CN107283394A - Exoskeleton robot and its electronic joint - Google Patents
Exoskeleton robot and its electronic joint Download PDFInfo
- Publication number
- CN107283394A CN107283394A CN201610200090.8A CN201610200090A CN107283394A CN 107283394 A CN107283394 A CN 107283394A CN 201610200090 A CN201610200090 A CN 201610200090A CN 107283394 A CN107283394 A CN 107283394A
- Authority
- CN
- China
- Prior art keywords
- motor
- end cap
- side end
- flexbile gear
- joint
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of exoskeleton robot and its electronic joint, the characteristics of it has compact conformation.Electronic joint therein includes motor harmonic decelerator and joint housing, joint housing includes motor side end cap, electric machine casing, firm gear and the flexbile gear side end cap docked successively, motor stator, rotor are arranged in motor side end cap, the space that electric machine casing is surrounded, and flexbile gear, waveform generator are contained in firm gear, the space that flexbile gear side end cap is surrounded；Flexbile gear connector is arranged in flexbile gear side end cap；Motor shaft passes through waveform generator, and its first end is arranged in motor side end cap, and the second end is arranged in flexbile gear connector；Rotor, waveform generator are separately positioned on motor shaft.
Description
Technical field
The present invention relates to the electronic joint of robot, more particularly to exoskeleton robot.
Background technology
Robot is connected with each other the multiple degrees of freedom machine constituted by a series of skeleton structures by rotation or linear joint
Structure.Joint belongs to the basic components of robot, is an important step in whole robot system, especially closes
Structure, weight, the size of section play conclusive effect to robot performance.
The electronic joint of existing exoskeleton robot mainly includes two kinds.One kind is motor screw mechanism, and it can be real
Now move along a straight line, then corresponding rotary hinge mechanism is designed in joint, by the linear motion of motor screw mechanism
The rotary motion in joint is converted into, this drive mechanism volume is larger, and structure is too fat to move, for example patent
Lower limb exoskeleton robot in CN203060231U uses this scheme.It is another be it is direct using motor and
Decelerator realizes rotary motion, and this rotary joint is similar to the joint of industrial machine arm, can be directly mounted at joint
Lower limb exoskeleton robot in position, such as patent CN104434470A employs this scheme.
Foregoing another joint employs the direct current generator with shell and knockdown harmonic speed reducer, its volume compared with
Greatly, heavier-weight, the attractive in appearance of exoskeleton robot and increase ectoskeleton can be influenceed by directly applying to exoskeleton robot
The weight of robot.
The content of the invention
It is an object of the invention to provide a kind of electronic joint, it has compact structure.
Another object of the present invention is to provide a kind of exoskeleton robot, it has compact articulation structure.
A kind of electronic joint includes motor harmonic decelerator, and the harmonic speed reducer includes flexbile gear, firm gear, waveform
Generator and flexbile gear connector, the motor include motor stator, motor shaft and rotor, the electronic pass
Section also include joint housing, the joint housing include dock successively motor side end cap, electric machine casing, it is described just
Wheel and flexbile gear side end cap, the motor stator, rotor are arranged at the motor side end cap, the electric machine casing
In the space surrounded, the flexbile gear, waveform generator are contained in the firm gear, the space that flexbile gear side end cap is surrounded；
The flexbile gear connector is arranged in the flexbile gear side end cap；The motor shaft passes through the waveform generator, and it the
One end is arranged in the motor side end cap, and the second end is arranged in the flexbile gear connector；The rotor,
The waveform generator is separately positioned on the motor shaft.
In one embodiment, the flexbile gear side end cap has connecting hole, and the flexbile gear connector is arranged on the connection
Kong Zhong, the flexbile gear connector, the motor side end cap have axis hole respectively；The motor shaft extends through described
Waveform generator, its first end is arranged in the axis hole of the motor side end cap, and the second end is arranged on the flexbile gear and connected
In the axis hole of fitting；The rotor, the waveform generator are respectively fixedly disposed on the motor shaft.
In one embodiment, the motor side end cap, electric machine casing, the firm gear and flexbile gear side end cap are by bolt point
Its circumferential edge is not penetrated and is linked together.
In one embodiment, the motor shaft has radially projecting ring flange, and the waveform generator is fixedly connected
On the ring flange.
In one embodiment, the electric machine casing has radially-inwardly prominent and close to the isolation of the motor shaft
Disk.
In one embodiment, the rotor is fixed on the electricity by being set in the axle sleeve on the outside of the motor shaft
On arbor, the separator exceedes the outer surface of the axle sleeve in a radially inward direction.
In one embodiment, the axle sleeve is divided into two sections and key is connected on the motor shaft respectively.
In one embodiment, the motor stator is fixed on the inner surface of the electric machine casing.
In one embodiment, the flexbile gear connector is connected with the photoelectric encoder being embedded in joint housing, described
Axially extending formed is detected axle at second end of motor shaft, and the detected axle is inserted in the sense of the photoelectric encoder
Answer area.
A kind of exoskeleton robot, includes electronic joint, and the electronic joint is any above-mentioned electronic joint.
Joint housing is constituted by the motor side end cap docked successively, electric machine casing, the firm gear and flexbile gear side end cap,
Firm gear is on the one hand as a part for harmonic speed reducer, on the other hand as a part for joint housing, without extra
Reducer shell, therefore such design can obtain a kind of compact articulation structure, and this is conducive to ectoskeleton machine
The compact design of device people, improves the outward appearance of exoskeleton robot and mitigates the weight of exoskeleton robot.
Brief description of the drawings
The above and other features of the present invention, property and advantage are by by with reference to the accompanying drawings and examples
Describe and become readily apparent from, wherein：
Fig. 1 is the schematic diagram of the exoskeleton robot in embodiments of the invention；
Fig. 2 is electric diarthrodial decomposition view in Fig. 1；
Fig. 3 is electric diarthrodial half sectional view in Fig. 1；
Fig. 4 is the stereogram after electronic joint assembling in Fig. 2.
Embodiment
With reference to specific embodiments and the drawings, the invention will be further described, elaborates in the following description more
Many details are to facilitate a thorough understanding of the present invention, still the present invention obviously can be with a variety of different from the other of this description
Mode is implemented, and those skilled in the art can be in the case of without prejudice to intension of the present invention according to practical situations
Make similar popularization, deduction, therefore should not be limited the scope of the invention with the content of this specific embodiment.
It should be noted that accompanying drawing is only as an example, it is drawn according to the condition of equal proportion, and
It should not be construed as limiting in this, as the protection domain to actual requirement of the present invention.
Exoskeleton robot shown in Fig. 1 can be all or part of of complete exoskeleton robot,
It can increase upper limbs part as needed, to aid in human body to realize upper limks movements.It illustrate only in Fig. 1
The executing agency of robot, network system therein, battery pack, motor and decelerator, sensor etc. can bases
Existing to design to arrange, the exoskeleton robot shown in Fig. 1 can help people to walk, stand up, sit down.
It can be widely used as power-assisted machine, such as military field or sphere of life, for example, can set
The power-assisted size for being set to device is set by control system, and product development is carried out for the customer of lower limb paralysis.
As shown in figure 1, the exoskeleton robot in embodiments in accordance with the present invention includes waist member 1, thigh structure
Part 3, small leg member 4 and foot part component 5, the structure left and right sides in Fig. 1 are symmetrical arranged.Waist member
Connected between 1 and leg member 3 by hip joint 2, electronic joint 8, leg member 3 and small leg member 4,
Small leg member 4 is connected by electronic joint 8 respectively with foot part component 5.
Electronic joint 8 includes motor harmonic decelerator.As shown in figure 3, harmonic speed reducer includes waveform
Device 843,841 3 basic building blocks of flexbile gear 842 and firm gear, flexbile gear 842 with external tooth, firm gear 841 with internal tooth,
It makes flexbile gear 842 produce controlled elasticity deformation by the rotation of waveform generator 843, and is mutually nibbled with firm gear 841
Close to transmit motion and power, the power output side of flexbile gear 842 is connected with flexbile gear connector 844, its be used for by
Executing agency not shown in figure is connected with flexbile gear 842.As shown in Figures 2 to 4, the joint in electronic joint 8
Housing is made up of the motor side end cap 87 docked successively, electric machine casing 85, firm gear 841 and flexbile gear side end cap 83,
Firm gear 841 also serves as a part for joint housing as a part for harmonic speed reducer simultaneously.Electronic joint 8
Internals is arranged in the space that joint housing is surrounded.Motor include motor stator 861, motor shaft 82 and
Rotor 862.Motor stator 861, rotor 862 are arranged at motor side end cap 87, electric machine casing 85
In the space surrounded, and flexbile gear 842, waveform generator 843 are contained in firm gear 841, flexbile gear side end cap 83 and enclosed
Into space in.Flexbile gear side end cap 83 has connecting hole 831, and flexbile gear connector 844 is set by bearing 834
In connecting hole 831, flexbile gear connector 844, motor side end cap 87 have axis hole 840,870, electricity respectively
Arbor 82 extends through waveform generator 843 from motor side, and its first end is that the left end in Fig. 3 passes through bearing 825
It is arranged in the axis hole 870 of motor side end cap 87, the second end is that the right-hand member in Fig. 3 is arranged on by bearing 824
In the axis hole 840 of flexbile gear connector 844, rotor 862, waveform generator 843 are separately fixed at motor
On axle 82.Motor is once switched on power, the drive motor axle 82 of rotor 862, and motor shaft 82 drives ripple
The driving harmonic speed reducer of shape generator 843 exports power and moves to flexbile gear connector 844, flexbile gear connector 844
Can be further by motion and power output to executing agency.Firm gear 841 is set directly as a joint housing part
Put, and firm gear 841 connects into one with motor side end cap 87, electric machine casing 85, flexbile gear side end cap 83 simultaneously
Body, motor and decelerator are fitted together, and the joint for loading composition is bigger compared to the joint moment of same volume size,
Therefore its more compact structure, small volume, correspondingly weight is lighter, is particularly suitable for using in exoskeleton robot,
For example include but is not limited to be used for ectoskeleton power-assisting robot, exoskeleton rehabilitation robot, biped robot, industry
Mechanical arm.
As shown in Fig. 2 motor side end cap 87 is provided with bolt hole in its circumferential edge, electric machine casing 85 is at it
The circumferential edge on right side is provided with bolt hole 858, and circumferential edge to the left is provided with bolt hole, in addition, just
Wheel 84, flexbile gear side end cap 83 are also respectively provided with bolt hole in its periphery, can connect motor respectively by means of bolt
Side end cap 87, electric machine casing 85, electric machine casing 85, firm gear 84, flexbile gear side end cap 83.That is joint housing
Various pieces only need to be respectively penetrated its circumferential edge by bolt and be linked together, without passing through its internal connection knot
Structure is realized, therefore installs simple.
As shown in figure 3, motor shaft 82 has radially projecting ring flange 822, waveform generator 843, which is fixed, to be connected
It is connected on ring flange 822.Motor shaft 82 doubles as the rotating shaft of motor and the input shaft of harmonic speed reducer simultaneously, this
Be conducive to structure further compact.
With continued reference to Fig. 3, electric machine casing 85 has radially-inwardly prominent separator 850, and separator 850 connects
Motor shaft 82 is bordering on, to prevent the magnetic line of force between motor stator 861, rotor 862 from leaking.
In addition, rotor 862 is fixed on motor shaft 82 by being enclosed on the axle sleeve 863 in the outside of motor shaft 82,
Separator 850 will radially-inwardly exceed the outer surface of axle sleeve 863, so more preferably can prevent the magnetic line of force from letting out
Leakage.
Axle sleeve 863 can be divided into two sections of axle sleeves 8631,8632 splits and set, two sections of axle sleeves 8631,8632
Equal key is connected on motor shaft 82, is connected them through two sections of axle sleeves 8631,8632 by axial bolts
Together, so that rotor 862 be clamped.
Motor stator 861 can be directly anchored to the inner side of electric machine casing 85 by way of fastener or bonding
On surface.
As shown in Figure 3 and Figure 4, the outside of flexbile gear connector 844 is also connected with photoelectricity by fixed plate 810 and compiled
Code device 81, correspondingly the second end of motor shaft 82 it is axially extending go out detected axle 829, be detected axle 829 insert
Enter the induction zone in photoelectric encoder 82, the number of turns that harmonic speed reducer is exported can detect by photoelectric encoder 82,
And then control the amount of exercise of executing agency.Photoelectric encoder 82 is embedded in joint housing, further such that electronic
Articulation structure is compact.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this area
Technical staff without departing from the spirit and scope of the present invention, can make possible variation and modification.Therefore,
Every content without departing from technical solution of the present invention, what the technical spirit according to the present invention was made to above example appoints
What modification, equivalent variations and modification, each falls within the protection domain that the claims in the present invention are defined.
Claims (10)
1. electronic joint, it is characterised in that including motor harmonic decelerator, the harmonic speed reducer includes soft
Wheel, firm gear, waveform generator and flexbile gear connector, the motor turn including motor stator, motor shaft and motor
Son, the electronic joint also includes joint housing, and the joint housing includes motor side end cap, the electricity docked successively
Casing body, the firm gear and flexbile gear side end cap, the motor stator, rotor be arranged at the motor side end cap,
In the space that the electric machine casing is surrounded, the flexbile gear, waveform generator are contained in the firm gear, flexbile gear side end cap
In the space surrounded；The flexbile gear connector is arranged in the flexbile gear side end cap；The motor shaft passes through the ripple
Shape generator, its first end is arranged in the motor side end cap, and the second end is arranged in the flexbile gear connector；
The rotor, the waveform generator are separately positioned on the motor shaft.
2. electronic joint as claimed in claim 1, it is characterised in that the flexbile gear side end cap has connecting hole,
The flexbile gear connector is arranged in the connecting hole, and the flexbile gear connector, the motor side end cap have respectively
Axis hole；The motor shaft extends through the waveform generator, and its first end is arranged on the axle of the motor side end cap
Kong Zhong, the second end is arranged in the axis hole of the flexbile gear connector；The rotor, the waveform generator point
It is not fixedly installed on the motor shaft.
3. electronic joint as claimed in claim 1, it is characterised in that the motor side end cap, electric machine casing,
The firm gear and flexbile gear side end cap are respectively penetrated its circumferential edge by bolt and linked together.
4. electronic joint as claimed in claim 1, it is characterised in that the motor shaft has radially projecting
Ring flange, the waveform generator is fixedly connected on the ring flange.
5. electronic joint as claimed in claim 1, it is characterised in that the electric machine casing has radially-inwardly
It is prominent and close to the separator of the motor shaft.
6. electronic joint as claimed in claim 5, it is characterised in that the rotor is by being set in
State the axle sleeve on the outside of motor shaft to be fixed on the motor shaft, the separator exceedes the axle in a radially inward direction
The outer surface of set.
7. electronic joint as claimed in claim 6, it is characterised in that the axle sleeve is divided into two sections and respectively key
It is connected on the motor shaft.
8. electronic joint as claimed in claim 1, it is characterised in that the motor stator is fixed on the electricity
On the inner surface of casing body.
9. electronic joint as claimed in claim 1, it is characterised in that the flexbile gear connector is connected with embedded
In the photoelectric encoder in joint housing, axially extending formed in the second end of the motor shaft is detected axle, the quilt
Detection axle is inserted in the induction zone of the photoelectric encoder.
10. exoskeleton robot, includes electronic joint, it is characterised in that the electronic joint will for right
Ask the electronic joint described in any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610200090.8A CN107283394A (en) | 2016-03-31 | 2016-03-31 | Exoskeleton robot and its electronic joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610200090.8A CN107283394A (en) | 2016-03-31 | 2016-03-31 | Exoskeleton robot and its electronic joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107283394A true CN107283394A (en) | 2017-10-24 |
Family
ID=60086778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610200090.8A Withdrawn CN107283394A (en) | 2016-03-31 | 2016-03-31 | Exoskeleton robot and its electronic joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107283394A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326830A (en) * | 2018-03-28 | 2018-07-27 | 中国科学院宁波材料技术与工程研究所 | A kind of human synovial power assisting device |
| CN108381599A (en) * | 2018-04-25 | 2018-08-10 | 武汉理工大学 | A kind of joint drive module based on disc type electric machine driving |
| CN110385693A (en) * | 2018-04-23 | 2019-10-29 | 深圳市肯綮科技有限公司 | A kind of compact power articulation mechanism and its lightweight lower limb power assistive device |
| CN110454526A (en) * | 2019-08-21 | 2019-11-15 | 东北大学 | Magnetic current changing brake device and magnetorheological braking system based on wearable ectoskeleton |
| CN110480674A (en) * | 2019-07-22 | 2019-11-22 | 南方科技大学 | Booster type bionic joint |
| WO2020024241A1 (en) * | 2018-08-03 | 2020-02-06 | 深圳市肯綮科技有限公司 | Tension cable power apparatus and power system thereof and power assist device and control method thereof |
| CN110787023A (en) * | 2018-08-01 | 2020-02-14 | 深圳市肯綮科技有限公司 | Inhaul cable power device, power system thereof, power assisting equipment and control method thereof |
| CN111906815A (en) * | 2020-08-19 | 2020-11-10 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Execution joint integrated structure for exoskeleton robot joint |
| CN112936335A (en) * | 2021-05-13 | 2021-06-11 | 上海捷勃特机器人有限公司 | Robot joint structure and assembling method thereof |
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
-
2016
- 2016-03-31 CN CN201610200090.8A patent/CN107283394A/en not_active Withdrawn
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326830A (en) * | 2018-03-28 | 2018-07-27 | 中国科学院宁波材料技术与工程研究所 | A kind of human synovial power assisting device |
| CN110385693A (en) * | 2018-04-23 | 2019-10-29 | 深圳市肯綮科技有限公司 | A kind of compact power articulation mechanism and its lightweight lower limb power assistive device |
| CN110385693B (en) * | 2018-04-23 | 2020-10-02 | 深圳市肯綮科技有限公司 | Compact power joint mechanism and portable lower limb power assisting equipment thereof |
| CN108381599A (en) * | 2018-04-25 | 2018-08-10 | 武汉理工大学 | A kind of joint drive module based on disc type electric machine driving |
| CN110787023B (en) * | 2018-08-01 | 2021-12-14 | 深圳市肯綮科技有限公司 | Inhaul cable power device, power system thereof, power assisting equipment and control method thereof |
| CN110787023A (en) * | 2018-08-01 | 2020-02-14 | 深圳市肯綮科技有限公司 | Inhaul cable power device, power system thereof, power assisting equipment and control method thereof |
| WO2020024241A1 (en) * | 2018-08-03 | 2020-02-06 | 深圳市肯綮科技有限公司 | Tension cable power apparatus and power system thereof and power assist device and control method thereof |
| CN110480674A (en) * | 2019-07-22 | 2019-11-22 | 南方科技大学 | Booster type bionic joint |
| CN110454526A (en) * | 2019-08-21 | 2019-11-15 | 东北大学 | Magnetic current changing brake device and magnetorheological braking system based on wearable ectoskeleton |
| CN111906815A (en) * | 2020-08-19 | 2020-11-10 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Execution joint integrated structure for exoskeleton robot joint |
| CN111906815B (en) * | 2020-08-19 | 2024-04-12 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Execution joint integrated structure for exoskeleton robot joint |
| CN112936335A (en) * | 2021-05-13 | 2021-06-11 | 上海捷勃特机器人有限公司 | Robot joint structure and assembling method thereof |
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
| CN114227665B (en) * | 2021-12-24 | 2024-03-26 | 达闼机器人股份有限公司 | Dual-coupling actuator, mechanical limb and robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171024 |
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| WW01 | Invention patent application withdrawn after publication |