CN108972534B - Clutch type flexible driver with variable stiffness coil spring and motor connected in parallel - Google Patents
Clutch type flexible driver with variable stiffness coil spring and motor connected in parallel Download PDFInfo
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- CN108972534B CN108972534B CN201811087068.2A CN201811087068A CN108972534B CN 108972534 B CN108972534 B CN 108972534B CN 201811087068 A CN201811087068 A CN 201811087068A CN 108972534 B CN108972534 B CN 108972534B
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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
- B25J9/10—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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention provides a clutch type flexible driver with a variable-rigidity coil spring and a motor connected in parallel, wherein the clutch type flexible driver comprises: the driving part comprises a motor for providing power for driving the load to rotate; the flexible component comprises a variable-rigidity coil spring, the connection and the release of the coil spring are controlled by moving the operating rod, the variable-rigidity coil spring is pre-tensioned by a ratchet pawl mechanism, and the coil spring and a motor shaft are connected in parallel to jointly output torque, so that the output torque and the output power of the motor are reduced; the transmission part is used for transmitting the output torque of the motor and the torque of the variable-rigidity coil spring to the input end of the speed reduction part and flattening the structure of the whole driver; the speed reducing component is used for amplifying the moment and driving the load to rotate; the support member plays a supporting role. The clutch type flexible driver has compact space layout and small overall size, can meet the requirement of large moment of load, has wide application range, can greatly reduce the peak moment of the motor, reduces the power of the motor and saves energy consumption.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a clutch type flexible driver (Clutched VariableParallel Elastic Actuator, CVPEA) with a variable-rigidity coil spring and a motor connected in parallel.
Background
The humanoid robot requires that the driving element of the robot joint can output larger instantaneous power to meet the requirements of high driving moment and high driving speed of the joint, but the traditional element has the technical problems of small output power, low energy conversion efficiency, poor collision safety and the like, so that a large and heavy traditional driver is generally used for meeting the requirements of high power and high moment of the robot.
From a biomechanical point of view, insects as small as mammals achieve excellent athletic performance by virtue of their flexible or elastic tissue such as muscle tendons distributed over the legs, trunk or other parts of the body. The animal stores and releases energy in the movement process by utilizing the musculoskeletal system with hardness and softness, so that the instantaneous explosive force of the joint is improved, the energy is effectively recycled, and meanwhile, the floor buffering can be realized. The designer starts from the bionics angle and introduces a flexible driving joint to effectively simulate the musculoskeletal system with biological hardness and softness. In the case of a flexible drive joint, the conventional drive element provides all of the energy required for leg joint movement, and the movement and force conversion is achieved by adding a flexible mechanism of a combination of mechanism and flexible material between the drive element and the joint, changing the energy flow conditions, thereby improving output characteristics and increasing energy utilization efficiency. The combination of a conventional driving element and a flexible mechanism constitutes a flexible Actuator (also called a spring Actuator) which is capable of providing energy required for articulation and achieving energy regulation, improving energy utilization efficiency, and having crash safety and self-protection characteristics.
The flexible drives are divided into serial flexible drives (Serial Elastic Actuators, SEA) and parallel flexible drives (Parallel Elastic Actuator, PEA) according to the drive mode.
Tandem flexible drive technology is considered as a key technology of rehabilitation robots, and consists of a flexible element (e.g. a spring) and a transmission drive element (e.g. a motor) connected in series. In the related art, a variable physical damping pocket flexible drive (ACompact Compliant Actuator (CompAct TM ) with Variable Physical Damping), a serial flexible drive, compAct TM The piezoelectric miniature driver is used for controlling the clutch and the clutch is used for the traditional rigidity driver and the flexible driverThe actuators are switched. The flexible element in the SEA can be used as a motor and a low-pass filter at the load side, and the flexibility of the flexible element is utilized to ensure the safety of man-machine interaction in the motion process and greatly reduce the impact. In addition, the flexible element can also be used as an energy storage element, and energy is stored and released periodically at a specific phase during periodic movements such as rehabilitation training and the like, so that the power consumption of the driver is reduced. However, the flexible element also brings about side effects: introducing dynamic oscillations of a frequency (related to joint stiffness and load inertia) resulting in a reduced stability margin and reduced motion tracking accuracy; if the stiffness of the flexible element is selected unreasonably, a more dangerous situation (e.g. resonance) may result; the SEA has the advantages of small bandwidth, low response speed and no characteristic of reducing the peak torque of the motor, and copper loss is positively correlated with the quadratic of the output torque of the motor, so that the SEA has limited effect of reducing the power consumption of the motor.
To solve the problem of SEA, the learner connects the flexible element in parallel with the conventional driving element to form a parallel flexible driver. The PEA stores mechanical energy and affects mechanical output impedance by connecting the flexible elements in parallel, and by topologically increasing the bandwidth, the PEA can perform actions faster during movement and still retain energy saving potential. In the related art, a controllable bi-directional braking clutch parallel flexible driver (Bidirectional Clutched Parallel Elastic Actuator, BIC-PEA) is designed. Based on the principle of a differential mechanism, the BIC-PEA provides 4 driving modes by engaging or disengaging the double-brake clutch, and controls the input and output of energy and the locking and release of the torsion spring in real time. BIC-PEA is light in weight, 0.202kg in mass, 51mm in length and 45mmm in diameter. Load comparison experiments show that compared with a Maxon RE-30DC motor, the BIC-PEA can reduce the energy consumption by 53 percent. The BIC-PEA has the defects that the achievable peak torque is low, and the optimal peak torque is only 27Nm, so that the application range is small; and the structure is complex, the control complexity is high, and the manufacturing and assembly costs are high.
In the related art, a hip joint spring motor parallel driver of a wearable lower limb exoskeleton rehabilitation robot is developed. The motor is connected with the tension spring in parallel by the driver, the rigidity of the tension spring is adjustable, the energy storage and release functions are realized, and the steering engine is used for controlling the engagement and disengagement of the tail end of the tension spring by using the clutch, so that the energy flow of the motor, the tension spring and the lower limbs of a human body is controlled. The gravitational potential energy lost by the lower limb in the swing period is stored through the tension spring, and the energy is fed back to the lower limb in the support period, so that the aims of reducing the power consumption and peak torque of the driving motor are achieved. However, the driver has larger size, discrete components, occupies a large amount of space and has a complex structure.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
Therefore, the invention aims to provide a clutch type flexible driver with a variable-rigidity coil spring connected with a motor in parallel.
To achieve the above object, the present invention provides a clutch type flexible driver in which a variable stiffness coil spring is connected in parallel with a motor, comprising: a drive assembly including a motor for powering rotation of a drive load; the flexible component comprises a variable-rigidity coil spring, the motor is connected with the variable-rigidity coil spring in parallel, the connection and the release of the coil spring are controlled through moving an operating rod, the variable-rigidity coil spring is preloaded through a ratchet pawl mechanism, the coil spring is connected with a motor shaft in parallel, the coil spring and the motor shaft jointly output moment, meanwhile, the coil spring can store dissipated negative work, and the coil spring can be reused and released in a positive work mode, so that the output moment and output power of the motor are reduced, mechanical energy lost in a specific stage in periodic movement is converted into elastic potential energy to be stored in the variable-rigidity coil spring, and the elastic potential energy is released in the next stage to supply energy to the load simultaneously with the motor; a transmission part for transmitting the output torque of the motor and the torque of the variable stiffness coil spring to an input end of the speed reduction part and flattening the structure of the entire driver; the speed reducing component is used for amplifying the moment and driving the load to rotate; and the supporting component is used for supporting.
According to the clutch type flexible driver with the variable stiffness coil spring and the motor connected in parallel, the variable stiffness coil spring is connected in parallel with the motor, so that the CVPEA is simple and compact in structure, small in size, variable in stiffness of the coil spring, and capable of controlling connection and release of the coil spring through manual clutch, and pre-tightening the coil spring through a ratchet pawl mechanism, so that the requirement of a large load moment can be met, the application range is wide, the peak moment of the motor can be reduced to a large extent, mechanical energy (gravitational potential energy, kinetic energy and the like) lost by the load at a specific stage in periodic movement can be converted into elastic potential energy to be stored in the coil spring, and the elastic potential energy and the motor are released at the next stage to supply energy to the load simultaneously, so that the power of the motor is reduced, and the energy consumption is saved.
In addition, the clutch type flexible driver in which the variable stiffness coil spring is connected in parallel with the motor according to the above embodiment of the present invention may have the following additional technical features:
further, in one embodiment of the present invention, when used as a driver for a hip joint, wherein at the interface between the late support and the early swing, and between the late swing and the early support, the motor is specifically configured to provide a maximum torque that satisfies a maximum peak torque of the joint, and the flexible component is specifically configured to provide a stabilizing torque that is periodically transformed to act as an average torque in superposition with a current torque vector, so that peak torques on both sides of the motor reach equilibrium, to reduce the peak torque output by the motor; in the later stage of supporting the leg, the moment generated by deformation of the flexible component and the internal moment of the hip joint are balanced with the gravity moment and the inertia moment of the human body around the supporting foot.
Further, in one embodiment of the present invention, before the driving part is operated, the ratchet wheel is matched with the pawl, the operating rod is screwed tightly to the rotating shaft, and the operating rod is rotated to drive the rotating shaft to rotate, so that the long rod of the rotating shaft is driven to rotate, the outermost end of the coil spring is stretched, and the innermost side of the coil spring generates an initial pre-tightening torque consistent with the stretching direction of the outermost end.
Further, in one embodiment of the present invention, when the driving part is operated, the inner side of the coil spring is stretched following the rotation of the motor shaft to store the elastic potential energy of the coil spring, and when the movement direction of the load is reversed, the coil spring gradually returns to the natural state, so that the torque generated at the innermost end of the coil spring acts on the load together with the motor torque in the same direction, and the elastic potential energy is fed back to the load.
Optionally, in one embodiment of the present invention, further includes: the device comprises a flexible gear, a rigid gear, a supporting plate and a motor rotor, wherein when the flexible gear is used as output, the flexible gear transmits power to a load through a screw, the load and the flexible gear rotate together, and the rotation direction of a related fixed component is opposite to the rotation direction of the flexible gear due to the fact that the rotation direction of a wave generator is opposite to the rotation direction of the load, so that the rotation direction of the motor rotor and the rotation direction of the innermost end of a coil spring are opposite to the rotation direction of the load;
the rigid wheel is used as output, the flexible wheel is fixed on the external frame through screws, the rigid wheel rotates to drive the supporting plate and all parts except the flexible wheel which are axially fixed on the supporting plate to rotate, the supporting plate is connected with a load to drive the load to rotate, and the rotation direction of the wave generator is the same as that of the rigid wheel, so that the rotation direction of the motor rotor and the rotation direction of the innermost end of the coil spring are the same as that of the load.
Alternatively, in one embodiment of the invention, the support plate is attached to the thigh bar of the exoskeleton when used as a driver for the hip joint.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a clutch-type flexible drive with a variable stiffness wrap spring in parallel with a motor according to an embodiment of the present invention;
FIG. 2 is a semi-sectional view of a conventional drive component with drive capability according to an embodiment of the present invention;
FIG. 3 is an isometric view of a conventional drive component with drive capability according to an embodiment of the present invention;
FIG. 4 is an isometric view of a flexible member with variable stiffness, pretensionable, controllable access/release and energy storage and release functions in accordance with an embodiment of the invention;
FIG. 5 is a semi-sectional view of a flexible member of variable stiffness, pretensionable, controllable access/release and having energy storage and release functions in accordance with an embodiment of the present invention;
FIG. 6 is an isometric view of the drive components in a variable stiffness wrap spring in parallel with a motor clutch flexible drive in accordance with an embodiment of the present invention;
FIG. 7 is a semi-sectional isometric view of a retarding component having torque multiplication capabilities in accordance with an embodiment of the present invention;
fig. 8 is an isometric view of a support plate that supports in accordance with an embodiment of the invention.
Reference numerals illustrate:
the motor comprises a clutch type flexible driver with a 10-variable stiffness coil spring and a motor connected in parallel, and a 1-driving part, wherein a 1.1-motor rotor, a 1.2-inner hexagonal countersunk head screw, a 1.3-motor stator, a 1.4-end cover rotor, a 1.5-common flat key, a 1.6-inner hexagonal cylindrical head set screw, a 1.7-flat gasket, a 1.8-motor shaft, a 1.9-deep groove ball bearing, a 1.10-bearing sleeve, a 1.11-inner hexagonal cylindrical head screw and a 1.12-motor cover are arranged in the clutch type flexible driver;
a 2-flexible member, wherein the 2.1-ratchet plate, the 2.2-operating lever, the 2.3-hexagon socket head cap screw, the 2.4-pawl, the 2.5-pawl connecting shaft, the 2.6-hexagon socket head cap screw, the 2.7-support protective cover, the 2.8-plane spiral spring, the long rod of the 2.9-rotating shaft, the 2.10-hexagon socket head cap screw, the 2.11-hole circlip, the 2.12-deep groove ball bearing, the 2.13-shaft circlip, the 2.14-common flat key, the 2.15-rotating shaft and the 2.16-cylindrical pin;
3-transmission parts, wherein 3.1-small belt wheels, 3.2-common flat keys, 3.3-synchronous belts, 3.4-large belt wheels and 3.5-common flat keys;
4-speed reduction parts, wherein 4.1-harmonic speed reducers, 4.2-hexagon socket head cap screws, 4.3-speed reducer shafts, 4.4-common flat keys, 4.5-shaft circlips, 4.6-deep groove ball bearings, 4.7-hole circlips, 4.8-flat washers, 4.9-hexagon socket head cap screws, 4.1.1-wave generators, 4.1.2-flexspline, 4.1.3-cross roller bearings and 4.1.4-rigid pulleys;
5-a supporting plate serving as a support.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
A clutch type flexible driver in which a variable stiffness coil spring is connected in parallel with a motor according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a schematic illustration of a variable stiffness wrap spring clutch flexible drive in parallel with a motor in accordance with one embodiment of the present invention.
As shown in fig. 1, the variable stiffness wrap spring and motor parallel clutch type flexible drive 10 includes: a driving part 1, a flexible part 2, a transmission part 3, a decelerating part 4 and a supporting part 5.
Wherein the drive member 1 comprises an electric motor for powering the rotation of the drive load. The flexible component 2 comprises a variable-rigidity coil spring, the motor is connected with the variable-rigidity coil spring in parallel, the connection and the release of the coil spring are controlled through moving an operating rod, the variable-rigidity coil spring is preloaded through a ratchet pawl mechanism, the coil spring is connected with a motor shaft in parallel, the coil spring and the motor shaft jointly output moment, meanwhile, the coil spring can store dissipated negative work, and the negative work is reused and released in a positive work mode, so that the output moment and the output power of the motor are reduced, the mechanical energy which is used for converting load loss in a specific stage in periodic movement into elastic potential energy to be stored in the variable-rigidity coil spring, and the elastic potential energy is released in the next stage to supply energy to the load simultaneously with the motor. The transmission member 3 serves to transmit the output torque of the motor and the torque of the variable stiffness coil spring to the input end of the reduction member and flatten the structure of the entire drive. The speed reducing part 4 is used for amplifying the moment and driving the load to rotate. The support member 5 serves to support. The clutch type flexible driver 10 with the variable stiffness coil spring and the motor connected in parallel is compact in space layout, small in overall size, capable of meeting the requirement of high torque of a load, wide in application range, capable of reducing peak torque of the motor to a large extent, reducing motor power and saving energy consumption.
Specifically, the clutch type flexible driver with the variable stiffness coil spring connected with the motor in parallel comprises 5 parts: 1) A conventional driving member having a driving capability; 2) A flexible member of variable stiffness, pretensionable, controllable access/release and having energy storage and release functions; 3) A transmission member having a motion and power transmission capability; 4) A speed reducing component with torque amplifying capability and a harmonic speed reducer; 5) A supporting plate for supporting. The driving component 1 comprises a direct-current frameless brushless outer rotor motor component, an end cover rotor, an inner hexagonal countersunk head screw, an inner hexagonal cylindrical head screw, a flat gasket, a motor shaft, a common flat key, a deep groove ball bearing, a bearing sleeve and a motor cover, and the whole driving component is output through the motor shaft. The flexible component 2 comprises a plane scroll spring, a cylindrical pin, a long rod of a rotating shaft, the rotating shaft, a deep groove ball bearing, a hole elastic retainer ring, a shaft elastic retainer ring, a support protective cover, a common flat key, a ratchet and pawl mechanism, an operating rod, a pawl connecting shaft and an inner hexagonal cylindrical head screw. The transmission part 3 comprises a small belt wheel, a large belt wheel and a synchronous belt, and is used for transmitting the output torque of a motor and the torque of a coil spring to the input end of a speed reducer and flattening the structure of the whole driver, and a fixed reduction ratio is arranged for increasing the output torque of the driver in a synchronous belt transmission way. The speed reducing component with moment amplifying capability, namely the speed reducing component 4 comprises a speed reducer shaft, a deep groove ball bearing, a hole circlip, a shaft circlip, a hexagon socket head cap screw, a common flat key, a flat gasket and a harmonic speed reducer.
Further, in one embodiment of the invention, the device, when used as a driver for a hip joint, wherein,
the motor is particularly used for providing the maximum moment which meets the maximum peak moment of the joint at the junction of the later support period and the earlier swing period and the later swing period and the earlier support period, and the flexible component is particularly used for providing the stable moment which is periodically transformed so as to be overlapped with the current moment vector to play the role of average moment, so that the peak moment at the two sides of the motor is balanced, and the peak moment output by the motor is reduced;
in the later stage of supporting the leg, the moment generated by deformation of the flexible part and the internal moment of the hip joint are balanced with the gravity moment and the inertia moment of the human body around the supporting foot.
For example, if the CVPEA is applied to a walking assist or enhanced lower limb walking assist exoskeleton, as a driver for the hip joint, first, peak moment of the hip joint in one gait cycle occurs at the junction of the late support period and the early swing period, and the late swing period and the early support period, and the peak values of the two points are not consistent, so that the maximum moment provided by the motor is required to meet the maximum peak moment. The addition of the flexible component provides a periodically transformed stable moment, and the stable moment can be overlapped with the current moment vector to play a role of an average moment, so that peak moment at two sides of the motor can be balanced, and the peak moment output by the motor is reduced. And secondly, in the later stage of the support period of the human leg, the moment generated by deformation of the flexible part and the internal moment of the hip joint are balanced with the gravity moment and the inertia moment of the human body around the support foot, so that the burden of the hip joint of the human body is reduced, in the process, part of the gravitational potential energy and kinetic energy reduced by the human body is absorbed by the hip joint of the human body (the energy absorbed by the hip joint in the later stage of the support period is the most in normal walking of the human body), and the other part is converted into the elastic potential energy of the flexible part. When the moment provided by the flexible component is balanced with the human body gravity moment and the inertia moment as much as possible, namely the moment in the hip joint is as small as possible, and meanwhile, the gravitational potential energy and the kinetic energy reduced by the human body are converted into the elastic potential energy of the flexible component as much as possible, namely the energy absorbed by the hip joint of the human body is as little as possible, the driving component only needs to idle in the whole later stage of support, and no energy input is needed; and in the swing period, in the early swing period, as the hip joint is converted into buckling motion from extension, the moment generated by the flexible part can assist the hip joint to buckle the swing leg together with the moment of the driving part, and the elastic potential energy of the flexible part is released to supply energy to the swing leg together with the driving part, so that the power requirement of the driving part is reduced and the peak moment requirement is reduced. If the CVPEA is applied to a trunk-supported exoskeleton, for example, an assembly workshop is used for assisting a worker to bend down to carry heavy objects, the CVPEA is used as a driver of a hip joint, when a wearer bends down, a torque opposite to the bending down direction is generated by the flexible component due to deformation, the torque is balanced with the muscle torque of a back vertical spinal muscle around an L5/S1 spinal segment and the moment of gravity and the moment of inertia of the human trunk around the L5/S1 spinal segment, part of the gravitational potential energy of the human trunk, which is reduced in the bending down process, is absorbed by the vertical spinal muscle, the other part of the gravitational potential energy is converted into the elastic potential energy of the flexible component, the torque provided by the flexible component is balanced with the gravitational moment and the moment of inertia of the trunk as far as possible, namely, the muscle moment of gravity of the vertical spinal muscle is as far as possible, meanwhile, the reduced gravitational potential energy of the trunk is converted into the elastic potential energy of the flexible component as far as possible, namely, the human vertical spinal muscle absorbs as far as possible, and the driving component only needs to idle and no energy input during the whole bending down period; in the stage of carrying the crane by the person, as the trunk is converted from the buckling state to the stretching state, the moment of the flexible component and the moment of the driving component can assist the erector spinal muscle to shrink together, the trunk is stretched, the elastic potential energy of the flexible component is released, and part of energy output by the driving component is compensated, so that the power requirement of the driving component is reduced, and the peak moment requirement is reduced. The trunk supporting exoskeleton can also be applied to working conditions of workers working in a bending posture for a long time.
Further, in one embodiment of the present invention, before the driving part is operated, the ratchet is engaged with the pawl, the operating lever is screwed so that the inner end thereof is closely attached to the rotating shaft, and the rotating shaft is rotated by rotating the operating lever to rotate the long rod of the rotating shaft, so that the outermost end of the coil spring is stretched, and the innermost side of the coil spring generates an initial pre-tightening torque in accordance with the stretching direction of the outermost end.
Further, in one embodiment of the present invention, when the driving part is operated, the inner side of the coil spring is stretched along with the rotation of the motor shaft to store the elastic potential energy of the coil spring, and further when the movement direction of the load is reversed, the coil spring gradually returns to the natural state, so that the torque generated at the innermost end of the coil spring acts on the load together with the torque of the motor in the same direction, and the elastic potential energy is fed back to the load.
That is, before the driver starts to operate, the ratchet wheel and the pawl are matched, the operating rod is screwed to enable the inner end of the operating rod to be tightly attached to the rotating shaft, then the operating rod is rotated to drive the rotating shaft to rotate, and then the long rod of the rotating shaft is driven to rotate, so that the outermost end of the coil spring is stretched, an initial pre-tightening torque consistent with the stretching direction of the outermost side is generated at the innermost side of the coil spring, and the current pre-tightening state is maintained by utilizing the characteristics of unidirectional driving and reverse locking of the ratchet wheel and pawl mechanism. When the driver runs, the innermost side of the coil spring rotates along with the motor shaft to stretch (at the moment, the outermost side of the coil spring is fixed due to the reverse locking of the ratchet pawl mechanism), mechanical energy lost by a load is stored in the form of elastic potential energy of the coil spring, the next stage is entered, the movement direction of the load is reverse, the coil spring gradually returns to a natural state, and torque generated at the innermost end of the coil spring acts on the load together with the motor torque in the same direction, so that the stored elastic potential energy is fed back to the load. Part of the operating rod is unscrewed to separate the tail end of the operating rod from the rotating shaft, then the operating rod is used for pulling the ratchet disc outwards, the ratchet disc is manually separated from the rotating shaft, meanwhile, the ratchet is separated from the pawl, the outermost side of the coil spring is free, the torque of the coil spring is unloaded, the coil spring, the cylindrical pin, the long rod of the rotating shaft, the inner ring of the deep groove ball bearing and the elastic retainer ring for the shaft rotate along with the motor shaft under the driving of the motor, and the coil spring does not play the functions of storing energy and releasing energy at the moment; the ratchet wheel disc is sleeved on the rotating shaft, the ratchet wheel is matched with the pawl, the outermost side of the coil spring can only be lengthened and can not retract to the original place, the coil spring is re-connected, and the functions of storing energy and releasing energy can be exerted. The purpose of controlling the connection/release of the coil spring by manual clutch can be realized by virtue of the operating rod, the ratchet and pawl mechanism and the rotating shaft. The flexible member is easy to disassemble and changes the stiffness of the wrap spring by changing the effective working length of the wrap spring to accommodate loads of different qualities (users of different weights).
Optionally, in one embodiment of the present invention, further includes: the CVPEA is applied to the trunk supporting exoskeleton, when the CVPEA is used as output, the flexible wheel transmits power to a load through a screw, the load and the flexible wheel rotate together, and the rotation direction of the related fixing component is opposite to that of the flexible wheel due to the fact that the rotation direction of the wave generator is opposite to that of the flexible wheel, so that the rotation direction of the motor rotor and the rotation direction of the innermost end of the coil spring are opposite to that of the load;
if the driver CVPEA is applied to the walking-aid type or enhanced type lower limb exoskeleton, the rigid wheel is used as output, the flexible wheel is fixed on the external frame through screws, the rigid wheel rotates to drive the supporting plate and all parts except the flexible wheel which are axially fixed on the supporting plate to rotate, the supporting plate is connected with a load to drive the load to rotate, and the rotation direction of the wave generator is the same as that of the rigid wheel, so that the rotation direction of the motor rotor and the rotation direction of the innermost end of the coil spring are the same as that of the load.
Alternatively, in one embodiment of the invention, if the driver CVPEA is applied to a walk-assisting or reinforcing lower extremity exoskeleton as well as a torso support exoskeleton, the support plate is connected to the thigh bar of the exoskeleton when acting as a hip driver.
The working principle of the clutch type flexible driver with the variable stiffness coil spring connected with the motor in parallel is described in detail below.
As shown in fig. 1, a clutch-type flexible drive (CVPEA) in which a variable stiffness wrap spring is connected in parallel with a motor. The CVPEA consists of 5 parts, a traditional driving part 1 with driving capability, a flexible part 2 with variable rigidity, pretension, controllable access/release and energy storage and release functions, a transmission part 3 and a speed reduction part 4 with moment amplification capability are all axially fixed on a supporting plate 5 with supporting function, and the traditional driving part 1 with driving capability and the flexible part 2 with variable rigidity, pretension, controllable access/release and energy storage and release functions are output in parallel on a motor shaft 1.8 and transmit power to the speed reduction part 4 with moment amplification capability through the transmission part 3.
As shown in fig. 3 and 4, a conventional driving part 1 having driving capability. The outer rotor motor assembly comprises a motor rotor 1.1 and a motor stator 1.3, wherein the motor stator 1.3 is fixed on a supporting plate 5 through 3 inner hexagonal socket head cap screws 1.11, the motor rotor 1.1 transmits power to an end cover rotor 1.4 through 3 inner hexagonal countersunk head screws 1.2, the end cover rotor 1.4 transmits power to a motor shaft 1.8 through a common flat key 1.5 and is fixed on the motor shaft 1.8 through an inner hexagonal socket head cap set screw 1.6 and a flat gasket 1.7, the motor shaft 1.8 rotates under the support of two deep groove ball bearings 1.9 and is axially positioned through the two deep groove ball bearings 1.9, and the motor stator 1.3 is axially fixed on the supporting plate 5 through the two deep groove ball bearings 1.10 and a bearing sleeve 1.3. In order to ensure safety and heat dissipation, a motor cover 1.12 is designed, and is fixed on a supporting plate 5 through two hexagon socket head cap screws and one hexagon socket head cap screw 1.13.
As shown in fig. 4 and 5, a flexible member 2 that is stiff, pretensionable, controllable in/out and has energy storage and release functions. The motor shaft 1.8 is perforated with a pin hole, the innermost end of the plane scroll spring 2.8 is perforated, and the power at the inner end of the coil spring can be transmitted to the motor shaft 1.8 by inserting the cylindrical pin 2.16. The ratchet pawl mechanism comprises a mateable ratchet disc 2.1 and a pawl 2.4, the pawl 2.4 is sleeved on a pawl connecting shaft 2.5 and can rotate around the pawl connecting shaft 2.5, axial limiting is carried out through a shaft shoulder and an inner hexagonal cylindrical head screw 2.3, the pawl connecting shaft 2.5 is inserted on a support protective cover 2.7 in a transition fit mode, axial positioning is carried out through the shaft shoulder, and axial fixing is carried out through the inner hexagonal cylindrical head M3×5 screw 2.3. The operating rod 2.2 is inserted on the ratchet plate 2.1 through screw thread fit, and the ratchet plate 2.1 is sleeved at the tail end of the rotating shaft 2.15 in a clearance fit mode and is axially positioned by a shaft shoulder. The ratchet plate 2.1 can be fastened in the axial direction by screwing the operating rod 2.2 against the rotating shaft, and if the ratchet plate 2.1 is to be removed, a part of the operating rod 2.2 can be unscrewed. The screw engagement of the operating lever 2.2 with the ratchet plate 2.1 facilitates the threading/removal of the ratchet plate 2.1 and thus the insertion/release of the coil spring 2.8. The ratchet plate 2.1 transmits power to the rotating shaft 2.15 through the common flat key 2.14, the rotating shaft 2.15 rotates under the support of the deep groove ball bearing 2.12 and is axially positioned through the rotating shaft, and the rotating shaft is axially fixed on the support protection cover 2.7 through the deep groove ball bearing 2.12, the hole elastic retainer ring 2.11 and the shaft elastic retainer ring 2.13. The support protection cover 2.7 is fixed on the support plate 5 by 4 hexagon socket head cap screws 2.10 and 1 hexagon socket head cap screw 2.6. The rotating shaft 2.15 transmits power to the long rod 2.9 of the rotating shaft through threaded fit, and the extending end of the long rod 2.9 of the rotating shaft is inserted at the outermost end of the coil spring 2.8, so that the outermost end of the coil spring 2.8 can be stretched and deformed along with the rotation of the long rod 2.9 of the rotating shaft.
As shown in fig. 6, i.e. the transmission member 3. Torque is transmitted between the motor shaft 1.8 and the small belt wheel 3.1, the speed reducer shaft 4.3 and the large belt wheel 3.4 through the common flat key 3.2 and the common flat key 3.5, and the two belt wheels are axially fixed on the shaft through Jim screws. The transmission of the synchronous belt 3.3 flattens the structure of the whole driver and is more in accordance with the ergonomics.
As shown in fig. 7, i.e., the speed reducing member 4 having torque amplifying capability. The reducer shaft 4.3 rotates under the support of 2 deep groove ball bearings 4.6, is axially positioned through the deep groove ball bearings 4.6, and is axially fixed on the support plate 5 through the 2 deep groove ball bearings 4.6, the hole circlips 4.7 and the shaft circlips 4.5. The harmonic reducer 4.1 comprises parts such as a wave generator 4.1.1, a flexible gear 4.1.2, a rigid gear 4.1.4, a cross roller bearing 4.1.3, a sealing O-shaped ring and the like, wherein the wave generator 4.1.1 takes the flexible gear 4.1.2 or the rigid gear 4.1.4 as an input, the cross roller bearing 4.1.3 bears radial force, axial force and bending moment of an output end, and the sealing O-shaped ring protects lubricating grease from leakage. The wave generator 4.1.1 is axially positioned through a shaft shoulder, is axially fixed on a speed reducer shaft through the hexagon socket head cap screws 4.9 and the plain gaskets 4.8, and the speed reducer shaft 4.3 transmits power to the wave generator 4.1.1 through the common plain key 4.4 and the rigid wheel is fixed on the supporting plate 5 through the 6 hexagon socket head cap screws 4.2.
As shown in fig. 8, i.e., the supporting plate 5 serving as a support, the above 4 members are all axially fixed to the supporting plate 5 by screws.
According to the clutch type flexible driver with the variable stiffness coil spring and the motor connected in parallel, the stiffness of the clutch type flexible driver can be changed through the parallel connection of the coil spring and the motor, the ratchet pawl mechanism can pretighten the coil spring and the manual clutch control the connection/release of the coil spring, so that the motor and the coil spring are connected in parallel on a motor shaft to output power, the power is input to the harmonic reducer through the synchronous belt, the space layout of the driver is compact, the whole size is small, the requirement of a large moment of a load can be met, the application range is wide, the peak moment of the motor can be reduced to a large extent, the motor power is reduced, and the energy consumption is saved.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (6)
1. A variable stiffness wrap spring and motor parallel clutch flexible drive comprising:
a drive assembly including a motor for powering rotation of a drive load;
the flexible component comprises a variable-rigidity coil spring, the motor is connected with the variable-rigidity coil spring in parallel, the connection and the release of the coil spring are controlled through moving an operating rod, the variable-rigidity coil spring is preloaded through a ratchet pawl mechanism, the coil spring is connected with a motor shaft in parallel, the coil spring and the motor shaft jointly output moment, meanwhile, the coil spring can store dissipated negative work, and then the coil spring can be reused and released in a positive work mode, so that the output moment and the output power of the motor are reduced, mechanical energy lost by a load in a periodic motion is converted into elastic potential energy to be stored in the variable-rigidity coil spring, and the elastic potential energy is released in the next stage to supply energy to the load simultaneously with the motor;
a transmission part for transmitting the output torque of the motor and the torque of the variable stiffness coil spring to an input end of the speed reduction part and flattening the structure of the entire driver;
the speed reducing component is used for amplifying the moment and driving the load to rotate; and
and the supporting component is used for supporting.
2. The variable stiffness coil spring parallel clutch flexible driver of claim 1 wherein, when used as a hip joint driver,
the motor is specifically used for providing a maximum moment which meets the maximum peak moment of the joint at the junction of the later support stage and the earlier swing stage and the later swing stage and the earlier support stage, and the flexible component is specifically used for providing a periodically transformed stable moment so as to be overlapped with the current moment vector to play a role of an average moment, so that the peak moment at the two sides of the motor is balanced, and the peak moment output by the motor is reduced;
in the later stage of supporting the leg, the moment generated by deformation of the flexible component and the internal moment of the hip joint are balanced with the gravity moment and the inertia moment of the human body around the supporting foot.
3. The clutch type flexible driver of claim 2, wherein before the driving part operates, the ratchet wheel is matched with the pawl, the operating rod is screwed tightly to the rotating shaft, the rotating shaft is driven to rotate by rotating the operating rod, the long rod of the rotating shaft is driven to rotate, and the outermost end of the coil spring is stretched, so that the innermost side of the coil spring generates initial pre-tightening torque consistent with the stretching direction of the outermost end.
4. A variable stiffness wrap spring and motor parallel clutch flexible drive according to claim 2 or claim 3 wherein when the drive means is in operation the inner side of the wrap spring stretches following rotation of the motor shaft to store the elastic potential energy of the wrap spring and further wherein when the direction of movement of the load is reversed the wrap spring gradually returns to its natural state such that torque generated at the innermost end of the wrap spring acts on the load in the same direction as the motor torque to feed the elastic potential energy back to the load.
5. The variable stiffness wrap spring parallel clutch flexible drive of claim 1, further comprising: the device comprises a flexible gear, a rigid gear, a supporting plate and a motor rotor, wherein when the flexible gear is used as output, the flexible gear transmits power to a load through a screw, the load and the flexible gear rotate together, and the rotation direction of a related fixed component is opposite to the rotation direction of the flexible gear due to the fact that the rotation direction of a wave generator is opposite to the rotation direction of the load, so that the rotation direction of the motor rotor and the rotation direction of the innermost end of a coil spring are opposite to the rotation direction of the load;
the rigid wheel is used as output, the flexible wheel is fixed on the external frame through screws, the rigid wheel rotates to drive the supporting plate and all parts except the flexible wheel which are axially fixed on the supporting plate to rotate, the supporting plate is connected with a load to drive the load to rotate, and the rotation direction of the wave generator is the same as that of the rigid wheel, so that the rotation direction of the motor rotor and the rotation direction of the innermost end of the coil spring are the same as that of the load.
6. The variable stiffness coil spring parallel clutch flexible driver of claim 5 wherein the support plate is connected to the thigh bar of the exoskeleton when used as a hip joint driver.
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