A kind of valve control Hydraulic Power Transmission System applied to exoskeleton robotTechnical field
The present invention relates to mechanical engineering technical fields, more particularly to a kind of valve applied to exoskeleton robotControl Hydraulic Power Transmission System.
Background technology
Exoskeleton robot is a kind of man-machine collaboration device being worn on human body, in military affairs, logistics, speedily carries out rescue work, helps the disabledField has broad prospect of application.Have the research and development of exoskeleton robot of more institutions conducts both at home and abroad, and obtains stageAchievement in research.
It is divided by driving form, exoskeleton robot mainly has electric transmission (motor drives speed reducer or lead screw), hydraulic pressure to passThe three classes such as dynamic (hydraulic oil drive cylinder), Pneumatic Transmission (compressed air-driven cylinder).Wherein, hydraulic drive is because of its power densityHigh, output strength becomes greatly and on heavy-load type (loading-type) exoskeleton robot mainstream transmission scheme.
Hydraulicdriven exoskeleton robot generally controls traffic direction and the operation of each oil cylinder using electrohydraulic servo valveSpeed.Such as：Apply for 105496734 A of notification number CN《A kind of servomechanism based on mechanical exoskeleton action state》, authorize103612257 B of notification number CN《A kind of ectoskeleton pump valve Combined Control Unit and control method》, Authorization Notice No. CN105798932 B,《A kind of control method for exoskeleton system walking states》Equal documents, all refer to exoskeleton robotHydraulic drive and control is all made of electrohydraulic servo valve.
Hydraulic drive and control scheme in above patent document is had nothing in common with each other in detail, but with followingCommon feature：
1) using electrohydraulic servo valve come the control cylinder speed of service and traffic direction；
2) multiple sensors are installed, by acquiring sensor information and carrying out comprehensive analysis, to identify that human motion is intended to；
3) it is instructed by complicated algorithm to give the input of electrohydraulic servo valve.
These common features are allowed to that there are the deficiencies of following several respects：
1, transmission efficiency is low.Electrohydraulic servo valve be it is a kind of exchanging the control element of high response speed for by sacrificing energy consumption,Need (speed control for corresponding to oil cylinder) when accurate flow control that valve port must be made to maintain certain pressure loss, and there are guidesOil consumption (this guide's oil consumption proportion is larger for micro hydraulic transmission), the hydraulic system controlled using electrohydraulic servo valve is generalStore-through is in the problem that transmission efficiency is low, ineffective energy consumption is big.And larger ineffective energy consumption can cause system heat generation, need additionally to increaseAdd cooling measure, further increase energy consumption and cause the increase of exoskeleton robot monnolithic case and weight, when battery durableBetween shorten.
2, control is complicated, and the factor for restricting the realization of its function is excessive, reduces adaptability for working condition and functional reliability.MachineryThe voltage input of arm movement comes from multiple sensors for detecting human body and mechanical arm working condition, by acquiring multiple sensingsDevice information is compared analysis, recalls the control instruction that complicated control algolithm calculates electrohydraulic servo valve.In the course of workIn, the failure of arbitrary related hardware or software can all cause the failure of control, correlative factor more at most incipient fault point more.AndAnd since human body posture is varied, the control based on preset algorithm, it is difficult to cover all possible fortune of wearer comprehensivelyDynamic posture, influences its adaptability for working condition.
3, manufacturing cost is excessively high, restricts its marketing.Due to needing to configure multiple servo valves, multiple sensors and oneA stronger processor of function (or micro computer), on the one hand, to reserve installation space to these components, monnolithic case can be causedWith the increase of weight；On the other hand, these components itself are worth higher, further increase manufacturing cost.Although researching and developingStage can pay close attention to performance, and cost control is put into next, but form commodity, and control manufacturing cost is to need face sooner or laterTo problem.
Therefore, how to provide a kind of control simple, reliable operation, energy consumption smaller, applied to exoskeleton robot it is low atThe problem of this hydraulic drive control device is those skilled in the art's urgent need to resolve.
Invention content
In view of this, the present invention provides a kind of valve control Hydraulic Power Transmission System applied to exoskeleton robot, watch manuallyUnder the common mating reaction for taking valve, repairing check valve and oil cylinder, simplifies control mode, effectively promotes functional reliability and safetyProperty, it improves operating rate while reducing energy consumption and reduces production and application cost.
11, to achieve the goals above, the present invention adopts the following technical scheme that：A kind of valve applied to exoskeleton robotHydraulic Power Transmission System is controlled, including：Hydraulic oil source, manual servo valve, repairing check valve and oil cylinder, mechanical arm；
The hydraulic oil source includes servo motor, hydraulic pump and fuel tank, and the servo motor drives hydraulic pump, describedHydraulic pump is from the fuel tank oil suction, to the manual servo valve fuel feeding；
The manual servo valve carries mechanical position feedback to form closed-loop control, the manual servo valve at least oneOil inlet, an oil return opening, an oil outlet, the oil suction chamber of the oil outlet connection oil cylinder, the oil outlet also pass through repairingCheck valve is connected to fuel tank；
The manual servo valve is mounted on exoskeleton robot, and the manual servo valve includes reversal valve, changed with describedThe reversing gear and operating mechanism distance caging device connected to valve；
At least one point of the reversing gear is strapped on the limbs of people, and the reversing gear includes manipulatingBar, at least one point of the control stick are directly or indirectly connected with the mechanical arm, the control stick and the mechanical armWhen relative position is in original state, the reversal valve of the manual servo valve is in middle position；
When wearer manipulates the first control stick or the second control stick by limbs, the phase of the control stick and the mechanical armDeviation is generated to position and original state, the deviation drives the reversal valve commutation, changed described in the direction decision of the deviationTo the commutation direction of valve, the size of the deviation and the reversal valve valve port opening positive correlation；
After the deviation driving reversal valve commutation, hydraulic oil source drive cylinder makes first mechanical arm and second mechanical arm generateRelative motion, and the direction of the relative motion tends to be gradually reduced the deviation, commutates after the deviation completely eliminatesValve comes back to middle position；
The operating mechanism of the manual servo valve is provided with operating mechanism distance caging device, and the limiting device is mounted onOn exoskeleton robot, for limiting control stick range, that is, the maximum deviation amount of control stick and mechanical arm, the limit are limitedPosition device can be specifically the forms such as limited block or stop screw, when the operating mechanism is manipulated mechanism travel limit deviceWhen limit, the limbs of exoskeleton robot wearer can drive manipulator motion by operating mechanism.
Preferably, the reversing gear includes the first control stick and the second control stick being connected with each other, the machineryArm includes first mechanical arm and the hinged second mechanical arm of the first mechanical arm；At least one point of first control stickDirectly or indirectly it is connected with the first mechanical arm, at least one point of second control stick is directly or indirectly with described secondMechanical arm is connected, the relative position and second control stick and second mechanical arm of first control stick and first mechanical armRelative position when being in original state, the reversal valve of the manual servo valve is in middle position；
The relative position or/and second control stick and described second of first control stick and the first mechanical armThe relative position and original state of mechanical arm generate deviation, and the deviation drives the reversal valve commutation, the direction of the deviationDetermine the commutation direction of the reversal valve, the size of the deviation and the reversal valve valve port opening positive correlation.
Preferably, when the first mechanical arm is failure to actuate, the opposite position of second control stick and the second mechanical armIt sets and the deviation of original state generation drives the reversal valve to commutate, first control stick does not play a role；Or described secondWhen mechanical arm is failure to actuate, the deviation that the relative position and original state of first control stick and the first mechanical arm generate is drivenThe dynamic reversal valve commutation, second control stick do not play a role.
Preferably, the oil cylinder is one-way cylinder or two-way cylinder.
Preferably, the manual servo valve is the manual servo valve of 3-position 4-way, and there are two oil outlets for tool, and go out described in twoHydraulic fluid port is respectively communicated with the rodless cavity and rod chamber of the two-way cylinder；Or one of two oil outlets oil outlet is connected to instituteState the oil suction chamber of one-way cylinder.
Preferably, the manual servo valve is the manual servo valve of 3-position-3-way, and tool is there are one oil outlet, and the oil outletIt is connected to the oil suction chamber of the one-way cylinder.
Preferably, the outlet of the hydraulic pump is connected to high pressure accumulator by check valve, to promote exoskeleton robotInstantaneous power.
Preferably, assist function switch valve is set on the in-line of the manual servo valve, wherein each described handDynamic servo valve configures an assist function switch valve, or is grouped to multiple manual servo valves, and every group is watched manuallyIt takes valve in-line and shares an assist function switch valve, the control mode of the assist function switch valve includes that wearer is strongSystem is turned on and off.
Preferably, the hydraulic oil source further includes a low pressure oil sources, by check valve to the assist function switch valveOil outlet fuel feeding.
Preferably, further include force snesor, the actual loading size for detecting human body limb, then with exoskeleton robotThe preset value of controller setting is compared to determine the working position of the assist function switch valve, when human body limb actual loadingThe assist function switch valve is closed when less than or equal to the first preset value, when human body limb actual loading is greater than or equal to secondThe assist function switch valve is opened when preset value.
Preferably, the manual servo valve repairing check valve integrated design corresponding with the manual servo valve.
Preferably, when the scheme is applied to the power-assisted in human body multiple joints, the oil cylinder in each joint shares hydraulic oil source.
Preferably, the fuel tank uses enclosed elastic fuel tank.
Preferably, when only needing one of mechanical arm active movement in the mechanical arm of two relative motions, the handThe reversing gear of dynamic servo valve is only arranged a control stick, the control stick at least one point directly or indirectly with activelyThe mechanical arm of movement is connected and separately has at least one point to be strapped on the limbs of people.
It can be seen via above technical scheme that simpler, reliable, energy consumption smaller, work in a kind of control of present invention offerMake speed faster, the hydraulic drive control device of the lower exoskeleton robot of cost.Specifically have the beneficial effect that：
1, control is simple
For exoskeleton robot as a kind of man-machine collaboration device, core demand for control is that human action is made to be acted with machineIt is harmonious.Other than certain specific uses (such as helping the disabled) require human body to follow machine movement, for most of use demandsIt is that requirement machine follows human motion.For loading-type exoskeleton robot no matter using which kind of control strategy, installation is what type ofSensor carrys out detection and analysis identification human motion and is intended to, and core is exactly to realize that machine follows human motion in real time.It comparesIn conventional scheme, present invention employs most simple direct modes, the i.e. machine of human body limb and manual servo valve control input terminalTool contacts, and so that mechanical arm is followed human body limb movement, need not install multiple sensors to detect human body limb state and movementTrend does not need complicated algorithm, does not need powerful controller (present invention requires controller relatively low).
2, reliable operation
Relative to conventional techniques, reliable operation sexual clorminance of the invention can embody in terms of several：
1) because simple in order to control, multiple sensors need not be installed, do not need complicated algorithm and powerful controlDevice, that is, precision components quantity used in the present invention are less, thus incipient fault point is also just less.
2) in the present invention program, coordinate jointly in manual servo valve, repairing check valve and reversing gear limiting deviceUnder effect, in emergency circumstances wearer can carry out manipulation of going beyond one's commission using itself strength to exoskeleton robot, not by ectoskeleton machineThe limitation of the instantaneous maximum fuel supply flow rate of device people, is not limited by component response speed, is not limited by any control program.
The present invention realizes this function, is based on several necessary conditions：First, when oil cylinder follows not in time, wearingPerson's limbs can be forced to drive manipulator motion by the control stick being strapped on human body limb；Second, it forces to drive mechanical arm fortuneIf oil cylinder oil suction is insufficient when dynamic, repairing check valve can ensure that oil cylinder oil suction is unobstructed；Third, wearer need to force to drive mechanical armManual servo valve is centainly in commutation states when movement and the working position of reversal valve centainly meets expection with valve port opening, if thisWhen to need oil cylinder oil extraction, oil extraction road also must be unobstructed.This function that the present invention has, to promoting functional reliability and workMaking safety has very strong practical value, specifically includes：
When meeting with certain emergencies, such as because sole is stumbled, human body will disequilibrium when, human body need to make quicklyReaction, by hydraulic oil source, instantaneously the factors such as maximum fuel supply flow rate or control program are not limited human action speed at this time, favorablyBalance is picked up in adjustment gait in time, avoids falling down.This actually increases the safety of exoskeleton robot and reliableProperty.
Wearer can quickly walk in the unloaded state, without by hydraulic oil source, instantaneously maximum fuel supply flow rate is limited,It can thus deal in a variety of urgent needs, such as rescue operations and quickly run to emergency place.
The safety of wearer can also be improved when force aid system breaks down.For example disappear in the rescue site energy content of batteryWhen consumption finishes, all electric control gears all fail, at least can be with normal walking although wearer motion's burden at this time(need not take any interim measure) will not be stranded in situ.
3, energy consumption smaller
The present invention program why energy consumption smaller, be since the present invention has following characteristics：
Manual servo valve used in the present invention, there is no aditional energy loss caused by guide's energy consumption.Conventional scheme usesElectrohydraulic servo valve controls, and there are guide oil consumes to lose for hydraulic amplifier therein.The consume of this guide oil is lost in high power hydraulicProportion is smaller in system, negligible to whole energy consumption.But on hydraulicdriven exoskeleton robot, becauseHydraulic system itself belongs to micro hydraulic scope, and power very little, energy loss is relative to system nominal work(caused by guide's oil consumptionThe proportion of rate is with regard to bigger.
Manual servo valve used in this programme automatically adjusts valve port aperture according to the departure of human body limb and mechanical arm,The pressure loss that valve port keeps certain is not needed, thus system pressure need to only meet acceleration demand.And use electro-hydraulic servoWhen valve controls, need to adjust valve port opening by preset algorithm according to the departure of human body limb and mechanical arm, to make flow rates controlled,System pressure needs slightly above oil cylinder inlet pressure, so that the valve port of electrohydraulic servo valve maintains certain pressure difference, so as to cause energyThe increase of consumption.
The work of electrohydraulic servo valve and various sensors that conventional scheme uses all needs power consumption, and of the inventionIt only needs to use force snesor, does not need the various sensors of other detection human body limb states and mechanical arm state, reversal valveWork does not consume electric energy (the steering force very little of reversal valve, negligible to the consumption of human physical power) yet, thus the present invention existsThe electric energy consumed in control is much smaller.
In addition, the measures such as assist function switch valve and low pressure oil sources auxiliary feed-oil in the present invention, are also beneficial to reduceWhole energy consumption level.
4, operating rate is faster
It is already mentioned above, when using the present invention program, wearer can carry out exoskeleton robot using itself strengthGo beyond one's commission manipulation, by exoskeleton robot, instantaneously maximum fuel supply flow rate is not limited, and is not limited by component response speed, not byThe limitation of any control program.This function not only contributes to improve functional reliability and safety, can also actually be promotedWorking efficiency.For example, even if exoskeleton robot is under loading conditions, non-bearing leg lift leg can not also be supplied when taking a step by systemThe limitation of oil stream amount can quickly lift leg and take a step, to improve the whole speed of travel；And under light condition, wearer not byThe limitation of component response speed, it might even be possible to which realization is quickly run.Although in the case where being far more than desin speed, pass through peopleBody is forced to drive manipulator motion that can increase human body physical agility consumption, but still there is stronger practicality to anticipate for the presence of this functionJustice, for example in emergency relief or urgent danger prevention, improving operating rate in short-term is very important.
5, cost is lower
The present invention need not use expensive electrohydraulic servo valve, and in contrast number of sensors is also few more, to controlThe requirement of device processed is also much lower, thus overall cost is lower, and this is obvious.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show belowThere is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only thisThe embodiment of invention for those of ordinary skill in the art without creative efforts, can also basisThe attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawings are that the present invention uses two-way cylinder for the embodiment schematic diagram of knee joint power-assisted；
Fig. 2 attached drawings are that the manipulation of the manual servo valve of the present invention and its mechanical position feedback operation principle illustrate attached drawing；
Fig. 3 attached drawings are hydraulic oil source first embodiment schematic diagram of the present invention；
Fig. 4 attached drawings are that the present invention uses one-way cylinder for the embodiment schematic diagram of knee joint power-assisted；
Fig. 5 attached drawings are hydraulic oil source second embodiment schematic diagram of the present invention；
Fig. 6 attached drawings are hydraulic oil source 3rd embodiment schematic diagram of the present invention；
Fig. 7 attached drawings are hydraulic oil source fourth embodiment schematic diagram of the present invention；
Fig. 8 attached drawings are the complete embodiment schematic diagram that the present invention is lower limb power-assisted.
In Fig. 1,
1 is hydraulic oil source；2 be repairing check valve；3 be manual servo valve；4 be oil cylinder；10 be first mechanical arm；20 beTwo mechanical arms；
In fig. 2,
31 be reversal valve；321 be the first control stick；322 be the second control stick；33 be operating mechanism distance caging device；P1 is first mechanical arm and second mechanical arm hinge joint；P2 is that the first control stick of reversing gear and the second control stick are hingedPoint；P31 is the first control stick and first mechanical arm hinge joint；P32 is the second control stick and second mechanical arm hinge joint；
In figure 3,
110 be fuel tank；120 be servo motor；130 be hydraulic pump；
In Fig. 4,
1 is hydraulic oil source；2 be repairing check valve；31 be the manual servo valve of 3-position-3-way；41 be one-way cylinder；10 areFirst mechanical arm；20 be second mechanical arm；
In Figure 5,
110 be fuel tank；120 be servo motor；130 be hydraulic pump；140 be high pressure accumulator；
In figure 6,
110 be fuel tank；120 be servo motor；130 be hydraulic pump；140 be high pressure accumulator；150 switch for assist functionValve；
In the figure 7,
110 be fuel tank；120 be servo motor；130 be hydraulic pump；140 be high pressure accumulator；150 switch for assist functionValve；160 be small-power servo motor；170 pump for low-pressure hydraulic；180 be low pressure accumulator；
In fig. 8,
1 is hydraulic oil source；2 be repairing check valve；32 be the manual servo valve of 3-position 4-way；31 be the manual servo of 3-position-3-wayValve；42 be two-way cylinder；41 be one-way cylinder；101 be mechanical right leg；201 be mechanical right thigh；102 is left for machineryShank；202 be mechanical left thigh；11 be right steps；22 be Vehicular left pedal；100 be back bracket.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
The present invention is suitable for exoskeleton robot, and the hydraulic pressure for being particularly suitable for heavy-load type (loading-type) exoskeleton robot drivesDynamic and its control, is not only suitable for lower limb power-assisted and is also applied for upper limb power-assisted or the common power-assisted of upper and lower extremities.The present invention both can independently makeWith, can be also used cooperatively with conventional techniques, i.e. the exoskeleton robot of hydraulic-driven, some mechanical shoulder joint use this hairBright scheme drives, and other part joint of mechanical arm driven using conventional techniques.
Embodiment 1
It is to be applied to the embodiment schematic diagram that exoskeleton robot is knee joint power-assisted using the present invention referring to Fig. 1.DermoskeletonBone robot first mechanical arm (mechanical shank A-1) and second mechanical arm (mechanical thigh A-2) are point articulated together by P1(note：First mechanical arm and second mechanical arm are hereinafter referred to as mechanical arm；It may be used more when mechanical arm actual designComplicated articulated manner, but the present invention is concerned with hydraulic drive and its control program, and mechanical structure is only used for design of expression meaningFigure).After exoskeleton robot is worn on human body, human calf and human thigh are respectively close to first mechanical arm (machineryShank A-1) and second mechanical arm (mechanical thigh A-2).
The present invention includes hydraulic oil source 1, repairing check valve 2, manual servo valve 3 and two-way cylinder 4；
It is hydraulic oil source first embodiment schematic diagram provided by the invention referring to Fig. 3.Hydraulic oil source 1 include fuel tank 110 orThe container, servo motor 120 and hydraulic pump 130 of fuel tank function are actually played, servo motor 120 drives hydraulic pump 130, liquidPress pump 130 is from 110 oil suction of fuel tank, to the oil inlet fuel feeding of manual servo valve 3.
Motor can be such that its outlet pressure is maintained near a certain preset value by the adjusting to its rotating speed and torque, be formedConstant pressure oil source can get faster response speed in this way, in the moment for needing fuel feeding since standby pressure is higher；Motor also may be usedOnly just to start to work when needing fuel feeding, fuel supply flow rate is adjusted by the adjusting of motor speed.It is using the advantages of this schemeIt is completely out of service to be not required to motor when fuel feeding, therefore energy consumption is relatively low；The disadvantage is that response speed is partially slow, it is not suitable for needing high-speed responseOperating mode.The case where for needing to work in the wild for a long time, motor can also be substituted using engine, only because startingMachine dead weight is larger, not preferred embodiment.
The manual servo valve 32 of 3-position 4-way may be used in manual servo valve 3, and there are one oil inlet P, oil return inlet T, twoA oil outlet A and B, A mouthfuls with the B mouthfuls of rodless cavities for being respectively communicated with two-way cylinder and rod chamber and respectively through a repairing check valve 2It is connected to fuel tank；
It is the manipulation of manual servo valve and its mechanical position feedback operation principle illustrates attached drawing, manual servo valve referring to Fig. 23 include reversal valve 31, reversing gear (being made of the first control stick 321 and the second control stick 322) and operating mechanism rowJourney limiting device 33.The limiting device is mounted on exoskeleton robot, and for limiting control stick range, i.e. limitation manipulatesThe maximum deviation amount of bar and mechanical arm can be specifically the forms such as limited block or stop screw.
The first control stick and the second control stick of reversing gear are point articulated together by P2；First control stick 321Point articulated in first mechanical arm 10 by P31, i.e., on machinery shank and at least one point is strapped on wearer's shank；TheTwo control sticks 322 by P32 it is point articulated on mechanical thigh and at least one point be strapped on wearer's thigh.
Under the original state that manual servo valve 3 is in middle position, the first control stick 321 and the second control stick 322 are hingedPoint P2, coaxial with the hinge joint P1 of two mechanical arms (i.e. the projection of P2 points on the robotic arm is overlapped with P1 points.It illustrates：It is realThe schematic diagram in example is applied for ease of distinguishing P1 points and P2 points from plan view when principle illustrates, has deliberately done at dislocation at 2 pointsReason).In this way, since two mechanical arms and two operating mechanisms are rotated around same axis, as long as the first control stick 321 and firstThe relative position of mechanical arm 10 and the second control stick 322 and the relative position of second mechanical arm 20 keep original state constant,In the angle range of setting, no matter how the angle of first mechanical arm 10 and second mechanical arm 20 changes, P2 points and P1 point phasesConstant always to position, the reversal valve of manual servo valve 3 is in middle position always.
When wearer's generation, which acts, to be intended to, the limbs of people can be acted prior to mechanical arm, this allows for the first control stick 321Position relative to first mechanical arm 10 changes, while the second control stick 322 relative to second mechanical arm 20, i.e. machinery is bigThe position of leg also changes, and necessarily results in hinge joint P1 and P2 and deviates, to drive reversal valve to commutate.In Fig. 1, Fig. 2In embodiment, when size of human body leg is moved from the state of bending one's legs to direction of stretching one's legs, spool can be driven to Fig. 1, bottom right shown in Fig. 2To oil cylinder rodless cavity fuel feeding, driving mechanical arm is also moved to direction of stretching one's legs, is moved with size of human body leg for Fang Yundong, P mouthfuls of B mouthfuls of connectionsDirection is consistent, thereby realizes mechanical arm and follows human body limb movement automatically.
Further, human body is stretched one's legs, and action is faster, then since mechanical arm follows not in time, P1 points and P2 point magnitude of misalignment are got overGreatly, valve port opening is bigger, and 4 speed of service of corresponding oil cylinder is faster, and mechanical arm follows the speed of limb motion also faster.
During mechanical arm follows human body limb movement, since the first control stick 321 and the second control stick 322 pass through respectivelyP31 and P32 is hinged in first mechanical arm 10 and second mechanical arm 20, therefore the movement of mechanical arm can change control stick and corresponding machineRelative position between tool arm, and can drive P2 points that the departure between P1 points is gradually reduced.I.e. mechanical arm follows human bodyDuring limbs make mechanical arm state be moved closer to human body limb state, manual servo valve 3 can be made gradually to approach to turn off shapeState.When mechanical arm follow human body limb movement in place after, P1 and P2 spot projections overlap again, and manual servo valve 3 resets to middle position,Mechanical arm stop motion.
If size of human body leg is moved from straight configuration to the state direction that bends one's legs, mechanical thigh and calf relative position can be drivenTowards the direction movement that bends one's legs, until mechanical thigh and calf follows human body limb movement rear stop motion in place.The work of the mechanismIt is same as above to make principle, only reversal valve working position is different, thus cylinder movement direction is different, mechanical arm relative motion sideTo difference.
When human body limb movement excessive velocities or hydraulic oil source 1 are closed, although manual servo valve 3 is inCommutation states, but mechanical arm cannot follow or cannot follow completely the limb motion of people in time, when P2 point displacements are more than to setDetermine range, P2 points will be manipulated the limitation of mechanism travel limit device 33, and at this moment, wearer can utilize itself and ectoskeleton machinePeople conducts oneself with dignity, or forces driving manipulator motion, oil cylinder by the reversing gear being strapped on human body by limbs strengthOil inlet can be by repairing check valve 2 from 110 oil suction of fuel tank, and oil cylinder oil discharge outlet can be by being in watching manually for commutation statesValve 3 is taken to fuel tank oil extraction.
What operating mechanism distance caging device limited is the displacement of P2 points in Fig. 1 embodiments, but in specific implementationDisplacements of other points on operating mechanism can be limited according to the needs of integral layout or the needs of guarantee control stick rigidityPosition, it might even be possible to which limiting device is respectively set to the first control stick and the second control stick.
Moment to reduce reversing gear contact limiting device 33, which generated large impact, keeps wearer uncomfortable, limit dressBuffer unit should be provided with by setting, and buffer unit is not drawn into each embodiment of present specification, only to keep schematic diagram simpleIt is clean understandable.
The displacement of reversing gear P2 points in commutation, with the reversing gear and human body bondage point relative to itRelationship between the displacement of initial position can be adjusted by changing correlated parts installation site or structural parameters, be wrappedInclude but be not limited to installation site and direction, the hinge joint position of adjustment control stick and mechanical arm, the adjustment manipulation of adjustment reversal valveThe position etc. of bar and human body limb bondage point.In this way, in human body limb state condition identical with mechanical arm state deviation amountUnder, it is also possible to obtain different valve port openings, so as to easily in the quick trace performance of mechanical arm and the submissive performance of movementBetween find equalization point.
In each embodiment listed by the application, the neutral valve mouth of manual servo valve covers form and is preferably close to zero screeningThe form of lid.Due to the objective reality of foozle, absolute zero lap can not ensure, can be specifically a small amount of plus lap or fewAmount is negative to be covered.It is to let out smaller in middle position using the advantages of plus lap form, therefore energy consumption is relatively low；The disadvantage is that oil cylinder position is protected when middle positionIt is qualitative slightly poor to keep steady.When using negative covering form, advantage and disadvantage and use plus lap are exactly the opposite.Further, reversal valve canTo be designed to guiding valve (commutating using valve pocket spool relative axial movement), it can also be designed to that rotary valve (utilizes valve pocket spool phaseCommutate to rotating), the concrete form of reversing maneuver and its machine feedback is adjusted accordingly.
Manual servo valve repairing check valve corresponding with the manual servo valve can seperated arrangement, but to reduce monnolithic caseAnd weight, it is preferred to use integrated design.
Conventional manual servo valve can only realize that a controlled device follows a control input only there are one controlled deviceEnd motion, the relative position of controlled device and control signal is returned to just after the movement in place of controlled device model- following control input terminalBeginning position (being in middle position corresponding to manual servo valve)；And there are two controlled device (the first machineries for the manual servo valve in the present inventionArm and second mechanical arm), two controlled devices follow two control signals (the first control stick and the second control stick) to transport respectivelyDynamic, the relative position of servo-actuated first mechanical arm rear in place and the first control stick is in initial bit and (is in corresponding to manual servo valveMiddle position) at the same the relative position of the second control stick and second mechanical arm be also at initial bit.
In Fig. 1, Fig. 2 embodiment, there are two the control stick being connected with each other (the first control stick and the second behaviour for manual servo valveVertical pole), no matter which control stick driven, mechanical arm can all generate relative motion.Although can when two mechanical arm relative motionsWith object of reference each other, but it is which mechanical arm active movement on earth, is different from control.With human body knee jointFor movement, the relative motion of size of human body leg has several situations：The first situation be shank with thigh act simultaneously (shank withThigh changes simultaneously with ground angle)；The motionless only shank of the second situation thigh is dynamic, and (shank is bent backward when such as thigh is uprightLeg)；The third situation is that dynamic (thigh becomes the motionless only thigh of shank with ground angle in the case of shank and ground angle are constantChange).
Obviously, it cannot be substituted using conventional manual servo valve when the present invention is applied to knee joint power-assisted, because conventionalManual servo valve only there are one control signal, can only realize that the action of a controlled device follows.Concrete example：If oftenIt advises manual servo valve to be mounted on mechanical shank, control signal is strapped on human calf, then can only obtain mechanical shankThe effect for following human calf to move, and cannot achieve mechanical thigh and human thigh is followed to move (the motionless only thigh of human calfManual servo valve does not control input when movement).
Further, conventional manual servo valve, the control stick being simply strapped on human calf can not be usedAfter extension in bondage to human thigh, used for human thigh with obtaining second control signal.Its reason is：Although thisThere are two control signals for Shi Shoudong servo valves, after driving control lever movement that manual servo valve is made to commutate by human calf, machineTool shank can follow human calf to move, and follow the opposite position of the first control signal of rear control stick and mechanical shank in placeInitial bit can be returned to by setting, and still, the elongated end (another control signal) of the control stick is driven by human thigh to be made manuallyAfter servo valve commutation, the second control signal and the relative position of mechanical thigh can but become with mechanical thigh and calf variable angleChange, i.e., mechanical thigh can not follow human thigh.
The reversing maneuver of manual servo valve and its concrete structure of machine feedback are only realized in Fig. 1, Fig. 2, Fig. 3 embodimentA kind of mode of the present application purpose can be with its structure shape of proper transformation based on the mentality of designing and operation principle of the present inventionFor formula can obtain said function, this proper transformation is not out the scope of the present invention.
Embodiment 2
Referring to attached drawing 4 be the present invention use one-way cylinder for the embodiment schematic diagram of knee joint power-assisted, with attached drawing 1Differ only in using one-way cylinder 41 come power-assisted, the manual servo valve 31 of 3-position-3-way can be used in manual servo valve 3, at leastThere are one oil inlet, an oil return opening, an oil outlet, which is connected to the oil suction chamber of one-way cylinder 41, the oil outletThere are one repairing check valves 2 to be connected to fuel tank 110.Certainly, manual servo valve 3 can also be watched using 3-position 4-way as shown in Figure 1Take valve 32, block an oil outlet and do not have to, it is made to be equivalent to the manual servo valve of 3-position-3-way, but this and it is not preferred.
Using one-way cylinder come power-assisted, when its basic functional principle is with using two-way cylinder when oil cylinder rodless cavity oil inletIt is identical.Its main distinction is when oil cylinder being needed to retract, and reversal valve commutation makes the rodless cavity of one-way cylinder be connected to fuel tank, but does not haveThere is hydraulic power that oil cylinder is driven to be retracted, human body and exoskeleton robot dead weight or human body limb strength can only be relied on to force bandDynamic mechanical arm makes oil cylinder retract.
Two-way power-assisted can be achieved on using the benefit of two-way cylinder, human physical power's consumption is small, and shortcoming is energyIt consumes higher.In view of the mechanical arm of exoskeleton robot only (is held by unidirectional outer load in most cases in actual useWeight), and negative direction movement can complete (such as squatting motion) using the dead weight of human body and exoskeleton robot, or depend on peopleBody limbs strength overcome exoskeleton robot part dead weight and mechanical resistance come complete (such as non-bearing leg lift thigh and bend it is smallLeg acts), therefore, according to specifically used operating mode, single-acting may be used in the local joint of exoskeleton robot or whole jointsOil cylinder provides unidirectional power-assisted.
No matter manual servo valve 3 uses 3-position 4-way or 3-position-3-way, neutral valve mouth to cover form and be preferably close toThe form of zero lap, specifically can be according to actual use demand using a small amount of plus lap or a small amount of negative covering.
Embodiment 3
It is hydraulic oil source second embodiment schematic diagram of the present invention referring to attached drawing 5, with differing only in hydraulic pressure for attached drawing 3The outlet of pump 130 is connected to 140 pressurize of high pressure accumulator by check valve.The hydraulic drive dermoskeleton more demanding to response speedBone robot, hydraulic oil source used preferably use constant pressure oil source, install high pressure accumulator, help to improve instantaneous maximum for oil streamAmount, high pressure accumulator also can play a buffer role in simultaneously.
Embodiment 4
It is hydraulic oil source 3rd embodiment schematic diagram of the present invention referring to attached drawing 6, is differed only in attached drawing 3, attached drawing 5Increase assist function switch valve 150 before manual servo valve.The technical solution is all suitable for one-way cylinder and two-way cylinderWith.Both an assist function switch valve can respectively be increased on each manual servo valve in-line, it can also be according to human motionThe characteristics of, oil cylinder is grouped (for example left leg knee joint drive cylinder and left leg hip joint drive cylinder are one group, right leg kneeJoint drive oil cylinder and right leg hip joint drive cylinder are one group), on the corresponding manual servo valve in-line of every group oil cylinder altogetherWith an assist function switch valve.
Assist function switch valve 150 can be excessive by artificial enforced opening or closing, such as in wearer's physical demandsIn the case of, it, can be with if wearer has other ancillary measures to may insure balance holding capacity (for example holding crutch)Enforced opening assist function by power-assisted functional switch preset condition without being limited；In positive closing assist function or because batteryEnergy expenditure finishes when losing assist function, as it was noted above, manual servo valve, repairing check valve and operating mechanism limiting deviceUnder collective effect, driving manipulator motion can be forced, the limbs of people still can be with normal activity.
The opening and closing of assist function switch valve can also detect human body by installation force snesor in placeActual loading, then automatically decided whether after being compared with preset value open assist function --- when human body actual loading be more than etc.The assist function that corresponding joint is automatically turned on when the first preset value, when human body actual loading is closed less than or equal to the second preset valueThe assist function of corresponding joint.First preset value and the second preset value can it is equal can not also be equal, but it is preferably unequalScheme.This function is a kind of very useful function, and the practicality includes：
1) energy consumption is reduced, battery durable ability is improved and reduces system heat generation amount.
To improve response speed, can generally constant pressure oil source be used to drive, standby pressure is equal to or slightly higher than needed for oil cylinderMinimum charge oil pressure.In this way, when light load while stretching one's legs (such as non-bearing leg lift leg), hydraulicefficiency is relatively low, nothingEfficiency consumption is larger.At this time if closing local power-assisted, energy consumption can be substantially reduced.
2) operating efficiency is improved under conditions of not increasing energy consumption.
Mechanical arm free movement is driven since the present invention program has the function of that human body can go beyond one's commission, when human body actual motion speedDegree be more than instantaneous maximum stream flow allow maximum speed when, even if open assist function power-assisted effect if it is very poor, can but waste compared withIt is necessary to close local assist function at this time for big energy.Close assist function when light load, human motion speed not byThe restriction of instantaneous maximum fuel supply flow rate, will not increase energy consumption while obtaining faster speed.
3) it is based on that local assist function can be turned on and off, human body and machine can be adjusted to external loading using this characteristicShare ratio, that is, adjust assist rate, to take into account the ability that power-assisted effect and human body keep balance, make man-machine co-ordination.When the present invention program is applied to upper limb power-assisted, it may be selected that machine is allowed to undertake all or load outside the overwhelming majority, to reduce the body of peoplePower consumes.But when carrying out power-assisted to human body lower limbs, human body should undertake the outer load (heavy burden) of proper proportion, outer negative to perceiveThe variation of the load-carrying heart adjusts body posture to adapt to, avoids unexpected disequilibrium in time.
To realize the assist rate adjustable function, when specific implementation, can be according to the difference in power-assisted joint, increasing in placeSensor is reinforced, human body actual loading is detected, is compared to determine being turned on and off for assist function with preset value.Such asWhen carrying out power-assisted to lower limb, force snesor can be installed in vola, when detecting that it is pre- that the vola actual loading of people is more than or equal to firstIf automatically turning on assist function when value, vola actual loading is less than or equal to that assist function is automatically closed when the second preset value.In this way,Manpower actual loading can be made to be generally kept in a certain setting range, thus power-assisted effect can be taken into account and keep energy with balancePower.
The installation site of force snesor, according to the limbs stress under which joint of specific power-assisted and different motion postureThe difference of situation determines.In one or more installation force snesors assist function can be determined by simple logical comparisonSwitch valve is turned on and off.For example, in the exoskeleton robot for lower limb power-assisted, if needing kneeling position shape in workThen other than installing force snesor in vola also human knee's hassock need to be arranged and on hassock in state at mechanical arm knee jointForce snesor is set.
Embodiment 5
It is hydraulic oil source fourth embodiment schematic diagram of the present invention, the difference with attached drawing 3, attached drawing 5, attached drawing 5 referring to attached drawing 7It is only that in addition one low pressure oil sources (fuel tank can be shared with high pressure fuel source) of configuration, increases a low-power machine 160 and drive separatelyOne low-pressure hydraulic pump 170,170 outlet installation low pressure accumulators 180 of low-pressure hydraulic pump, by 160 rotating speed of low-power machine andDirect torque by low-pressure hydraulic pump 170 outlet pressure be kept low, low-pressure hydraulic pump 170 oil outlets through check valve toThe outlet fuel feeding of assist function switch valve 150.
The exoskeleton robot application embodiment of the present invention 4 is disclosed to control assist function switch according to human body actual loadingThe scheme of the working condition of valve the assist function of corresponding joint can be automatically closed when local limbs are in light condition, thenAlthough driving the technical solution of manipulator motion that can meet most applying working conditions by manpower, for heavy burden Capability RequirementHigher relatively cumbersome exoskeleton robot, when need to use two-way cylinder power-assisted, human body need to overcome after closing assist functionResistance it is larger, human body heavy load.The present embodiment increases low pressure oil sources auxiliary feed-oil on the basis of 4 embodiment, in this way,In the case that assist function switch valve 150 is closed, the import of manual servo valve 3 is by low pressure oil sources fuel feeding, to overcome local dead weightAnd mechanical resistance, mitigate human body burden.Simultaneously as the pressure of low pressure oil sources and the use pressure under light condition approach, thereforeIneffective energy consumption is few, and because operating pressure is relatively low at this time, total less energy intensive.
Embodiment 6
Referring to the complete embodiment schematic diagram that attached drawing 7 is lower limb power-assisted of the present invention, in embodiment described previously, oil cylinder, handThe configurations such as dynamic servo valve, hydraulic oil source can according to actual use demand, there are two types of or two or more selections, when the present invention is applied toWhen the power-assisted in multiple joints, these selections can be with combination application.To illustrate the invention purpose, illustrated with Fig. 8 embodiments.
In Fig. 8 embodiments, left and right knee joint respectively uses an one-way cylinder 41 to provide one direction power-assisted, hand usedDynamic servo valve 3 is using the manual servo valve of 3-position-3-way 31；Left and right hip joint respectively provides two-way help using a two-way cylinder 42Power, manual servo valve used is using the manual servo valve of 3-position 4-way 32；The oil cylinder 4 in each joint shares hydraulic oil source 1, shares heightPressure oil source also shares low pressure oil sources, and high pressure fuel source and each shared fuel tank 110 of low pressure oil sources；High pressure fuel source configures high pressure and storesEnergy device 140, low pressure oil sources configure low pressure accumulator 180 to improve mechanical arm response speed；Left leg knee joint oil cylinder and left leg hipJoint oil cylinder is one group, wherein the left mechanical left leg 102 of leg knee joint connection and mechanical left thigh 202, left leg hip joint connectionMechanical left thigh 202 and back bracket 100；Right leg knee joint oil cylinder and right leg hip joint oil cylinder are one group, wherein right leg knee closesSection connects mechanical right leg 101 and mechanical right thigh 201, right leg hip joint connection machinery right thigh 201 and back bracket 100.Two group oil cylinders respectively configure an assist function switch valve 150；Force snesor is installed in right steps 11 and Vehicular left pedal 22, is led toIt crosses acquisition vola actual loading and preset value and relatively determines being turned on and off for assist function switch valve 150：Foot bottom stress is bigIn opening assist function equal to the first preset value, foot bottom stress is less than or equal to close assist function when the second preset value；Power-assisted work(Can switch valve 150 can also be gone beyond one's commission by wearer enforced opening or closing.
About the action principle and function and effect of Fig. 8 embodiments, reference can be made to explanation hereinbefore.
It should be pointed out that Fig. 8 embodiments are to use the present invention program for a kind of group of exoskeleton robot lower limb power-assistedConjunction form, application of the invention are not limited to this combination.
The characteristics of according to human body limb movement, when the present invention is applied to certain joint assistances, if the machinery being hingedOne of active movement is only needed in arm, then the manual servo valve can only there are one control signals.For example it is human bodyIt is typically to allow large arm relative to human body active movement when shoulder joint power-assisted, does not may require that large arm is motionless and makes human body opposite generallyIn large arm active movement, manual servo valve is at this moment allowed for only to be strapped in human body large arm there are one control signal.InstituteManual servo valve can be used the manual servo valve in the present invention but remove the first control stick or the second control stick, can also be usedConventional manual servo valve replaces.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with otherThe difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodimentFor, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is said referring to method partIt is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.Various modifications to these embodiments will be apparent to those skilled in the art, as defined hereinGeneral Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the inventionIt is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase oneThe widest range caused.