CN111255813B - Linear flexible variable-rigidity self-adaptive artificial joint transmission device - Google Patents

Linear flexible variable-rigidity self-adaptive artificial joint transmission device Download PDF

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Publication number
CN111255813B
CN111255813B CN202010151763.1A CN202010151763A CN111255813B CN 111255813 B CN111255813 B CN 111255813B CN 202010151763 A CN202010151763 A CN 202010151763A CN 111255813 B CN111255813 B CN 111255813B
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China
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shaft
output shaft
sleeve
ball cage
node
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CN202010151763.1A
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CN111255813A (en
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王瑞
李雷
热合木江·木合塔尔
王建
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Wang Rui
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Individual
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/20—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members
    • F16D3/22—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members the rolling members being balls, rollers, or the like, guided in grooves or sockets in both coupling parts
    • F16D3/223—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members the rolling members being balls, rollers, or the like, guided in grooves or sockets in both coupling parts the rolling members being guided in grooves in both coupling parts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0123—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C17/00—Sliding-contact bearings for exclusively rotary movement
    • F16C17/04—Sliding-contact bearings for exclusively rotary movement for axial load only
    • F16C17/08—Sliding-contact bearings for exclusively rotary movement for axial load only for supporting the end face of a shaft or other member, e.g. footstep bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
    • F16D3/04—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted to allow radial displacement, e.g. Oldham couplings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D7/00—Slip couplings, e.g. slipping on overload, for absorbing shock
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16N—LUBRICATING
    • F16N1/00—Constructional modifications of parts of machines or apparatus for the purpose of lubrication
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Nursing (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Steering Controls (AREA)

Abstract

The invention discloses a linear flexible variable-stiffness self-adaptive artificial joint transmission device, which comprises an input part, a transmission part and a transmission part, wherein the input part comprises a driving shaft bracket, an input shaft and a ball cage universal joint; the output part comprises a driven shaft support, two output shafts, two sliding buffer sleeves and an inclined plane cam, wherein one output shaft is connected with the ball cage universal joint, the two sliding buffer sleeves are respectively connected to the two output shafts in a sliding mode corresponding to splines, thrust inclined planes and rigid transmission surfaces are arranged at two ends of the inclined plane cam and the two sliding buffer sleeves, two ends of the inclined plane cam are respectively meshed with the two sliding buffer sleeves, a phase included angle between the thrust inclined planes at the two ends of the inclined plane cam is 180 degrees, the directions of the thrust inclined planes are opposite, and the two output shafts are both sleeved with torque buffer springs; the invention can realize the matching of the rotation centers of the human body joint and the robot joint and the flexible transmission of torque, and avoid the damage to the human body joint.

Description

Linear flexible variable-rigidity self-adaptive artificial joint transmission device
Technical Field
The invention relates to a linear flexible variable-rigidity self-adaptive artificial joint transmission device.
Background
With the increasing demand of disabled patients and patients with joint sprain for exercise rehabilitation, robot devices such as rehabilitation robots, exoskeleton robots, joint trainers, gait orthotics and the like are continuously researched and developed, and a certain rehabilitation training effect is achieved.
The robot body usually imitates the physiological structure of the lower limbs and joints of a human body, the robot joints are generally designed into single-shaft driving joints, and the robot joints are bound with the human body joints, but the human body joints have complex geometric structures and are not simple single-degree-of-freedom hinge mechanisms; taking the knee joint as an example, a variable axis plane with rolling and sliding coexisting exists in the sagittal plane motion of the knee joint, and the joint coupling curved surface has a non-constant rotation axis; if the knee joint of the human body is driven by the traditional single-shaft motor, the rotation centers of the knee joint and the human body are not matched, and the human body knee joint is damaged by mismatching; meanwhile, the movement of the human body joints is smooth, the rigidity of different human body joints is different, and the rigid driving injury to the human body joints is easily caused by directly binding the rigid robot joints and the human body joints.
Disclosure of Invention
The invention aims to overcome the defects and provide a linear flexible variable-rigidity self-adaptive artificial joint transmission device.
In order to achieve the purpose, the invention adopts the following specific scheme:
a linear flexible variable-stiffness self-adaptive artificial joint transmission device comprises an input component and an output component;
the input component comprises a driving shaft bracket, an input shaft of a disc-shaped structure and a ball cage universal joint, wherein one end of the driving shaft bracket is provided with a slotted hole for mounting the input shaft, the input shaft is mounted in the slotted hole through a shaft end cover and two plane lubrication bearings and can move in the radial direction relative to the plane lubrication bearings, one end of the ball cage universal joint is in transmission connection with one end of the input shaft through a first coupler, and the other end of the ball cage universal joint is in transmission connection with the output component;
the output part comprises an E-shaped driven shaft support, a first output shaft, a first sliding buffer sleeve, an inclined cam, a second sliding buffer sleeve and a second output shaft, two side edge connecting ends and a middle connecting end of the driven shaft support are fixed at the other end of the driving shaft support, one end of the first output shaft is rotatably connected to the side edge connecting end of the driven shaft support close to the input shaft and is in transmission connection with the other end of the ball cage universal joint through a second coupler, the first sliding buffer sleeve is in spline connection with the other end of the first output shaft and can slide relative to the first output shaft, the inclined cam is rotatably connected to the middle connecting end of the driven shaft support, preferably, an inclined male die is rotatably connected to the driven shaft support through two plane bearings, one end of the second output shaft is rotatably connected to the side edge connecting end of the driven shaft support far away from the input shaft, the second sliding buffer sleeve is connected to the other end of the second output shaft through a spline and can slide relative to the second output shaft, the two ends of the inclined plane cam, one end of the first sliding buffer sleeve close to the inclined plane cam and one end of the second sliding buffer sleeve close to the inclined plane cam are respectively provided with a thrust inclined plane and a rigid transmission surface which corresponds to the thrust inclined plane and is parallel to the axial direction of the first output shaft or the second output shaft, two ends of the inclined cam are respectively engaged with the first sliding buffer sleeve and the second sliding buffer sleeve, the phase included angle between the thrust inclined planes at the two ends of the inclined cam is 180 degrees, the directions are opposite, the first output shaft and the second output shaft are both sleeved with moment buffer springs, one end of each moment buffer spring on the first output shaft is abutted against one end of the first sliding buffer sleeve, which is far away from the inclined plane cam, one end of the moment buffer spring on the second output shaft is abutted against one end, far away from the inclined plane cam, of the second sliding buffer sleeve.
Wherein, the disc surface of the input shaft is provided with a lubricant storage hole.
The length of the spline part of the first output shaft is smaller than the displacement length of the first sliding buffer sleeve, and the length of the spline part of the second output shaft is smaller than the displacement length of the second sliding buffer sleeve.
The ball cage universal joint comprises a first node and a second node, the first node and the second node are in transmission connection through a spline connecting shaft, the first node and the second node respectively comprise a ball cage, a retainer, a star sleeve and a plurality of transmission steel balls, the ball cage is spherical, the retainer, the star sleeve and the transmission steel balls are arranged inside the ball cage, one end of the star sleeve is of a spherical structure, steel ball raceways are formed in the spherical surfaces of the ball cage and the star sleeve, the spherical structure of the star sleeve stretches into the ball cage and is concentric with the spherical surface of the ball cage, the transmission steel balls are arranged between the spherical surfaces of the ball cage and the star sleeve through the retainer and are connected with the steel ball raceways of the ball cage and the other end of the star sleeve of the first node and the other end of the star sleeve of the second node, and the two ends of the spline connecting shaft are connected with the other end of the star sleeve of the first.
The invention has the beneficial effects that: compared with the prior art, the input component is arranged to fix the input shaft in the axial direction by utilizing the two plane lubrication bearings, and the input shaft can move relative to the plane lubrication bearings in the radial direction, so that the self-adaptive characteristic of the input shaft transmission is improved, then the variable axis connection of the input shaft and the output component is realized through the ball cage universal joint, and the human body joint is matched with the rotation center of the robot joint;
the output part of the invention utilizes the inclined plane cam and the two sliding buffer sleeves to realize the self-adaptive flexible output of torque through the torque buffer spring, and the phase included angle between the thrust inclined planes at the two ends of the inclined plane cam is 180 degrees, so that the directions of rigid transmission surfaces at the two ends of the inclined plane cam are opposite, thereby realizing the flexible transmission of torque in two directions of forward and reverse rotation and avoiding rigid driving injury to human joints.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an exploded schematic view of the input member of the present invention;
FIG. 3 is an exploded schematic view of the output member of the present invention;
description of reference numerals: 1-an input component; 11-driving shaft support; 111-slot; 12-an input shaft; 121-lubricant reservoir hole; 13-a ball cage gimbal; 131-a first node; 132-a second node; 133-spline connection shaft; 14-shaft end cap; 15-plane lubrication bearing;
2-an output member; 21-driven shaft support; 22-a first output shaft; 23-a first sliding cushion sleeve; 24-a beveled cam; 25-a second sliding buffer sleeve; 26-a second output shaft; 27-a torque damper spring;
m-thrust ramp; n-rigid drive surfaces.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 3, the linear flexible variable-stiffness adaptive artificial joint transmission device according to the present embodiment includes an input component 1 and an output component 2;
the input component 1 comprises a driving shaft support 11, an input shaft 12 of a disc-shaped structure and a ball cage universal joint 13, wherein one end of the driving shaft support 11 is provided with a slotted hole 111 for mounting the input shaft 12, the input shaft 12 is mounted in the slotted hole 111 through a shaft end cover 14 and two plane lubrication bearings 15 and can move in the radial direction relative to the plane lubrication bearings 15, one end of the ball cage universal joint 13 is in transmission connection with one end of the input shaft 12 through a first coupler, and the other end of the ball cage universal joint 13 is in transmission connection with the output component 2;
the output component 2 comprises an E-shaped driven shaft support 21, a first output shaft 22, a first sliding buffer sleeve 23, a bevel cam 24, a second sliding buffer sleeve 25 and a second output shaft 26, two side edge connecting ends and a middle connecting end of the driven shaft support 21 are fixed on the other end of the driving shaft support 11, one end of the first output shaft 22 is rotatably connected on the side edge connecting end of the driven shaft support 21 close to the input shaft 12 and is in transmission connection with the other end of the ball cage universal joint 13 through a second coupler, the first sliding buffer sleeve 23 is splined on the other end of the first output shaft 22 and can slide relative to the first output shaft 22, the bevel cam 24 is rotatably connected on the middle connecting end of the driven shaft support 21, one end of the second output shaft 26 is rotatably connected on the side edge connecting end of the driven shaft support 21 far away from the input shaft 12, the second sliding buffer sleeve 25 is splined to the other end of the second output shaft 26 and can slide relative to the second output shaft 26, two ends of the inclined cam 24, one end of the first sliding buffer sleeve 23 close to the inclined cam 24, and one end of the second sliding buffer sleeve 25 close to the inclined cam 24 are respectively provided with a thrust inclined plane m and a rigid transmission plane n which corresponds to the thrust inclined plane m and is parallel to the axial direction of the first output shaft 22 or the second output shaft 26, two ends of the inclined cam 24 are respectively engaged with the first sliding buffer sleeve 23 and the second sliding buffer sleeve 25, a phase angle between the thrust inclined planes m at two ends of the inclined cam 24 is 180 degrees, the directions are opposite, the first output shaft 22 and the second output shaft 26 are both sleeved with a moment buffer spring 27, one end of the moment buffer spring 27 on the first output shaft 22 abuts against one end of the first sliding buffer sleeve 23 away from the inclined cam 24, one end of the moment buffer spring 27 on the second output shaft 26 abuts against one end of the second sliding buffer sleeve 25 far away from the inclined plane cam 24, so that flexible output can be realized when positive and negative moment is input.
When the output device works, the second output shaft 26 of the output part 2 is connected with an external load (such as a human joint), the input shaft 12 of the input part 1 is connected with an external torque output mechanism, torque is transmitted from the input shaft 12 of the input part 1 to the output part 2 through the ball cage universal joint 13, the first output shaft 22 of the output part 2 transmits the torque to the inclined plane cam 24 through the first sliding buffer sleeve 23 to drive the inclined plane cam 24 to rotate, at the moment, the thrust inclined plane m of the inclined plane cam 24 and the second sliding buffer sleeve 25 are mutually extruded, when the input torque is smaller than the output load due to the axial component force, the second sliding damping bushing 25 compresses the torque damping spring 27, the torque is absorbed by the torque damping spring 27, when the input torque is larger than the output load, the second sliding buffer sleeve 25 outputs the torque through the second output shaft 26, so as to drive the external load to rotate; when the input shaft 12 deviates from the central axis, the displacement difference caused by the deviation of the input shaft 12 is compensated by the ball cage universal joint 13.
The input component 1 of the embodiment fixes the input shaft 12 in the axial direction by using two plane lubrication bearings 15, and enables the input shaft 12 to move relative to the plane lubrication bearings 15 in the radial direction, so that the self-adaptive characteristic of the transmission of the input shaft 12 is improved, and then the variable-axis connection of the input shaft 12 and the output component 2 is realized through the ball cage universal joint 13, so that the rotation center of the human body joint is matched with that of the robot joint;
the output part 2 of the embodiment utilizes the inclined cam 24 and the two sliding buffer sleeves to realize self-adaptive flexible output of torque through the torque buffer spring 27, and the phase included angle between the thrust inclined planes m at the two ends of the inclined cam 24 is 180 degrees, so that the directions of the rigid transmission surfaces n at the two ends of the inclined cam 24 are opposite, thereby realizing flexible transmission of torque in two forward and reverse directions and avoiding rigid driving damage to human joints.
The inclined cam 24 and the moment buffer spring 27 of the embodiment are both in axial structures, so that the radial space occupation can be greatly reduced, and the overall structure is more compact in the radial direction. In addition, the magnitude of the torque release threshold of the embodiment can be integrally calibrated by adjusting the rigidity of the torque buffer spring 27 and the inclination angle of the thrust inclined plane m of the inclined plane cam 24, so that the overall structure is more flexible and the adaptability is stronger.
As shown in fig. 2, based on the above embodiment, further, the disc surface of the input shaft 12 is provided with a lubricant storage hole 121, so that the friction force of the disc surface of the input shaft 12 during the offset sliding process can be effectively reduced.
Based on the above embodiment, further, the length of the spline portion of the first output shaft 22 is smaller than the displacement length of the first sliding buffer sleeve 23, and the length of the spline portion of the second output shaft 26 is smaller than the displacement length of the second sliding buffer sleeve 25. So set up, but make among the torque transmission process self-adaptation switch between rigidity and flexible state, when external load is great, the slip overtravel of slip cushion collar, whole structure turns into rigidity torque transmission, guarantees that the moment of torsion is sufficient, carries out overload protection to the spring simultaneously.
Based on the above embodiment, further, the ball cage universal joint 13 includes a first node 131 and a second node 132, the first node 131 and the second node 132 are in transmission connection through a spline connection shaft 133, the first node 131 and the second node 132 each include a ball cage with a spherical inner surface, a retainer, a star-shaped sleeve and a plurality of transmission steel balls, one end of the star-shaped sleeve is of a spherical structure, the spherical surface of the ball cage and the surface of the spherical structure of the star-shaped sleeve are both provided with steel ball raceways, the spherical structure of the star-shaped sleeve extends into the ball cage, and is concentric with the spherical surface of the ball cage, a plurality of transmission steel balls are arranged between the spherical surface of the ball cage and the spherical surface structure of the star-shaped sleeve through the retainer, and are clamped in the steel ball raceways of the two, and both ends of the spline connecting shaft 133 are connected with the other end of the star-shaped sleeve of the first node 131 and the other end of the star-shaped sleeve of the second node 132, respectively. According to the arrangement, the transmission steel ball is embedded into the ball races of the ball cage and the star sleeve, the star sleeve is movably connected with the ball cage, torque is transmitted through clamping of the transmission steel ball, the first node 131 and the second node 132 are connected in a sliding mode through the spline connecting shaft 133, when the input shaft 12 deviates from the central axis, the displacement difference generated by radial movement of the input shaft 12 between the first node 131 and the second node 132 is compensated through sliding of the spline connecting shaft 133, variable axis connection between the input shaft 12 and the first output shaft 22 and between the input shaft 12 and the second output shaft 26 is achieved, the input shaft 12 can transmit torque at a constant speed and reliably at any position, torque loss and impact fluctuation in the transmission process are reduced to the maximum extent, and human joints are protected better.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.

Claims (4)

1. A linear flexible variable-stiffness self-adaptive artificial joint transmission device is characterized by comprising an input component (1) and an output component (2);
the input component (1) comprises a driving shaft support (11), an input shaft (12) of a disc-shaped structure and a ball cage universal joint (13), wherein one end of the driving shaft support (11) is provided with a slotted hole (111) for mounting the input shaft (12), the input shaft (12) is mounted in the slotted hole (111) through a shaft end cover (14) and two plane lubrication bearings (15) and can move in the radial direction relative to the plane lubrication bearings (15), one end of the ball cage universal joint (13) is in transmission connection with one end of the input shaft (12) through a first coupling, and the other end of the ball cage universal joint (13) is in transmission connection with the output component (2);
the output component (2) comprises an E-shaped driven shaft support (21), a first output shaft (22), a first sliding buffer sleeve (23), an inclined cam (24), a second sliding buffer sleeve (25) and a second output shaft (26), two side edge connecting ends and a middle connecting end of the driven shaft support (21) are fixed at the other end of the driving shaft support (11), one end of the first output shaft (22) is rotatably connected to the side edge connecting end, close to the input shaft (12), of the driven shaft support (21) and is in transmission connection with the other end of the ball cage universal joint (13) through a second coupler, the first sliding buffer sleeve (23) is in splined connection with the other end of the first output shaft (22) and can slide relative to the first output shaft (22), the inclined cam (24) is rotatably connected to the middle connecting shaft end of the driven shaft support (21), one end of the second output shaft (26) is rotatably connected to the side connecting end of the driven shaft support (21) far away from the input shaft (12), the second sliding buffer sleeve (25) is connected to the other end of the second output shaft (26) in a spline mode and can slide relative to the second output shaft (26), two ends of the inclined cam (24), one end, close to the inclined cam (24), of the first sliding buffer sleeve (23) and one end, close to the inclined cam (24), of the second sliding buffer sleeve (25) are respectively provided with a thrust inclined plane (m) and a rigid transmission surface (n) which corresponds to the thrust inclined plane (m) and is parallel to the axial direction of the first output shaft (22) or the second output shaft (26), two ends of the inclined cam (24) are respectively meshed with the first sliding buffer sleeve (23) and the second sliding buffer sleeve (25), and the phase angle between the thrust inclined planes (m) at two ends of the inclined cam (24) is 180 degrees, and the directions are opposite, the first output shaft (22) and the second output shaft (26) are both sleeved with a moment buffer spring (27), one end of the moment buffer spring (27) on the first output shaft (22) is abutted to one end, away from the inclined plane cam (24), of the first sliding buffer sleeve (23), and one end of the moment buffer spring (27) on the second output shaft (26) is abutted to one end, away from the inclined plane cam (24), of the second sliding buffer sleeve (25).
2. The linear flexible variable-stiffness self-adaptive artificial joint transmission device as claimed in claim 1, wherein a lubricant storage hole (121) is formed in the disc surface of the input shaft (12).
3. A linear flexible variable stiffness adaptive artificial joint transmission according to claim 1, wherein the length of the spline part of the first output shaft (22) is less than the displacement length of the first sliding buffer sleeve (23), and the length of the spline part of the second output shaft (26) is less than the displacement length of the second sliding buffer sleeve (25).
4. The linear flexible variable-stiffness self-adaptive artificial joint transmission device according to claim 1, wherein the ball cage universal joint (13) comprises a first node (131) and a second node (132), the first node (131) and the second node (132) are in transmission connection through a spline connecting shaft (133), the first node (131) and the second node (132) each comprise a ball cage, a retainer, a star sleeve and a plurality of transmission steel balls, each of the first node (131) and the second node (132) is internally provided with a spherical surface, one end of the star sleeve is provided with a spherical surface structure, the spherical surfaces of the ball cage and the star sleeve are provided with steel ball raceways, the spherical surface structure of the star sleeve extends into the ball cage and is concentric with the spherical surface of the ball cage, the transmission steel balls are arranged between the spherical surface of the ball cage and the spherical surface of the star sleeve through the retainer and are clamped in the steel ball raceways of the ball cage and the star sleeve, and two ends of the spline connecting shaft (133) are respectively connected with the other end of the star-shaped sleeve of the first node (131) and the other end of the star-shaped sleeve of the second node (132).
CN202010151763.1A 2020-03-06 2020-03-06 Linear flexible variable-rigidity self-adaptive artificial joint transmission device Expired - Fee Related CN111255813B (en)

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CN207421175U (en) * 2017-11-20 2018-05-29 襄阳博亚精工装备股份有限公司 The cage universal joint of high temperature sintering resistant
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