CN111633634A - Electric adhesion clutch driving device - Google Patents
Electric adhesion clutch driving device Download PDFInfo
- Publication number
- CN111633634A CN111633634A CN202010517176.XA CN202010517176A CN111633634A CN 111633634 A CN111633634 A CN 111633634A CN 202010517176 A CN202010517176 A CN 202010517176A CN 111633634 A CN111633634 A CN 111633634A
- Authority
- CN
- China
- Prior art keywords
- annular frame
- barrel
- energy storage
- electroadhesive
- rubber block
- Prior art date
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an electro-adhesion clutch driving device, which comprises a leg supporting frame, wherein the leg supporting frame comprises a sole fixing sleeve and a connecting supporting rod, the lower end of the connecting supporting rod is connected with the sole fixing sleeve, the upper end of the connecting supporting rod is connected with a fixing belt, an upper annular frame and a lower annular frame are respectively arranged at the same side of the upper end and the lower end of the connecting supporting rod, and a power driving device is connected between the upper annular frame and the lower annular frame; the power driving device comprises an inner barrel, an outer barrel, an energy storage rubber block and a metal electrode, wherein the inner barrel is sleeved and adsorbed inside the outer barrel, the metal electrode is attached to the inner barrel and the outer barrel respectively, the inner barrel and the outer barrel generate mutual attraction under the power-on state and are fixed together, the upper end of the outer barrel is connected with the upper annular frame, the upper end of the energy storage rubber block is connected with the inner side wall of the lower end of the inner barrel, and the lower end of the energy storage rubber block is connected with the lower annular frame. The invention can achieve the effects of assisting movement and saving energy in the using process.
Description
Technical Field
The invention belongs to the technical field of novel drivers, and particularly relates to an electric adhesion clutch driving device.
Background
At present, the research results of human body drivers are rich and various, but most of the human body drivers adopt conventional pneumatic, hydraulic and electric driving modes, which have certain defects, such as large noise and small driving force of the pneumatic mode; the hydraulic driver is large in size, cannot move and is poor in buffering performance in the force transmission process; motorized actuators are bulky, expensive, and too rigid, which have restricted the development of actuators. The flexible drive should be able to assist or even replace the muscle traction joints to produce corresponding movements when the person performs various movements. Meanwhile, due to the characteristic of flexibility, when the limbs are impacted by a large external force or are contacted with an acting point in the movement process, the limb protector has a buffering effect, so that the force acts on a human body more slowly, and the protection effect is achieved. Under the guidance of such an objective, the present invention was studied in terms of flexibility, first of all in a preliminary attempt by means of passive drive.
Disclosure of Invention
The present invention provides an electro-adhesion clutch driving device to overcome the above-mentioned shortcomings of the prior art.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
an electroadhesive clutch drive, wherein: the leg support comprises a leg support frame, wherein the leg support frame comprises a sole fixing sleeve and a connecting support rod, the lower end of the connecting support rod is connected with the sole fixing sleeve, the upper end of the connecting support rod is connected with a fixing belt, an upper annular frame and a lower annular frame are respectively arranged on the same side of the upper end and the lower end of the connecting support rod, a power driving device is connected between the upper annular frame and the lower annular frame, and a power supply is arranged on the side wall of the connecting support rod;
the power driving device comprises an inner barrel, an outer barrel, an energy storage rubber block and a metal electrode, wherein the inner barrel is sleeved and adsorbed inside the outer barrel, the metal electrode is attached to the inner barrel and the outer barrel respectively, the metal electrode is electrically connected with a power supply, the inner barrel and the outer barrel generate mutual attraction under the power-on state and are fixed together, the upper end of the outer barrel is connected with the upper annular frame, the upper end of the energy storage rubber block is connected with the inner side wall of the lower end of the inner barrel, and the lower end of the energy storage rubber block is connected with the lower.
In order to optimize the technical scheme, the specific measures adopted further comprise:
furthermore, a first electrode plate is attached to the inner side wall of the outer cylinder.
Furthermore, the inner cylinder is composed of a second electrode plate and a metal ring, the metal ring is wrapped at the upper end of the second electrode plate, a gap is reserved between the second electrode plate and the first electrode plate, and a notch is formed in the metal ring.
Further, the first electrode plate and the second electrode plate are the same in structure, are of three-layer structures and sequentially comprise a Mylar film layer, an aluminum layer and a dielectric insulating layer from inside to outside, the dielectric insulating layer of the outer cylinder and the dielectric insulating layer of the inner cylinder are close to each other, and the metal electrode is attached to the aluminum layer.
Furthermore, a horizontal bearing rod is installed at the upper end of the outer barrel, the height of the inner barrel is lower than that of the outer barrel, the bearing rod is connected with the metal ring through an elastic rubber ring, and the bearing rod is connected with the upper annular frame through a rope.
Furthermore, the lower end of the inner barrel is fixedly provided with a positioning plate, and the upper end of the energy storage rubber block is fixedly arranged on the positioning plate.
Furthermore, a connecting plate is fixed at the lower end of the energy storage rubber block, a connecting hole is formed in the connecting plate, and the connecting plate is connected with the lower annular frame through a rope.
Further, the upper and lower ring frames are horizontally fixed.
Furthermore, the outer cylinder is made of carbon fibers.
Further, the fixing band is an elastic connecting rope.
The invention has the beneficial effects that:
compared with the traditional driving device, the electric adhesion clutch driving device has the advantages that when the sole falls to the ground, the inner cylinder and the outer cylinder attract each other, the rubber energy storage block stretches to store energy, the stored energy reaches the maximum at the moment that the heel is about to be lifted, then the sole is lifted, the rubber energy storage block contracts, and the sole is lifted in an auxiliary mode. The invention adopts a passive mode, stores the energy during the original movement in the using process and releases the energy at the key moment so as to achieve the effects of assisting the movement and saving the energy, and meanwhile, the invention has small volume, light weight, simple structure and convenient use.
Drawings
FIG. 1 is a schematic view of the inner and outer barrel construction of the present invention;
FIG. 2 is a schematic view of a leg support structure of the present invention;
FIG. 3 is a schematic view of the upper structure of the inner and outer cylinders of the present invention;
FIG. 4 is a comparison of energized and non-energized states of the invention;
FIG. 5 is a schematic view of the inner barrel construction of the present invention;
FIG. 6 is a schematic view of the electrode sheet structure of the present invention;
FIG. 7 is a schematic workflow of the present invention;
fig. 8 is a power supply configuration diagram of the present invention.
The reference signs are: the device comprises a leg support frame 1, a sole fixing sleeve 2, a connecting support rod 3, a fixing belt 4, an upper annular frame 5, a lower annular frame 6, an inner cylinder 7, an outer cylinder 8, an energy storage rubber block 9, a metal electrode 10, a first electrode plate 11, a second electrode plate 12, a metal ring 13, a bearing rod 14, an elastic rubber ring 15, a positioning plate 16, a connecting plate 17 and a power supply 18.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the present invention is an electro-adhesion clutch driving device, which includes a leg supporting frame 1, wherein the leg supporting frame 1 includes a sole fixing sleeve 2 and a connecting supporting rod 3, the lower end of the connecting supporting rod 3 is connected with the sole fixing sleeve 2, the upper end of the connecting supporting rod 3 is connected with a fixing band 4, the upper end and the lower end of the connecting supporting rod 3 are respectively provided with an upper annular frame 5 and a lower annular frame 6 at the same side, a power driving device is connected between the upper annular frame 5 and the lower annular frame 6, and the side wall of the connecting supporting rod 3 is provided with a power supply 18;
the power driving device comprises an inner barrel 7, an outer barrel 8, an energy storage rubber block 9 and a metal electrode 10, the inner barrel 7 is adsorbed inside the outer barrel 8 in a sleeved mode, the metal electrode 10 is attached to the inner barrel 7 and the outer barrel 8 respectively, the metal electrode 10 is electrically connected with a power supply 18, the inner barrel 7 and the outer barrel 8 are fixed together in a mutual attractive mode under the power-on state, the upper end of the outer barrel 8 is connected with the upper annular frame 5, the upper end of the energy storage rubber block 9 is connected with the inner barrel 7 lower end inner side wall, and the lower end of the energy storage rubber block 9 is connected with the lower annular frame 6.
In the embodiment, a first electrode sheet 11 is attached to the inner wall of the outer cylinder 8.
In the embodiment, the inner cylinder 7 is composed of a second electrode plate 12 and a metal ring 13, the metal ring 13 is wrapped at the upper end of the second electrode plate 12, a gap is reserved between the second electrode plate 12 and the first electrode plate 11, and the metal ring 13 is provided with a notch.
In the embodiment, the first electrode plate 11 and the second electrode plate 12 have the same structure, are both of three-layer structures, and sequentially comprise a Mylar thin layer, an aluminum layer and a dielectric insulating layer from inside to outside, the dielectric insulating layer of the outer cylinder 8 and the dielectric insulating layer of the inner cylinder 7 are close to each other, and the metal electrode 10 is attached to the aluminum layer.
Wherein, a strong electric field is generated between the metal electrodes 10 of the inner cylinder 7 and the outer cylinder 8 under the condition of electrifying, so that the two are tightly attached together, and because of the dielectric insulating layers on the surfaces of the first electrode plate 11 and the second electrode plate 12, the two always keep strong mutual pressure, thereby generating huge friction force in the sliding direction to keep the relative positions of the inner cylinder 7 and the outer cylinder 8 unchanged, and generating an adhesion effect.
Wherein the outermost dielectric insulating layer does not entirely cover the conductive aluminum layer, leaving the location of the metal electrode 11.
In the embodiment, a horizontal bearing rod 14 is arranged at the upper end of the outer cylinder 8, the height of the inner cylinder 7 is lower than that of the outer cylinder 8, the bearing rod 14 is connected with the metal ring 13 through an elastic rubber ring 15, and the bearing rod 14 is connected with the upper annular frame 5 through a rope.
The elastic rubber ring is connected with the inner cylinder and the bearing rod, so that the inner cylinder and the outer cylinder have flexibility and keep stable structures when in a non-activated state.
In the embodiment, the lower end of the inner cylinder 7 is fixedly provided with a positioning plate 16, and the upper end of the energy storage rubber block 9 is fixedly arranged on the positioning plate 16.
In the embodiment, a connecting plate 17 is fixed at the lower end of the energy storage rubber block 9, a connecting hole is formed in the connecting plate 17, and the connecting plate 17 is connected with the lower annular frame 6 through a rope through the connecting hole.
In the embodiment, the upper and lower ring frames 5 and 6 are fixed horizontally.
In the embodiment, the outer cylinder 8 is made of carbon fiber.
In the embodiment, the fixing band 4 is an elastic connecting rope.
The using method of the invention is as follows:
the fixing strap 4 is tied on the leg, the sole is sleeved in the sole fixing sleeve 2, according to the process shown in fig. 6, the time when the heel falls to the ground and the sole does not fall to the ground in the foot motion process when the person walks is taken as the starting time, the time when the heel falls to the ground is taken as the position A, the time when the sole falls to the ground completely is taken as the position B, the time when the calf is perpendicular to the sole is taken as the position C, the time when the calf forms an acute angle with the sole is taken as the position D, the time when the heel is lifted, the time when the sole is not lifted off the ground is taken as the position.
When the foot is at the position B, the power driving device is electrified, the inner cylinder and the outer cylinder attract each other, and in the process of the position B-D, the energy storage rubber block 9 is fixed due to the attraction of the inner cylinder and the outer cylinder and is gradually stretched to generate deformation along with the change of the angle of the ankle joint to store energy; when the feet are at the position E, the energy storage rubber block 9 releases energy to assist the feet to lift; when the toes leave the ground, the power driving device is disconnected, the inner cylinder and the outer cylinder are not sucked any more, and the inner cylinder and the outer cylinder can freely slide relative to each other, so that the legs can freely move; when the foot is in the position F-A, the foot naturally falls under the action of inertia and gravity, so that the electro-adhesion clutch driving device completes a power-assisted cycle, and the process is repeated subsequently, thereby realizing the function of assisting the walking of the human body.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. The electro-adhesion clutch driving device is characterized by comprising a leg supporting frame (1), wherein the leg supporting frame (1) comprises a sole fixing sleeve (2) and a connecting supporting rod (3), the lower end of the connecting supporting rod (3) is connected with the sole fixing sleeve (2), the upper end of the connecting supporting rod (3) is connected with a fixing belt (4), an upper annular frame (5) and a lower annular frame (6) are respectively installed at the same side of the upper end and the lower end of the connecting supporting rod (3), a power driving device is connected between the upper annular frame (5) and the lower annular frame (6), and a power supply (18) is installed on the side wall of the connecting supporting rod (3);
the power driving device comprises an inner barrel (7), an outer barrel (8), an energy storage rubber block (9) and a metal electrode (10), wherein the inner barrel (7) is adsorbed inside the outer barrel (8) in a sleeved mode, the metal electrode (10) is attached to the inner barrel (7) and the outer barrel (8) respectively, the metal electrode (10) is electrically connected with a power supply (18), the inner barrel (7) and the outer barrel (8) generate mutual attraction under the power-on state and are fixed together, the upper end of the outer barrel (8) is connected with an upper annular frame (5), the upper end of the energy storage rubber block (9) is connected with the inner side wall of the lower end of the inner barrel (7), and the lower end of the energy storage rubber block (9) is connected with a lower annular frame (.
2. An electroadhesive clutch actuator as claimed in claim 1 wherein: a first electrode plate (11) is attached to the inner side wall of the outer cylinder (8).
3. An electroadhesive clutch actuator as claimed in claim 2, wherein: the inner cylinder (7) comprises a second electrode plate (12) and a metal ring (13), the metal ring (13) is wrapped at the upper end of the second electrode plate (12), a gap is reserved between the second electrode plate (12) and the first electrode plate (11), and a notch is formed in the metal ring (13).
4. An electroadhesive clutch actuator as claimed in claim 3 wherein: the first electrode plate (11) and the second electrode plate (12) are the same in structure, are of three-layer structures and sequentially comprise a Mylar thin layer, an aluminum layer and a dielectric insulating layer from inside to outside, the dielectric insulating layer of the outer cylinder (8) and the dielectric insulating layer of the inner cylinder (7) are close to each other, and the metal electrode (10) is attached to the aluminum layer.
5. An electroadhesive clutch actuator as claimed in claim 4 wherein: the bearing device is characterized in that a horizontal bearing rod (14) is installed at the upper end of the outer barrel (8), the height of the inner barrel (7) is lower than that of the outer barrel (8), the bearing rod (14) is connected with a metal ring (13) through an elastic rubber ring (15), and the bearing rod (14) is connected with the upper ring frame (5) through a rope.
6. An electroadhesive clutch actuator as claimed in claim 5 wherein: the energy storage rubber block is characterized in that a positioning plate (16) is fixedly mounted at the lower end of the inner barrel (7), and the upper end of the energy storage rubber block (9) is fixedly mounted on the positioning plate (16).
7. An electroadhesive clutch actuator as claimed in claim 6 wherein: the energy storage rubber block (9) lower extreme is fixed with connecting plate (17), be provided with the connecting hole on connecting plate (17), connecting plate (17) are connected through the rope between connecting hole and lower annular frame (6).
8. An electroadhesive clutch actuator as claimed in claim 1 wherein: the upper annular frame (5) and the lower annular frame (6) are horizontally fixed.
9. An electroadhesive clutch actuator as claimed in claim 1 wherein: the outer cylinder (8) is made of carbon fibers.
10. An electroadhesive clutch actuator as claimed in claim 1 wherein: the fixing belt (4) is an elastic connecting rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010517176.XA CN111633634A (en) | 2020-06-08 | 2020-06-08 | Electric adhesion clutch driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010517176.XA CN111633634A (en) | 2020-06-08 | 2020-06-08 | Electric adhesion clutch driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111633634A true CN111633634A (en) | 2020-09-08 |
Family
ID=72326167
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010517176.XA Pending CN111633634A (en) | 2020-06-08 | 2020-06-08 | Electric adhesion clutch driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111633634A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9492302B2 (en) * | 2011-08-15 | 2016-11-15 | North Carolina State University | Apparatus and clutch for using controlled storage and release of mechanical energy to aid locomotion |
| CN106625605A (en) * | 2017-01-06 | 2017-05-10 | 清华大学 | Light ankle joint exoskeleton |
| CN107126348A (en) * | 2017-03-31 | 2017-09-05 | 清华大学 | A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method |
| CN107184373A (en) * | 2017-06-22 | 2017-09-22 | 国家康复辅具研究中心 | Rehabilitation walk help accessory |
| CN109940583A (en) * | 2019-03-20 | 2019-06-28 | 北京交通大学 | A kind of adaptive ankle foot ectoskeleton that can reduce walking metabolism |
-
2020
- 2020-06-08 CN CN202010517176.XA patent/CN111633634A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9492302B2 (en) * | 2011-08-15 | 2016-11-15 | North Carolina State University | Apparatus and clutch for using controlled storage and release of mechanical energy to aid locomotion |
| CN106625605A (en) * | 2017-01-06 | 2017-05-10 | 清华大学 | Light ankle joint exoskeleton |
| CN107126348A (en) * | 2017-03-31 | 2017-09-05 | 清华大学 | A kind of accurate passive knee ankle-joint coupling lower limb exoskeleton and its control method |
| CN107184373A (en) * | 2017-06-22 | 2017-09-22 | 国家康复辅具研究中心 | Rehabilitation walk help accessory |
| CN109940583A (en) * | 2019-03-20 | 2019-06-28 | 北京交通大学 | A kind of adaptive ankle foot ectoskeleton that can reduce walking metabolism |
Non-Patent Citations (2)
| Title |
|---|
| STUART B DILLER: "The effects of electroadhesive clutch design parameters on performance characteristics", 《JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES》 * |
| STUART DILLER: "A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation", 《INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11751625B2 (en) | Maximizing power generation in and distributing force amongst piezoelectric generators | |
| CN107854284B (en) | A kind of ankle-joint ectoskeleton based on elastic element rigidity handover mechanism | |
| CN109176475B (en) | Hydraulic passive power assisting device for knee joint | |
| CN107972754B (en) | Shape memory alloy driven soft crawling robot | |
| CN105616113B (en) | A kind of passive energy storage foot mechanism for lower limb assistance exoskeleton | |
| CN102973338B (en) | Active-passive type ankle joint prosthesis and movement mode thereof | |
| KR101207614B1 (en) | Tendon-Driven Exoskeletal Power Assistive Robot | |
| CN106826763A (en) | For the flexible exoskeleton robot of climbing knee joint power-assisted | |
| CN103892943B (en) | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type | |
| CN108555890B (en) | Wearable body weight supporting type walking assisting device | |
| CN108939396A (en) | A kind of rope driving wearing type upper limb recovery training robot and its application method | |
| CN110757433A (en) | Guyed knee joint power assisting device | |
| CN106420278B (en) | One kind acting on kneed portable auxiliary propelling machine | |
| CN106821688A (en) | A kind of heavy burden walk-assisting exoskeleton | |
| KR20160031603A (en) | Assisting device for muscle strength | |
| CN109077897B (en) | Hydraulic drive's ankle joint booster unit | |
| CN111633634A (en) | Electric adhesion clutch driving device | |
| CN106074133B (en) | A kind of device for resuscitating heart and pulmones | |
| CN102894642B (en) | Human body heavy burden load reducer | |
| CN108743250A (en) | A kind of flexibility hip joint assistance exoskeleton | |
| Maeda et al. | Development of variable stiffness gel spats for walking assistance | |
| CN209662127U (en) | A kind of exoskeleton ankle joint mechanism and exoskeleton system | |
| CN105835983A (en) | Novel hexapod bionic robot | |
| CN209059883U (en) | A kind of recovery set for lower limbs with collection of energy function | |
| CN202859392U (en) | Human body weight-bearing load shedding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200908 |