SEMI-ACTIVE RIGID-FLEXIBLE COUPLING TYPE EXOSKELETON BASED ON SINGLE-LOOP BIDIRECTIONAL DAMPING REGULATOR

摘要

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.