CN109648546A - Adjustable frivolous ectoskeleton knee joint driver - Google Patents
Adjustable frivolous ectoskeleton knee joint driver Download PDFInfo
- Publication number
- CN109648546A CN109648546A CN201910138952.2A CN201910138952A CN109648546A CN 109648546 A CN109648546 A CN 109648546A CN 201910138952 A CN201910138952 A CN 201910138952A CN 109648546 A CN109648546 A CN 109648546A
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- China
- Prior art keywords
- support plate
- knee joint
- adjustable
- frivolous
- ectoskeleton
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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
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses a kind of adjustable frivolous ectoskeleton knee joint drivers, comprising: support plate；Axial restraint is set to the driving part in support plate, is used for output driving power；Axial restraint is set to the transmission parts in support plate, and transmission parts are connected with driving part, for transmitting driving force；Axial restraint is set to the deceleration component in support plate, and deceleration component is connected with transmission parts, for amplifying driving force；The connecting component being connected with support plate, connecting component include multiple slots, and multiple slots are used to adjust the relative position of connecting component and support plate.The driver have it is simple and compact for structure, make full use of limited space, size is smaller, structure is simple, and easy to process, cost is relatively low, advantage easy to maintain.
Description
Technical field
The present invention relates to bio-robot technical field, in particular to a kind of adjustable frivolous ectoskeleton knee joint driving
Device.
Background technique
Currently, a large amount of research work has all been done to ectoskeleton by colleges and universities and scientific research institution both at home and abroad, it is mainly used for army
Thing load, power-assisted and disabled person's walk help, the ectoskeleton of the relevant technologies are all made of rigid joint driver.With regard to ectoskeleton knee joint
Speech, its object is to provide stretching, extension torque for human body knee joint, guarantees user's support in the driving phase of a gait cycle
The stability of side lower limb, and ground is transferred loads to by mechanical structure, effectively reduce the body burden of user；One
The recovery phase of a gait cycle has its object is to provide buckling torque for human body knee joint by knee sprung reduction
It is long to imitate leg, so that vola and ground is generated certain interval, to guarantee the passability and flexibility ratio of ectoskeleton.
Ectoskeleton knee joint driver generally includes two kinds of forms: a kind of to be driven using linear motor, another use
Rotating electric machine driving.The former causes driver excessive along the weight and volume in leg direction, and then increases exoskeleton lower limbs and swung
Inertia and joint output torque in journey；The latter causes the length of driver joint rotor shaft direction too long, influences under ectoskeleton
The width of limb reduces the degree of flexibility of ectoskeleton.
Summary of the invention
The application is to be made based on inventor to the understanding of following problems and discovery:
A knee joint joint most complicated as human body, by femur medial and lateral condyle and shin bone medial and lateral condyle and kneecap
It constitutes.The most important freedom degree of knee joint is to bend and stretch, and so that Lower Distal Extremities is moved to or is left thigh root, and in this way
The distance between body and ground are controlled, another auxiliary freedom degree is the axis that shank can be surrounded when knee sprung
Line is rotated.Knee joint has maximum stability under complete straight configuration, at this time because of the weight of body and lever arm
The effect of length, the pressure that knee joint is subject to are maximum；Knee joint then has maximum freedom of movement under flexion, helps
In running, it helps foot adjusts best direction relative to irregular ground.To sum up, knee joint walking and other
It plays an important role in forms of motion.
2017,240,900,000 people of 60 one full year of life and the above population, accounted for the 17.3% of total population in Chinese population.According to dependent part
Door prediction, until elderly population in 2035 are up to 400,000,000 people.The elderly's muscular strength weakens with advancing age, joint degenerative disease
Become, leads to the reduction of its walking ability, seriously affect quality of life.In addition, because contingency causes the quantity of limb injury patient
Also it is increasing sharply.2012, the data of China Disabled Federation's publication were shown: China's disabled person's sum is 85,020,000 people,
Wherein, physical disabilities number reaches 24,720,000, quite a few lower limb disabled needs knee joint in these physical disabilities
Power-assisted auxiliary.
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, it is an object of the invention to propose a kind of adjustable frivolous ectoskeleton knee joint driver, the driver
Simple with structure, easy to process, cost is relatively low, advantage easy to maintain.
In order to achieve the above objectives, the embodiment of the present invention proposes a kind of adjustable frivolous ectoskeleton knee joint driver,
It include: support plate；Axial restraint is set to the driving part in the support plate, is used for output driving power；Axial restraint setting
Transmission parts in the support plate, the transmission parts are connected with the driving part, for transmitting the driving force；Axis
To the deceleration component being fixedly installed in the support plate, the deceleration component is connected with the transmission parts, for amplifying
State driving force；The connecting component being connected with the support plate, the connecting component includes multiple slots, the multiple rectangular
Shape hole is used to adjust the relative position of the connecting component Yu the support plate.
The adjustable frivolous ectoskeleton knee joint driver of the embodiment of the present invention, it is simple and compact for structure, it has made full use of
The space of limit, size are smaller；Under the premise of guaranteeing sufficient intensity, the metal parts such as reducer shaft, axis tooth, support plate are carried out
Light-weight design does not require the structure of load to be manufactured with thermoplastic 3D printing, and mechanism overall weight is lighter；It is connect with hip joint
The part that connects up include certain inclination, compensate the naturally occurring interior receipts angle of human body lower limbs, and by along thigh direction and
Adjustable structure along lower limb swaying direction compensates the offset of knee joint shaft；The downward connector connecting with shank has
Limiting device is limited, and avoids rotational angle is excessive from leading to danger occur, thus have structure simple, easy to process, cost
Lower, easy to maintain advantage.
In addition, adjustable frivolous ectoskeleton knee joint driver according to the above embodiment of the present invention can also have with
Under additional technical characteristic:
Further, in one embodiment of the invention, the driving part include DC motor assembly, motor shaft,
Bearing holder (housing, cover) and motor cover, wherein the driving part exports the driving force by the motor shaft.
Further, in one embodiment of the invention, the transmission parts include: motor lightweight gear, described
Motor lightweight gear is connected with the motor shaft；Retarder lightweight gear, the retarder lightweight gear and the electricity
Machine lightweight gear is connected；Transmission mechanism protection cap.
Further, in one embodiment of the invention, the motor lightweight gear and the retarder lightweight
Gear is provided with the identical number of gears, and is provided with multiple groups weight loss groove and multiple groups removal hole.
Further, in one embodiment of the invention, the deceleration component include downward connector, it is locating part, humorous
Wave retarder, hexagon socket cap head screw, flat shim, reducer shaft, general flat key and multiple deep groove ball bearings, wherein described
Downward connector is connect with shank, and is consolidated with the output end of the harmonic speed reducer by the hexagon socket cap head screw
It is fixed；The rotational angle that the locating part is used to limit the downward connector is in default rotational angle range；The deceleration
Device axis is connected with the retarder lightweight gear, and transmits the driving force to the harmonic reduction by the general flat key
Device rotates under the support of the multiple deep groove ball bearing, and carries out axially position by multiple deep groove ball bearings, by multiple
Deep groove ball bearing, circlip for hole, circlip for shaft, the transmission mechanism protection cap are axially fixed at the support plate
On；The harmonic speed reducer is for amplifying the driving force, wherein the harmonic speed reducer by the shaft shoulder of the support plate into
Row axially position with the predetermined position being positioned in the support plate, and passes through the interior hexagonal cylindrical head screw and described
Flat shim is axially fixed on the reducer shaft, is fixed on the support plate by multiple hexagon socket cap head screws
On.
Further, in one embodiment of the invention, the connecting component includes connecting up part, interior hexagonal cylindrical
Head screw and hex nut, wherein it is described connect up interface connect on part with the thigh bar of ectoskeleton and be reserved with to preset incline
Rake angle, and have the multiple slot on connected up part, it is more on the multiple slot and the support plate
A hole is fastened by the hexagon socket cap head screw and the hex nut.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the structural representation according to the adjustable frivolous ectoskeleton knee joint driver of one embodiment of the invention
Figure；
Fig. 2 is the adjustable frivolous light-weighted gear of ectoskeleton knee joint driver according to one embodiment of the invention
Driver composition；
Fig. 3 is the adjustable frivolous ectoskeleton knee joint driver top view according to one embodiment of the invention；
Fig. 4 is the adjustable frivolous half-sectional axonometric drawing of ectoskeleton knee joint driver according to one embodiment of the invention；
Fig. 5 is to be played a supportive role according to the adjustable frivolous ectoskeleton knee joint driver of one embodiment of the invention
The axonometric drawing of support plate.
Description of symbols:
Adjustable frivolous ectoskeleton knee joint driver 100, driving part 1, transmission parts 2, deceleration component 3, support
Plate 4, connecting component 5, motor cover 1.1, motor 1.2, sleeve 1.3, motor lightweight gear 2.1, retarder lightweight gear
2.2, transmission mechanism protection cap 2.3, gear weight loss groove 2.1.1, removal hole 2.1.2, gear weight loss groove 2.2.1, removal hole 2.2.2
Downward connector 3.1, locating part 3.2, harmonic speed reducer 3.3, hexagon socket cap head screw 3.4, flat shim 3.5, reducer shaft
3.6, general flat key 3.7 and deep groove ball bearing 3.8.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The core idea of the embodiment of the present invention be by the rational design with drive shaft system so that mechanism overall structure
It is simple and compact, limited space is made full use of, size is smaller；Under the premise of guaranteeing sufficient intensity, to reducer shaft, axis tooth,
The metal parts such as support plate carry out light-weight design, and the structure of load is not required to be manufactured with thermoplastic 3D printing, and mechanism is whole
Lighter in weight；The part that connects up connecting with hip joint includes certain tilt angle, compensates the naturally occurring interior receipts of human body lower limbs
Angle, and by being mended along thigh direction and along the adjustable structure of lower limb swaying direction to the offset of knee joint shaft
It repays；The downward connector connecting with shank has limiting device to be limited, and avoids rotational angle is excessive from leading to danger occur.
The adjustable frivolous ectoskeleton knee joint driver proposed according to embodiments of the present invention is described with reference to the accompanying drawings.
Fig. 1 is the structural schematic diagram of the adjustable frivolous ectoskeleton knee joint driver of one embodiment of the invention.
As shown in Figure 1, the adjustable frivolous ectoskeleton knee joint driver 100 includes: driving part 1, transmission parts
2, deceleration component 3, support plate 4 and connecting component 5.
Wherein, axial restraint is set to the driving part 1 in support plate 4, is used for output driving power.Axial restraint is set to
Transmission parts 2 in support plate 4, transmission parts 2 are connected with driving part 1, for transmitting driving force.Axial restraint is set to branch
Deceleration component 3 on fagging 4, deceleration component 3 is connected with transmission parts 2, for amplifying driving force.The company being connected with support plate 4
Relay part, connecting component 5 include multiple slots, and multiple slots are opposite with support plate 4 for adjusting connecting component 5
Position.
It is understood that the driver 100 of the embodiment of the present invention include 5 parts, have driving capability driving part 1,
There is the deceleration component 3 of movement, the transmission parts 2 of power transmission ability, moment amplifying power to be axially fixed in support work
Support plate 4 is adjusted with the two-way position for realizing shaft and the connecting component 5 of pour angle compensation is connected.There is the drive of driving capability
Dynamic component 1 imparts power to moment by motor lightweight gear and retarder lightweight gear by motor on-axis output
The deceleration component 3 of amplifying power.In addition, the driver 100 of the embodiment of the present invention can be used for driving exoskeleton robot, rehabilitation machines
Device people's system, Zu Lei robot, service humanoid robot et al. machine interconnection means.
Specifically, adjustable frivolous ectoskeleton knee joint driver includes 5 parts: (1) there is the driving of driving capability
Component 1；(2) there are the transmission parts 2 of movement, power transmission ability；(3) deceleration component of moment amplifying power, harmonic reduction
Device 3；(4) support plate 4 to play a supportive role；(5) realize that the two-way position of shaft adjusts the connecting component 5 with pour angle compensation.
It should be noted that if the embodiment of the present invention is applied to walk help formula or enhanced lower limb walk-aiding exoskeleton, as
Kneed driver, firstly, knee joint is as the structure compared in ectoskeleton by lower part, with hip joint driver home position
Constant difference needs the movement with lower limb and moves, generates biggish torque load(ing).Simultaneously as knee joint driver is general
Time mounting means be it is outer be hung on the outside of knee joint, therefore the volume of knee joint driver determines the width of exoskeleton lower limbs part
Degree, and then determine the degree of flexibility and passage capacity of ectoskeleton.In order to guarantee passability, the flexibility ratio of ectoskeleton, and to the greatest extent
Amount reduces the load to hip joint driver, therefore kneed design should pursue lightweight, miniaturization.The embodiment of the present invention exists
In the case where selecting motor to realize knee joint sagittal plane active freedom degree, is designed by structure, make full use of space, to knee joint
Thickness carry out strict control, and light-weight design and Strength Simulation are carried out to metal parts by three-dimensional artificial software and checked,
The weight and volume of entire knee joint driver is reduced as far as possible.
Secondly as the thigh of human body naturally in receive, big leg outer side about certain inclines with the shank presentation perpendicular to ground
Rake angle, and due to the relative position of human body itself knee joint and thigh end vary with each individual and ectoskeleton exist processing
Error causes when dressing ectoskeleton or orthoses, and there are inevitable deviations for human synovial shaft and mechanical joint shaft.
The problem of traditional ectoskeleton knee joint design generally ignores tilt angle and shaft deviation causes in motion process to tie up
The geometrical relationship for holding movement generates human synovial internal force and to the additional pressure of ectoskeleton knee joint and torque, accelerates ectoskeleton knee
The strain in joint increases the discomfort that patient dresses ectoskeleton equipment.For this problem, the present invention is targetedly designed
Unique knee joint connects up component, not only has certain tilt angle, ectoskeleton is allowed more to be bonded human thigh
Outside has also been devised along thigh direction and the adjustable structure two-way along lower limb swaying direction, allows user can be according to itself
Use feeling, adjust ectoskeleton knee joint driver shaft and human body knee joint nature shaft relative position, to have
The joint internal force that effect generates due to reducing the position deviation existing for ectoskeleton knee joint driver shaft and the user's knee axis,
Promote the usage experience of user, moreover it is possible to it reduces user and dresses the energy consumption and joint injury generated in ectoskeleton walking process,
Ectoskeleton equipment is reduced to a certain extent to the sensitivity of individual subscriber body sizes, improves the versatility of ectoskeleton.
Adjustable frivolous ectoskeleton knee joint driver 100 will be further elaborated below.
Further, in one embodiment of the invention, driving part 1 includes DC motor assembly, motor shaft, bearing
Set and motor cover, wherein driving part passes through motor shaft output driving power.
It is understood that having the driving part 1 of driving capability, including DC motor assembly, motor shaft, bearing holder (housing, cover), electricity
The components such as cover.Entire driving part 1 is exported by motor shaft.
Further, in one embodiment of the invention, transmission parts 2 include: motor lightweight gear, motor light weight
Change gear to be connected with motor shaft；Retarder lightweight gear, retarder lightweight gear are connected with motor lightweight gear；Transmission
Device protection lid.Wherein, motor lightweight gear and retarder lightweight gear are provided with the identical number of gears, and are provided with
Multiple groups weight loss groove and multiple groups removal hole.
It is understood that having the transmission parts 2 of movement, power transmission ability, including the lightweight being connected with motor shaft
Gear, the lightweight gear being connected with reducer shaft, transmission mechanism protection cap, effect are to be transferred to the output torque of motor to subtract
The input terminal of fast device and the flat structure for making entire driver reduce knee joint driver thickness.2 number of gear teeth are equal,
Transmission ratio is 1, only plays a part of to transmit torque, does not act the output torque for increasing driver, and gear is gone by weight loss groove
Except certain material mitigates weight.
Specifically, as shown in Fig. 2, the transmission being made of motor lightweight gear 2.1 and retarder lightweight gear 2.2
Mechanism.2 number of gear teeth are equal, transmission ratio 1, only play a part of to transmit torque, do not act the output torque for increasing driver
Effect.Certain material is removed by the design of 2 groups of weight loss grooves 2.1.1 and 2.2.1, loss of weight is carried out to gear；Pass through 2 groups of disassemblies
The design of hole 2.1.2 and 2.2.2, so that the disassembly of gear is more convenient, while further loss of weight；It is calculated by three-dimensional artificial
Mode ensures that the light-weighted strength of gear teeth can satisfy work requirements.
Further, in one embodiment of the invention, deceleration component 3 subtracts including downward connector, locating part, harmonic wave
Fast device, hexagon socket cap head screw, flat shim, reducer shaft, general flat key and multiple deep groove ball bearings, wherein connection downwards
Part is connect with shank, and is fixed with the output end of harmonic speed reducer by hexagon socket cap head screw；Locating part is for limiting
The rotational angle for making downward connector is in default rotational angle range；Reducer shaft is connected with retarder lightweight gear,
And driving force is transmitted by general flat key and is rotated under the support of multiple deep groove ball bearings to harmonic speed reducer, and by multiple
Deep groove ball bearing carries out axially position, passes through multiple deep groove ball bearings, circlip for hole, circlip for shaft, transmission mechanism
Protection cap is axially fixed in support plate；Harmonic speed reducer is for amplifying driving force, wherein harmonic speed reducer passes through support plate
The shaft shoulder carries out axially position, to be positioned at the predetermined position in support plate, and passes through hexagon socket cap head screw and flat shim
It is axially fixed on reducer shaft, it is fixed on the supporting plate by multiple hexagon socket cap head screws.
It is understood that the deceleration component of moment amplifying power, including reducer shaft, deep groove ball bearing, hole bullet
Property retaining ring, circlip for shaft, hexagon socket cap head screw, general flat key, flat shim and harmonic speed reducer.Harmonic speed reducer
Play the output torque of big driver.
As shown in figure 3, being the output mechanism and position-limit mechanism of the deceleration component 3 of moment amplifying power on the right side of Fig. 3.Downwards
Connector 3.1 and the output end of harmonic speed reducer 3.3 are fixed by hexagon socket cap head screw, the rotation of downward connector 3.1
Angle is limited part 3.2 and is limited in certain suitable range, guarantee knee joint at work slewing area for human-body safety
In the range of, play the role of mechanical guarantee.
Specifically, as shown in figure 4, the output shafting of the input shafting harmony wave retarder 3.3 of motor 1.2.It is electronic
The input shafting of machine 1.2 is made of motor cover 1.1, motor 1.2, sleeve 1.3 and motor lightweight gear 2.1.Motor cover 1.1 is right
Motor 1.2 is protected, and the rotor of motor is avoided directly to contact with the external world, causes to damage.Sleeve 1.3 assembles as a whole
Fitting Ring, not only act as the effect to 2.1 axially position of motor lightweight gear, can also appropriate reconditioning sleeve in assembly
Thickness, to guarantee that two gears can be engaged preferably, eliminate axial error.The output shafting of harmonic speed reducer 3.3 includes
Downward connector 3.1, locating part 3.2, harmonic speed reducer 3.3, hexagon socket cap head screw 3.4, flat shim 3.5, reducer shaft
3.6, general flat key 3.7, deep groove ball bearing 3.8.Reducer shaft 3.6 rotates under the support of 2 deep groove ball bearings 3.8, passes through
Deep groove ball bearing 3.8 carries out axially position, passes through 2 deep groove ball bearings 3.8, circlip for hole, circlip for shaft, transmissions
Device protection lid 2.3 is axially fixed in support plate 4.Harmonic speed reducer 3.3 by the shaft shoulder of support plate 4 carry out axially position and
Position positioning in support plate 4, is axially fixed on reducer shaft by hexagon socket cap head screw 3.4 and flat shim 3.5, is subtracted
Fast device axis 3.6 transmits power to harmonic speed reducer 3.3 by general flat key 3.7, and harmonic speed reducer 3.3 passes through 6 interior hexagonal circles
Chapiter screw is fixed in support plate 4.
Further, the support plate to play a supportive role supports above-mentioned 3 components.If the driver of this embodiment of the present invention
100 are applied to walk help formula or enhanced lower limb exoskeleton and trunk support formula ectoskeleton, as kneed driver, support
Plate 4 connects adjustable coupling part 5.
Further, in one embodiment of the invention, connecting component 5 includes connecting up part, interior hexagonal cylindrical head
Screw and hex nut, wherein it connects up the interface connecting on part with the thigh bar of ectoskeleton and is reserved with predetermined inclination angle,
And having multiple slots on connected up part, multiple holes on multiple slots and support plate pass through interior hexagonal cylindrical head
Screw and hex nut are fastened.
Specifically, as shown in figure 3, the two-way position on the left of Fig. 3 for realization shaft adjusts and the company of pour angle compensation
Relay part 5, including connect up part 5, hexagon socket cap head screw, hex nut.Connect up the thigh on part 5 with ectoskeleton
The interface of bar connection has certain tilt angle, the naturally interior angle received of compensation thigh.Connecting up has one group of strip on part 5
Hole can be cooperated with one group of hole in support plate, be fastened using hexagon socket cap head screw and hex nut, along big
Leg direction can realize the adjusting of multiple discrete locations, along lower limb swaying direction, i.e. elongate holes extending direction, it can be achieved that certain
The continuous position of distance is adjusted, to realize the adjustable of two-way position.
Further, in one embodiment of the invention, as shown in figure 5, a kind of adjustable frivolous ectoskeleton knee closes
The axonometric drawing for the support plate that section driver plays a supportive role, that is, the support plate 4 to play a supportive role.Above-mentioned 4 components pass through spiral shell
Nail is fixed in support plate 4, wherein the transmission parts for having the driving part 1 of driving capability, having movement, power transmission ability
2, the deceleration component 3 of moment amplifying power is axial restraint, and connecting component 5 is the fixation of adjustable relative position.
The adjustable frivolous ectoskeleton knee joint driver proposed according to embodiments of the present invention, it is simple and compact for structure, it fills
Divide and utilize limited space, size is smaller；Under the premise of guaranteeing sufficient intensity, to metals such as reducer shaft, axis tooth, support plates
Component carries out light-weight design, does not require the structure of load to be manufactured with thermoplastic 3D printing, mechanism overall weight is lighter；With hip
The part that connects up of joint connection includes certain inclination, compensates the naturally occurring interior receipts angle of human body lower limbs, and by along big
Leg direction and the offset of knee joint shaft is compensated along the adjustable structure of lower limb swaying direction；What is connect with shank is downward
Connector has limiting device to be limited, and avoids rotational angle is excessive from leading to danger occur, to have structure simple, is easy to add
Work, cost is relatively low, advantage easy to maintain.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (6)
1. a kind of adjustable frivolous ectoskeleton knee joint driver characterized by comprising
Support plate；
Axial restraint is set to the driving part in the support plate, is used for output driving power；
Axial restraint is set to the transmission parts in the support plate, and the transmission parts are connected with the driving part, are used for
Transmit the driving force；
Axial restraint is set to the deceleration component in the support plate, and the deceleration component is connected with the transmission parts, is used for
Amplify the driving force；And
The connecting component being connected with the support plate, the connecting component include multiple slots, the multiple slot
For adjusting the relative position of the connecting component Yu the support plate.
2. adjustable frivolous ectoskeleton knee joint driver according to claim 1, which is characterized in that the driving portion
Part includes DC motor assembly, motor shaft, bearing holder (housing, cover) and motor cover, wherein the driving part is exported by the motor shaft
The driving force.
3. adjustable frivolous ectoskeleton knee joint driver according to claim 2, which is characterized in that the driving section
Part includes:
Motor lightweight gear, the motor lightweight gear are connected with the motor shaft；
Retarder lightweight gear, the retarder lightweight gear are connected with the motor lightweight gear；
Transmission mechanism protection cap.
4. adjustable frivolous ectoskeleton knee joint driver according to claim 3, which is characterized in that the motor is light
Quantization gear and the retarder lightweight gear are provided with the identical number of gears, and are provided with multiple groups weight loss groove and multiple groups are torn open
Unload hole.
5. adjustable frivolous ectoskeleton knee joint driver according to claim 3, which is characterized in that the reduction part
Part includes downward connector, locating part, harmonic speed reducer, hexagon socket cap head screw, flat shim, reducer shaft, general flat key
With multiple deep groove ball bearings, wherein
The downward connector is connect with shank, and passes through the interior hexagonal cylindrical head spiral shell with the output end of the harmonic speed reducer
Nail is fixed；
The rotational angle that the locating part is used to limit the downward connector is in default rotational angle range；
The reducer shaft is connected with the retarder lightweight gear, and transmits the driving force extremely by the general flat key
The harmonic speed reducer rotates under the support of the multiple deep groove ball bearing, and is carried out axially by multiple deep groove ball bearings
Positioning, passes through multiple deep groove ball bearings, circlip for hole, circlip for shaft, the transmission mechanism protection cap axial restraint
In in the support plate；
The harmonic speed reducer is for amplifying the driving force, wherein the shaft shoulder that the harmonic speed reducer passes through the support plate
Axially position is carried out, with the predetermined position being positioned in the support plate, and passes through the interior hexagonal cylindrical head screw and institute
It states flat shim to be axially fixed on the reducer shaft, is fixed on the support plate by multiple hexagon socket cap head screws
On.
6. adjustable frivolous ectoskeleton knee joint driver according to claim 1, which is characterized in that the interconnecting piece
Part includes connecting up part, hexagon socket cap head screw and hex nut, wherein
The interface connecting on part with the thigh bar of ectoskeleton that connects up is reserved with predetermined inclination angle, and is connected up
There is the multiple slot on part, multiple holes on the multiple slot and the support plate pass through the interior hexagonal circle
Chapiter screw and the hex nut are fastened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138952.2A CN109648546B (en) | 2019-02-25 | 2019-02-25 | Adjustable light and thin exoskeleton knee joint driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138952.2A CN109648546B (en) | 2019-02-25 | 2019-02-25 | Adjustable light and thin exoskeleton knee joint driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109648546A true CN109648546A (en) | 2019-04-19 |
| CN109648546B CN109648546B (en) | 2021-09-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910138952.2A Active CN109648546B (en) | 2019-02-25 | 2019-02-25 | Adjustable light and thin exoskeleton knee joint driver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117547439A (en) * | 2024-01-12 | 2024-02-13 | 清华大学 | Five-degree-of-freedom center self-adaptive knee joint static progressive drafting trainer |
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| CN207077438U (en) * | 2017-06-23 | 2018-03-09 | 张翔宇 | Live again dynamic power machine bone device |
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| JP2002036153A (en) * | 2000-07-21 | 2002-02-05 | Tokai Univ | Robot joint device |
| CN103735386A (en) * | 2013-11-15 | 2014-04-23 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN106491312A (en) * | 2016-10-10 | 2017-03-15 | 清华大学 | Simulation of human body knee joint, hip joint transmission system |
| CN106420267A (en) * | 2016-12-02 | 2017-02-22 | 江苏大学 | Wearable intelligent lower limb rehabilitation device and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117547439A (en) * | 2024-01-12 | 2024-02-13 | 清华大学 | Five-degree-of-freedom center self-adaptive knee joint static progressive drafting trainer |
| CN117547439B (en) * | 2024-01-12 | 2024-03-26 | 清华大学 | Center-adjustable knee joint static progressive drafting trainer with five degrees of freedom |
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| CN109648546B (en) | 2021-09-07 |
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