CN103315881A - Exoskeleton flexible joint drive device based on flexible rope transmission - Google Patents
Exoskeleton flexible joint drive device based on flexible rope transmission Download PDFInfo
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- CN103315881A CN103315881A CN2013102590884A CN201310259088A CN103315881A CN 103315881 A CN103315881 A CN 103315881A CN 2013102590884 A CN2013102590884 A CN 2013102590884A CN 201310259088 A CN201310259088 A CN 201310259088A CN 103315881 A CN103315881 A CN 103315881A
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Abstract
The invention discloses an exoskeleton flexible joint drive device based on flexible rope transmission. The exoskeleton flexible joint drive device comprises a frame, a motor, a joint, a winder and a flexible rope. A box of the joint and the winder are fixedly connected with the frame. The motor is connected with the winder through a coupler. The flexible rope winds on the winder. The flexible rope is guided out by the winder, and two ends of the flexible rope are fixedly connected with two fixing wheel of the joint respectively. By the exoskeleton flexible joint drive device, weight of an exoskeleton rehabilitation device is reduced to a large extent, and burden of a patient is relieved.
Description
Technical field
The present invention relates to a kind of human motion auxiliary device, relate in particular in a kind of rehabilitation ectoskeleton flexible joint driving device and using method thereof based on gentle rope drive.
Background technology
For the extremity Disease, comprise unexpected injury, apoplexy etc., the Rehabilitation Training in Treating of science has very important meaning for recovering to greatest extent the extremity motility.Present many researcheres have been made a kind of mechanical exoskeleton device for healing and training according to the ectoskeletal thinking of biology, and progressively replace traditional doctor's treatment.
There are common improvements in existing mechanical exoskeleton device for healing and training: owing to adopting the kind of drive of gear one class, motor and actuating device must be fixed on the mechanical exoskeleton, so that the patient must bear larger heavy burden when wearing device for healing and training.Because the sudden change of speed, the transmission of gear one class are also so that device for healing and training inevitably produces certain rigid shock to human body when work.Large heavy burden and impact must produce serious influence to the rehabilitation efficacy of extremity.
Summary of the invention
The objective of the invention is for the deficiencies in the prior art, a kind of mechanical exoskeleton articulated driving equipment based on gentle rope drive is provided.
The objective of the invention is to be achieved through the following technical solutions:
The ectoskeleton flexible joint driving device that the present invention is based on gentle rope drive comprises frame, motor, joint, Winder and gentle rope, and the casing in joint is fixedly connected with frame respectively with Winder, and motor is connected with Winder by shaft coupling; Gentle rope is wrapped on the Winder, and after being drawn by Winder, the two ends of gentle rope are fixedly connected with the fast pulley in joint respectively.
Further, the present invention also comprises the first conduit and the second conduit, and an end of described the first conduit is fixedly connected with frame respectively with an end of the second conduit, the other end of the first conduit be connected the other end of conduit and be connected with arthrodesis respectively; After gentle rope is drawn by described Winder, an end of gentle rope with pass first the first conduit before the fast pulley in described joint is fixedly connected with, the other end of gentle rope with pass first the second conduit before the fast pulley in described joint is fixedly connected with.
Further, the present invention also comprises the first pre-tightening apparatus and the second pre-tightening apparatus, the first pre-tightening apparatus, the second pre-tightening apparatus are fixedly connected with frame respectively, described the first pre-tightening apparatus is used for the part of gentle rope between described Winder and the first conduit applied tensile force, and described the second pre-tightening apparatus is used for the part of gentle rope between described Winder and the second conduit applied tensile force.
Further, the first pre-tightening apparatus of the present invention and the second pre-tightening apparatus are equipped with guide wheel, gentle rope is via the groove of the guide wheel of the first pre-tightening apparatus and the second pre-tightening apparatus, described the first pre-tightening apparatus applies tensile force by the groove of the guide wheel of the first pre-tightening apparatus to the part of gentle rope between described Winder and the first conduit, and described the second pre-tightening apparatus applies tensile force by the groove of the guide wheel of the second pre-tightening apparatus to the part of gentle rope between described Winder and the second conduit.
Further, joint of the present invention also comprises torsion spring, and an end of torsion spring is fixedly connected with one of them casing in joint, and the other end of torsion spring is fixedly connected with the fast pulley in joint.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention's rope drive that will soften applies in the exoskeleton rehabilitation training device dexterously, and its mechanism design is novel, and idea is unique, control accurately, for the improvement of device for healing and training provides a kind of a new direction.
The present invention has overcome the shortcoming of the exoskeleton rehabilitation therapy equipment of prior art by structural innovation.The present invention is wrapped on the Winder by the rope that will soften, and after being drawn by Winder, the two ends of gentle rope are fixedly connected with the fast pulley in joint respectively, make gentle rope, Winder, motor and joint formation based on the ectoskeleton flexible joint driving device of gentle rope drive, so that the motor that originally is fixed on the ectoskeleton separates with ectoskeleton with actuating device, when accurately realizing transmission, alleviated largely the weight of exoskeleton rehabilitation therapy equipment, alleviate patient's burden.In addition, the present invention adds torsion spring at the fast pulley in joint, and torsion spring can resist the part deadweight of rigid shock and canceller, makes therapeutic effect better.Simultaneously, the invention belongs to modularized design, can apply in a flexible way in the therapy equipment in different patients' different joints.The present invention is simple in structure, and volume is little, and applied range can greatly alleviate sufferer and bear a heavy burden, and plays better therapeutic effect.
Description of drawings
Fig. 1 is overall structure schematic top plan view of the present invention;
Fig. 2 is the structural representation of pre-tightening apparatus of the present invention;
Fig. 3 is joint of the present invention and internal structure decomposing schematic representation thereof;
Among the figure, 2. the first pre-tightening apparatus, 3. the second pre-tightening apparatus, 4. joint, 5. clutch shaft bearing seat, 6. the second bearing block, 7. motor fixing plate, 8. shaft coupling, 9. Winder, 10. gentle rope, 11. motors, 12. conduit fixing heads, 13. first conduits, 14. second conduits, 15. arthrodesis base plates, 16. frames, 17. bases, 18. axles, 19. guide wheels, 20. stage clips, 21. first casings, 22. torsion springs, 23. first hold-down screws, 24. second hold-down screws, 25. fast pulleys, 26. rolling bearings, 27. jump rings, 28. second casings.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
As shown in Figure 1, the ectoskeleton flexible joint driving device that the present invention is based on gentle rope drive mainly comprises frame 16, joint 4, Winder 9, motor 11 and gentle rope 10.
As shown in Figure 3, joint 4 of the present invention comprises the first casing 21, the first hold-down screw 23, the second hold-down screw 24, fast pulley 25, rolling bearing 26, jump ring 27 and the second casing 28.Rolling bearing 26 is placed on the fast pulley 25 and by jump ring 27 and locates.
As preferred implementation of the present invention, joint 4 of the present invention also can comprise torsion spring 22.The first casing 21(or second casing 28 in one end of torsion spring 22 and joint 4) be fixedly connected with, the other end of torsion spring 22 is fixedly connected with the fast pulley 25 in joint 4.When fast pulley 25 rotates, drive torsion spring 22 and reverse, it reverses part deadweight and opposing rigid shock that the moment of torsion that produces can be offset joint 4.
In Fig. 1, arthrodesis plate 15 is fixedly connected with frame 16, and joint 4 is fixedly connected with arthrodesis base plate 15.One end of Winder 9 is fixedly connected with clutch shaft bearing seat 5, and clutch shaft bearing seat 5 is fixedly connected with frame 16, and the other end of Winder 9 is fixedly connected with the second bearing block 6, and the second bearing block 6 is fixedly connected with frame 16.Motor 11 is fixedly connected with motor fixing plate 7, and motor fixing plate 7 is fixedly connected with frame 16, and the axle of motor 11 is fixedly connected with by shaft coupling 8 with the axle of Winder 9.Gentle rope 10 is wrapped on the Winder 9, and the two ends of gentle rope 10 are fixedly connected with the fast pulley 25 in joint 4 respectively.As one embodiment of the present invention, an end of gentle rope 10 can be fixedly connected with fast pulley 25 by the first hold-down screw 23, and the other end of gentle rope 10 can be fixedly connected with fast pulley 25 by the second hold-down screw 24.
As one embodiment of the present invention, the present invention also further comprises the first conduit 13 and the second conduit 14.One end of the first conduit 13 can be fixedly connected with frame 16 by conduit fixing head 12 that (being about to conduit fixing head 12 is fixedly connected with frame 16, and an end of the first conduit 13 is fixedly connected with conduit fixing head 12), the other end of the first conduit 12 is fixedly connected with joint 4.Equally, an end of the second conduit 14 can be fixedly connected with frame 16 by conduit fixing head 12, and the other end of the second conduit 14 is fixedly connected with joint 4.Gentle rope 10 is wrapped on the Winder 9, and an end of gentle rope 10 is fixedly connected with fast pulley 25 after passing the first conduit 13, and the other end of gentle rope 10 is fixedly connected with fast pulley 25 after passing the second conduit 14.The first conduit 13 and the second conduit 14 can be used for the part of gentle rope 10 between conduit fixing head 12 and joint 4 carried out the restriction of length, and the rope 10 that prevents from softening becomes flexible in the course of the work or skids, and affects working effect.
As shown in Figure 2, the present invention also comprises the first pre-tightening apparatus 2 and the second pre-tightening apparatus 3.The first pre-tightening apparatus 2, the second pre-tightening apparatus 3 are fixedly connected with frame 16 respectively.Gentle rope 10 is during via the first pre-tightening apparatus 2, the second pre-tightening apparatus 3, the first pre-tightening apparatus 2 can apply tensile force to the part of gentle rope 10 between Winder 9 and the first conduit 13, and 3 of the second pre-tightening apparatus can apply tensile force to the part of gentle rope 10 between Winder 9 and the second conduit 14.Tensile force can make gentle rope 10 be in all the time tensioning state in transmission process, avoids causing gentle rope 10 skidding to occur because frictional force is too small, affects transmission accuracy.As one embodiment of the present invention, can in the first pre-tightening apparatus 2 and the second pre-tightening apparatus 3, be respectively equipped with guide wheel 19, and make gentle rope 10 via the groove of the guide wheel 19 of the first pre-tightening apparatus 2 and the second pre-tightening apparatus 3, make thus the first pre-tightening apparatus 2 by the groove of the guide wheel 19 of the first pre-tightening apparatus 2 part of gentle rope 10 between Winder 9 and the first conduit 13 be applied tensile force, the second pre-tightening apparatus 3 applies tensile force by the groove of the guide wheel 19 of the second pre-tightening apparatus 3 to the part of gentle rope 10 between Winder 9 and the second conduit 14.
Work process of the present invention is as follows:
The joint 4 that the present invention is based on the ectoskeleton flexible joint driving device of gentle rope drive is fixed on the employed various exoskeleton rehabilitation training devices of patient, and the controller of apparatus of the present invention assigned control command, patient's ill part can be carried out rehabilitation training under the drive of this device.Specific as follows: the fast pulley 25 in joint 4 can be connected with exoskeleton rehabilitation training device in several ways, such as: key connects, shaft coupling connects, screw is fixing etc.Motor 11 forwards drive Winder 9 forwards, the gentle rope 10 that twines on the Winder 9 further is wound on Winder 9 in the drive of Winder 9, gentle rope 10 drives fast pulley 25 forwards, thereby drive the exoskeleton rehabilitation training device forward that is connected with an end of fast pulley 25, realization patient extremity are done stretching, otherwise, motor 11 counter-rotatings drive Winder 9 counter-rotatings, the gentle rope 10 that twines on the Winder 9 withdraws from Winder 9 under the drive of Winder 9, gentle rope 10 drives fast pulley 25 counter-rotatings, thereby drive the exoskeleton rehabilitation training device counter-rotating that is connected with an end of fast pulley 25, realization patient extremity are done and are rolled up motion.In the work process of the present invention, apply tensile force by the first pre-tightening apparatus 2 and 3 pairs of gentle ropes 10 of the second pre-tightening apparatus.Before the work of the present invention, preset the tensile force of gentle rope 10 by regulating relative distance between the first pre-tightening apparatus 2 and the second pre-tightening apparatus 3, during gentle rope 10 motion, the axle 18 of the first pre-tightening apparatus 2 and the axle 18 of the second pre-tightening apparatus 3 will be by the compression of institute's cover stage clip 20 on the axle 18 and the spacings of two guide wheels 19 of elongation adjusting, thereby regulate the tensile force that imposes on gentle rope 10, gentle rope 10 can not produced with Winder 9 because frictional force is too small in transmission process slide.Simultaneously, when the present invention worked, fast pulley 25 rotated drive torsion spring 22 and reverses, and produces torsional moment, and this torsional moment can be resisted its impact when the velocity attitude sudden change of device for healing and training, reach effect flexible and the protection human body.Mode and the flexible member such as torsion spring of the present invention by adopting gentle rope drive greatly alleviated quality and the inertia of device for healing and training, and made the flexible shock resistance of device for healing and training, can make device for healing and training reach more considerable therapeutic effect.
Claims (6)
1. ectoskeleton flexible joint driving device based on gentle rope drive, it is characterized in that: comprise frame, motor, joint, Winder and gentle rope, the casing in joint is fixedly connected with frame respectively with Winder, and motor is connected with Winder by shaft coupling; Gentle rope is wrapped on the Winder, and after being drawn by Winder, the two ends of gentle rope are fixedly connected with the fast pulley in joint respectively.
2. ectoskeleton flexible joint driving device according to claim 1, it is characterized in that: also comprise the first conduit and the second conduit, one end of described the first conduit is fixedly connected with frame respectively with an end of the second conduit, the other end of the first conduit be connected the other end of conduit and be connected with arthrodesis respectively; After gentle rope is drawn by described Winder, an end of gentle rope with pass first the first conduit before the fast pulley in described joint is fixedly connected with, the other end of gentle rope with pass first the second conduit before the fast pulley in described joint is fixedly connected with.
3. ectoskeleton flexible joint driving device according to claim 1 and 2, it is characterized in that: also comprise the first pre-tightening apparatus and the second pre-tightening apparatus, the first pre-tightening apparatus, the second pre-tightening apparatus are fixedly connected with frame respectively, described the first pre-tightening apparatus is used for the part of gentle rope between described Winder and the first conduit applied tensile force, and described the second pre-tightening apparatus is used for the part of gentle rope between described Winder and the second conduit applied tensile force.
4. ectoskeleton flexible joint driving device according to claim 3, it is characterized in that: described the first pre-tightening apparatus and the second pre-tightening apparatus are equipped with guide wheel, gentle rope is via the groove of the guide wheel of the first pre-tightening apparatus and the second pre-tightening apparatus, described the first pre-tightening apparatus applies tensile force by the groove of the guide wheel of the first pre-tightening apparatus to the part of gentle rope between described Winder and the first conduit, and described the second pre-tightening apparatus applies tensile force by the groove of the guide wheel of the second pre-tightening apparatus to the part of gentle rope between described Winder and the second conduit.
5. according to claim 1,2 or 4 described ectoskeleton flexible joint driving devices, it is characterized in that: described joint also comprises torsion spring, an end of torsion spring is fixedly connected with one of them casing in joint, the other end of torsion spring is fixedly connected with the fast pulley in joint.
6. ectoskeleton flexible joint driving device according to claim 3, it is characterized in that: described joint also comprises torsion spring, and an end of torsion spring is fixedly connected with one of them casing in joint, and the other end of torsion spring is fixedly connected with the fast pulley in joint.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013102590884A CN103315881A (en) | 2013-06-26 | 2013-06-26 | Exoskeleton flexible joint drive device based on flexible rope transmission |
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| CN2013102590884A CN103315881A (en) | 2013-06-26 | 2013-06-26 | Exoskeleton flexible joint drive device based on flexible rope transmission |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104398366A (en) * | 2014-11-24 | 2015-03-11 | 江苏大学 | Torsional spring type flexible elastic joint applicable to rehabilitation robot |
| CN105287162A (en) * | 2015-10-10 | 2016-02-03 | 合肥工业大学 | Wearable wire-driven bionic waist rehabilitation device |
| CN107049704A (en) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | A kind of flexible upper limbs ectoskeleton of auxiliary power |
| CN107865752A (en) * | 2016-09-28 | 2018-04-03 | 丰田自动车株式会社 | Ambulation training apparatus and its control method |
| CN109806115A (en) * | 2019-03-25 | 2019-05-28 | 文超 | A kind of forced action type leg varicose training medical health-care device |
| CN113154001A (en) * | 2021-02-26 | 2021-07-23 | 北京大学 | Super-input flexible driver based on rope driving |
| CN113386120A (en) * | 2021-06-25 | 2021-09-14 | 北京机械设备研究所 | Universal Bowden stay wire driving device and assembly method thereof |
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| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN202702248U (en) * | 2012-07-20 | 2013-01-30 | 清华大学 | Finger device for shape-following self-adapting underactuated robot |
| CN203408211U (en) * | 2013-06-26 | 2014-01-29 | 浙江大学 | External skeleton flexible joint driving device based on flexible rope transmission |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN202702248U (en) * | 2012-07-20 | 2013-01-30 | 清华大学 | Finger device for shape-following self-adapting underactuated robot |
| CN102814821A (en) * | 2012-09-14 | 2012-12-12 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN203408211U (en) * | 2013-06-26 | 2014-01-29 | 浙江大学 | External skeleton flexible joint driving device based on flexible rope transmission |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104398366A (en) * | 2014-11-24 | 2015-03-11 | 江苏大学 | Torsional spring type flexible elastic joint applicable to rehabilitation robot |
| CN105287162A (en) * | 2015-10-10 | 2016-02-03 | 合肥工业大学 | Wearable wire-driven bionic waist rehabilitation device |
| CN107865752A (en) * | 2016-09-28 | 2018-04-03 | 丰田自动车株式会社 | Ambulation training apparatus and its control method |
| CN107865752B (en) * | 2016-09-28 | 2020-03-17 | 丰田自动车株式会社 | Walking training apparatus and control method thereof |
| CN107049704A (en) * | 2017-04-24 | 2017-08-18 | 杭州众禾自动化设备有限公司 | A kind of flexible upper limbs ectoskeleton of auxiliary power |
| CN109806115A (en) * | 2019-03-25 | 2019-05-28 | 文超 | A kind of forced action type leg varicose training medical health-care device |
| CN113154001A (en) * | 2021-02-26 | 2021-07-23 | 北京大学 | Super-input flexible driver based on rope driving |
| CN113154001B (en) * | 2021-02-26 | 2022-07-05 | 北京大学 | Super-input flexible driver based on rope driving |
| CN113386120A (en) * | 2021-06-25 | 2021-09-14 | 北京机械设备研究所 | Universal Bowden stay wire driving device and assembly method thereof |
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Application publication date: 20130925 |