CN108326830A - A kind of human synovial power assisting device - Google Patents
A kind of human synovial power assisting device Download PDFInfo
- Publication number
- CN108326830A CN108326830A CN201810262599.4A CN201810262599A CN108326830A CN 108326830 A CN108326830 A CN 108326830A CN 201810262599 A CN201810262599 A CN 201810262599A CN 108326830 A CN108326830 A CN 108326830A
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- CN
- China
- Prior art keywords
- mounting base
- power
- assisting device
- interconnecting piece
- wall
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Classifications
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- 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
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of human synovial power assisting device, including upper arm interconnecting piece and underarm interconnecting piece, upper arm interconnecting piece is connected with underarm interconnecting piece by power-assisted joint；There is rimless torque motor, the rotor axis of electric of rimless torque motor to drive the drive end bearing bracket in power-assisted joint to rotate by harmonic speed reducer for the inside in power-assisted joint, and the relative rotation for underarm interconnecting piece and upper arm interconnecting piece provides power-assisted.The human synovial power assisting device of the present invention, it is used as drive mechanism by rimless torque motor and harmonic speed reducer, human synovial power assisting device is small, suitable long-time simple and compact for structure is worn, being worn on corresponding joint position can be to provide the power-assisted of auxiliary for joint motions by internal rimless torque motor drive, it is that one kind being suitable for old man and group of handicapped, and has many advantages, such as succinct, flexible, efficient, lightweight and the suitable joint motions auxiliary worn and power assisting device.
Description
Technical field
The present invention relates to exoskeleton robot technical field, specifically a kind of human synovial power assisting device.
Background technology
Old man and group of handicapped need a kind of succinct, flexible, efficient and lightweight and the suitable joint motions worn are auxiliary
It helps and power assisting device.Currently, the well known power assistant arm type to come into operation is few, quantity is low, main cause is the machinery of power assistant arm
Structure is complex, and control system is huge with dynamical system.The control system of power assistant arm mostly uses myoelectric sensor and is controlled
The collection of signal, high to equipment requirement precision, being limited to the structure of existing equipment causes the operation precision that it can be done poor,
It can be only done simple action.In addition, the dynamical system of existing power assistant arm mostly uses hydraulic pressure or air pressure carries out power output, it is entire dynamic
Force system is more huge, and structure bulky is not suitable for wearing for a long time.
Invention content
The purpose of the present invention is present situations for the above-mentioned prior art, and provide a kind of motor-driven simple in structure, light weight
Change, the human synovial power assisting device of miniaturization.
Technical solution is used by the present invention solves above-mentioned technical problem：A kind of human synovial power assisting device, including it is upper
Arm interconnecting piece and underarm interconnecting piece, upper arm interconnecting piece are connected with underarm interconnecting piece by power-assisted joint；The inside in power-assisted joint
With rimless torque motor, the rotor axis of electric of rimless torque motor drives the drive end bearing bracket in power-assisted joint to revolve by harmonic speed reducer
Turn, the relative rotation for underarm interconnecting piece and upper arm interconnecting piece provides power-assisted.
To optimize above-mentioned technical proposal, the invention also includes following improved technical solutions.
There is columnar shell, harmonic speed reducer to have columnar steel wheel mounting base, steel wheel in above-mentioned power-assisted joint
The concentric inside for being sleeved on shell of mounting base, first axle is equipped between the outer wall of steel wheel mounting base and the inner wall of shell
It holds.
Inside one end of above-mentioned steel wheel mounting base is installed with steel wheel, and the other end is installed with motor stator installation
Seat；Rimless torque motor is fixed on the inside of motor stator mounting base, the rotor axis of electric and harmonic reduction of rimless torque motor
The wave producer of device is concentric to be fixedly connected, and flexbile gear is equipped in the outside of wave producer, the wheel side wall of flexbile gear and steel wheel it is interior
Wall matches.
Above-mentioned drive end bearing bracket is fixed on shell one end, the concentric fixed installation in the inside of drive end bearing bracket and the end face of flexbile gear.
Above-mentioned motor stator mounting base is rotatably assorted by second bearing and rotor axis of electric, and motor stator is fixed on electricity
The inner wall of machine stator mounting base, rotor are fixed on the outer wall of rotor axis of electric.
Above-mentioned rotor axis of electric has hollow cavity, is equipped with and can rotate by 3rd bearing in the inner wall of rotor axis of electric
Output shaft；One end of output shaft is connected with drive end bearing bracket central part, and the other end is connected with absolute encoder.
Above-mentioned motor stator mounting base have with steel wheel mounting base inner wall matched cylindrical portion, and radially extend
Partition board portion；There is round sleeve portion, the inner wall in round sleeve portion to pass through second bearing and rotor shaft rotation at the center of partition board portion
Dynamic cooperation；The side of partition board portion is the installation room of rimless torque motor, and the other side is that harmonic speed reducer installs room.
Above-mentioned motor stator mounting base is fixed with rear end cap, and the inner wall central part of rear end cap is formed with encoder mounting base.
Above-mentioned absolute encoder is fixed in encoder mounting base, and the shaft end of absolute encoder is inserted into output shaft.
Compared with prior art, human synovial power assisting device of the invention, passes through rimless torque motor and harmonic speed reducer
As drive mechanism, human synovial power assisting device is small, suitable long-time simple and compact for structure is worn, and is worn on corresponding joint
It to be that one kind being suitable for old man to provide the power-assisted of auxiliary for joint motions that position is driven by internal rimless torque motor
And group of handicapped, and have many advantages, such as succinct, flexible, efficient, lightweight and be suitble to the joint motions auxiliary and power-assisted worn
Device.
Description of the drawings
Fig. 1 is the overall structure diagram of human body joint assistance device.
Fig. 2 is the internal cross section structural schematic diagram of human body joint assistance device.
Fig. 3 is the front end face structural schematic diagram of Fig. 2.
Specific implementation mode
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
Fig. 1 to Fig. 3 show the structural schematic diagram of the present invention.
Reference numeral therein is：Upper arm interconnecting piece 1, underarm interconnecting piece 2, shell 3, first bearing 31, drive end bearing bracket 32, steel
Take turns mounting base 4, steel wheel 41, motor stator mounting base 42, cylindrical portion 42a, partition board portion 42b, round sleeve portion 42c, wave producer
43, flexbile gear 44, rotor axis of electric 5, second bearing 51, motor stator 52, rotor 53,3rd bearing 54, output shaft 55, absolutely
To encoder 56, shaft end 57, rear end cap 6, encoder mounting base 61.
A kind of human synovial power assisting device of the present invention, including upper arm interconnecting piece 1 and underarm interconnecting piece 2, upper arm interconnecting piece 1
Fixation is worn at human body upper arm, and the fixation of underarm interconnecting piece 2 is worn at human body underarm.Upper arm interconnecting piece 1 and underarm interconnecting piece 2
It is connected by power-assisted joint, the relative rotation for upper arm interconnecting piece 1 and underarm interconnecting piece 2 provides power-assisted, to help joint row
It is dynamic to there is the crowd of obstacle to regain the ability that some carry out correlated activation.
Power-assisted joint is in disc structure, internal to have rimless torque motor, the rotor axis of electric 5 of rimless torque motor logical
The drive end bearing bracket 32 for crossing harmonic speed reducer driving power-assisted joint rotates, and is carried for underarm interconnecting piece 2 and the relative rotation of upper arm interconnecting piece 1
For power-assisted, at the same have the advantages that it is simple in structure it is small and exquisite, flexible operation is efficient and light-weighted.
There is columnar shell 3, harmonic speed reducer to have columnar steel wheel mounting base 4, steel wheel installation in power-assisted joint
The 4 concentric inside for being sleeved on shell 3 of seat, first bearing is equipped between the outer wall and the inner wall of shell 3 of steel wheel mounting base 4
31.It is driven by harmonic speed reducer between shell 3 and rimless torque motor, there is stable drive, without impact, noiseless, movement
The advantages of precision height, small in volume
Inside one end of steel wheel mounting base 4 is installed with steel wheel 41, and the other end is installed with motor stator mounting base
42.Rimless torque motor is fixed on the inside of motor stator mounting base 42, and rotor axis of electric 5 and the harmonic wave of rimless torque motor subtract
The wave producer 43 of fast device is concentric to be fixedly connected, and flexbile gear 44, the wheel side wall of flexbile gear 44 are equipped in the outside of wave producer 43
It is matched with the inner wall of steel wheel 41.
Drive end bearing bracket 32 is fixed on 3 one end of shell, the inside of drive end bearing bracket 32 and the concentric fixed installation in end face of flexbile gear 44.
Motor stator mounting base 42 is rotatably assorted by second bearing 51 and rotor axis of electric 5, and motor stator 52 is fixed on
The inner wall of motor stator mounting base 42, rotor 53 are fixed on the outer wall of rotor axis of electric 5.
Rotor axis of electric 5 has hollow cavity, the inner wall of rotor axis of electric 5 defeated equipped with that can rotate by 3rd bearing 54
Shaft 55.One end of output shaft 55 is connected with 32 central part of drive end bearing bracket, and the other end is connected with absolute encoder 56.
Motor stator mounting base 42 have with 4 inner wall of steel wheel mounting base matched cylindrical portion 42a, and radially extend
Partition board portion 42b.There is round sleeve portion 42c, the inner wall of round sleeve portion 42c to pass through second bearing 51 at the center of partition board portion 42b
It is rotatably assorted with rotor axis of electric 5.The side of partition board portion 42b is the installation room of rimless torque motor, and the other side is harmonic reduction
Device installs room.
Motor stator mounting base 42 is fixed with rear end cap 6, and the inner wall central part of rear end cap 6 is formed with encoder mounting base 61.
Absolute encoder 56 is fixed in encoder mounting base 61, and output shaft 55 is inserted into the shaft end 57 of absolute encoder 56
It is interior.Rimless torque motor is provided with Hall sensor, and output end is provided with absolute encoder 56, be respectively intended to detection input and
The position and speed signal of output end, with controlled motion precision.
Highly preferred embodiment of the present invention has illustrated, and the various change or remodeling made by those of ordinary skill in the art are not
It can depart from the scope of the present invention.
Claims (9)
1. a kind of human synovial power assisting device, including upper arm interconnecting piece (1) and underarm interconnecting piece (2), it is characterized in that：Described is upper
Arm interconnecting piece (1) is connected with underarm interconnecting piece (2) by power-assisted joint；The inside in the power-assisted joint has rimless torque electricity
The rotor axis of electric (5) of machine, the rimless torque motor drives the drive end bearing bracket (32) in power-assisted joint to rotate by harmonic speed reducer,
Relative rotation for underarm interconnecting piece (2) and upper arm interconnecting piece (1) provides power-assisted.
2. a kind of human synovial power assisting device according to claim 1, it is characterized in that：The power-assisted joint has cylinder
The shell (3) of shape, the harmonic speed reducer have columnar steel wheel mounting base (4), the steel wheel mounting base (4) coaxial
The heart is sleeved on the inside of shell (3), and first bearing is equipped between the outer wall and the inner wall of shell (3) of steel wheel mounting base (4)
(31)。
3. a kind of human synovial power assisting device according to claim 2, it is characterized in that：The steel wheel mounting base (4) it is interior
Portion one end is installed with steel wheel (41), and the other end is installed with motor stator mounting base (42)；The rimless torque electricity
Machine is fixed on the inside of motor stator mounting base (42), the wave of rotor axis of electric (5) and harmonic speed reducer of rimless torque motor
Generator (43) is concentric to be fixedly connected, and flexbile gear (44), the flexbile gear are equipped in the outside of the wave producer (43)
(44) wheel side wall is matched with the inner wall of the steel wheel (41).
4. a kind of human synovial power assisting device according to claim 3, it is characterized in that：The drive end bearing bracket (32) is fixed on
Shell (3) one end, the inside of the drive end bearing bracket (32) and the concentric fixed installation in end face of the flexbile gear (44).
5. a kind of human synovial power assisting device according to claim 4, it is characterized in that：The motor stator mounting base
(42) it is rotatably assorted by second bearing (51) and rotor axis of electric (5), the motor stator (52) is fixed on motor stator
The inner wall of mounting base (42), the rotor (53) are fixed on the outer wall of rotor axis of electric (5).
6. a kind of human synovial power assisting device according to claim 5, it is characterized in that：Rotor axis of electric (5) tool
There is hollow cavity, the output shaft (55) that can be rotated is equipped with by 3rd bearing (54) in the inner wall of rotor axis of electric (5)；It is described defeated
One end of shaft (55) is connected with described drive end bearing bracket (32) central part, and the other end is connected with absolute encoder (56).
7. a kind of human synovial power assisting device according to claim 6, it is characterized in that：The motor stator mounting base
(42) have and the matched cylindrical portion of steel wheel mounting base (4) inner wall (42a), and the partition board portion (42b) that radially extends；It is described
The center of partition board portion (42b) there is round sleeve portion (42c), the inner wall of round sleeve portion (42c) passes through second bearing (51)
It is rotatably assorted with rotor axis of electric (5)；The side of the partition board portion (42b) is the installation room of rimless torque motor, and the other side is
Harmonic speed reducer installs room.
8. a kind of human synovial power assisting device according to claim 7, it is characterized in that：The motor stator mounting base
(42) it is fixed with rear end cap (6), the inner wall central part of rear end cap (6) is formed with encoder mounting base (61).
9. a kind of human synovial power assisting device according to claim 8, it is characterized in that：The absolute encoder (56) is solid
It is scheduled in encoder mounting base (61), the shaft end (57) of absolute encoder (56) is inserted into output shaft (55).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810262599.4A CN108326830A (en) | 2018-03-28 | 2018-03-28 | A kind of human synovial power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810262599.4A CN108326830A (en) | 2018-03-28 | 2018-03-28 | A kind of human synovial power assisting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108326830A true CN108326830A (en) | 2018-07-27 |
Family
ID=62931451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810262599.4A Pending CN108326830A (en) | 2018-03-28 | 2018-03-28 | A kind of human synovial power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108326830A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368152A (en) * | 2019-07-22 | 2019-10-25 | 南方科技大学 | Booster type knee joint artificial limb |
| CN110480674A (en) * | 2019-07-22 | 2019-11-22 | 南方科技大学 | Booster type bionic joint |
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| CN101596717A (en) * | 2009-06-25 | 2009-12-09 | 浙江工业大学 | Compact type intelligent switch joint |
| KR101208406B1 (en) * | 2012-03-30 | 2012-12-05 | 한국기계연구원 | Driving modules with hollowness |
| CN204076277U (en) * | 2014-09-11 | 2015-01-07 | 南京工业职业技术学院 | A kind of joint of robot |
| CN105287166A (en) * | 2015-12-02 | 2016-02-03 | 厦门大学 | Wearable elbow joint rehabilitation training robot |
| CN105397836A (en) * | 2015-12-23 | 2016-03-16 | 武汉穆特科技有限公司 | Highly-integrated modular robot joint |
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| CN107471246A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of band band-type brake hollow type compact mechanical shoulder joint |
| CN208117837U (en) * | 2018-03-28 | 2018-11-20 | 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 |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101596717A (en) * | 2009-06-25 | 2009-12-09 | 浙江工业大学 | Compact type intelligent switch joint |
| KR101208406B1 (en) * | 2012-03-30 | 2012-12-05 | 한국기계연구원 | Driving modules with hollowness |
| CN204076277U (en) * | 2014-09-11 | 2015-01-07 | 南京工业职业技术学院 | A kind of joint of robot |
| CN105287166A (en) * | 2015-12-02 | 2016-02-03 | 厦门大学 | Wearable elbow joint rehabilitation training robot |
| CN105397836A (en) * | 2015-12-23 | 2016-03-16 | 武汉穆特科技有限公司 | Highly-integrated modular robot joint |
| CN107283394A (en) * | 2016-03-31 | 2017-10-24 | 深圳光启合众科技有限公司 | Exoskeleton robot and its electronic joint |
| CN106272535A (en) * | 2016-10-21 | 2017-01-04 | 苏州绿的谐波传动科技有限公司 | A kind of robot integral type articulation structure |
| CN107471246A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of band band-type brake hollow type compact mechanical shoulder joint |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368152A (en) * | 2019-07-22 | 2019-10-25 | 南方科技大学 | Booster type knee joint artificial limb |
| CN110480674A (en) * | 2019-07-22 | 2019-11-22 | 南方科技大学 | Booster type bionic joint |
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