CN111358669A - Driving device for exoskeleton robot and exoskeleton robot - Google Patents
Driving device for exoskeleton robot and exoskeleton robot Download PDFInfo
- Publication number
- CN111358669A CN111358669A CN201811604419.2A CN201811604419A CN111358669A CN 111358669 A CN111358669 A CN 111358669A CN 201811604419 A CN201811604419 A CN 201811604419A CN 111358669 A CN111358669 A CN 111358669A
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- Prior art keywords
- bearing
- output shaft
- cover
- driving
- fixing
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000009467 reduction Effects 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 208000023803 Hip injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 208000029028 brain injury Diseases 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 230000001684 chronic effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Classifications
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a driving device for an exoskeleton robot and the exoskeleton robot, wherein the driving device comprises: the driving unit is arranged in the shell; the speed reducing unit is arranged in the shell, and the driving unit is connected to the speed reducing unit through a motor shaft; the speed reduction unit is connected to the driving rod through an output shaft; the driving device comprises a driving unit, a first bearing, a second bearing, a third bearing and a driving rod, wherein one end of a motor shaft is further arranged in the shell through the first bearing, the output shaft is arranged in the shell through the second bearing, the other end of the motor shaft is further arranged on the output shaft through the third bearing, and the driving unit drives the driving rod according to a control signal.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a driving device of an exoskeleton robot.
Background
The invention aims to recover and improve the walking ability of patients with chronic osteoarticular diseases, spinal hip injuries and brain injuries. At present, most of patients with lower limb dysfunction are caused by osteoarticular diseases, and the rest are mainly caused by spine hip injury and brain injury. Exoskeleton robots suitable for these patients are also currently available in the market to assist in the recovery of their lower limb mobility. The human-simulated structure design of the exoskeleton robot in the prior art enables the output structure of the driving device to be arranged on one side of the driving device, and the internal structure of the driving device bears more bending moment, so that the damage to internal parts is serious, and the service life of the driving device is influenced.
Disclosure of Invention
The present invention provides a driving device for an exoskeleton robot, comprising:
a shell body, a plurality of first connecting rods and a plurality of second connecting rods,
a driving unit installed in the housing;
the speed reducing unit is arranged in the shell, and the driving unit is connected to the speed reducing unit through a motor shaft;
the speed reduction unit is connected to the driving rod through an output shaft;
the motor comprises a shell, a driving unit, a first bearing, an output shaft, a second bearing and a driving unit, wherein one end of the motor shaft is further arranged in the shell through the first bearing, the output shaft is arranged in the shell through the second bearing, the other end of the motor shaft is further arranged on the output shaft through the third bearing, and the driving unit drives the driving rod according to a control signal.
In the above-mentioned driving device, the casing includes a first supporting cover and a second supporting cover that are fastened to each other, the driving device further includes a first fixing cover, the first fixing cover is installed on the first supporting cover, and the driving unit is installed between the first fixing cover and the first supporting cover.
In the above driving device, one end of the motor shaft is mounted on the first support cover through the first bearing, and the shaft shoulder of the motor shaft and the shaft retainer ring of the first bearing fix the inner steel ring of the first bearing.
The driving device further comprises a second fixing cover and a first fixing ring, wherein the second fixing cover is arranged on the second supporting cover, and the first fixing ring is sleeved on the output shaft.
In the above driving device, the output shaft is mounted on the second supporting cover through the second bearing, the shaft shoulder of the output shaft and the first fixing ring fix the inner steel ring of the second bearing, and the second supporting cover and the second fixing cover fix the outer steel ring of the second bearing.
The driving device further comprises a third fixing cover and a second fixing ring, wherein the third fixing cover is locked on the output shaft through a screw, and the second fixing ring is mounted on the output shaft.
In the above-mentioned driving device, the shaft shoulder of the motor shaft and the third fixing cover fix the inner steel ring of the third bearing, the second fixing ring and the shaft shoulder of the output shaft fix the outer steel ring of the third bearing, and the output shaft is connected to the driving rod.
The driving device further comprises a driver protection cover buckled on one side of the first support cover, which is far away from the second support cover.
In the above-mentioned driving device, the first supporting cover and the second supporting cover are fastened to each other through a seam allowance structure.
The present invention also provides an exoskeleton robot, comprising:
a leg bar;
the at least one exoskeleton robot drive device as claimed in any one of the above claims, wherein the at least one drive device is connected to the leg rod, and the drive device drives the leg rod to move according to the control signal.
Aiming at the prior art, the driving device has the advantages that under the condition that the exoskeleton robot driving device outputs torque to assist a wearer in rehabilitation walking training, the driving device can better bear bending moment load, the bearing mode of the internal structure of the driving device is optimized, the assembly precision of the driving device is improved, the service performance of the driving device is further improved, and the service life of the driving device is further prolonged.
Drawings
FIG. 1 is a schematic view of the overall structure of a driving apparatus of the present invention;
FIG. 2 is a cross-sectional view of the drive of the present invention;
fig. 3 is a schematic view of the exoskeleton robot of the present invention.
Wherein, the reference numbers:
housing 11
First support cover 111
First bearing 17
Second bearing 18
Third bearing 19
First fixing ring 23
Third fixing cap 24
Screw L
Robot lower limb 3
Two leg rods 31, 32
Detailed Description
The detailed description and technical description of the present invention are further described in the context of a preferred embodiment, but should not be construed as limiting the practice of the present invention.
Referring to fig. 1-2, fig. 1 is a schematic view of the overall structure of the driving device of the present invention; fig. 2 is a sectional view of the driving device of the present invention. As shown in fig. 1 to 2, the driving apparatus 1 includes: a housing 11, a drive unit 12, a reduction unit 13, and a drive lever 14; the driving unit 12 is installed in the housing 11; the speed reduction unit 12 is installed in the housing 11, and the driving unit 12 is connected to the speed reduction unit 13 through a motor shaft 15; reduction unit 13 is connected to drive rod 14 via output shaft 16; one end of the motor shaft 15 is further mounted in the housing 11 through a first bearing 17, the output shaft 16 is mounted in the housing 11 through a second bearing 18, the other end of the motor shaft 15 is further mounted on the output shaft 16 through a third bearing 19, and the driving unit 12 drives the driving rod 14 according to the control signal.
In the present embodiment, the driving unit 12 is a dc brushless motor, and the speed reduction unit 13 is a harmonic speed reducer; the rotor of the brushless DC motor is installed on the motor shaft 15, the motor shaft 15 is driven to rotate when the brushless DC motor rotates, the motor shaft 15 is connected with the wave generator of the harmonic reducer, the flexible gear of the harmonic reducer is connected with the output shaft 16, the output shaft 16 is connected with the driving rod 14 through the bolt, the effects of reducing the rotating speed and improving the torque are achieved, and the requirements of speed and torque for assisting a patient to walk are finally met.
Further, the housing 11 includes a first supporting cover 111 and a second supporting cover 112 that are fastened to each other, the driving device further includes a first fixing cover 20, the first fixing cover 20 is installed on the first supporting cover 111, the driving unit 12 is installed between the first fixing cover 20 and the first supporting cover 111, one end of the motor shaft 15 is installed on the first supporting cover 111 through the first bearing 17, and a shoulder at one end of the motor shaft 15 and a retaining ring for a shaft of the first bearing 17 fix an inner steel ring of the first bearing 17. In this embodiment, the outer steel ring of the first bearing 17 is not fixed, so that the requirement of fine adjustment of the axial positions of the motor shaft 15 and the first bearing 17 in the installation process can be met.
It should be noted that, in the present embodiment, the first supporting cover 111 and the second supporting cover 112 are preferably fastened to each other through a seam allowance structure, and the requirement of coaxiality between the first supporting cover 111 and the second supporting cover 112 after assembly is ensured through the mutual fastening of the seam allowance structures.
Still further, the driving device further includes a second fixing cover 21 and a first fixing ring 23, the second fixing cover 21 is installed on the second supporting cover 112, the first fixing ring 23 is sleeved on the output shaft 16, the output shaft 16 is installed on the second supporting cover 112 through the second bearing 18, a shoulder of the output shaft 16 and the first fixing ring 23 fix an inner steel ring of the second bearing 18, and the second supporting cover 112 and the second fixing cover 20 fix an outer steel ring of the second bearing 18.
Still further, the driving device further includes a third fixing cover 24 and a second fixing ring 25, the third fixing cover 24 is locked on the output shaft 16 through a screw L, the second fixing ring 25 is installed on the output shaft 16, the shaft shoulder at the other end of the motor shaft 15 and the third fixing cover 24 fix the inner steel ring of the third bearing 19, the second fixing ring 25 and the shaft shoulder of the output shaft 16 fix the outer steel ring of the third bearing 19, and the output shaft 16 is connected to the driving rod 14.
Wherein, the first fixing ring 23 and the second fixing ring 25 are fixed between the driving rod 14 and the output shaft 16, and the fine adjustment of the axial position of the motor shaft 15 can be realized by adjusting the axial dimensions of the first fixing ring 23 and the second fixing ring 25.
Furthermore, the driving device further includes a driver protection cover 26 fastened to the first support cover 111 and away from the second support cover 112.
It should be noted that in the present embodiment, the first bearing 17 is a deep groove ball bearing, the second bearing 18 is a double-row back-to-back angular contact ball bearing, and the third bearing 19 is a pair of back-to-back angular contact ball bearings; the axial installation position of the third bearing 19 is close to that of the second bearing 18, so that the radial load borne by the motor shaft is transmitted to the second bearing 18 through the output shaft 16 and finally acts on the second support cover 112; the second bearing 18 is an angular contact ball bearing, and the inner steel ring and the outer steel ring are firmly fixed, so that the second bearing can bear the axial acting force transmitted to the output shaft 16 by the driving rod 14; meanwhile, due to the design of the back-to-back double-row angular contact ball bearing, the output shaft 16 can bear the overturning moment transmitted to the output shaft 16 by the driving rod 14 along the axial direction, the output shaft 16 is prevented from inclining due to the action of external force generated on the driving rod 14, and the rigidity of the driving device is improved; the third bearing 19 is an angular contact ball bearing installed back to back, and the inner steel ring and the outer steel ring are firmly fixed, so that the third bearing can bear the overturning moment transmitted to the output shaft 16 by the driving rod 14 along the axial direction, and the motor shaft 15 is prevented from inclining under the action of the external force of the output shaft 16.
Referring to fig. 3, fig. 3 is a schematic view of the exoskeleton robot of the present invention. As shown in fig. 3, the exoskeleton robot comprises two lower robot limbs 3, each lower robot limb 3 comprises two leg rods 31, 32 and two driving devices 1A, 1B; the driving device 1A, the leg rod 31, the driving device 1B and the leg rod 32 are connected in sequence, wherein the driving rod 14 of the driving device 1A is connected to one end of the leg rod 31, the other end of the leg rod 31 is connected to the driving device 1B, and the driving rod 14 of the driving device 1B is connected to the leg rod 32; the driving device 1A drives the leg rod 31 to move according to the control signal; after the driving device 1B drives the leg rod 32 to move according to the control signal, the structure and control principle of two driving devices 1A and 1B are the same as those of the driving device shown in fig. 1-2, and thus the description thereof is omitted.
In conclusion, the drive control device has fewer supporting cover parts, so that the assembly precision of the whole structure is improved; the seam allowance design between the first supporting cover and the second supporting cover improves the assembly precision of the whole structure; in addition, the type selection and the installation mode of the bearing are optimized, the rigidity and the bearing performance of the whole structure are improved, and the service life of the driving device is effectively prolonged.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A drive arrangement for an exoskeleton robot, comprising:
a shell body, a plurality of first connecting rods and a plurality of second connecting rods,
a driving unit installed in the housing;
the speed reducing unit is arranged in the shell, and the driving unit is connected to the speed reducing unit through a motor shaft;
the speed reduction unit is connected to the driving rod through an output shaft;
the motor comprises a shell, a driving unit, a first bearing, an output shaft, a second bearing and a driving unit, wherein one end of the motor shaft is further arranged in the shell through the first bearing, the output shaft is arranged in the shell through the second bearing, the other end of the motor shaft is further arranged on the output shaft through the third bearing, and the driving unit drives the driving rod according to a control signal.
2. The driving apparatus as claimed in claim 1, wherein the housing comprises a first supporting cover and a second supporting cover fastened to each other, the driving apparatus further comprises a first fixing cover mounted on the first supporting cover, and the driving unit is mounted between the first fixing cover and the first supporting cover.
3. The drive of claim 2, wherein one end of the motor shaft is mounted on the first support cap by the first bearing, and a shoulder of the motor shaft and a retainer ring for the shaft of the first bearing fix an inner steel ring of the first bearing.
4. The driving apparatus as claimed in claim 2, further comprising a second fixing cap and a first fixing ring, wherein the second fixing cap is mounted on the second supporting cap, and the first fixing ring is sleeved on the output shaft.
5. The drive of claim 4, wherein said output shaft is mounted to said second support cap by said second bearing, said shoulder of said output shaft and said first retaining ring securing said inner ring of said second bearing, said second support cap and said second retaining cap securing said outer ring of said second bearing.
6. The drive device according to claim 2, further comprising a third fixing cover and a second fixing ring, wherein the third fixing cover is fixed to the output shaft by a screw, and the second fixing ring is mounted to the output shaft.
7. The drive of claim 6, wherein the shoulder of the motor shaft and the third stationary cover secure an inner ring of the third bearing, the second stationary ring and the shoulder of the output shaft secure an outer ring of the third bearing, and the output shaft is coupled to the drive rod.
8. The drive of claim 2, further comprising a driver protection cover that snaps onto a side of the first support cover that is distal from the second support cover.
9. The drive of claim 2, wherein the first support cover and the second support cover are snap-fit to each other via a spigot arrangement.
10. An exoskeleton robot, comprising:
a leg bar;
the drive arrangement for at least one exoskeleton robot as claimed in any one of claims 1 to 9, wherein said at least one drive arrangement is coupled to said leg bar, said drive arrangement driving said leg bar in motion in response to said control signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811604419.2A CN111358669B (en) | 2018-12-26 | 2018-12-26 | Driving device for exoskeleton robot and exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811604419.2A CN111358669B (en) | 2018-12-26 | 2018-12-26 | Driving device for exoskeleton robot and exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111358669A true CN111358669A (en) | 2020-07-03 |
| CN111358669B CN111358669B (en) | 2023-07-14 |
Family
ID=71198152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811604419.2A Active CN111358669B (en) | 2018-12-26 | 2018-12-26 | Driving device for exoskeleton robot and exoskeleton robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111358669B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2766721C1 (en) * | 2021-02-12 | 2022-03-15 | Общество с ограниченной ответственностью «Экзосистемы» | Reducer of upper and lower extremities of exoskeleton |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102179820A (en) * | 2011-05-17 | 2011-09-14 | 哈尔滨工程大学 | Swinging joint of small-sized electric manipulator |
| CN103735386A (en) * | 2013-11-15 | 2014-04-23 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| WO2017213449A1 (en) * | 2016-06-10 | 2017-12-14 | 한국기계연구원 | Joint driving module and adaptive robotic prosthetic foot |
| CN108500952A (en) * | 2017-02-24 | 2018-09-07 | 北京大艾机器人科技有限公司 | Drive dynamic control device and exoskeleton robot with it |
| CN108890613A (en) * | 2018-08-20 | 2018-11-27 | 南昌大学 | A kind of driving wheel apparatus for heavy load climbing robot |
-
2018
- 2018-12-26 CN CN201811604419.2A patent/CN111358669B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102179820A (en) * | 2011-05-17 | 2011-09-14 | 哈尔滨工程大学 | Swinging joint of small-sized electric manipulator |
| CN103735386A (en) * | 2013-11-15 | 2014-04-23 | 北京航空航天大学 | Wearable lower limb exoskeleton rehabilitation robot |
| WO2017213449A1 (en) * | 2016-06-10 | 2017-12-14 | 한국기계연구원 | Joint driving module and adaptive robotic prosthetic foot |
| CN108500952A (en) * | 2017-02-24 | 2018-09-07 | 北京大艾机器人科技有限公司 | Drive dynamic control device and exoskeleton robot with it |
| CN108890613A (en) * | 2018-08-20 | 2018-11-27 | 南昌大学 | A kind of driving wheel apparatus for heavy load climbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2766721C1 (en) * | 2021-02-12 | 2022-03-15 | Общество с ограниченной ответственностью «Экзосистемы» | Reducer of upper and lower extremities of exoskeleton |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111358669B (en) | 2023-07-14 |
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