CN105520821A - Spring energy storage device with continuous variable stiffness - Google Patents
Spring energy storage device with continuous variable stiffness Download PDFInfo
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- CN105520821A CN105520821A CN201610052510.2A CN201610052510A CN105520821A CN 105520821 A CN105520821 A CN 105520821A CN 201610052510 A CN201610052510 A CN 201610052510A CN 105520821 A CN105520821 A CN 105520821A
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- belt wheel
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- 238000004146 energy storage Methods 0.000 title claims abstract description 22
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 65
- 239000010959 steel Substances 0.000 claims abstract description 65
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 210000001364 upper extremity Anatomy 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 11
- 239000000203 mixture Substances 0.000 description 8
- 230000005484 gravity Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000004220 muscle function Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a spring energy storage device with continuous variable stiffness, relates to a spring energy storage device, and in particular to a spring energy storage device with continuous variable stiffness. The invention aims at solving the problems of a conventional device which is relatively high in the size and quality of upper limb exoskeleton, complex in circuit, poor in reliability and serious in energy consumption. The spring energy storage device comprises a spring base, a lower spring hook, an upper spring hook, a first steel wire cable, a spring upper base, a second steel wire cable, a motor, a first belt wheel, a motor bracket, a screw lever base, a lower fixed plate, a first shaft, a second belt wheel, a third belt wheel, a fourth belt wheel, a second shaft, a right screw lever component A, a left screw lever component B, a first steel plate and a plurality of springs, wherein the lower fixed plate is horizontally arranged; and the right screw lever component A, the left screw lever component B and the first steel plate are arranged on the upper surface of the lower fixed plate side by side. The spring energy storage device disclosed by the invention belongs to the field of medical instrument.
Description
Technical field
The present invention relates to a kind of spring energy storage device, be specifically related to a kind of spring energy storage device of continuous variable-stiffness, belong to medical machinery field.
Background technology
At present, the research of ectoskeleton power assisting device is risen gradually, is with a wide range of applications, and helps the disabled as helped the elderly, medical rehabilitation, commercial production, earthquake rescue, the fields such as individual combat.General assistance exoskeleton has following characteristics: can the motion intention of human body; The joint freedom degrees similar with human body and articulation space; There is necessary joint active drive exert oneself with auxiliary; Carry control system and energy resource system; There is certain Security mechanism.
Assistance exoskeleton, according to the object of power transmission, can be divided into two kinds of situations: ectoskeleton drives human motion, and human body drives ectoskeleton motion.In " people-machine " design of link information interactive device that its main distinction is embodied in and the formulation of system control strategy.
Help the disabled for helping the elderly or medical rehabilitation field, ectoskeletal object is the motion of self muscle of auxiliary human body, helps old man to lift lower limb, or help the objects such as patient does that muscle function resumes training to reach.Ectoskeleton is needed to set the motion planning in each joint, or the electromyographic signal of human body, limb motion direction etc. judge the motion intention of human body, drive wearer motion, now needing the transmission of power between human body and ectoskeleton, is therefore the relation that is connected closely between " people-machine ";
For commercial production, the application such as earthquake rescue or individual combat, faced by be normal healthy workers or fire fighters, ectoskeletal object is not the motion of self muscle of auxiliary human body, but strengthens and amplify the effect of exerting oneself of human body.
In traditional upper limb ectoskeleton, mostly adopt motor to drive and realize power-assisted, namely on the degree of freedom in each joint, be provided with motor, use motor to drive ectoskeleton to move.But cause volume and quality comparatively large like this, circuit is complicated, and reliability reduces, and energy consumption is larger.
For these reasons, devise a kind of varying load low energy consumption upper limb assistance exoskeleton based on ditetragon gravitational equilibrium principle, replacing motor to drive by the mode that a kind of machine power balances provides power-assisted to upper limb ectoskeleton.The present invention is exactly a kind of spring energy storage device of energy continuous variable-stiffness, is the power set of balancing gravity in above-mentioned upper limb assistance exoskeleton.
Summary of the invention
The present invention is that the traditional upper limb ectoskeleton volume of solution and quality are comparatively large, and circuit is complicated, poor reliability, the problem that energy consumption is large, and then the spring energy storage device proposing a kind of continuous variable-stiffness.
The present invention is the technical scheme taked that solves the problem: the present invention includes spring seat, lower spring is linked up with, upper spring carrier arm, first steel wire rope, spring top base, second steel wire rope, motor, first belt wheel, electric machine support, leading screw pedestal, bottom plate, first axle, second belt wheel, 3rd belt wheel, 4th belt wheel, second axle, right lead screw assembly A, left lead screw assembly B, first steel plate and multiple spring, bottom plate is horizontally disposed with, described right lead screw assembly A, described left lead screw assembly B, first steel plate is vertically arranged on the upper surface of bottom plate side by side, spring top base is arranged on the upper end of the first steel plate, lower spring hook is fixedly mounted on the lower end of the first steel plate, lower spring hook is connected with upper spring carrier arm by multiple spring, upper spring carrier arm is connected with one end of the first steel wire rope, and the other end of the first steel wire rope walks around the pulley on spring top base successively, described right lead screw assembly A, described left lead screw assembly B is connected with the spring seat being arranged on bottom plate upper surface, and motor is arranged on the upper surface of bottom plate by electric machine support, and the first belt wheel is sleeved on the turning cylinder of motor, the first axle, second axle is vertically arranged on the upper surface of bottom plate side by side, second belt wheel and the 3rd belt wheel are from top to bottom sleeved on the first axle successively, 4th belt wheel is sleeved on the second axle, the upper end of the first axle is connected with described left lead screw assembly B, the upper end of the second axle is connected with described right lead screw assembly A, first belt wheel is connected with the 3rd belt wheel by belt, second belt wheel is connected with the 4th belt wheel by belt, one end of second steel wire rope is connected with the upper end of described left lead screw assembly B, and the other end of the second steel wire rope is connected with the external world.
Further, described right lead screw assembly A comprises the first slide block, the first guide rail, the first leading screw, the first nut and the first screw chuck, first guide rail and the first leading screw are vertically arranged on the first steel plate side by side, first slide block is arranged on the first guide rail, and the first slide block can along the first guide rail rectilinear movement, first nut is arranged on the first slide block, first nut sleeve is contained on the first leading screw, the lower end of the first leading screw is connected with the upper end of the second axle, first slide block is provided with multiple pulley, and the first screw chuck is installed in the lower end of the first leading screw.
Further, described left lead screw assembly B comprises the second steel plate, second leading screw, second guide rail, second nut, second slide block, second screw chuck, bearing (ball) cover, bearing base and universal joint, the lower end of the second steel plate is connected with bearing base, bearing (ball) cover spiral-lock is on bearing base, second leading screw and the second guide rail are arranged on the second steel plate side by side, the upper end of the second leading screw is connected with the second steel plate by bearing, the lower end of the second leading screw is connected with universal joint by the second screw chuck, universal joint is connected with the upper end of the first axle, second slide block is arranged on the second guide rail, and the second slide block can along the second guide rail rectilinear movement, second nut is arranged on the second slide block, second nut sleeve is contained on the second leading screw, second slide block is provided with pulley.
Further, retainer clip is arranged in the slideway of spring seat, and screw is inserted in the screwed hole of retainer clip.
The invention has the beneficial effects as follows: 1, the present invention provides power for upper limb ectoskeleton, and energy consumption reduces greatly; 2, structure of the present invention is simple, stability is high, and it is convenient to control; 3, the present invention is the power set of balancing gravity in varying load low energy consumption upper limb assistance exoskeleton based on ditetragon gravitational equilibrium principle.It is arranged in pairs or groups with two parallel-crank mechanism, can realize the balance that any gravity in range ability is gone up at an arbitrary position.Owing to being mechanical mechanism, so have, structure is simple, stability is high, and the advantage such as more energy-conservation.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention, and Fig. 2 is the overall structure schematic diagram that the present invention splits.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 and Fig. 2 illustrate present embodiment, described in present embodiment, a kind of spring energy storage device of continuous variable-stiffness comprises spring seat 1, lower spring hook 2, upper spring carrier arm 4, first steel wire rope 5, spring top base 6, second steel wire rope 7, motor 8, first belt wheel 9, electric machine support 10, leading screw pedestal 11, bottom plate 12, first axle 15, second belt wheel 16, 3rd belt wheel 17, 4th belt wheel 18, second axle 19, right lead screw assembly A, left lead screw assembly B, first steel plate A2 and multiple spring 3, bottom plate 12 is horizontally disposed with, described right lead screw assembly A, described left lead screw assembly B, first steel plate A2 is vertically arranged on the upper surface of bottom plate 12 side by side, spring top base 6 is arranged on the upper end of the first steel plate A2, lower spring hook 2 is fixedly mounted on the lower end of the first steel plate A2, lower spring hook 2 is connected with upper spring carrier arm 4 by multiple spring 3, upper spring carrier arm 4 is connected with one end of the first steel wire rope 5, and the other end of the first steel wire rope 5 walks around the pulley on spring top base 6 successively, described right lead screw assembly A, described left lead screw assembly B is connected with the spring seat 1 being arranged on bottom plate 12 upper surface, and motor 8 is arranged on the upper surface of bottom plate 12 by electric machine support 10, and the first belt wheel 9 is sleeved on the turning cylinder of motor 8, the first axle 15, second axle 19 is vertically arranged on the upper surface of bottom plate 12 side by side, second belt wheel 16 and the 3rd belt wheel 17 are sleeved on the first axle 15 from top to bottom successively, 4th belt wheel 18 is sleeved on the second axle 19, the upper end of the first axle 15 is connected with described left lead screw assembly B, the upper end of the second axle 19 is connected with described right lead screw assembly A, first belt wheel 9 is connected with the 3rd belt wheel 17 by belt, second belt wheel 16 is connected with the 4th belt wheel 18 by belt, one end of second steel wire rope 7 is connected with the upper end of described left lead screw assembly B, and the other end of the second steel wire rope 7 is connected with the external world.
Detailed description of the invention two: composition graphs 1 and Fig. 2 illustrate present embodiment, the right lead screw assembly A of the spring energy storage device of a kind of continuous variable-stiffness described in present embodiment comprises the first slide block A1, first guide rail A3, first leading screw A4, first nut A5 and the first screw chuck A6, first guide rail A3 and the first leading screw A4 is vertically arranged on the first steel plate A2 side by side, first slide block A1 is arranged on the first guide rail A3, and the first slide block A1 can move linearly along the first guide rail A3, first nut A5 is arranged on the first slide block A1, first nut A5 is sleeved on the first leading screw A4, the lower end of the first leading screw A4 is connected with the upper end of the second axle 19, the upper end of the first leading screw A4 is connected by the upper end of bearing with the first steel plate A2, the lower end of the first leading screw A4 is connected with the lower end of the first steel plate A2 by the first screw chuck A6, first slide block A1 is provided with multiple pulley.
First guide rail A3 is connected on the second steel plate A2, and first screw mandrel A4 one end is connected with the first steel plate A2 by bearing, and one end is fixed on the first screw mandrel chuck A6, and the first screw mandrel chuck A6 is connected with steel plate A2 by bearing, and is connected by pin with the first axle 19.First nut A5 is screwed on the first leading screw A4, is connected with the first slide block A1, and the first slide block A1 is also enclosed within the first guide rail A3.When first screw mandrel A4 rotates, drive the first nut A5 to move up and down, thus the first slide block A1 can be moved on the first guide rail A3.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 and Fig. 2 illustrate present embodiment, the left lead screw assembly B of the spring energy storage device of a kind of continuous variable-stiffness described in present embodiment comprises the second steel plate B1, second leading screw B2, second guide rail B3, second nut B4, second slide block B 5, second screw chuck B6, bearing (ball) cover B7, bearing base B8 and universal joint B9, the lower end of the second steel plate B1 is connected with bearing base B8, bearing (ball) cover B7 spiral-lock is on bearing base B8, second leading screw B2 and the second guide rail B3 is arranged on the second steel plate B1 side by side, the upper end of the second leading screw B2 is connected with the second steel plate B1 by bearing, the lower end of the second leading screw B2 is connected with universal joint B9 by the second screw chuck B6, universal joint B9 is connected with the upper end of the first axle 15, second slide block B 5 is arranged on the second guide rail B3, and the second slide block B 5 can move linearly along the second guide rail B3, second nut B4 is arranged in the second slide block B 5, second nut B4 is sleeved on the second leading screw B2, second slide block B 5 is provided with pulley.
Second guide rail B3 is connected on the second steel plate B1.Second screw mandrel B2 one end is connected with the second steel plate B1 by bearing, and one end is fixed on the second screw mandrel chuck B6, and the second screw mandrel chuck B6 is connected with the second steel plate B1 by bearing, and is connected by pin with universal joint B9.Universal joint B9 is connected with bearing (ball) cover B7 by bearing, bearing (ball) cover B7 and bearing base B8 is connected, universal joint B9 one end is connected with the second screw mandrel chuck B6, and the other end is connected by pin with the first axle 15, and universal joint B9 ensure that the second screw mandrel B2 can also can planar rotate in rotation.Second nut B4 is screwed on the second leading screw B2, is connected with the second slide block B 5, and the second slide block B 5 is also enclosed within the second guide rail B3.When first axle 15 rotates, drive the second screw mandrel B2 also to rotate by universal joint B9, the change of team certainly of screw mandrel makes the second nut B4 move up and down, and the second nut B4 drives again the first slide block A1 to move on the first guide rail A3.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 1 illustrates present embodiment, a kind of spring energy storage device of continuous variable-stiffness described in present embodiment also comprises screw 13 and retainer clip 14, retainer clip 14 is arranged in the slideway of spring seat 1, and screw 13 is inserted in the screwed hole of retainer clip 14.By turning screw 13, retainer clip 14 is slided in the slideway of spring seat 1, thus regulate the degree of tightness of the first steel wire rope 5.Other composition and annexation identical with detailed description of the invention one.
Operation principle
O point is the intersection point of the first screw mandrel A4 and the second screw mandrel B2, first slide block A1, the second slide block B 5 are connected with the first nut A5, the 2nd B4 respectively, first nut A5 and the second nut B4 is enclosed within the first screw mandrel A4 and the second screw mandrel B2 respectively, universal joint B9 is connected by the second screw mandrel chuck B6 and the second screw mandrel B2, ensure that the second screw mandrel B2 can also can planar rotate in rotation.Keeping identical rotating speed by controlling screw mandrel, making the first slide block A1, the second slide block B 5 equal all the time with the distance of O point.The centre of the first steel wire rope 5 around on upper spring carrier arm 4, two ends from after spring carrier arm 4 is gone out again around the pulley of the first slide block A1, the second slide block B 5, be finally connected on retainer clip 14.Second steel wire rope 7 one end is connected in the top of left screw component B, and the other end is connected with the external world.When the power F from the external world acts on the second steel wire rope 7, it is made to produce displacement.If slide block is that the second steel wire rope 7 arrives a of the distance of O point doubly to the distance of central point O, then produce relative displacement a between slide block, so spring also has the elongation of 2a, the first steel wire rope 5 produces the pulling force of 6ka.At O point, square is got for left lead screw assembly B.The spring that whole device is equivalent to a coefficient of elasticity and is can be found out, so when the rotation by leading screw carrys out the size of continuous regulation rates a, the rigidity of whole device also there occurs change thereupon, so be a kind of can the spring energy storage device of continuous variable-stiffness.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to technical spirit of the present invention, within the spirit and principles in the present invention, to any simple amendment that above embodiment is done, equivalent replacement and improvement etc., within the protection domain all still belonging to technical solution of the present invention.
Claims (4)
1. the spring energy storage device of a continuous variable-stiffness, it is characterized in that: the spring energy storage device of described a kind of continuous variable-stiffness comprises spring seat (1), lower spring hook (2), upper spring carrier arm (4), first steel wire rope (5), spring top base (6), second steel wire rope (7), motor (8), first belt wheel (9), electric machine support (10), leading screw pedestal (11), bottom plate (12), first axle (15), second belt wheel (16), 3rd belt wheel (17), 4th belt wheel (18), second axle (19), right lead screw assembly A, left lead screw assembly B, first steel plate (A2) and multiple spring (3), bottom plate (12) is horizontally disposed with, described right lead screw assembly A, described left lead screw assembly B, first steel plate (A2) is vertically arranged on the upper surface of bottom plate (12) side by side, spring top base (6) is arranged on the upper end of the first steel plate (A2), lower spring hook (2) is fixedly mounted on the lower end of the first steel plate (A2), lower spring hook (2) is connected with upper spring carrier arm (4) by multiple spring (3), upper spring carrier arm (4) is connected with one end of the first steel wire rope (5), the other end of the first steel wire rope (5) walks around the pulley on spring top base (6) successively, described right lead screw assembly A, described left lead screw assembly B is connected with the spring seat (1) being arranged on bottom plate (12) upper surface, motor (8) is arranged on the upper surface of bottom plate (12) by electric machine support (10), first belt wheel (9) is sleeved on the turning cylinder of motor (8), first axle (15), second axle (19) is vertically arranged on the upper surface of bottom plate (12) side by side, second belt wheel (16) and the 3rd belt wheel (17) are sleeved on the first axle (15) from top to bottom successively, 4th belt wheel (18) is sleeved on the second axle (19), the upper end of the first axle (15) is connected with described left lead screw assembly B, the upper end of the second axle (19) is connected with described right lead screw assembly A, first belt wheel (9) is connected with the 3rd belt wheel (17) by belt, second belt wheel (16) is connected with the 4th belt wheel (18) by belt, one end of second steel wire rope (7) is connected with the upper end of described left lead screw assembly B, the other end of the second steel wire rope (7) is connected with the external world.
2. the spring energy storage device of a kind of continuous variable-stiffness according to claim 1, it is characterized in that: described right lead screw assembly A comprises the first slide block (A1), first guide rail (A3), first leading screw (A4), first nut (A5) and the first screw chuck (A6), first guide rail (A3) and the first leading screw (A4) are vertically arranged on the first steel plate (A2) side by side, first slide block (A1) is arranged on the first guide rail (A3), and the first slide block (A1) can move linearly along the first guide rail (A3), first nut (A5) is arranged on the first slide block (A1), first nut (A5) is sleeved on the first leading screw (A4), the lower end of the first leading screw (A4) is connected with the upper end of the second axle (19), the upper end of the first leading screw (A4) is connected by the upper end of bearing with the first steel plate (A2), the lower end of the first leading screw (A4) is connected with the lower end of the first steel plate (A2) by the first screw chuck (A6), first slide block (A1) is provided with multiple pulley.
3. the spring energy storage device of a kind of continuous variable-stiffness according to claim 1, it is characterized in that: described left lead screw assembly B comprises the second steel plate (B1), second leading screw (B2), second guide rail (B3), second nut (B4), second slide block (B5), second screw chuck (B6), bearing (ball) cover (B7), bearing base (B8) and universal joint (B9), the lower end of the second steel plate (B1) is connected with bearing base (B8), bearing (ball) cover (B7) spiral-lock is on bearing base (B8), second leading screw (B2) and the second guide rail (B3) are arranged on the second steel plate (B1) side by side, the upper end of the second leading screw (B2) is connected with the second steel plate (B1) by bearing, the lower end of the second leading screw (B2) is connected with universal joint (B9) by the second screw chuck (B6), universal joint (B9) is connected with the upper end of the first axle (15), second slide block (B5) is arranged on the second guide rail (B3), and the second slide block (B5) can move linearly along the second guide rail (B3), second nut (B4) is arranged on the second slide block (B5), second nut (B4) is sleeved on the second leading screw (B2), second slide block (B5) is provided with pulley.
4. the spring energy storage device of a kind of continuous variable-stiffness according to claim 1, it is characterized in that: the spring energy storage device of described a kind of continuous variable-stiffness also comprises screw (13) and retainer clip (14), retainer clip (14) is arranged in the slideway of spring seat (1), and screw (13) is inserted in the screwed hole of retainer clip (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052510.2A CN105520821B (en) | 2016-01-26 | 2016-01-26 | A kind of spring energy storage device of continuous variable-stiffness |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610052510.2A CN105520821B (en) | 2016-01-26 | 2016-01-26 | A kind of spring energy storage device of continuous variable-stiffness |
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| CN105520821A true CN105520821A (en) | 2016-04-27 |
| CN105520821B CN105520821B (en) | 2017-11-03 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673781A (en) * | 2020-06-10 | 2020-09-18 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN113081697A (en) * | 2021-03-30 | 2021-07-09 | 河北工业大学 | Active energy storage type ankle joint walking aid |
| CN111775176B (en) * | 2020-06-10 | 2022-05-31 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
| CN114770478A (en) * | 2022-05-18 | 2022-07-22 | 南京航空航天大学 | Remote variable-stiffness reconfigurable modular exoskeleton and control system and control method thereof |
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| CN111775176B (en) * | 2020-06-10 | 2022-05-31 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
| CN113081697A (en) * | 2021-03-30 | 2021-07-09 | 河北工业大学 | Active energy storage type ankle joint walking aid |
| CN113081697B (en) * | 2021-03-30 | 2022-08-19 | 河北工业大学 | Active energy storage type ankle joint walking aid |
| CN114770478A (en) * | 2022-05-18 | 2022-07-22 | 南京航空航天大学 | Remote variable-stiffness reconfigurable modular exoskeleton and control system and control method thereof |
| CN114770478B (en) * | 2022-05-18 | 2023-09-29 | 南京航空航天大学 | Remote variable-rigidity reconfigurable modularized exoskeleton and control system and control method thereof |
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