CN104083236B - A kind of compact lower limb exoskeleton driving device - Google Patents
A kind of compact lower limb exoskeleton driving device Download PDFInfo
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- CN104083236B CN104083236B CN201410332500.5A CN201410332500A CN104083236B CN 104083236 B CN104083236 B CN 104083236B CN 201410332500 A CN201410332500 A CN 201410332500A CN 104083236 B CN104083236 B CN 104083236B
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Abstract
The present invention relates to 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 occlusion mutually, described high rotating speed DC brushless motor (1) is connected with described planetary reduction gear (2) axle, described planetary reduction gear (2) is by fixed connecting base (3) and worm screw (5) synchronized links, 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).This apparatus structure is compact, can provide larger joint driven torque, has 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
The joint drive of lower limb exoskeleton has the requirement drive moment little feature and volume and weight is tried one's best greatly, and existing lower limb exoskeleton articulated driving equipment great majority realize by directly installing drive motors in the mode of joint, so not only driving moment can not get promoting, and installing space also takies comparatively large, causes 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 institute takes up space comparatively large and that handling are 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 closely engaged mutually by the worm tooth on it and worm gear, described high rotating speed DC brushless motor is connected with described planetary reduction gear axle, described planetary reduction gear is by fixed connecting base and worm screw synchronized links, in the middle part of described worm gear, concentric bearings is installed, 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 support device, shank bracing or strutting arrangement and foot brace device, between described waist support device and thigh support device, and between thigh support device 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 closely engaged mutually by the worm tooth on it and worm gear, described high rotating speed DC brushless motor is connected with described planetary reduction gear axle, described planetary reduction gear is by fixed connecting base and worm screw synchronized links, in the middle part of described worm gear, concentric bearings is installed, 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 the application scenario of this installation site of exoskeleton robot and joint limited mass; This device, by the mode of double reduction, can provide larger joint driven torque; This device has reverse self-locking function, can tackle the situation of emergency power off, effectively protect mechanism.
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 a kind of walking robot of the present invention embodiment.
In figure: 1-height rotating speed DC brushless motor, 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 support device, 17-shank bracing or strutting arrangement, 18-foot braces device.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, 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, be not intended to limit the present invention.
Fig. 1, Fig. 2 and Fig. 3 shows an embodiment of a kind of compact of the present invention lower limb exoskeleton 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 occlusion mutually, described high rotating speed DC brushless motor 1 is connected with described planetary reduction gear 2 axle, described planetary reduction gear 2 is by fixed connecting base 3 and worm screw 5 synchronized links, in the middle part of described worm gear 12, concentric bearings 8 is installed, in the concentric bearings 8 that described output shaft 9 is arranged on by spline coupling 13.
According to a preferred embodiment of a kind of compact lower limb exoskeleton of the present invention driving device, 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, undertaken coordinating and transmission by worm tooth 11 between worm screw 5 and worm gear 12, 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, complete the transmission between output shaft 9 and worm gear 12 by spline coupling 13 again, thus whole driving device just completes the function of deceleration unidirectional driving and 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 support device 16, shank bracing or strutting arrangement 17 and foot brace device 18, between described waist support device 15 and thigh support device 16, and between thigh support device 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 occlusion mutually, described high rotating speed DC brushless motor 1 is connected with described planetary reduction gear 2 axle, described planetary reduction gear 2 is by fixed connecting base 3 and worm screw 5 synchronized links, in the middle part of described worm gear 12, concentric bearings 8 is installed, 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 multiple 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 amendment and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.More particularly, in the scope of, accompanying drawing open in the application and claim, multiple modification and improvement can be carried out to the building block of subject combination layout and/or layout.Except the distortion carried out building block and/or layout and improving, to those skilled in the art, other purposes also will be 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), turbine (12) and output shaft (9), described worm screw (5) is fixedly mounted in input shell (4) by bearing (6), turbine (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 turbine (12) closely occlusion mutually, the drive end of described high rotating speed DC brushless motor (1) connects described planetary reduction gear (2), described planetary reduction gear (2) is by fixed connecting base (3) and worm screw (5) synchronized links, described turbine (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 support device (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 support device (16), and be provided with compact lower limb exoskeleton driving device between thigh support device (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), turbine (12) and output shaft (9), described worm screw (5) is fixedly mounted in input shell (4) by bearing (6), turbine (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 turbine (12) closely occlusion mutually, the drive end of described high rotating speed DC brushless motor (1) connects described planetary reduction gear (2), described planetary reduction gear (2) is by fixed connecting base (3) and worm screw (5) synchronized links, described turbine (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 |
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| Publication Number | Publication Date |
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| CN104083236A CN104083236A (en) | 2014-10-08 |
| CN104083236B true CN104083236B (en) | 2016-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410332500.5A Active CN104083236B (en) | 2014-07-11 | 2014-07-11 | A kind of compact lower limb exoskeleton driving device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7429253B2 (en) * | 2004-09-21 | 2008-09-30 | Honda Motor Co., Ltd. | Walking assistance system |
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- 2014-07-11 CN CN201410332500.5A patent/CN104083236B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN104083236A (en) | 2014-10-08 |
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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 |
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