动力元件变量泵、调压回路、出油过滤器、回油过滤器、温度计以及液位计，所述伺服电机驱动动力元件变量泵将油箱中油液经出油过滤器输出到油路，所述调压回路将压力油液输出给关节驱动模块，调压回路并联于液压回路中，调整油液压力，保证所需压力油液输出给关节驱动模块。The hydraulic base station module includes a fuel tank, a servo motor, an oil charge pump, a power element variable pump, a pressure regulating circuit, an oil outlet filter, an oil return filter, a thermometer, and a liquid level gauge. The servo motor drives the power element variable pump to transfer the oil tank The medium oil is output to the oil circuit through the oil outlet filter. The pressure regulating circuit outputs the pressure oil to the joint drive module. The pressure regulating circuit is connected in parallel with the hydraulic circuit to adjust the oil pressure to ensure that the required pressure oil is output to the joints. drive module.
所述能量回收模块包括一号蓄能器、与一号蓄能器连接的一号压力表、与一号蓄能器连接的一号液控换向阀、与一号蓄能器连接的一号电磁换向阀、二号蓄能器、与二号蓄能器连接的二号压力表、与二号蓄能器连接的二号液控换向阀、与二号蓄能器连接的二号电磁换向阀，所述一号电磁换向阀和二号电磁换向阀接入关节驱动模块中的各关节液压缸回路中。所述一号电磁换向阀和二号电磁换向阀根据控制器输出信号使蓄能器能量回收或使蓄能器对外释放能量。The energy recovery module includes a No. 1 accumulator, a No. 1 pressure gauge connected to the No. 1 accumulator, a No. 1 hydraulic control reversing valve connected to the No. 1 accumulator, and a No. 1 hydraulic control valve connected to the No. 1 accumulator. No. 2 electromagnetic directional valve, No. 2 accumulator, No. 2 pressure gauge connected to No. 2 accumulator, No. 2 hydraulic control directional valve connected to No. 2 accumulator, No. The No. 1 electromagnetic directional valve, the No. 1 electromagnetic directional valve and the No. 2 electromagnetic directional valve are connected to each joint hydraulic cylinder circuit in the joint drive module. The No. 1 electromagnetic reversing valve and the No. 2 electromagnetic reversing valve enable the energy accumulator to recover energy or cause the accumulator to release energy to the outside according to the output signal of the controller.
本发明的有益效果是：The beneficial effects of the present invention are:
1.人体行走时下肢驱动力的主要来源为髋关节和膝关节的驱动力；人体下肢结构较为复杂，髋关节由位于复杂盆骨结构内的关节转子提供转动，膝关节由髌骨等组成的转动关节，关节中心不固定，是部分线性位移与转动的复合运动，并且人体是柔性关节，个体差异明显，现有的下肢外骨骼驱动与机械结构往往设计为固定关节转动，外骨骼驱动关节容易产生不利于人体下肢运动的交互力，由此带来穿戴的不适应和不舒适。本发明针对人体个性的差异，有效匹配人体髋关节、膝关节中心与机械结构不一致的矛盾。1. The main source of the driving force of the lower limbs when the human body is walking is the driving force of the hip joint and knee joint; the structure of the lower limbs of the human body is relatively complex, the hip joint is rotated by the joint rotor located in the complex pelvic structure, and the knee joint is rotated by the patella and other components The joint, the joint center is not fixed, it is a compound motion of partial linear displacement and rotation, and the human body is a flexible joint, with obvious individual differences. The existing lower extremity exoskeleton drive and mechanical structure are often designed to fix the joint rotation, and the exoskeleton drive joint is easy to produce The interaction force that is not conducive to the movement of the lower limbs of the human body, resulting in discomfort and discomfort in wearing. The present invention aims at the difference of human personality, and effectively matches the contradiction between the centers of human hip joints and knee joints and mechanical structures.
2.人体在行走时，触地瞬间冲击力峰值能达到体重的四倍有余。本发明匹配的电液伺服驱动系统，可有效提高驱动的响应速度，降低行走冲击。同时，在行走时满足快速响应、大力矩的需求。2. When the human body is walking, the peak impact force at the moment of touching the ground can reach more than four times the body weight. The matching electro-hydraulic servo drive system of the present invention can effectively improve the response speed of the drive and reduce the impact of walking. At the same time, it meets the needs of fast response and high torque when walking.
3.本发明所配置的能量回收模块，可有效匹配液压驱动能量在人体下肢行走步态周期中的分配比，提高系统能量利用效率。3. The energy recovery module configured in the present invention can effectively match the distribution ratio of hydraulic drive energy in the walking gait cycle of the lower limbs of the human body, and improve the energy utilization efficiency of the system.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1为本发明的整体结构示意图；Fig. 1 is the overall structure schematic diagram of the present invention;
图2为本发明的踝关节、膝关节的结构示意图；Fig. 2 is the structural representation of ankle joint of the present invention, knee joint;
图3为本发明的髋关节的结构示意图；Fig. 3 is the structural representation of the hip joint of the present invention;
图4为本发明的液压系统的连接关系图；Fig. 4 is the connection diagram of the hydraulic system of the present invention;
图5为本发明在双腿站立阶段的结构状态示意图；Fig. 5 is a schematic diagram of the structural state of the present invention at the stage of standing on both legs;
图6为本发明在单腿支撑期右腿站立时的结构状态示意图；Fig. 6 is a schematic diagram of the structural state of the present invention when the right leg stands in the single-leg support phase;
图7为本发明在单腿支撑期左腿迈步时的结构状态示意图；Fig. 7 is a schematic diagram of the structural state of the present invention when the left leg takes a step in the single-leg support phase;
图8为本发明在双腿支撑阶段时的结构状态示意图。Fig. 8 is a schematic diagram of the structural state of the present invention at the stage of double-leg support.
具体实施方式detailed description
为了使本发明实现的技术手段和创作特征易于明白了解，下面对本发明进一步阐述。In order to make the technical means and creative features realized by the present invention easy to understand, the present invention will be further elaborated below.
如图1和图2所示，一种连杆关节一体化液压驱动外骨骼，所述机器人主要由机械结构和液压系统组成。As shown in Fig. 1 and Fig. 2, a hydraulically driven exoskeleton integrated with link joints, the robot is mainly composed of a mechanical structure and a hydraulic system.
所述机械机构包括鞋底1、踝关节2、小腿3、膝关节4、大腿6、髋关节7、腰带9、载物支架10和控制系统。The mechanical mechanism includes a shoe sole 1, an ankle joint 2, a lower leg 3, a knee joint 4, a thigh 6, a hip joint 7, a waist belt 9, an object support 10 and a control system.
所述踝关节2为被动驱动模块，由脚底法兰11和脚底连接器12组成。所述鞋底1和小腿3通过踝关节2连接，并和脚底连接器12、一号小腿结构13采用球绞连接，使踝关节2可随人体绕三个方向转动。The ankle joint 2 is a passive drive module, consisting of a sole flange 11 and a sole connector 12 . The sole 1 and the lower leg 3 are connected through the ankle joint 2, and are connected with the sole connector 12 and the No. 1 lower leg structure 13 by a ball twist so that the ankle joint 2 can rotate around three directions with the human body.
所述小腿3由一号小腿结构13及二号小腿结构14通过螺纹连接方式构成，通过调整一号小腿结构13的位置，由定位螺栓锁紧来调节小腿3长度。所述小腿3和大腿6通过膝关节4连接，大腿6和腰带9通过髋关节7连接，载物支架10固定在腰带9上，液压系统和控制系统固定于载物支架10上。所述腰带9与载物支架10之间通过载物支架10上的连接器22连接。The shank 3 is composed of a No. 1 shank structure 13 and a No. 2 shank structure 14 through threaded connection, and the length of the shank 3 can be adjusted by adjusting the position of the No. 1 shank structure 13 and locking it by a positioning bolt. The lower leg 3 and the thigh 6 are connected through the knee joint 4 , the thigh 6 and the waist belt 9 are connected through the hip joint 7 , the load support 10 is fixed on the waist belt 9 , and the hydraulic system and the control system are fixed on the load support 10 . The waist belt 9 is connected to the object support 10 through the connector 22 on the object support 10 .
如图4所示，所述液压系统包括液压基站模块101、关节驱动模块301、能量回收模块201。As shown in FIG. 4 , the hydraulic system includes a hydraulic base station module 101 , a joint drive module 301 , and an energy recovery module 201 .
所述关节驱动模块301由四条液压驱动支路并联组成，所述液压驱动支路分别对应为左髋关节液压驱动支路、右髋关节液压驱动支路，左膝关节液压驱动支路、右膝关节液压驱动支路，四个液压驱动支路结构相同；所述左髋关节液压驱动支路包括一号电磁伺服比例阀3011、一号左压力传感器3021、一号右压力传感器3022、左髋关节液压缸3031及一号液压缸位移传感器3041；所述左膝关节液压驱动支路包括二号电磁伺服比例阀3012、二号左压力传感器3023、二号右压力传感器3024、左膝关节液压缸3032及二号液压缸位移传感器3042；所述右膝关节液压驱动支路包括三号电磁伺服比例阀3013、三号左压力传感器3025、三号右压力传感器3026、右膝关节液压缸3033及三号液压缸位移传感器3043；所述右髋关节液压驱动支路包括四号电磁伺服比例阀3014、四号左压力传感器3027、四号右压力传感器3028、右髋关节液压缸3034及四号液压缸位移传感器3044。The joint drive module 301 is composed of four hydraulic drive branches connected in parallel, and the hydraulic drive branches are respectively corresponding to the left hip joint hydraulic drive branch, the right hip joint hydraulic drive branch, the left knee joint hydraulic drive branch, the right knee joint hydraulic drive branch, and the right knee joint hydraulic drive branch. Joint hydraulic drive branch, the four hydraulic drive branches have the same structure; the left hip hydraulic drive branch includes No. 1 electromagnetic servo proportional valve 3011, No. 1 left pressure sensor 3021, No. 1 right pressure sensor 3022, left hip joint Hydraulic cylinder 3031 and No. 1 hydraulic cylinder displacement sensor 3041; the left knee joint hydraulic drive branch includes No. 2 electromagnetic servo proportional valve 3012, No. 2 left pressure sensor 3023, No. 2 right pressure sensor 3024, and left knee joint hydraulic cylinder 3032 and No. 2 hydraulic cylinder displacement sensor 3042; the right knee joint hydraulic drive branch includes No. 3 electromagnetic servo proportional valve 3013, No. 3 left pressure sensor 3025, No. 3 right pressure sensor 3026, right knee joint hydraulic cylinder 3033 and No. 3 Hydraulic cylinder displacement sensor 3043; the right hip joint hydraulic drive branch includes No. 4 electromagnetic servo proportional valve 3014, No. 4 left pressure sensor 3027, No. 4 right pressure sensor 3028, right hip joint hydraulic cylinder 3034 and No. 4 hydraulic cylinder displacement Sensor 3044.
动作时，以左髋关节液压支路为例，控制器输出控制信号给一号电磁伺服比例阀3011，控制一号电磁伺服比例阀3011中油液流向及流量大小，进而控制左髋关节液压缸3031的推杆的伸缩及伸缩速度，即控制左髋关节的屈曲运动及运动速度。一号左压力传感器3021、一号右压力传感器3022用于实时监控左髋关节液压缸3031内两侧腔体油液压力，反馈推杆压力值。所述一号液压缸位移传感器3041用于实时监控左髋关节液压缸3031的推杆位移，反馈左髋关节转角值。During the action, take the hydraulic branch of the left hip joint as an example, the controller outputs a control signal to the No. 1 electromagnetic servo proportional valve 3011 to control the flow direction and flow rate of the oil in the No. 1 electromagnetic servo proportional valve 3011, and then controls the left hip joint hydraulic cylinder 3031 The stretching and stretching speed of the putter control the flexion movement and movement speed of the left hip joint. No. 1 left pressure sensor 3021 and No. 1 right pressure sensor 3022 are used for real-time monitoring of the oil pressure in the cavities on both sides of the left hip joint hydraulic cylinder 3031 and feeding back the pressure value of the push rod. The No. 1 hydraulic cylinder displacement sensor 3041 is used to monitor the displacement of the push rod of the left hip joint hydraulic cylinder 3031 in real time, and feed back the rotation angle value of the left hip joint.
所述膝关节4由一号滑块15、二号滑块18及一号连杆16、二号连杆17组成。一号连杆16、二号连杆17、小腿3、对应的左膝关节液压缸3032或右膝关节液压缸3033、大腿6构成五连杆机构，使膝关节4的运动中心可移动。Described knee joint 4 is made up of No. 1 slide block 15, No. 2 slide block 18 and No. 1 connecting rod 16, No. 2 connecting rod 17. No. 1 connecting rod 16, No. 2 connecting rod 17, lower leg 3, corresponding left knee joint hydraulic cylinder 3032 or right knee joint hydraulic cylinder 3033, and thigh 6 form a five-bar linkage mechanism, so that the motion center of knee joint 4 can be moved.
具体地讲，所述一号滑块15与二号小腿结构14上端固连，一号滑块15两端分别设置有两个铰接头，两个铰接头分别与左膝关节液压缸3032或右膝关节液压缸3033下端铰接头、一号连杆16下端铰接头连接。所述二号滑块18与大腿6下端固连，二号滑块18设置有1个铰接头，二号滑块18上的铰接头与二号连杆17上端铰接头连接，一号连杆16上端铰接头与二号连杆17下端铰接头连接。所述大腿6上端铰接头与左膝关节液压缸3032或右膝关节液压缸3033上端铰接头连接。由此，一号滑块15，一号连杆16、二号连杆17、左膝关节液压缸3032或右膝关节液压缸3033及大腿6构成平面闭式五连杆机构。在该闭式五连杆机构中，大腿6为机架，左膝关节液压缸3032或右膝关节液压缸3033的推杆伸缩运动带动一号滑块15、一号连杆16、二号连杆17运动，从而带动小腿3做屈曲运动。Specifically, the No. 1 slider 15 is fixedly connected to the upper end of the No. 2 shank structure 14, and two hinge joints are respectively arranged at both ends of the No. 1 slider 15, and the two joint joints are respectively connected with the left knee joint hydraulic cylinder 3032 or the right The hinged joint at the lower end of the knee joint hydraulic cylinder 3033 is connected with the hinged joint at the lower end of No. 1 connecting rod 16 . The No. 2 slider 18 is fixedly connected with the lower end of the thigh 6, and the No. 2 slider 18 is provided with a hinged joint. The hinged joint on the No. 2 slider 18 is connected with the hinged joint at the upper end of the No. 2 connecting rod 17, and the No. 1 connecting rod 16 upper end hinged joints are connected with No. 2 connecting rod 17 lower end hinged joints. The hinged joint at the upper end of the thigh 6 is connected to the hinged joint at the upper end of the left knee joint hydraulic cylinder 3032 or the right knee joint hydraulic cylinder 3033 . Thus, No. 1 slide block 15, No. 1 connecting rod 16, No. 2 connecting rod 17, left knee joint hydraulic cylinder 3032 or right knee joint hydraulic cylinder 3033 and thigh 6 constitute a plane closed five-bar linkage mechanism. In this closed five-link mechanism, the thigh 6 is the rack, and the telescopic movement of the push rod of the left knee joint hydraulic cylinder 3032 or the right knee joint hydraulic cylinder 3033 drives the No. 1 slider 15, the No. 1 connecting rod 16, and the No. 2 connecting rod. The rod 17 moves, thereby driving the calf 3 to do flexion.
上述的闭式五连杆结构解决了人体行走时膝关节中心不固定的问题，减少人体与外骨骼间交互力，提高了穿戴舒适性。The above-mentioned closed five-link structure solves the problem that the center of the knee joint is not fixed when the human body walks, reduces the interaction force between the human body and the exoskeleton, and improves the wearing comfort.
如图1和图3所示，所述髋关节7由三个连杆组成，髋关节7与对应的左髋关节液压缸3031或右髋关节液压缸3034构成四连杆机构，使髋关节7运动中心可移动，所述各髋关节7处的液压缸均嵌入大腿6，构成大腿6一部分。As shown in Figures 1 and 3, the hip joint 7 is composed of three connecting rods, and the hip joint 7 and the corresponding left hip joint hydraulic cylinder 3031 or right hip joint hydraulic cylinder 3034 form a four-bar linkage mechanism, so that the hip joint 7 The center of motion is movable, and the hydraulic cylinders at the hip joints 7 are embedded in the thigh 6 to form a part of the thigh 6 .
具体地讲，所述左髋关节液压缸3031或右髋关节液压缸3034的缸体部分内嵌到对应侧的大腿6内部，左髋关节液压缸3031或右髋关节液压缸3034的推杆上设有的铰接头与对应侧的髋关节7连接。由此，左髋关节液压缸3031或右髋关节液压缸3034在提供驱动力时，左髋关节液压缸3031或右髋关节液压缸3034的缸体部分也构成大腿6的一部分，使外骨骼机构更紧凑。Specifically, the cylinder part of the left hip joint hydraulic cylinder 3031 or the right hip joint hydraulic cylinder 3034 is embedded in the corresponding side of the thigh 6, and the push rod of the left hip joint hydraulic cylinder 3031 or the right hip joint hydraulic cylinder 3034 The provided hinged head is connected with the hip joint 7 on the corresponding side. Thus, when the left hip joint hydraulic cylinder 3031 or the right hip joint hydraulic cylinder 3034 provides driving force, the cylinder part of the left hip joint hydraulic cylinder 3031 or the right hip joint hydraulic cylinder 3034 also constitutes a part of the thigh 6, so that the exoskeleton mechanism more compact.
所述髋关节7包括轴套19、三号连杆20及四号连杆21。其中：轴套19与对应侧的大腿6上端通过法兰固定连接，轴套19上端的铰接头与三号连杆20下端的铰接头连接，三号连杆20上端的铰接头与四号连杆21上端的铰接头连接，四号连杆21下端的铰接头与左髋关节液压缸3031或右髋关节液压缸3034的推杆的铰接头连接。由此，左髋关节液压缸3031或右髋关节液压缸3034、轴套19、三号连杆20及四号连杆21构成平面闭式四连杆机构。The hip joint 7 includes a shaft sleeve 19 , a third connecting rod 20 and a fourth connecting rod 21 . Wherein: the shaft sleeve 19 is fixedly connected with the upper end of the thigh 6 on the corresponding side through a flange, the hinge joint at the upper end of the shaft sleeve 19 is connected with the joint joint at the lower end of the No. 3 connecting rod 20, and the joint joint at the upper end of the No. The hinge joint at the upper end of the rod 21 is connected, and the hinge joint at the lower end of the fourth connecting rod 21 is connected with the hinge joint of the push rod of the left hip joint hydraulic cylinder 3031 or the right hip joint hydraulic cylinder 3034. Thus, the left hip joint hydraulic cylinder 3031 or the right hip joint hydraulic cylinder 3034, the bushing 19, the third connecting rod 20 and the fourth connecting rod 21 form a planar closed four-bar linkage mechanism.
在上述四连杆机构中，四号连杆21为机架，左髋关节液压缸3031或右髋关节液压缸3034的推杆伸缩运动带动对应侧的轴套19及三号连杆20运动，从而带动对应侧的大腿6做前后伸展和屈曲运动。与膝关节4一样，该髋关节7的闭式四连杆机构解决了人体行走时髋关节中心不固定的问题，使人体穿戴下肢外骨骼运动时更舒适。In the above-mentioned four-bar linkage mechanism, the fourth connecting rod 21 is the frame, and the telescopic movement of the push rod of the left hip joint hydraulic cylinder 3031 or the right hip joint hydraulic cylinder 3034 drives the corresponding side bushing 19 and the third connecting rod 20 to move, Thereby, the thigh 6 on the corresponding side is driven to perform forward and backward stretching and flexion movements. Like the knee joint 4, the closed four-bar linkage mechanism of the hip joint 7 solves the problem that the center of the hip joint is not fixed when the human body walks, and makes the human body more comfortable when wearing the lower extremity exoskeleton.
如图4，所述液压基站模块101包括油箱101、伺服电机103、补油泵105、动力元件变量泵106、调压回路、出油过滤器1072、回油过滤器1071、温度计108以及液位计109，所述伺服电机103驱动动力元件变量泵106将油箱101中油液经出油过滤器1072输出到油路，所述调压回路将压力油液输出给关节驱动模块301。As shown in Figure 4, the hydraulic base station module 101 includes a fuel tank 101, a servo motor 103, an oil charge pump 105, a power element variable pump 106, a pressure regulating circuit, an oil outlet filter 1072, an oil return filter 1071, a thermometer 108 and a liquid level gauge 109 , the servo motor 103 drives the power component variable pump 106 to output the oil in the oil tank 101 to the oil circuit through the oil outlet filter 1072 , and the pressure regulating circuit outputs the pressure oil to the joint driving module 301 .
所述调压回路包括一号单向阀10121、二号单向阀10122、三号单向阀10123、四号单向阀10124、溢流阀1011。The pressure regulating circuit includes a No. 1 check valve 10121 , a No. 2 check valve 10122 , a No. 3 check valve 10123 , a No. 4 check valve 10124 and an overflow valve 1011 .
所述伺服电机103的输入控制信号为PWM，控制器根据人体所处不同步态调整脉宽调制(PWM)信号占空比，从而调整动力元件变量泵106输出油液流量大小。调压回路中溢流阀1011维持系统设定压力，保持系统安全。液压系统为闭式液压系统，不断地油液泄漏为其固有属性，补油泵105则持续地补偿闭式系统由于泄漏损失的油液。The input control signal of the servo motor 103 is PWM, and the controller adjusts the duty ratio of the pulse width modulation (PWM) signal according to the different states of the human body, thereby adjusting the output oil flow rate of the power element variable pump 106 . The overflow valve 1011 in the pressure regulating circuit maintains the system set pressure and keeps the system safe. The hydraulic system is a closed hydraulic system with constant oil leakage as its inherent property, and the charge pump 105 continuously compensates the oil lost due to leakage in the closed system.
所述液压基站模块101向关节驱动模块301提供具有一定流量和压力的油液。其中，流量取决于下肢外骨骼步态信息，根据步态信息评估左髋关节液压缸3031、左膝关节液压缸3032、右膝关节液压缸3033和右髋关节液压缸3034所需流量，从而调整伺服电机1.3控制信号PWM占空比，使动力元件变量泵106输出流量等于或略大于左髋关节液压缸3031、左膝关节液压缸3032、右膝关节液压缸3033和右髋关节液压缸3034所需流量之和。其中所需压力由调节调压回路加以设定。The hydraulic base station module 101 provides oil with a certain flow rate and pressure to the joint driving module 301 . Wherein, the flow rate depends on the gait information of the lower extremity exoskeleton, and the required flow rates of the left hip joint hydraulic cylinder 3031, left knee joint hydraulic cylinder 3032, right knee joint hydraulic cylinder 3033, and right hip joint hydraulic cylinder 3034 are estimated according to the gait information, thereby adjusting The servo motor 1.3 controls the signal PWM duty cycle, so that the output flow of the variable pump 106 of the power element is equal to or slightly greater than that of the left hip joint hydraulic cylinder 3031, the left knee joint hydraulic cylinder 3032, the right knee joint hydraulic cylinder 3033 and the right hip joint hydraulic cylinder 3034. The sum of required flows. The required pressure is set by adjusting the pressure regulating circuit.
如图4，所述能量回收模块201包括一号蓄能器2051、与一号蓄能器2051连接的一号压力表2041、与一号蓄能器2051连接的一号液控换向阀2031、与一号蓄能器2051连接的一号电磁换向阀2011、二号蓄能器2052、与二号蓄能器2052连接的二号压力表2042、与二号蓄能器2052连接的二号液控换向阀2032、与二号蓄能器2051连接的二号电磁换向阀2012，所述一号电磁换向阀2011和二号电磁换向阀2012接入关节驱动模块301中的各关节液压缸回路中。As shown in Figure 4, the energy recovery module 201 includes a No. 1 accumulator 2051, a No. 1 pressure gauge 2041 connected to the No. 1 accumulator 2051, and a No. 1 hydraulic control reversing valve 2031 connected to the No. 1 accumulator 2051. , No. 1 electromagnetic reversing valve 2011 connected with No. 1 accumulator 2051, No. 2 accumulator 2052, No. 2 pressure gauge 2042 connected with No. 2 accumulator 2052, No. 2 pressure gauge 2042 connected with No. 2 accumulator 2052 No. 2 hydraulic control reversing valve 2032, No. 2 electromagnetic reversing valve 2012 connected with No. 2 accumulator 2051, the No. 1 electromagnetic reversing valve 2011 and No. 2 electromagnetic reversing valve 2012 are connected to joint drive module 301 Each joint hydraulic cylinder circuit.
所述能量回收模块201根据人体步态信息选择工作模式。当下肢外骨骼处双腿站立阶段，所述左髋关节液压缸3031、左膝关节液压缸3032、右膝关节液压缸3033和右髋关节液压缸3034不工作，无需油液，此时控制器使能量回收模块201的一号电磁换向阀2011和二号电磁换向阀2012处中位，一号液控换向阀2031和二号液控换向阀2032处左位，液压基站模块101向一号蓄能器2051和二号蓄能器2052补油；当所述下肢外骨骼处单腿支撑阶段(以右腿支撑阶段为例)，左髋关节液压缸3031、左膝关节液压缸3032所需油液流量较大，此时控制器使一号电磁换向阀2011和二号电磁换向阀2012处左位，一号液控换向阀2031和二号液控换向阀2032处右位，一号蓄能器2051和一号蓄能器2052向关节驱动模块301提供能量；当所述下肢外骨骼处双腿支撑阶段，左髋关节液压缸3031、左膝关节液压缸3032、右膝关节液压缸3033和右髋关节液压缸3034所需油液流量较小，此时控制器使一号电磁换向阀2011和二号电磁换向阀2012处左位，一号液控换向阀2031和二号液控换向阀2032处左位，关节驱动模块301的多余油液回收至一号蓄能器2051和二号蓄能器2052。The energy recovery module 201 selects a working mode according to human body gait information. In the stage of standing with both legs at the exoskeleton of the lower extremities, the left hip joint hydraulic cylinder 3031, left knee joint hydraulic cylinder 3032, right knee joint hydraulic cylinder 3033 and right hip joint hydraulic cylinder 3034 do not work, and no oil is needed. At this time, the controller The No. 1 electromagnetic reversing valve 2011 and the No. 2 electromagnetic reversing valve 2012 of the energy recovery module 201 are in the middle position, the No. 1 hydraulic control reversing valve 2031 and the No. 2 hydraulic control reversing valve 2032 are in the left position, and the hydraulic base station module 101 Add oil to No. 1 accumulator 2051 and No. 2 accumulator 2052; when the single-leg support stage (taking the right leg support stage as an example) at the exoskeleton of the lower limbs, the left hip joint hydraulic cylinder 3031 and the left knee joint hydraulic cylinder The oil flow required by 3032 is relatively large. At this time, the controller makes the No. 1 electromagnetic directional valve 2011 and the No. 2 electromagnetic directional valve 2012 in the left position, and the No. 1 hydraulic control directional valve 2031 and No. 2 hydraulic control directional valve 2032 In the right position, No. 1 accumulator 2051 and No. 1 accumulator 2052 provide energy to the joint drive module 301; when the lower extremity exoskeleton is in the stage of supporting both legs, the left hip joint hydraulic cylinder 3031 and the left knee joint hydraulic cylinder 3032 , The oil flow required by the right knee joint hydraulic cylinder 3033 and the right hip joint hydraulic cylinder 3034 is relatively small. At this time, the controller makes the No. 1 electromagnetic directional valve 2011 and the No. The reversing valve 2031 and the No. 2 hydraulic control reversing valve 2032 are in the left position, and the excess oil of the joint drive module 301 is recovered to the No. 1 accumulator 2051 and the No. 2 accumulator 2052 .
对系统的综合分析如下：A comprehensive analysis of the system is as follows:
根据人行走时双腿支撑情况将步态周期分四个阶段：双腿站立阶段、左腿支撑阶段、双腿支撑阶段及右腿支撑阶段。The gait cycle is divided into four stages according to the support of the legs when walking: the stage of standing with both legs, the stage of supporting the left leg, the stage of supporting the legs and the stage of supporting the right leg.
如图5所示，当所述人体处双腿站立阶段。左/右侧的髋关节7和左/右侧的膝关节4静止，不发生转动，左膝关节液压缸3032的推杆和右膝关节液压缸3033的推杆伸展至最大位移使小腿3与大腿6处直立状态，左髋关节液压缸3031的推杆和右髋关节液压缸3034的推杆所处位置使人体上身躯干与大腿6处直立状态。为保证背负载荷经由双腿及对应侧的液压缸传递至地面，防止各关节发生突然转动，造成人体伤害，控制器控制一号电磁伺服比例阀3011、二号电磁伺服比例阀3012、三号电磁伺服比例阀3013、四号电磁伺服比例阀3014处中位，截断上述各比例阀，停止向对应的左髋关节液压缸3031、左膝关节液压缸3032、右膝关节液压缸3033、右髋关节液压缸3034供油，使左髋关节液压缸3031、左膝关节液压缸3032、右膝关节液压缸3033和右髋关节液压缸3034处锁定状态。As shown in FIG. 5 , when the human body is in the stage of standing with both legs. The hip joint 7 on the left/right side and the knee joint 4 on the left/right side are static and do not rotate, and the push rod of the left knee joint hydraulic cylinder 3032 and the push rod of the right knee joint hydraulic cylinder 3033 are extended to the maximum displacement so that the calf 3 and the The thighs are in an upright state at 6 places, and the positions of the push rod of the left hip joint hydraulic cylinder 3031 and the push rod of the right hip joint hydraulic cylinder 3034 make the human upper body trunk and the thighs are in an upright state at 6 places. In order to ensure that the load on the back is transmitted to the ground through the legs and the hydraulic cylinders on the corresponding side, and to prevent the joints from rotating suddenly and causing human injury, the controller controls No. 1 electromagnetic servo proportional valve 3011, No. 2 electromagnetic servo proportional valve 3012, and No. 3 electromagnetic servo proportional valve. The servo proportional valve 3013 and No. 4 electromagnetic servo proportional valve 3014 are in the middle position, cut off the above-mentioned proportional valves, and stop to the corresponding left hip joint hydraulic cylinder 3031, left knee joint hydraulic cylinder 3032, right knee joint hydraulic cylinder 3033, and right hip joint hydraulic cylinder 3033. The hydraulic cylinder 3034 supplies oil, so that the left hip joint hydraulic cylinder 3031, the left knee joint hydraulic cylinder 3032, the right knee joint hydraulic cylinder 3033 and the right hip joint hydraulic cylinder 3034 are in a locked state.
如图6和图7所示，当所述人体处于单腿支撑阶段(以右腿单腿支撑为例)。As shown in Fig. 6 and Fig. 7, when the human body is in the stage of single-leg support (taking the single-leg support of the right leg as an example).
图6示意右腿步态站立期的三种形态：形态1：步态站立初期，形态2：步态站立中期，形态3：步态站立末期。根据实际情况，右腿支撑期间人体上身保持直立。从步态站立形态1至形态3，所述大腿6与小腿3间相对转动小，可近似刚性连接，即θ31＝θ32＝θ33。对应控制器控制三号电磁伺服比例阀3013处中位，截断三号电磁伺服比例阀3013，停止向右膝关节液压缸3033提供油液，使右膝关节液压缸3033处锁定状态。从步态站立形态1到形态3，所述大腿6与人体上身躯干绕髋关节7屈曲运动，由设定最大转动角度θ41至设定最小转动角度θ43。对应控制器控制四号电磁伺服比例阀3014处左位，右髋关节液压缸3034的推杆以一定速度由设定最大位移移动到设定最小位移。此时四号液压缸位移传感器3044向控制器反馈信号，控制器控制四号电磁伺服比例阀3014处中位，完成屈曲运动。Figure 6 shows three forms of the right leg during the stance phase: Form 1: the initial stage of stance, Form 2: the middle stage of stance, and Form 3: the end stage of stance. According to the actual situation, the upper body of the human body remains upright during the support of the right leg. From the gait standing form 1 to the form 3, the relative rotation between the thigh 6 and the lower leg 3 is small, which can be approximated as a rigid connection, that is, θ31 =θ32 =θ33 . The corresponding controller controls the No. 3 electromagnetic servo proportional valve 3013 to be in the middle position, cuts off the No. 3 electromagnetic servo proportional valve 3013, stops supplying oil to the right knee joint hydraulic cylinder 3033, and makes the right knee joint hydraulic cylinder 3033 in a locked state. From gait standing form 1 to form 3, the thigh 6 and the upper body trunk of the human body flex around the hip joint 7, from the set maximum rotation angle θ41 to the set minimum rotation angle θ43 . The corresponding controller controls the left position of No. 4 electromagnetic servo proportional valve 3014, and the push rod of the right hip joint hydraulic cylinder 3034 moves from the set maximum displacement to the set minimum displacement at a certain speed. At this time, the No. 4 hydraulic cylinder displacement sensor 3044 feeds back a signal to the controller, and the controller controls the No. 4 electromagnetic servo proportional valve 3014 to be in the neutral position to complete the buckling motion.
图7示意左腿步态迈步期的三种形态：形态1：步态迈步初期，形态2：步态迈步中期，为迈步运动曲线最高点，形态3：步态迈步末期。从形态1到形态3，所述小腿3与大腿6绕膝关节4先做屈曲运动至形态2，由设定最大转动角度θ21至设定最小转动角度θ22。对应控制器控制二号电磁伺服比例阀3011处左位，左膝关节液压缸3032推杆以一定速度由设定最大位移移至设定最小位移。此时二号液压缸位移传感器3042向控制器反馈信号，控制器控制二号电磁伺服比例阀3011处中位，完成屈曲运动。之后，所述小腿3与大腿6绕膝关节4做伸展运动至形态3，由设定最小转动角度θ22至设定最大转动角度θ23。对应控制器控制二号电磁伺服比例阀3011处右位，左膝关节液压缸3032推杆以一定速度由设定最小位移移动至设定最大位移。此时二号液压缸位移传感器3042向控制器反馈信号，控制器控制二号电磁伺服比例阀3011处中位，完成伸展运动。从步态迈步形态1到形态3，所述大腿6与人体上身躯干做伸展运动至形态3。由设定最小转动角度θ11至设定最大转动角度θ12。对应控制器控制一号电磁伺服比例阀3011处右位，左髋关节液压缸3031的推杆以一定速度由设定最小位移移动至设定最大位移。此时位移传感器3.41向控制器反馈信号，控制器控制一号电磁伺服比例阀3011处中位，完成伸展运动。Figure 7 shows three forms of the left leg in the gait stage: Form 1: the initial stage of gait; Form 2: the middle stage of gait, which is the highest point of the gait curve; and Form 3: the end stage of gait. From form 1 to form 3, the calf 3 and thigh 6 perform flexion around the knee joint 4 to form 2, from the set maximum rotation angle θ21 to the set minimum rotation angle θ22 . The corresponding controller controls the left position of the No. 2 electromagnetic servo proportional valve 3011, and the push rod of the left knee joint hydraulic cylinder 3032 moves from the set maximum displacement to the set minimum displacement at a certain speed. At this time, the No. 2 hydraulic cylinder displacement sensor 3042 feeds back a signal to the controller, and the controller controls the No. 2 electromagnetic servo proportional valve 3011 to be in the neutral position to complete the buckling motion. After that, the calf 3 and the thigh 6 perform stretching motion around the knee joint 4 to form 3, from the set minimum rotation angle θ22 to the set maximum rotation angle θ23 . The corresponding controller controls the right position of the No. 2 electromagnetic servo proportional valve 3011, and the push rod of the left knee joint hydraulic cylinder 3032 moves from the set minimum displacement to the set maximum displacement at a certain speed. At this time, the No. 2 hydraulic cylinder displacement sensor 3042 feeds back a signal to the controller, and the controller controls the No. 2 electromagnetic servo proportional valve 3011 to be in the neutral position to complete the stretching motion. From the gait step form 1 to the form 3, the thigh 6 and the upper body of the human body are stretched to the form 3. From setting the minimum rotation angle θ11 to setting the maximum rotation angle θ12 . The corresponding controller controls the right position of No. 1 electromagnetic servo proportional valve 3011, and the push rod of the left hip joint hydraulic cylinder 3031 moves from the set minimum displacement to the set maximum displacement at a certain speed. At this time, the displacement sensor 3.41 feeds back a signal to the controller, and the controller controls the No. 1 electromagnetic servo proportional valve 3011 to be in the neutral position to complete the stretching motion.
如图8所示，当所述人体处双腿支撑阶段，即右腿单腿支撑至左腿单腿支撑的过渡期，双腿支撑阶段各关节转动角度很小。在双腿支撑阶段，右腿保持右腿单腿支撑阶段右腿站立末期的形态，左腿保持右腿单腿支撑阶段左腿迈步末期的形态。为保证人体安全及所背负载荷经由双腿传递到地面，防止各关节发生突然地屈曲运动，控制器控制一号电磁伺服比例阀3011、二号电磁伺服比例阀3012、三号电磁伺服比例阀3013、四号电磁伺服比例阀3014处中位，使左髋关节液压缸3031、左膝关节液压缸3032、右膝关节液压缸3033和右髋关节液压缸3034处锁定状态。As shown in FIG. 8 , when the human body is in the double-leg support stage, that is, the transition period from the right leg single-leg support to the left leg single-leg support, the rotation angle of each joint in the double-leg support stage is very small. In the double-leg support stage, the right leg maintains the shape of the right leg at the end of the right leg single-leg support stage, and the left leg maintains the shape of the left leg at the end of the right leg single-leg support stage. In order to ensure the safety of the human body and the load on the back to the ground through the legs, to prevent sudden flexion of each joint, the controller controls the No. 1 electromagnetic servo proportional valve 3011, the No. 2 electromagnetic servo proportional valve 3012, and the No. 3 electromagnetic servo proportional valve 3013 , No. 4 electromagnetic servo proportional valve 3014 is in the middle position, so that the left hip joint hydraulic cylinder 3031, the left knee joint hydraulic cylinder 3032, the right knee joint hydraulic cylinder 3033 and the right hip joint hydraulic cylinder 3034 are locked.
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and what are described in the above-mentioned embodiments and description are only the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention also has various Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610115341.2ACN105686930B (en) | 2016-03-01 | 2016-03-01 | A kind of link joint integrated hydraulic driving ectoskeleton |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610115341.2ACN105686930B (en) | 2016-03-01 | 2016-03-01 | A kind of link joint integrated hydraulic driving ectoskeleton |
| Publication Number | Publication Date |
|---|---|
| CN105686930Atrue CN105686930A (en) | 2016-06-22 |
| CN105686930B CN105686930B (en) | 2018-11-20 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610115341.2AActiveCN105686930B (en) | 2016-03-01 | 2016-03-01 | A kind of link joint integrated hydraulic driving ectoskeleton |
| Country | Link |
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| CN (1) | CN105686930B (en) |
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