CN110788840A - Flexible external skeleton joint actuator capable of being clutched - Google Patents
Flexible external skeleton joint actuator capable of being clutched Download PDFInfo
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- CN110788840A CN110788840A CN201911241810.5A CN201911241810A CN110788840A CN 110788840 A CN110788840 A CN 110788840A CN 201911241810 A CN201911241810 A CN 201911241810A CN 110788840 A CN110788840 A CN 110788840A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
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Abstract
The invention provides a flexible clutchable exoskeleton joint actuator, which is arranged between thighs and shanks of an exoskeleton of an orthosis parallel to lower limbs of a human body and used for providing passive compliance and a structure of single-side line outgoing when the joints are not enabled, and comprises: internally mounted has motor stator's motor base, sets up in motor stator's inside electric motor rotor, the output portion and the reduction gear that connect gradually and run through motor stator, reduction gear and the rotating part of output portion, and wherein, the output portion includes: output dish, outer lane corner feedback board, first magnetic ring, a plurality of magnetic encoding linear sensing, shank locking connection dish, dish spring and the absolute corner feedback rod of joint, the reduction gear includes: shank connection pad, reduction gear rigid wheel, reduction gear flexbile gear and reduction gear wave generator, the rotating part includes: rotor connecting piece, bearing group, hollow centering axle and joint absolute movement feedback axle. The invention reduces the complexity and weight of the structure and improves the overall safety and reliability.
Description
Technical Field
The invention belongs to the field of intelligent mechanical joint rotary actuators, and particularly relates to a flexible clutchable exoskeleton joint actuator.
Background
An intelligent lower limb assistive device such as a lower limb exoskeleton, a power orthosis and the like is an assistive device with walking assisting and power-assisted walking assisting functions for old people, disabled people and related people with dyskinesia. The joint actuator is an important component for realizing the auxiliary function of the lower limb assistive device. At present, the common joint driving mode of the lower limb assistive device is a motor driving mode. On the one hand, in order to improve the driving efficiency and output torque, the motor-driven joint actuator usually employs a speed reduction mechanism (such as a harmonic speed reducer) with a high speed reduction ratio, which results in a large dead weight of the joint and a lack of necessary passive compliance in the joint disabled state; on the other hand, the controller of the assistive device needs to sense the operating state of the actuating joint by means of additionally installed torque and joint rotation angle sensor modules, but due to the lack of a structural integrated design, the structural complexity of the joint is further improved, and due to the fact that the sensor elements are not optimized to be wired, sensor information is possibly lost, and therefore the overall safety and reliability of the assistive device are reduced.
Chinese utility model granted patent No. CN209319777U proposes an exoskeleton robot joint capable of being quickly separated. The non-hollow driving motor is adopted, the harmonic reducer is driven by the connecting shaft to enable the output flange of the reducer to rotate, and the output flange of the reducer is connected with and separated from the output frame plate through the clutch device. However, the joint provided by the invention is lack of an impact protection device, so that the speed reducing mechanism is easy to damage; the whole axial dimension is large, and a necessary sensing feedback device is not needed, so that the motion control of the exoskeleton is not facilitated.
The patent of chinese invention with the grant number CN106313104B proposes a detachable series elastic joint, which adopts a harmonic reducer and an elastic element for transmission and has a joint angle measuring mechanism. However, the joint clutch is based on the overload separation of the inner ring and the outer ring of the polygonal elastic body, the characteristic of the joint clutch depends on the design parameters of parts, and the joint clutch cannot be actively separated.
In view of the above, it is desirable to design a joint actuator that can solve the above problems.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a flexible clutchable exoskeleton joint actuator.
The present invention provides a flexible clutchable exoskeleton joint actuator for mounting between a thigh and a shank of an exoskeleton of an orthosis in parallel to a lower limb of a human body, characterized in that it comprises: internally mounted has motor stator's motor stator base, sets up in the inside electric motor rotor of motor stator, the output portion and the reduction gear that connect gradually and run through motor stator, reduction gear and the rotating part of output portion, and wherein, the output portion includes: the output disc consists of an output disc inner ring, an output disc outer ring and a plurality of spokes; the outer ring corner feedback plate of the output disc is arranged on the outer side of the outer ring of the output disc; the first magnetic ring is arranged on the outer ring corner feedback plate of the output disc; the magnetic coding linear sensors are arranged on the inner ring of the output disc, are matched with the first magnetic ring and are used for detecting the rotation difference value of the inner ring and the outer ring of the output disc so as to calculate the torque applied to the output disc according to the torque modulus of the output disc; the shank locking connecting disc is connected to the outer ring of the output disc; the disc spring is arranged between the outer ring of the output disc and the shank locking connecting disc; and the absolute corner feedback rod of the joint is in a herringbone shape and is arranged on the shank locking connecting disc, and the speed reducer comprises: the shank connecting disc is fixed by the shank locking connecting disc; the reducer rigid wheel is fixedly connected with the bearing mounting seat; the flexible gear of the speed reducer is arranged inside the shank connecting disc; the reducer wave generator is arranged inside the reducer flexible gear; the rotating part includes: the rotor connecting piece is fixedly connected with the motor rotor; the bearing group is arranged inside the rotor connecting piece and is used for bearing radial load and a little axial load; the hollow centering shaft is in a three-section ladder shape and is arranged in the bearing group, one end of the hollow centering shaft penetrates through the motor stator base, and the other end of the hollow centering shaft penetrates through an inner ring inner hole of the output disc and is fixed through a centering shaft fastening nut; and the joint absolute motion feedback shaft is arranged in the hollow centering shaft, one end of the joint absolute motion feedback shaft penetrates through one end of the motor stator base, the other end of the joint absolute motion feedback shaft penetrates through an inner hole of the inner ring of the output disc, and the joint absolute motion feedback shaft is fixed in a groove of a joint absolute rotation angle feedback rod on the shank connecting disc through a screw.
In the flexible clutchable exoskeleton joint actuator provided by the invention, the flexible clutchable exoskeleton joint actuator can further have the following characteristics: the end part of the motor stator base is provided with an end cover, a shaft end magnetic corner sensor is installed in the end cover, and a through hole for a sensor wire to pass through is formed in the end cover.
In the flexible clutchable exoskeleton joint actuator provided by the invention, the flexible clutchable exoskeleton joint actuator can further have the following characteristics: the outer side of the outer ring of the output disc is provided with a flange, a friction conical surface and a terminal thread section, a disc spring is arranged on the flange towards the direction of the friction conical surface and used for applying a force which is axially pushed away from the friction conical surface to the shank locking connecting disc, a locking nut is screwed in the terminal thread section and used for pressing the disc spring and the shank locking connecting disc tightly, so that the maximum allowable friction transmission torque is adjusted by adjusting the screwing degree of the locking nut, a friction plate is arranged between the friction conical surface and the inner side conical surface of the shank locking connecting disc and used for increasing the friction force of the friction conical surface and the shank locking connecting disc after the friction conical surface and the shank locking connecting disc are subjected to the axial.
In the flexible clutchable exoskeleton joint actuator provided by the invention, the flexible clutchable exoskeleton joint actuator can further have the following characteristics: wherein, the shank connecting disc is a hollow disc structure with a cantilever.
In the flexible clutchable exoskeleton joint actuator provided by the invention, the flexible clutchable exoskeleton joint actuator can further have the following characteristics: the connection mode between the rotor connecting piece and the motor rotor is that parts are fixed in a cold-pack interference fit mode or are fixed in a bonding mode through glue.
In the flexible clutchable exoskeleton joint actuator provided by the invention, the flexible clutchable exoskeleton joint actuator can further have the following characteristics: the bearing group is a pair of reversely mounted angle thrust bearings, a pair of reversely mounted tapered roller bearings or a single-row bearing combination and a double-row bearing combination with bidirectional axial force bearing capacity.
In the flexible clutchable exoskeleton joint actuator provided by the invention, the flexible clutchable exoskeleton joint actuator can further have the following characteristics: the tail end of the joint absolute motion feedback shaft is sleeved with a second magnetic ring, and the second magnetic ring is matched with the shaft end magnetic rotation angle sensor and used for measuring the actual angle of the shank connecting disc.
In the flexible clutchable exoskeleton joint actuator provided by the invention, the flexible clutchable exoskeleton joint actuator can further have the following characteristics: wherein, the outer edge of the joint absolute motion feedback shaft is provided with a wiring groove which runs through the whole shaft.
Action and Effect of the invention
According to the flexible clutchable exoskeleton joint actuator and the sex clutchable exoskeleton joint actuator, because the output disc adopts a coaxial hollow spoke type structure, the inner ring and the outer ring of the output disc can generate a rotation angle difference under the action of coaxial load torque, and further real-time output torque can be calculated through the rotation angle; because the first magnetic ring is arranged on the outer ring corner feedback plate of the output disc, and the inner ring of the output disc is provided with a plurality of magnetic coding linear sensors matched with the first magnetic ring, the rotation difference value of the inner ring of the output disc and the outer ring of the output disc can be detected, and the torque applied to the output disc is calculated according to the torque modulus of the output disc so as to control the current of the motor, thereby controlling the torque output of the motor and realizing the real force feedback control; because the joint absolute motion feedback shaft of the rotating part is arranged in the motor rotor, and the rotating part and other static components adopt a sliding friction mode at two ends of the motor rotor without adopting an additional rolling bearing, the structural complexity and the weight are reduced.
Therefore, the flexible clutchable exoskeleton joint actuator is in an optimized design of structure integration, and on the premise of ensuring the output torque of the device and necessary feedback devices, a more compact structural design of the one-side outgoing line actuator is obtained, so that the complexity and the weight of the structure are reduced, the routing of the sensing elements is optimized, the possibility of information loss of each sensor is reduced, the overall safety and the reliability of the device are further improved, in addition, the flexible clutchable exoskeleton joint actuator is beneficial to the motion control of an exoskeleton, and active separation can be carried out.
Drawings
FIG. 1 is a schematic structural diagram of a flexible clutchable exoskeleton joint actuator in an embodiment of the present invention;
FIG. 2 is an exploded schematic view of a flexible clutchable exoskeleton joint actuator in an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a flexible clutchable exoskeleton joint actuator in an embodiment of the present invention;
FIG. 4 is a schematic diagram of the structure of the motor stator base of the flexible clutchable exoskeleton joint actuator in an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of the output of the flexible clutchable exoskeleton joint actuator in an embodiment of the present invention;
FIG. 6 is a schematic representation of the reducer of the flexible clutchable exoskeleton joint actuator in an embodiment of the present invention;
FIG. 7 is a schematic diagram of a rotating portion of a flexible clutchable exoskeleton joint actuator in an embodiment of the present invention;
FIG. 8 is a schematic illustration of the joint absolute motion feedback axis of the flexible clutchable exoskeleton joint actuator in an embodiment of the present invention;
fig. 9 is a schematic structural view of a planetary reducer of the present invention.
Detailed Description
In order to make the technical means and functions of the present invention easy to understand, the present invention is specifically described below with reference to the embodiments and the accompanying drawings.
< example >
FIG. 1 is a schematic diagram of a flexible clutchable exoskeleton joint actuator in an embodiment of the invention, FIG. 2 is a schematic diagram of an explosion of a flexible clutchable exoskeleton joint actuator in an embodiment of the invention, and FIG. 3 is a cross-sectional view of a flexible clutchable exoskeleton joint actuator in an embodiment of the invention
1-3, a flexible clutchable exoskeleton joint actuator 100 of the present embodiment, mounted between the thigh and the calf of an exoskeleton of an orthosis in parallel with the lower limbs of a human body, for providing passive compliance in a joint-disabled state and a single-sided wire-out configuration, comprises: a motor stator base 10 having a motor stator 50 mounted therein, a motor rotor 60 disposed inside the motor stator 50, an output unit 20 and a reducer 30 connected in sequence, and a rotating unit 40 penetrating the motor stator 50, the reducer 30, and the output unit 20.
Figure 4 is a schematic diagram of the structure of the motor stator base of the flexible clutchable exoskeleton joint actuator in an embodiment of the present invention.
As shown in fig. 4, an end cover 101 is disposed at an end of the motor stator base 10, a shaft end magnetic rotation angle sensor 102 is mounted in the end cover 101, a through hole 103 for passing each sensor line is formed in the end cover 101, and a power line and a hall signal line also pass through the through hole 103.
In this embodiment, the shaft end magnetic rotation angle sensor 102 employs a chip AS5600 or a chip MA 730.
Figure 5 is a schematic diagram of the structure of the output of the flexible clutchable exoskeleton joint actuator in an embodiment of the present invention.
As shown in fig. 5, the output unit 20 includes: the device comprises an output disc 201, an output disc outer ring rotation angle feedback plate 202, a first magnetic ring 203, a plurality of magnetic encoding linear sensors 204, a lower leg locking connecting disc 205 and a joint absolute rotation angle feedback rod 206.
The output disc 201 is of a coaxial hollow spoke type structure and comprises an output disc inner ring 20101, an output disc outer ring 20102 and a plurality of spokes 20103, and the output disc inner ring 20101 and the output disc outer ring 20102 generate a rotation angle difference under the action of coaxial load torque.
The inner ring 20101 of the output disc is close to one side of the motor and is connected with the output end of the speed reducer 30 through a circle of distributed screws.
The outer side of the outer ring 20102 of the output disc is provided with a rib, a friction conical surface and a thread section at the tail end.
The flange is provided with a disc spring 208 towards the direction of the friction conical surface, the disc spring 208 is used for applying a force which pushes the shank locking connecting disc 205 away from the friction conical surface in the axial direction and is balanced with the axial force of the locking nut 207, the locking nut 207 is screwed in the threaded section at the tail end and is used for pressing the disc spring 208 and the shank locking connecting disc 205 tightly, so that the maximum allowable friction transmission torque is adjusted by adjusting the screwing degree of the locking nut 207, and a friction plate is arranged between the friction conical surface and the inner side conical surface of the shank locking connecting disc 205 and is used for increasing the friction force between the friction conical surface and the shank locking connecting disc 205 after the friction conical surface and the shank locking connecting.
In this embodiment, when the axial force between the disc spring 208 and the lock nut 207 reaches a certain balance, the balanced axial force is applied to the friction conical surface and the friction plate, and a maximum allowable friction transmission torque is formed between the friction plate and the friction conical surface; when the actual instantaneous torque generated between the friction conical surfaces of the shank locking connecting disc 205 and the output disc outer ring 20102 due to the combined action of external constraint and the motor output torque is smaller than the current maximum allowable friction transmission torque, the shank connecting disc 301 and the output disc outer ring 20102 are relatively fixed and normally transmit the torque; when the generated actual instantaneous torque is larger than the current maximum allowable friction transmission torque, the lower leg connecting disc 301 and the output disc outer ring 20102 slide relatively, and the actual instantaneous torque and the output disc outer ring 20102 are not restored to be relatively fixed until the actual instantaneous torque is smaller than the maximum allowable friction transmission torque again, so that the abnormal torque is prevented from being reversely transmitted into a transmission chain to damage a speed reducer 30 of the motor when the transmission torque is too large due to the fact that the joint is subjected to external load impact and other abnormalities.
The outer ring corner feedback plate 202 of the output disc is arranged on the outer side of the outer ring 20102 of the output disc, the side is far away from the motor, the outer ring corner feedback plate 202 of the output disc is used for feeding back a corner of the outer ring 20102 of the output disc and can prevent dust, and the outer ring corner feedback plate 202 of the output disc is connected with the outer ring 20102 of the output disc through a spigot and a screw.
The first magnetic ring 203 is arranged on the side of the hollow hole facing the motor on the outer ring corner feedback plate 202 of the output disc.
The magnetic encoding linear sensors 204 are arranged on the inner ring of the output disc, are used for improving the precision, are matched with the first magnetic ring 203, and are used for detecting the rotation difference value of the inner ring 20101 of the output disc and the outer ring 20102 of the output disc, so that the torque applied to the output disc 201 is calculated according to the torque modulus of the output disc 201.
In this embodiment, the magnetic encoding linear sensor 204 employs a chip AS 5311.
The lower leg lock attachment disc 205 is attached to the output disc outer race 20102.
The disc spring 208 is disposed between the output disc outer race 20102 and the lower leg lock attachment disc 205.
The joint absolute rotation angle feedback rod 206 is in a herringbone shape and is arranged on the lower leg locking connecting disc 205.
Figure 6 is a schematic diagram of the reducer of the flexible clutchable exoskeleton joint actuator in an embodiment of the present invention.
As shown in fig. 6, the decelerator 30 includes: a lower leg connecting disc 301, a reducer rigid wheel 302, a reducer flexible wheel 303 and a reducer wave generator 304.
The speed reducer in the present embodiment is a harmonic speed reducer.
The shank connecting disc 301 is a hollow disc structure with a cantilever, and is fixed through the shank locking connecting disc 205, a through hole with the axis perpendicular to the periphery of the joint is formed in the cantilever, so that the shank structure is connected, the cantilever extends to the main axis of the flexible clutchable exoskeleton joint actuator 100, the end of the main axis is provided with a mounting surface facing to the motor side, and is connected with the joint absolute movement feedback shaft 404 through a screw.
In this embodiment, the angle of the inner conical surface of the lower leg connecting plate 301 is equal to the angle of the friction conical surface of the output plate outer ring 20102.
The reducer rigid wheel 302 is fixedly connected with the bearing mounting seat 305.
The reducer flexspline 303 is provided inside the lower leg connection plate 301.
The reducer wave generator 304 is disposed inside the reducer flexspline 303.
Figure 7 is a schematic diagram of a rotating portion of a flexible clutchable exoskeleton joint actuator in an embodiment of the present invention.
As shown in fig. 7, the rotating portion 40 includes: rotor linkage 401, bearing set 402, hollow centering shaft 403, and articulation absolute motion feedback shaft 404.
In this embodiment, in order to save space, the connection mode between the rotor connector 401 and the motor rotor 60 is that the parts are fixed in a cold-pack interference fit manner or are fixed by gluing.
Bearing set 402 is disposed within rotor coupling 401 for carrying radial and slight axial loads.
In this embodiment, the bearing set 402 is not limited to a pair of oppositely mounted angular contact bearings, or a pair of oppositely mounted tapered roller bearings, or a single row bearing combination and a double row bearing combination with bi-directional axial force carrying capability, or other types of bearings. The bearing set 402 is tightly fitted and located inside the motor rotor 401, and adopts a non-traditional structure form with two fixed ends.
The hollow centering shaft 403 is three-step shaped, is arranged inside the bearing set 402, and has one end penetrating through the motor stator base 10 and the other end penetrating through an inner hole of the output disc inner ring 20101 and fixed by a centering shaft fastening nut 405.
In this embodiment, the outer edge of the hollow centering shaft 403 near the end of the motor stator base 10 is matched with a hole on the electronic stator base 10, a groove for placing a sealing element is arranged on the outer periphery, the middle section is matched with the inner ring of the bearing set 402, the end thread section is arranged on the side near the output disc 201, and the hollow centering shaft is axially fixed by a centering shaft fastening nut 405.
Figure 8 is a schematic diagram of the joint absolute motion feedback axis of the flexible clutchable exoskeleton joint actuator in an embodiment of the present invention.
As shown in fig. 8, the joint absolute motion feedback shaft 404 is disposed inside the hollow centering shaft 403, one end of which passes through one end of the motor stator base 10, and the other end, i.e., the side close to the output disc 201, passes through the inner hole of the output disc inner ring 20101, and is fixed in the groove of the joint absolute rotation angle feedback rod 206 on the lower leg connecting disc 301 by screws.
The end of the joint absolute movement feedback shaft 404, namely, the thinner part of the side close to the motor, is sleeved with a second magnetic ring 406, and the second magnetic ring 406 is matched with the shaft end magnetic rotation angle sensor 102 and is used for measuring the actual angle of the lower leg connecting disc 301.
In this embodiment, the joint absolute motion feedback shaft 404 is a stepped shaft, one end of the joint absolute motion feedback shaft 404 close to the motor and the middle of the joint absolute motion feedback shaft 404 are slightly thin, the maximum boundary of the outer edge is substantially consistent with the diameter of the inner hole of the hollow centering shaft 403, the joint absolute motion feedback shaft 404 is in clearance fit with the inner hole of the hollow centering shaft, a wiring groove penetrating through the whole shaft is formed in the outer edge of the joint absolute motion feedback shaft 404, and a sensor wire on one side of the output disc 201 is routed to the motor side through the wiring groove, so that the sensor wire of the whole flexible clutchable exoskeleton joint actuator 100 extends out of the actuator from the motor side.
The working process of the flexible clutchable exoskeleton joint actuator of the embodiment is as follows:
according to the flexible clutchable exoskeleton joint actuator 100 of the embodiment, a user firstly installs the flexible clutchable exoskeleton joint actuator between thighs and shanks of an exoskeleton of an orthosis parallel to lower limbs of a human body, rotates the locking nut 207 to compress the disc spring 208 and the shank locking connecting disc 205, at the moment, the clutch is in a working state, then turns on the motor to enable the motor stator 50 and the motor rotor 60 to start working, and then drives the rotating part 40, the speed reducer 30 and the output part 20 to start working under the action of the motor stator 50 and the motor rotor 60, so that the exoskeleton joint slowly moves, and the user is assisted to finish walking.
Effects and effects of the embodiments
According to the flexible clutchable exoskeleton joint actuator, because the output disc is of a coaxial hollow spoke type structure, the inner ring and the outer ring of the output disc can generate a rotation angle difference under the action of coaxial load torque, and further real-time output torque can be calculated through the rotation angle; because the first magnetic ring is arranged on the outer ring corner feedback plate of the output disc, and the inner ring of the output disc is provided with a plurality of magnetic coding linear sensors matched with the first magnetic ring, the rotation difference value of the inner ring of the output disc and the outer ring of the output disc can be detected, and the torque applied to the output disc is calculated according to the torque modulus of the output disc so as to control the current of the motor, thereby controlling the torque output of the motor and realizing the real force feedback control; because the joint absolute motion feedback shaft of the rotating part is arranged in the motor rotor, and the rotating part and other static components adopt a sliding friction mode at two ends of the motor rotor without adopting an additional rolling bearing, the structural complexity and the weight are reduced.
Further, according to the flexible clutchable exoskeleton joint actuator related to the embodiment, because the shaft end magnetic rotation angle sensor is installed in the end cover of the motor stator base, the absolute movement angle of the lower leg can be detected.
Further, according to the flexible clutchable exoskeleton joint actuator related to the embodiment, because a manual clasping clutching structure consisting of fastening by rotating a fastening nut, conical surface matching and disc spring resetting is adopted, the exoskeleton/orthosis structure and the output disc can be conveniently and rapidly locked and unlocked.
Further, according to the flexible clutchable exoskeleton joint actuator related to the embodiment, the joint absolute motion feedback shaft is provided with the wiring groove, so that the sensor wire on the output disc side is conveniently communicated to the motor side, the sensor wire of the whole device can extend out of the motor side, and the possibility of information loss of each sensor is reduced.
Therefore, the flexible clutchable exoskeleton joint actuator is in an optimized design of structure integration, and on the premise of ensuring the output torque of the device and necessary feedback devices, a more compact structural design of the one-side outgoing line actuator is obtained, so that the complexity and the weight of the structure are reduced, the routing of the sensing elements is optimized, the possibility of information loss of each sensor is reduced, the overall safety and the reliability of the device are further improved, in addition, the flexible clutchable exoskeleton joint actuator is beneficial to the motion control of an exoskeleton, and active separation can be carried out.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
In the above embodiment, the speed reducer is a harmonic speed reducer, but in the present invention, a planetary speed reducer may be used, and as shown in fig. 9, the inner carrier is fixed to the bearing mount, the carrier is connected to the output disc, and the sun gear is connected to the rotor connecting member.
Claims (8)
1. A flexible clutchable exoskeleton joint actuator for mounting between a thigh and a shank of an exoskeleton of an orthosis in parallel to a lower limb of a human body, comprising: a motor stator base internally provided with a motor stator, a motor rotor arranged in the motor stator, an output part and a speed reducer which are sequentially connected, and a rotating part which penetrates through the motor stator, the speed reducer and the output part,
wherein the output section includes:
the output disc consists of an output disc inner ring, an output disc outer ring and a plurality of spokes;
the outer ring corner feedback plate of the output disc is arranged on the outer side of the outer ring of the output disc;
the first magnetic ring is arranged on the outer ring corner feedback plate of the output disc;
the magnetic coding linear sensors are arranged on the inner ring of the output disc, are matched with the first magnetic ring and are used for detecting the rotation difference value of the inner ring of the output disc and the outer ring of the output disc so as to calculate the torque applied to the output disc according to the torque modulus of the output disc;
the shank locking connecting disc is connected to the outer ring of the output disc;
the disc spring is arranged between the outer ring of the output disc and the shank locking connecting disc; and
the joint absolute corner feedback rod is in a herringbone shape and is arranged on the shank locking connecting disc,
the speed reducer includes:
the shank connecting disc is fixed through the shank locking connecting disc;
the reducer rigid wheel is fixedly connected with the bearing mounting seat;
the flexible gear of the speed reducer is arranged inside the shank connecting disc; and
a reducer wave generator arranged inside the reducer flexible gear,
the rotating part includes:
the rotor connecting piece is fixedly connected with the motor rotor;
the bearing group is arranged inside the rotor connecting piece and is used for bearing radial load and little axial load;
the hollow centering shaft is in a three-section ladder shape and is arranged in the bearing group, one end of the hollow centering shaft penetrates through the motor stator base, and the other end of the hollow centering shaft penetrates through an inner hole of the inner ring of the output disc and is fixed through a centering shaft fastening nut; and
and the joint absolute motion feedback shaft is arranged in the hollow centering shaft, one end of the joint absolute motion feedback shaft penetrates through one end of the motor stator base, the other end of the joint absolute motion feedback shaft penetrates through an inner hole of the inner ring of the output disc, and the joint absolute motion feedback shaft is fixed in a groove of a joint absolute rotation angle feedback rod on the shank connecting disc through a screw.
2. The flexible clutchable exoskeleton joint actuator of claim 1, wherein:
the end part of the motor stator base is provided with an end cover, a shaft end magnetic corner sensor is arranged in the end cover,
and the end cover is provided with a through hole for the sensor wire to pass through.
3. The flexible clutchable exoskeleton joint actuator of claim 1, wherein:
wherein, the outer side of the outer ring of the output disc is provided with a flange, a friction conical surface and a thread section at the tail end,
a disc spring is arranged on the flange towards the direction of the friction conical surface and is used for applying force for axially pushing away from the friction conical surface to the shank locking connecting disc,
a locking nut is screwed on the threaded section at the tail end and is used for tightly pressing the disc spring and the shank locking connecting disc, so that the maximum allowable friction transmission torque is adjusted by adjusting the screwing degree of the locking nut,
and a friction plate is arranged between the friction conical surface and the inner side conical surface of the shank locking connecting disc and is used for increasing the friction force of the friction conical surface and the shank locking connecting disc after the friction conical surface and the shank locking connecting disc are subjected to an axial force, so that the torque is transmitted.
4. The flexible clutchable exoskeleton joint actuator of claim 1, wherein:
wherein, the shank connecting disc is a hollow disc structure with a cantilever.
5. The flexible clutchable exoskeleton joint actuator of claim 1, wherein:
the rotor connecting piece and the motor rotor are connected in a manner of cold-fitting interference fit fixation of parts or bonding fixation through glue.
6. The flexible clutchable exoskeleton joint actuator of claim 1, wherein:
the bearing set is a pair of reversely mounted angle thrust bearings, a pair of reversely mounted tapered roller bearings or a single-row bearing set and a double-row bearing set with bidirectional axial force bearing capacity.
7. The flexible clutchable exoskeleton joint actuator of claim 1, wherein:
the tail end of the joint absolute motion feedback shaft is sleeved with a second magnetic ring, and the second magnetic ring is matched with the shaft end magnetic rotation angle sensor and used for measuring the actual angle of the shank connecting disc.
8. The flexible clutchable exoskeleton joint actuator of claim 1, wherein:
the outer edge of the joint absolute motion feedback shaft is provided with a wiring groove which penetrates through the whole shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911241810.5A CN110788840A (en) | 2019-12-06 | 2019-12-06 | Flexible external skeleton joint actuator capable of being clutched |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911241810.5A CN110788840A (en) | 2019-12-06 | 2019-12-06 | Flexible external skeleton joint actuator capable of being clutched |
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| CN110788840A true CN110788840A (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911241810.5A Pending CN110788840A (en) | 2019-12-06 | 2019-12-06 | Flexible external skeleton joint actuator capable of being clutched |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618776A (en) * | 2021-08-26 | 2021-11-09 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| CN113878612A (en) * | 2021-09-23 | 2022-01-04 | 北京邮电大学 | Dual-mode driving joint for rehabilitation robot |
-
2019
- 2019-12-06 CN CN201911241810.5A patent/CN110788840A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113618776A (en) * | 2021-08-26 | 2021-11-09 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| CN113618776B (en) * | 2021-08-26 | 2023-03-10 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| CN113878612A (en) * | 2021-09-23 | 2022-01-04 | 北京邮电大学 | Dual-mode driving joint for rehabilitation robot |
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