Title:
SEMI-ACTIVE RIGID-FLEXIBLE COUPLING TYPE EXOSKELETON BASED ON SINGLE-LOOP BIDIRECTIONAL DAMPING REGULATOR
Document Type and Number:
WIPO Patent Application WO/2022/011941
Kind Code:
A1
Abstract:
A semi-active rigid-flexible coupling type exoskeleton based on a single-loop bidirectional damping regulator, which relates to a boosting mechanism in the field of robots, and comprises: a waist assembly (1), leg assemblies (2) and a hydraulic damping regulator (3). The hydraulic damping regulator (3) comprises a cylinder body (31), a titanium alloy sleeve (32), a cylinder cover (33), a piston (34), an extension assistance spring (35), an oil injection port plug (38), a staggered channel type valve body (39), a valve body sealing seat (310), a valve body end bevel gear (311), an angle sensor (312), a motor fixing seat (313), a direct current servo motor (314), a coupling (315) and a motor end bevel gear (316). The exoskeleton may achieve the boost or damping adjustment of a heavy object carrying mode or a load walking mode, and in the heavy object carrying mode, both a from-high-to-low carrying mode and a from-low-to-high carrying mode are supported, and the applicability is high; in addition, assistance may be provided for the knee joints when the knee joints naturally bend in a bending over state; a semi-active torque adjustment system is composed of a hydraulic damper and spring, and the size of the boost and damping force are adjustable; and the weight is light, and human-machine coupling is strong.
Inventors:
YU HONGLIU (CN)
WANG XIAOMING (CN)
ZHANG ZHEWEN (CN)
MENG QIAOLING (CN)
WANG XIAOMING (CN)
ZHANG ZHEWEN (CN)
MENG QIAOLING (CN)
Application Number:
PCT/CN2020/135125
Publication Date:
January 20, 2022
Filing Date:
December 10, 2020
Export Citation:
Assignee:
UNIV OF SHANGHAI FOR SCIENCE AND TECHNOLOGY (CN)
International Classes:
B25J9/00; A61F2/64; A61H1/02; A61H3/00; F16F9/00; F16K15/18
Foreign References:
| CN111805513A | 2020-10-23 | |||
| CN111779788A | 2020-10-16 | |||
| JP2018012148A | 2018-01-25 | |||
| CN111166540A | 2020-05-19 | |||
| CN108071732A | 2018-05-25 | |||
| CN108266483A | 2018-07-10 | |||
| CN103260576A | 2013-08-21 | |||
| US20040201185A1 | 2004-10-14 | |||
| CN111110410A | 2020-05-08 | |||
| CN107035808A | 2017-08-11 |
Attorney, Agent or Firm:
SHANGHAI BANGDE PATENT AGENCY (CN)
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