CN104083236A - Compact type lower limb exoskeleton driving device - Google Patents
Compact type lower limb exoskeleton driving device Download PDFInfo
- Publication number
- CN104083236A CN104083236A CN201410332500.5A CN201410332500A CN104083236A CN 104083236 A CN104083236 A CN 104083236A CN 201410332500 A CN201410332500 A CN 201410332500A CN 104083236 A CN104083236 A CN 104083236A
- Authority
- CN
- China
- Prior art keywords
- worm
- lower limb
- driving device
- shell
- limb exoskeleton
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention relates to a compact type lower limb exoskeleton driving device. The compact type lower limb exoskeleton driving device comprises a high-rotation-speed direct current brushless motor (1), a planetary speed reducer (2), a worm (5), a worm wheel (12) and an output shaft (9), wherein the worm (5) is fixedly installed in an input end outer shell (4) through a bearing (6), the worm wheel (12) is fixed in an output outer shell (7) through baffles (10) on the two sides, the worm (5) is tightly meshed with the worm wheel (12) through worm teeth (11) on the worm (5) and, the high-rotation-speed direct current brushless motor (1) is connected with the planetary speed reducer (2) through a shaft, the planetary speed reducer (2) is synchronously connected with the worm (5) through a fixing connecting seat (3), a concentric bearing (8) is installed in the middle of the worm wheel (12), and the output shaft (9) is installed in the concentric bearing (8) through a spline coupler (13). The compact type lower limb exoskeleton driving device is compact in structure, can provide large joint driving moment, and has a reverse self-locking function.
Description
Technical field
The present invention relates to exoskeleton robot, be specifically related to a kind of compact lower limb exoskeleton driving device.
Background technology
Little feature that the joint drive of lower limb exoskeleton has demand drive power square greatly and volume and weight is tried one's best, and existing lower limb exoskeleton articulated driving equipment great majority are to realize in the mode of joint by direct installation drive motors, so not only driving moment can not get promoting, and installing space also takies greatlyr, cause exoskeleton robot to dress inconvenience.
Summary of the invention
The object of the present invention is to provide a kind of compact lower limb exoskeleton driving device, solve current lower limb exoskeleton driving device moment restricted application, whole device takes up space greatly and loads and unloads inconvenient problem.
For solving above-mentioned technical problem, the present invention is by the following technical solutions: a kind of compact lower limb exoskeleton driving device, comprise high rotating speed DC brushless motor, planetary reduction gear, worm screw, worm gear and output shaft, described worm screw is fixedly mounted in input shell by bearing, worm gear is fixed in outfan shell by the baffle plate of both sides, described worm screw is by the worm tooth on it and worm gear closely interlock mutually, described high rotating speed DC brushless motor is connected with described planetary reduction gear axle, described planetary reduction gear is synchronously connected with worm screw by fixed connecting base, described worm gear middle part is provided with concentric bearings, in the concentric bearings that described output shaft is arranged on by spline coupling.
Further technical scheme is, described input shell and outfan shell are formed in one.
A kind of walking robot, comprise back support device, waist support device, thigh bracing or strutting arrangement, shank bracing or strutting arrangement and foot brace device, between described waist support device and thigh bracing or strutting arrangement, and between thigh bracing or strutting arrangement and shank bracing or strutting arrangement, be provided with compact lower limb exoskeleton driving device, described compact lower limb exoskeleton driving device comprises high rotating speed DC brushless motor, planetary reduction gear, worm screw, worm gear and output shaft, described worm screw is fixedly mounted in input shell by bearing, worm gear is fixed in outfan shell by the baffle plate of both sides, described worm screw is by the worm tooth on it and worm gear closely interlock mutually, described high rotating speed DC brushless motor is connected with described planetary reduction gear axle, described planetary reduction gear is synchronously connected with worm screw by fixed connecting base, described worm gear middle part is provided with concentric bearings, in the concentric bearings that described output shaft is arranged on by spline coupling.
Further technical scheme is, described input shell and outfan shell are formed in one.
Compared with prior art, the invention has the beneficial effects as follows:
This apparatus structure is compact, more can be applicable to this installation site of exoskeleton robot and the conditional application scenario of joint weight; This device, by the mode of double reduction, can provide larger joint drive moment; This device has reverse self-locking function, can tackle the situation of emergency power off, effectively mechanism is protected.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of compact lower limb exoskeleton of the present invention driving device.
Fig. 2 is the internal structure schematic diagram of Fig. 1.
Fig. 3 is the outfan enclosure structural representation of Fig. 1.
Fig. 4 is the structural representation of an embodiment of a kind of walking robot of the present invention.
In figure: the high rotating speed DC brushless motor of 1-, 2-planetary reduction gear, 3-fixed connecting base, 4-input shell, 5-worm screw, 6-bearing, 7-outfan shell, 8-concentric bearings, 9-output shaft, 10-baffle plate, 11-worm tooth, 12-worm gear, 13-spline coupling, 14-back support device, 15-waist support device, 16-thigh bracing or strutting arrangement, 17-shank bracing or strutting arrangement, 18-foot braces device.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1, Fig. 2 and Fig. 3 show an embodiment of a kind of compact lower limb exoskeleton of the present invention driving device: a kind of compact lower limb exoskeleton driving device, comprise high rotating speed DC brushless motor 1, planetary reduction gear 2, worm screw 5, worm gear 12 and output shaft 9, described worm screw 5 is fixedly mounted in input shell 4 by bearing 6, worm gear 12 is fixed in outfan shell 7 by the baffle plate 10 of both sides, described worm screw 5 is by the worm tooth 11 on it and worm gear 12 closely interlock mutually, described high rotating speed DC brushless motor 1 is connected with described planetary reduction gear 2 axles, described planetary reduction gear 2 is synchronously connected with worm screw 5 by fixed connecting base 3, described worm gear 12 middle parts are provided with concentric bearings 8, in the concentric bearings 8 that described output shaft 9 is arranged on by spline coupling 13.
An a kind of preferred embodiment of compact lower limb exoskeleton driving device according to the present invention, described input shell 4 and outfan shell 7 are formed in one.
The present invention uses high rotating speed DC brushless motor 1 as power source, its drive end connects planetary reduction gear 2, then planetary reduction gear 2 is connected with worm screw 5 by fixed connecting base 3, between worm screw 5 and worm gear 12, by worm tooth 11, coordinate and transmission, worm screw 5 is fixedly mounted in input shell 4 by bearing 6, worm gear 12 is fixed in outfan shell 7 by the baffle plate 10 of both sides, by spline coupling 13, complete the transmission between output shaft 9 and worm gear 12 again, thereby whole driving device has just completed, the commutation of slowing down drives and the function of reverse self-locking.
Fig. 4 shows an embodiment of a kind of walking robot of the present invention: a kind of walking robot, comprise back support device 14, waist support device 15, thigh bracing or strutting arrangement 16, shank bracing or strutting arrangement 17He foot braces device 18, between described waist support device 15 and thigh bracing or strutting arrangement 16, and between thigh bracing or strutting arrangement 16 and shank bracing or strutting arrangement 17, be provided with compact lower limb exoskeleton driving device, described compact lower limb exoskeleton driving device comprises high rotating speed DC brushless motor 1, planetary reduction gear 2, worm screw 5, worm gear 12 and output shaft 9, described worm screw 5 is fixedly mounted in input shell 4 by bearing 6, worm gear 12 is fixed in outfan shell 7 by the baffle plate 10 of both sides, described worm screw 5 is by the worm tooth 11 on it and worm gear 12 closely interlock mutually, described high rotating speed DC brushless motor 1 is connected with described planetary reduction gear 2 axles, described planetary reduction gear 2 is synchronously connected with worm screw 5 by fixed connecting base 3, described worm gear 12 middle parts are provided with concentric bearings 8, in the concentric bearings 8 that described output shaft 9 is arranged on by spline coupling 13.
In the above-described embodiments, described input shell 4 and outfan shell 7 can be formed in one.
Although with reference to a plurality of explanatory embodiment of the present invention, invention has been described here, but, should be appreciated that, those skilled in the art can design a lot of other modification and embodiments, and these are revised and within embodiment will drop on the disclosed principle scope and spirit of the application.More particularly, in the scope of, accompanying drawing open in the application and claim, can carry out multiple modification and improvement to the building block of subject combination layout and/or layout.Except distortion that building block and/or layout are carried out and improving, to those skilled in the art, other purposes will be also obvious.
Claims (4)
1. a compact lower limb exoskeleton driving device, it is characterized in that: comprise high rotating speed DC brushless motor (1), planetary reduction gear (2), worm screw (5), worm gear (12) and output shaft (9), described worm screw (5) is fixedly mounted in input shell (4) by bearing (6), worm gear (12) is fixed in outfan shell (7) by the baffle plate (10) of both sides, described worm screw (5) is by the worm tooth (11) on it and worm gear (12) closely interlock mutually, described high rotating speed DC brushless motor (1) is connected with described planetary reduction gear (2) axle, described planetary reduction gear (2) is synchronously connected with worm screw (5) by fixed connecting base (3), described worm gear (12) middle part is provided with concentric bearings (8), in the concentric bearings (8) that described output shaft (9) is arranged on by spline coupling (13).
2. a kind of compact lower limb exoskeleton driving device according to claim 1, is characterized in that: described input shell (4) and outfan shell (7) are formed in one.
3. a walking robot, comprise back support device (14), waist support device (15), thigh bracing or strutting arrangement (16), shank bracing or strutting arrangement (17) and foot brace device (18), it is characterized in that: between described waist support device (15) and thigh bracing or strutting arrangement (16), and be provided with compact lower limb exoskeleton driving device between thigh bracing or strutting arrangement (16) and shank bracing or strutting arrangement (17), described compact lower limb exoskeleton driving device comprises high rotating speed DC brushless motor (1), planetary reduction gear (2), worm screw (5), worm gear (12) and output shaft (9), described worm screw (5) is fixedly mounted in input shell (4) by bearing (6), worm gear (12) is fixed in outfan shell (7) by the baffle plate (10) of both sides, described worm screw (5) is by the worm tooth (11) on it and worm gear (12) closely interlock mutually, described high rotating speed DC brushless motor (1) is connected with described planetary reduction gear (2) axle, described planetary reduction gear (2) is synchronously connected with worm screw (5) by fixed connecting base (3), described worm gear (12) middle part is provided with concentric bearings (8), in the concentric bearings (8) that described output shaft (9) is arranged on by spline coupling (13).
4. a kind of walking robot according to claim 3, is characterized in that: described input shell (4) and outfan shell (7) are formed in one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410332500.5A CN104083236B (en) | 2014-07-11 | 2014-07-11 | A kind of compact lower limb exoskeleton driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410332500.5A CN104083236B (en) | 2014-07-11 | 2014-07-11 | A kind of compact lower limb exoskeleton driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104083236A true CN104083236A (en) | 2014-10-08 |
| CN104083236B CN104083236B (en) | 2016-02-03 |
Family
ID=51631073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410332500.5A Active CN104083236B (en) | 2014-07-11 | 2014-07-11 | A kind of compact lower limb exoskeleton driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104083236B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625751A (en) * | 2016-12-16 | 2017-05-10 | 清华大学 | Self-locking joint parallel connection elastic actuator |
| CN113803443A (en) * | 2021-08-06 | 2021-12-17 | 华南理工大学 | Exoskeleton active power-assisted reduction gearbox |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060064047A1 (en) * | 2004-09-21 | 2006-03-23 | Honda Motor Co., Ltd. | Walking assistance system |
| CN101460118A (en) * | 2006-06-29 | 2009-06-17 | 本田技研工业株式会社 | Walk assistance device |
| CN102160839A (en) * | 2011-05-30 | 2011-08-24 | 天津科技大学 | Self-contained lower limb walking aid |
| JP2011212122A (en) * | 2010-03-31 | 2011-10-27 | Toyota Motor Corp | Mounting type assisting device |
| CN202211834U (en) * | 2011-06-23 | 2012-05-09 | 天津科技大学 | Line angle driven lower limb walking aid |
| CN103284822A (en) * | 2013-05-28 | 2013-09-11 | 重庆电子工程职业学院 | Lower limb exoskeleton boosting device and control method |
-
2014
- 2014-07-11 CN CN201410332500.5A patent/CN104083236B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060064047A1 (en) * | 2004-09-21 | 2006-03-23 | Honda Motor Co., Ltd. | Walking assistance system |
| CN101460118A (en) * | 2006-06-29 | 2009-06-17 | 本田技研工业株式会社 | Walk assistance device |
| JP2011212122A (en) * | 2010-03-31 | 2011-10-27 | Toyota Motor Corp | Mounting type assisting device |
| CN102160839A (en) * | 2011-05-30 | 2011-08-24 | 天津科技大学 | Self-contained lower limb walking aid |
| CN202211834U (en) * | 2011-06-23 | 2012-05-09 | 天津科技大学 | Line angle driven lower limb walking aid |
| CN103284822A (en) * | 2013-05-28 | 2013-09-11 | 重庆电子工程职业学院 | Lower limb exoskeleton boosting device and control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625751A (en) * | 2016-12-16 | 2017-05-10 | 清华大学 | Self-locking joint parallel connection elastic actuator |
| CN106625751B (en) * | 2016-12-16 | 2019-05-31 | 清华大学 | A kind of self-locking type joint parallel connection elastic driver |
| CN113803443A (en) * | 2021-08-06 | 2021-12-17 | 华南理工大学 | Exoskeleton active power-assisted reduction gearbox |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104083236B (en) | 2016-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2012110066A (en) | VEHICLE AND REAR WHEEL DRIVING VEHICLE | |
| MY159623A (en) | Drive device and vehicle with same | |
| CN104875214B (en) | A kind of Three Degree Of Freedom apery wrist device | |
| CN103982598A (en) | Differential planetary reducer for crane | |
| CN104141738A (en) | A worm and worm gear decelerating mechanism | |
| CN104083236A (en) | Compact type lower limb exoskeleton driving device | |
| CN204506526U (en) | Synchronous driving wheel set of electric vehicle | |
| CN104546349A (en) | Two-way type electric nursing assist device | |
| CN203888789U (en) | Auxiliary transmission system of high-power electric transmission heavy track car | |
| CN203856971U (en) | Differential planet reducer for crane | |
| CN208814559U (en) | A kind of built-in promotion winding plant of corner connection | |
| CN207327030U (en) | A kind of joint of mechanical arm and sixdegree-of-freedom simulation | |
| CN201970556U (en) | Transmission device for wallpaper rotary screen printing machine | |
| CN212839198U (en) | Dual-purpose planetary reducer for power on and power off | |
| CN211018530U (en) | Outer rotor speed reduction motor | |
| CN205312939U (en) | Slewer based on inverter motor | |
| CN104879448A (en) | Dual-input standby speed reducer | |
| CN101424134B (en) | Emergency vehicle getting device for parking facility | |
| CN109501883A (en) | Pedipulator structure and legged type robot | |
| CN204784477U (en) | Reserve speed reducer of dual input | |
| CN210770104U (en) | Harmonic speed reducer | |
| CN204079363U (en) | A kind of driven by quill shaft lifting device | |
| CN204784611U (en) | Reduction gear of biography and holdback is assisted in area | |
| CN212004014U (en) | Hand drive assembly of hybrid transmission | |
| CN213054820U (en) | Integrated flat power module and walking power assisting device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170920 Address after: 610213 No. 2039, south section of Tianfu Road, Chengdu hi tech Zone, Sichuan Patentee after: BUFFALO ROBOT TECHNOLOGY (CHENGDU) Co.,Ltd. Address before: 610054, No. two, section four, Jianshe North Road, Chengdu, Sichuan, Chenghua District Co-patentee before: Cheng Hong Patentee before: Chengdu electronics great assets management Co.,Ltd. Effective date of registration: 20170920 Address after: 610054, No. two, section four, Jianshe North Road, Chengdu, Sichuan, Chenghua District Co-patentee after: Cheng Hong Patentee after: Chengdu electronics great assets management Co.,Ltd. Address before: 611731 Chengdu province high tech Zone (West) West source Avenue, No. 2006 Patentee before: University of Electronic Science and Technology of China |