柔性液压行走支撑训练装置的设计与特性研究  

Design and Characteristics Study of Flexible Hydraulic Walking Support Training Device

作　　者：李茜 黄新元 LI Qian;HUANG Xinyuan(Zhengzhou Vocational College of Finance and Taxation,Zhengzhou Henan 450000,China;School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang Henan 471000,China)

机构地区：[1]郑州财税金融职业学院,河南郑州450000 [2]河南科技大学机电工程学院,河南洛阳471000

出　　处：《机床与液压》2025年第7期207-214,共8页Machine Tool & Hydraulics

基　　金：2022年产学合作协同育人项目(23A12026)。

摘　　要：针对行走障碍人员的行走训练需求,提出一种具有柔性元件的脚底液压行走支撑训练装置。采用被动悬挂和主动重心控制相结合的协同减重方法,实现障碍人员的行走训练。对行走支撑训练装置的结构进行设计,并建立其动力学模型。通过单轴拉伸试验确定柔性元件的本构模型,基于脚底柔性元件的超弹性有限元模拟结果,验证了试验数据的正确性和脚底液压控制装置方案的可行性。最后,通过着陆缓冲试验分析了柔性元件在脚跟触地瞬间的缓冲效果。结果表明:基于Ogden模型的超弹性有限元模拟结果与试验数据高度吻合,脚底柔性元件在脚跟触地瞬间具有较优的缓冲作用,验证了脚底液压控制装置方案的可行性和可靠性。Aiming at the walking training needs of people with walking disabilities,a foot hydraulic walking support training device with flexible components was proposed.A collaborative weight reduction method combining passive suspension and active center of gravity control was adopted to achieve walking training for individuals with obstacles.The structure of the walking support training device was designed and a dynamic model of the device was established.The constitutive model of the flexible component was determined throughuniaxialtensile testing.Based on the hyperplastic finite element simulation results of the foot flexible component,the correctness of the experimental data and the feasibility of the foot hydraulic control device scheme were verified.Finally,the buffering effect of the flexible element at the moment the heel touches the ground was analyzed through the landing buffering test.The results show that the hyperelastic finite element simulation results based on the Ogden model are highly consistent with the experimental data,and the foot flexible element has a better buffering effect at the moment of heel contact,which verifies the feasibility and reliability of the foot hydraulic control device device.

关 键 词：行走训练装置 柔性元件 液压控制 

分 类 号：TH789[机械工程—仪器科学与技术]