CN105666476A - Flexible drive structure for external skeleton robot - Google Patents
Flexible drive structure for external skeleton robot Download PDFInfo
- Publication number
- CN105666476A CN105666476A CN201610231584.2A CN201610231584A CN105666476A CN 105666476 A CN105666476 A CN 105666476A CN 201610231584 A CN201610231584 A CN 201610231584A CN 105666476 A CN105666476 A CN 105666476A
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- CN
- China
- Prior art keywords
- joint
- rotating shaft
- knock
- bone
- bone knock
- 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.)
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Classifications
-
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention relates to a flexible drive structure, in particular to a flexible drive structure for an external skeleton robot.Most of current external skeleton robot systems conduct power output through rigidity mechanisms, but joint drivers making direct contact with people are poor in flexibility, and the requirements for safety and comfort of man-machine interaction robots cannot be met.A first bevel gear in the flexible drive structure is located in a cavity defined between a first skeleton rod connector and a second skeleton rod connector and arranged on an output shaft of a motor in a sleeving mode.An off-axis type magnetic encoder is arranged at the other end of a first rotating shaft, a second rotating shaft is located on the other side of the second skeleton rod connector and penetrates the first skeleton rod connector and the second skeleton rod connector in sequence, and an elastic body is arranged on the first rotating shaft in a sleeving mode and located between the first skeleton rod connector and the second skeleton rod connector.A second bevel gear is located in the cavity defined between the first skeleton rod connector and the second skeleton rod connector, arranged on the first rotating shaft in a sleeving mode and engaged with the first bevel gear.The flexible drive structure is used for robots.
Description
Technical field
The present invention relates to a kind of flexible drive mechanism, belong to mechanical skill and technical field of automation.
Background technology
The powerful mechanical energy that the intelligence of people is had by exoskeleton robot with robot combines, and is comprehensively a system, not only increases the muscle power of human body, speed and endurance, also possesses protection human body and supports the function of organization of human body. Current exoskeleton robot system carries out Power output mainly with rigid mechanism, but as the joint driver that needs directly contact with the mankind, kindliness is poor, can not meet human-computer interaction robot to the requirement of security and comfortable property.
Summary of the invention
It is an object of the invention to provide a kind of soft drive structure for exoskeleton robot, Power output is carried out mainly with rigid mechanism to solve current exoskeleton robot system, but as the joint driver that needs directly contact with the mankind, kindliness is poor, can not meet human-computer interaction robot to the problem of security and the requirement of comfortable property.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
A kind of soft drive structure for exoskeleton robot, it comprises motor, motor mount, first cone gear, bone knock-off joint one, 2nd cone gear, first rotating shaft, elastomerics, from axle formula magnetic coder, bone knock-off joint two and the 2nd rotating shaft, described bone knock-off joint one and bone knock-off joint two are " Contraband " font framework, described bone knock-off joint one be arranged in bone knock-off joint two and its breach end towards bone knock-off joint two, described motor is located on bone knock-off joint one by motor mount, described first cone gear encloses in the cavity of conjunction between bone knock-off joint one and bone knock-off joint two and the first cone gear is sleeved on the output shaft of motor, described first rotating shaft is positioned at the side of bone knock-off joint two, one end of described first rotating shaft is successively through bone knock-off joint two and bone knock-off joint one and in enclosing the cavity of conjunction bone knock-off joint one and bone knock-off joint two, described it is arranged on that bone knock-off joint two is outer from axle formula magnetic coder and on its other end being sleeved on the first rotating shaft, described 2nd rotating shaft is positioned at another side of bone knock-off joint two and it is located on bone knock-off joint one and bone knock-off joint two successively, described elastomer sleeve is contained in the first rotating shaft and it is between bone knock-off joint one and bone knock-off joint two, described 2nd cone gear encloses in the cavity of conjunction between bone knock-off joint one and bone knock-off joint two, described plug tap gear set in the first rotating shaft and its be meshed with the first cone gear.
The present invention has following useful effect:
1, the present invention is by adopting the flexible actuator with elastomerics, the measurement that power control is out of shape by elastomerics is converted into position control, thus realize the control of accurate power and there is power output low resistivity, stable output, feature that energy density is high simultaneously, and reduce the bandwidth of system, reduce output impedance
2, the present invention can increase the stability of exoskeleton robot effectively, reduces disturbing influence, the buffer protection function of elastomerics under enhancing external impact.
3, the present invention is in the environment for exoskeleton robot rehabilitation or assisted walk, significantly improves comfortable property and the motion continuity of man-machine coordinated movement.
4, present configuration simply and constructs rationally, is conducive to reducing the use cost of exoskeleton robot.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the present invention;
Fig. 2 is the main TV structure schematic diagram of elastomerics 10;
Fig. 3 is the perspective view of elastomerics 10;
Fig. 4 is the perspective view of bone knock-off joint 1;
Fig. 5 is the perspective view of bone knock-off joint 2 12;
Fig. 6 is the main TV structure schematic diagram from axle formula magnetic coder 11;
Fig. 7 is the using state figure of the present invention.
Embodiment
Embodiment one: composition graphs 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7 illustrates present embodiment, present embodiment comprises motor 1, motor mount 2, first cone gear 3, bone knock-off joint 1, 2nd cone gear 5, first rotating shaft 8, elastomerics 10, from axle formula magnetic coder 11, bone knock-off joint 2 12 and the 2nd rotating shaft 14, described bone knock-off joint 1 and bone knock-off joint 2 12 are " Contraband " font framework, described bone knock-off joint 1 be arranged in bone knock-off joint 2 12 and its breach end towards bone knock-off joint 2 12, described motor 1 is located on bone knock-off joint 1 by motor mount 2, described first cone gear 3 encloses in the cavity of conjunction between bone knock-off joint 1 and bone knock-off joint 2 12 and the first cone gear 3 is sleeved on the output shaft of motor 1, described first rotating shaft 8 is positioned at the side of bone knock-off joint 2 12, one end of described first rotating shaft 8 is successively through bone knock-off joint 2 12 and bone knock-off joint 1 and in enclosing the cavity of conjunction bone knock-off joint 1 and bone knock-off joint 2 12, described it is arranged on that bone knock-off joint 2 12 is outer from axle formula magnetic coder 11 and on its other end being sleeved on the first rotating shaft 8, described 2nd rotating shaft 14 is positioned at another side of bone knock-off joint 2 12 and it is located on bone knock-off joint 1 and bone knock-off joint 2 12 successively, described elastomerics 10 is sleeved in the first rotating shaft 8 and it is between bone knock-off joint 1 and bone knock-off joint 2 12, described 2nd cone gear 5 encloses in the cavity of conjunction between bone knock-off joint 1 and bone knock-off joint 2 12, described 2nd cone gear 5 is sleeved in the first rotating shaft 8 and it is meshed with the first cone gear 3.
In the present invention from axle formula magnetic coder 11 be currently available products, disk 11-1 and chip 11-2 is comprised from axle formula magnetic coder 11, described chip 11-2 is arranged on disk 11-1, described disk 11-1 is arranged towards bone knock-off joint 2 12, and described chip 11-2 is arranged on the side of disk 11-1 away from bone knock-off joint 2 12.
Embodiment two: composition graphs 1 illustrates present embodiment, the 2nd cone gear 5 described in present embodiment is sleeved in the first rotating shaft 8 by flat key 1, and described elastomerics 10 is sleeved in the first rotating shaft 8 by flat key 29.The setting of flat key 1 and flat key 29 is in order in order to transmit torque and motion; Between the 2nd cone gear 5 and the first rotating shaft 8, when requiring to move axially between elastomerics 10 and the first rotating shaft 8, it is also possible to play the guiding role. Other structures do not mentioned and connection relation are identical with embodiment one.
Embodiment three: composition graphs 1 illustrates present embodiment, the first rotating shaft 8 described in present embodiment is connected with bone knock-off joint 1 by the first bearing 7, and described first rotating shaft 8 is connected with bone knock-off joint 2 12 by the 2nd bearing 18.
In present embodiment, the side of bone knock-off joint 1 is processed with in the first passing hole 21, first rotating shaft 8 to be set with the first bearing 7, first rotating shaft 8 be located in the first passing hole 21 of bone knock-off joint 1 by the first bearing 7. The side of the bone knock-off joint two 12 close with the first passing hole 21 is processed with in the 2nd passing hole 23, first rotating shaft 8 to be set with the 2nd bearing 18, first rotating shaft 8 and it is located in the 2nd passing hole 23 of bone knock-off joint 2 12 by the 2nd bearing 18.
In present embodiment, another side of bone knock-off joint 1 is processed with the 3rd passing hole 22,2nd rotating shaft 14 is set with the 3rd bearing 13,2nd rotating shaft 14 is located in the 3rd passing hole 22 of bone knock-off joint 1 by the 3rd bearing 13, another side of bone knock-off joint 2 12 is processed with the 4th passing hole 24,2nd rotating shaft 14 is located in the 4th passing hole 24 of bone knock-off joint 2 12 by the 4th bearing 15, bone knock-off joint 2 12 is outside equipped with axle head lid 16, and axle head lid 16 is for being fastened on the 2nd passing hole 23. Other structures do not mentioned and connection relation are identical with embodiment one or two.
Embodiment four: composition graphs 1, Fig. 2, Fig. 3 and Fig. 7 illustrate present embodiment, elastomerics 10 described in present embodiment comprises annular body 10-1, center column 10-2 and three group of spoke 10-3, described three groups of spoke 10-3 are distributed in annular body 10-1, center column 10-2 is positioned at annular body 10-1, described center column 10-2 is processed with rotating shaft through hole 10-4 along its axial direction due, often organizes spoke 10-3 and is fixedly connected between the outer wall of center column 10-2 and the inwall of annular body 10-1.
In present embodiment, three groups of spoke 10-3 are all as deformation unit, often organize spoke 10-3 and comprise two composition bars, and two composition bars are in same level, define a kind of upper quadrilateral structure therebetween. One end of the composition S-shaped setting of bar of every root and this root composition bar is fixedly connected on the outer wall of center column 10-2, and the other end of this root composition bar is fixedly connected on the inwall of annular body 10-1. The setting of three groups of spoke 10-3 compensate for annular body 10-1 under moment loading, often organize the radial displacement that spoke 10-3 must have, so that annular body 10-1 is easy to bear big moment gross distortion in the situation of the little size of small volume, owing to the external diameter of annular body 10-1 is 60mm, thickness is 7mm, so annular body 10-1 refers to the space corresponding with himself size in the situation of the little size of small volume, in this space, three groups of spoke 10-3 can make annular body 10-1 be easy to bear big moment gross distortion. Elastomerics 10 adopts overall symmetrical structure, ensure that the consistence of the rigidity of elasticity rotating, the linear lag. Other structures do not mentioned and connection relation are identical with embodiment three.
Embodiment five: composition graphs 3 illustrates present embodiment, the edge in circumference face, the body 10-1 of annular described in present embodiment side is evenly processed with multiple rectangular preiection 10-5. Other structures do not mentioned and connection relation are identical with embodiment four.
Embodiment six: composition graphs 1 and Fig. 6 illustrate present embodiment, is symmetricly set on outside bone knock-off joint 2 12 as rotation axis from axle formula magnetic coder 11 taking the first rotating shaft 8 described in present embodiment. It is arranged symmetrically with advantageously in reducing system dimension and be convenient to assembling and maintenance. Other structures do not mentioned and connection relation are identical with embodiment one or five.
Embodiment seven: composition graphs 4 and Fig. 7 illustrate present embodiment, the knock-off joint of bone described in present embodiment 1 is processed with the spacing groove 19 of tooth shape near the side of the 2nd rotating shaft 14. Other structures do not mentioned and connection relation are identical with embodiment one, two, four or five.
Embodiment eight: composition graphs 1, Fig. 5 and Fig. 7 illustrate present embodiment, described bone knock-off joint 2 12 extenal fixation is connected with exoskeleton bar 17. Other structures do not mentioned and connection relation are identical with embodiment one or seven.
Working process:
Start motor 1, first cone gear 3 is rotated under the drive of motor 1 output shaft, thus drive the 2nd cone gear 5 engaged with it to rotate, by the dynamic elastomerics 10 of the rotating band of the 2nd cone gear 5 with from axle formula magnetic coder 11 synchronous axial system, by the dynamic elastomerics 10 of the rotating band of the 2nd cone gear 5, power is reached annular body 10-1 by three groups of spoke 10-3 by elastomerics center column 10-2, rotate and the auxiliary of the 2nd rotating shaft 14 issues looks positional change even in the first rotating shaft 8 between bone knock-off joint 1 and bone knock-off joint 2 12 simultaneously, produce the effect flexibly connected.
Claims (8)
1. the soft drive structure for exoskeleton robot, it is characterized in that: it comprises motor (1), motor mount (2), first cone gear (3), bone knock-off joint one (4), 2nd cone gear (5), first rotating shaft (8), elastomerics (10), from axle formula magnetic coder (11), bone knock-off joint the two (12) and the 2nd rotating shaft (14), described bone knock-off joint one (4) and bone knock-off joint two (12) are " Contraband " font framework, described bone knock-off joint one (4) be arranged in bone knock-off joint two (12) and its breach end towards bone knock-off joint two (12), described motor (1) is located on bone knock-off joint one (4) by motor mount (2), described first cone gear (3) is positioned at the cavity enclosing conjunction between bone knock-off joint one (4) and bone knock-off joint two (12) and the first cone gear (3) is sleeved on the output shaft of motor (1), described first rotating shaft (8) is positioned at bone knock-off joint two (12) side, described first rotating shaft (8) one end is passed in bone knock-off joint two (12) and bone knock-off joint one (4) successively and is positioned at the cavity enclosing conjunction between bone knock-off joint one (4) and bone knock-off joint two (12), described it is arranged on bone knock-off joint two (12) outward and on its other end being sleeved on the first rotating shaft (8) from axle formula magnetic coder (11), described 2nd rotating shaft (14) is positioned at another side of bone knock-off joint two (12) and it is located on bone knock-off joint one (4) and bone knock-off joint two (12) successively, described elastomerics (10) is sleeved in the first rotating shaft (8) and it is positioned between bone knock-off joint one (4) and bone knock-off joint two (12), described 2nd cone gear (5) is positioned at the cavity enclosing conjunction between bone knock-off joint one (4) and bone knock-off joint two (12), described 2nd cone gear (5) is sleeved in the first rotating shaft (8) and it is meshed with the first cone gear (3).
2. the soft drive structure for exoskeleton robot according to claim 1, it is characterized in that: described 2nd cone gear (5) is sleeved in the first rotating shaft (8) by flat key one (6), and described elastomerics (10) is sleeved in the first rotating shaft (8) by flat key two (9).
3. the soft drive structure for exoskeleton robot according to claim 1 and 2, it is characterized in that: described first rotating shaft (8) is connected with bone knock-off joint one (4) by the first bearing (7), described first rotating shaft (8) is connected with bone knock-off joint two (12) by the 2nd bearing (18).
4. the soft drive structure for exoskeleton robot according to claim 3, it is characterized in that: described elastomerics (10) comprises annular body (10-1), center column (10-2) and three groups of spokes (10-3), described three groups of spokes (10-3) are distributed in annular body (10-1), center column (10-2) is positioned at annular body (10-1), described center column (10-2) is processed with rotating shaft through hole (10-4) along its axial direction due, often organize spoke (10-3) to be fixedly connected between the outer wall of center column (10-2) and the inwall of annular body (10-1).
5. the soft drive structure for exoskeleton robot according to claim 4, it is characterised in that: the edge in circumference face, described annular body (10-1) side is evenly processed with multiple rectangular preiection (10-5).
6. according to claim 1 or 5 for the soft drive structure of exoskeleton robot, it is characterised in that: described it is symmetricly set on bone knock-off joint two (12) outward from axle formula magnetic coder (11) by rotation axis of the first rotating shaft (8).
7. the soft drive structure for exoskeleton robot according to claim 1,2,4 or 5, it is characterised in that: described bone knock-off joint one (4) is processed with the spacing groove of tooth shape (19) near the side of the 2nd rotating shaft (14).
8. the soft drive structure for exoskeleton robot according to claim 1 or 7, it is characterised in that: described bone knock-off joint two (12) extenal fixation is connected with exoskeleton bar (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610231584.2A CN105666476A (en) | 2016-04-14 | 2016-04-14 | Flexible drive structure for external skeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610231584.2A CN105666476A (en) | 2016-04-14 | 2016-04-14 | Flexible drive structure for external skeleton robot |
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| CN105666476A true CN105666476A (en) | 2016-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610231584.2A Pending CN105666476A (en) | 2016-04-14 | 2016-04-14 | Flexible drive structure for external skeleton robot |
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| CN (1) | CN105666476A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106389073A (en) * | 2016-11-30 | 2017-02-15 | 深圳市迈步机器人科技有限公司 | Exoskeleton mechanical device |
| CN107097867A (en) * | 2017-03-06 | 2017-08-29 | 浙江大学 | A kind of flexible connecting member and the robot foot section structure using the connector |
| CN108904221A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | Stiffness variable elastic multifunctional driver and its motion control method |
| CN113520786A (en) * | 2021-06-10 | 2021-10-22 | 唐山海容机器人应用技术研究院 | Wearable lower limb exoskeleton auxiliary walking robot |
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| CN106389073A (en) * | 2016-11-30 | 2017-02-15 | 深圳市迈步机器人科技有限公司 | Exoskeleton mechanical device |
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| CN107097867A (en) * | 2017-03-06 | 2017-08-29 | 浙江大学 | A kind of flexible connecting member and the robot foot section structure using the connector |
| CN107097867B (en) * | 2017-03-06 | 2019-03-22 | 浙江大学 | A kind of flexible connecting member and the robot foot section structure using the connector |
| CN108904221A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | Stiffness variable elastic multifunctional driver and its motion control method |
| CN113520786A (en) * | 2021-06-10 | 2021-10-22 | 唐山海容机器人应用技术研究院 | Wearable lower limb exoskeleton auxiliary walking robot |
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