CN108858136B - Distributed driven variable-stiffness joint power assisting mechanism - Google Patents
Distributed driven variable-stiffness joint power assisting mechanism Download PDFInfo
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- CN108858136B CN108858136B CN201810470143.7A CN201810470143A CN108858136B CN 108858136 B CN108858136 B CN 108858136B CN 201810470143 A CN201810470143 A CN 201810470143A CN 108858136 B CN108858136 B CN 108858136B
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- shape memory
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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
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Abstract
The invention provides a distributed driven variable stiffness joint boosting mechanism, which comprises: a shape memory polymer; a heating means attached to a surface of the shape memory polymer in a longitudinal direction; a temperature sensor attached to a surface of the heating device; hinge layers adhered to upper and lower side surfaces of the shape memory polymer; a cover layer adhered to a surface of the hinge layer opposite to the shape memory polymer; an elastic breathable fabric that accommodates the cover layer, the hinge layer, the temperature sensor, the heating device, and the shape memory polymer therein in close contact with the cover layer. The variable-stiffness joint power assisting mechanism driven by the shape memory polymer can solve the problem of a single driving source of the booster, so that the booster is developed into distributed driving, each joint is driven more accurately, the mutual interference degree is smaller, and the effects of lightening equipment and prolonging the working time are achieved.
Description
Technical Field
The invention relates to a power assisting mechanism, in particular to a distributed driven variable-stiffness joint power assisting mechanism.
Background
At present, joint power assisting technology is more and more widely used in the fields of human rehabilitation and industry, building, fire fighting and the like, the power driving of the joint power assisting technology is generally realized through a direct current servo motor, hydraulic pressure, air pressure, a flexible cable and the like, but the equipment is too heavy (generally more than 20 KG), and the electric quantity provided by a battery is generally only enough to be used for about 2 hours due to the heavy equipment; the structure of the equipment is complex, and the self activity of the wearer is easily interfered; the size is large, so that the universality of application environments is limited; the equipment cost is high, and the method cannot be applied to the popular crowd.
Disclosure of Invention
In view of the above-mentioned technical problems, a distributed-drive variable-stiffness joint assist mechanism is provided. The invention mainly utilizes the shape memory polymer to drive the variable stiffness joint power-assisted mechanism, can change the problem of single driving source of the booster, and leads the booster to be developed into distributed driving, each joint is driven more accurately, the degree of mutual interference is smaller, and the effects of lightening equipment and prolonging working time are achieved. The technical means adopted by the invention are as follows:
a distributed driven variable stiffness joint assist mechanism, comprising: a shape memory polymer 3; a heating means attached to a surface of the shape memory polymer in a longitudinal direction; a temperature sensor attached to a surface of the heating device; hinge layers adhered to upper and lower side surfaces of the shape memory polymer; a cover layer adhered to a surface of the hinge layer opposite to the shape memory polymer; an elastic breathable fabric that accommodates the cover layer, the hinge layer, the temperature sensor, the heating device, and the shape memory polymer therein in close contact with the cover layer.
And a hinge groove is arranged between the hinge layer and the covering layer.
The heating device is arranged on one side or two sides of the shape memory polymer in the vertical direction.
The temperature sensor is arranged in the folding groove, and the temperature sensor is a patch type temperature sensor.
The shape memory polymer is cold-formed.
The invention has the following advantages:
1. through shape memory polymer drive, equipment is light, and when using battery power supply, operating time promotes by a wide margin.
2. Simple structure, small volume, small interference to the self-movement of the human body, and wide application range, and can be used as a rehabilitation instrument and also suitable for physical workers.
3. The rigidity of the shape memory polymer is different when the temperature is different, the heating temperature is changed according to the difference of the lifted weight, the more proper rigidity is matched, the task can be completed, unnecessary energy waste can be avoided, and the working time of the battery is prolonged.
4. The booster is low in manufacturing cost and suitable for popular people.
5, the problem of single driving source of booster in the existing market is expected to be changed, the booster is expected to be developed into distributed driving, each joint is driven more accurately, and the degree of mutual interference is smaller.
For the above reasons, the present invention can be widely applied to the fields of joint assist mechanisms and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a front sectional view of the assist mechanism of the present invention.
Fig. 2 is a left side view of the assist mechanism of the present invention.
Fig. 3 is a plan view of the assist mechanism of the present invention.
Fig. 4 is a top view of the internal structure of the assist mechanism of the present invention.
Fig. 5 is a front view of the internal structure of the assist mechanism of the present invention.
Fig. 6 is a view showing the structure of the hinge layer of the present invention.
FIG. 7 is a view showing the structure of the cover layer of the present invention.
Fig. 8 is a schematic diagram of the operation of the power assisting mechanism of the present invention.
In the figure: 1. the elastic breathable fabric comprises an inner elastic breathable fabric layer, an outer elastic breathable fabric layer, 3 a shape memory polymer, 4 a first covering layer, 5 a first hinge layer, 6 a second hinge layer, 7 a second covering layer, 8 a third covering layer, 9 a third hinge layer, 10 a fourth hinge layer, 11 a fourth covering layer, 12 a patch type temperature sensor, 13 a first heating wire, 14 a second heating wire, 15 and arms.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a front sectional view showing a joint assist mechanism, in which an elastic air-permeable cloth includes: ventilative cloth inlayer 1 of elasticity, the outer 2 of the ventilative cloth of elasticity, the hinge layer includes: a first hinge layer 5, a second hinge layer 6, a third hinge layer 9, a fourth hinge layer 10, the cover comprising: a first covering layer 4, a second covering layer 7, a third covering layer 8 and a fourth covering layer 11, and the heating device comprises a first heating wire 13 and a second heating wire 14. As shown in fig. 1, the first and second heating wires 13 and 14 cover the upper and lower surfaces of the shape memory polymer 3, the first, second, third, and fourth hinge layers 5, 6, 9, and 10 are adhered to the upper and lower surfaces of the shape memory polymer 3 by dupont Pyralux LF0100LF acrylic adhesive, the first, second, third, and fourth cover layers 4, 7, 8, and 11 are adhered to the surfaces of the first, second, and third hinge layers 5, 6, 9, and 10 opposite to the shape memory polymer 3 by dupont Pyralux LF0100LF acrylic adhesive, and the patch temperature sensor 12 is adhered to the surfaces of the first and second heating wires 13 and 14 to measure the temperature change of the heating wires in real time, and the shape memory polymer 3, the first and second heating wires 13 and 14, the first and second hinge layers 5 and 6, and 6 are adhered to the surfaces of the fourth hinge layer 10 opposite to the shape memory polymer 3, and the patch temperature sensor 12 is adhered to the surfaces of the first and second heating wires 13 and 14 to measure the temperature change of the heating wires in real time, The internal structure composed of the third hinge layer 9, the fourth hinge layer 10, the first covering layer 4, the second covering layer 7, the third covering layer 8, the fourth covering layer 11 and the patch type temperature sensor 12 is packaged between the elastic breathable cloth inner layer 1 and the elastic breathable cloth outer layer 2 to form a complete booster driven by the shape memory polymer 3.
Fig. 2 is a side view of the booster, showing the positional relationship among an inner layer 1 of elastic breathable fabric, an outer layer 2 of elastic breathable fabric, a shape memory polymer 3, a first cover layer 4, a first hinge layer 5, a second hinge layer 6, a second cover layer 7, a first heating wire 13, and a second heating wire 14.
Fig. 4 is a plan view of the internal structure of the booster, in which a temperature sensor 12 is attached to the surface of the first heating wire 13 to measure the heating temperature of the first heating wire 13 in real time.
Fig. 5 is a front view of the internal structure of the booster, showing the mounting positions and structures of the respective components.
Fig. 6 is a structure diagram of the hinge layer, and hinge grooves are formed in the middle positions of the first hinge layer 5, the second hinge layer 6, the third hinge layer 9 and the fourth hinge layer 10, so that the shape memory polymer 3 can transfer force conveniently, and the hinge layer plays a role in transferring force and insulating heat.
Fig. 7 is a covering layer structure diagram, wherein hinge grooves are formed in the middle positions of the first covering layer 4, the second covering layer 7, the third covering layer 8 and the fourth covering layer 11, so that the force transmitted by the first hinge layer 5, the second hinge layer 6, the third hinge layer 9 and the fourth hinge layer 10 can be conveniently transmitted, and the covering layer plays a role in transmitting force and also plays a role in insulating temperature.
Fig. 8 is an operation schematic diagram, in which when the first heating wire 13 and the second heating wire 14 are heated to a temperature higher than the glass transition temperature of the shape memory polymer 3, the shape memory polymer 3 returns to a predetermined shape, and the inward bending force thereof becomes a driving force for the booster operation.
As shown in FIGS. 1 to 8, the shape memory polymer 3 is formed by cold deformation, and when the temperature is lower than the glass transition temperature, the deformed state is the state shown in FIG. 1, i.e., the horizontal state. When the first heating wire 13 and the second heating wire 14 are heated, the shape memory polymer 3 is restored to the previously set form of fig. 8, i.e., the form in which one end is lifted and the other end is horizontal, when the temperature is higher than the glass transition temperature. The first hinge layer 5, the second hinge layer 6, the third hinge layer 9 and the fourth hinge layer 10 are adhered to the upper surface and the lower surface of the shape memory polymer 3 through DuPont Pyralux LF0100LF acrylic adhesive, when the shape memory polymer 3 recovers the shape, the positions of the two are changed, and the hinge grooves arranged in the middle of the four hinge layers are simultaneously bent inwards under the action of force provided by the shape memory polymer 3 in the process of recovering the shape; the first covering layer 4, the second covering layer 7, the third covering layer 8 and the fourth covering layer 11 are respectively adhered to the surfaces of the first hinge layer 5, the second hinge layer 6, the third hinge layer 9 and the fourth hinge layer 10 on the side opposite to the shape memory polymer 3 through DuPont Pyralux LF0100LF acrylic adhesive, a hinge folding groove is also formed in the middle of the four covering layers, and when the four hinge layers are stressed to bend inwards, the four covering layers also bend inwards; the first heating wire 13 and the second heating wire 14 are attached to the upper and lower surfaces of the shape memory polymer 3, and the shape memory polymer 3 is restored by heating the shape memory polymer 3; the patch type temperature sensor 12 is adhered to the surfaces of the first heating wire 13 and the second heating wire 14, and measures the heating temperatures of the first heating wire 13 and the second heating wire 14 in real time.
The internal structure formed by the components is packaged between the elastic breathable cloth inner layer 1 and the elastic breathable cloth outer layer 2 and sleeved on an arm 15, and the bending force generated in the shape recovery process of the shape memory polymer 3 is utilized to drive the booster to work.
The working principle of the invention is as follows:
when the booster does not work, the temperatures of the first heating wire 13 and the second heating wire 14 are below the glass transition temperature of the shape memory polymer 3, when the booster is required to provide force, the first heating wire 13 and the second heating wire 14 start to be electrified and heated, the current heating temperatures of the first heating wire 13 and the second heating wire 14 are detected through the patch type temperature sensor 12, when the heating temperature is higher than the glass transition temperature, the shape memory polymer 3 starts to work and recovers to a preset shape, inward bending force is generated in the recovery process, firstly, the force acts on the first hinge layer 5, the second hinge layer 6, the third hinge layer 9 and the fourth hinge layer 10, because the hinge layers are provided with the hinge grooves, the hinge layers can generate inward bending tendency at the hinge grooves when being stressed, and then, the force acts on the first covering layer 4, the second covering layer 7, the third covering layer 8 and the fourth covering layer 11, similarly, the inward folding tendency can also occur at the folding groove of the covering layer, and then the inward folding tendency acts on the joint of a person to provide an upward supporting force for the joint, so that the joint assisting effect is achieved; the rigidity of the shape memory polymer 3 is different when the temperature is different, the heating temperature is changed according to the difference of the lifted weight, the more proper rigidity is matched, the task can be normally finished, and unnecessary energy waste can be avoided. The hinge layer and the covering layer play a role in transferring force, and simultaneously prevent the heating temperatures of the first heating wire 13 and the second heating wire 14 from directly acting on the joints of the human body. After the assistance is finished, when the shape memory polymer 3 is to be restored to the position shown in the figure 1, the first heating wire 13 and the second heating wire 14 stop heating, and are gradually restored to the position shown in the figure 1 by virtue of the compression force provided by the inner layer 1 and the outer layer 2 of the elastic breathable fabric, and because the heat dissipation is slow, the shape memory polymer 3 still provides a certain supporting force for the joint in the process of restoring to the figure 1, so that the joint fatigue speed is relieved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a distributed drive's variable rigidity joint assist drive device which characterized in that includes:
a shape memory polymer;
a heating means attached to a surface of the shape memory polymer in a longitudinal direction;
a temperature sensor attached to a surface of the heating device;
hinge layers adhered to upper and lower side surfaces of the shape memory polymer;
a cover layer adhered to a surface of the hinge layer opposite to the shape memory polymer;
an elastic air-permeable fabric that accommodates the cover layer, the hinge layer, the temperature sensor, the heating device, and the shape memory polymer therein in close contact with the cover layer;
the shape memory polymers exhibit different stiffness at different temperatures.
2. The distributed-drive variable-stiffness joint assist mechanism according to claim 1,
and a hinge groove is arranged between the hinge layer and the covering layer.
3. The distributed-drive variable-stiffness joint assist mechanism according to claim 2,
the heating device is arranged on one side or two sides of the shape memory polymer in the vertical direction.
4. The distributed-drive variable-stiffness joint assist mechanism according to claim 3,
the temperature sensor is arranged in the folding groove, and the temperature sensor is a patch type temperature sensor.
5. The distributed-drive variable-stiffness joint assist mechanism according to claim 1,
the shape memory polymer is cold-formed.
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| CN201810470143.7A CN108858136B (en) | 2018-05-16 | 2018-05-16 | Distributed driven variable-stiffness joint power assisting mechanism |
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| CN201810470143.7A CN108858136B (en) | 2018-05-16 | 2018-05-16 | Distributed driven variable-stiffness joint power assisting mechanism |
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| CN108858136A CN108858136A (en) | 2018-11-23 |
| CN108858136B true CN108858136B (en) | 2021-11-05 |
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| CN114426068B (en) * | 2021-11-29 | 2023-06-20 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Shape memory polymer driving-based paper-based wall climbing robot and manufacturing method thereof |
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