CN114603546A - Wearable variable-rigidity rope driving system - Google Patents
Wearable variable-rigidity rope driving system Download PDFInfo
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- CN114603546A CN114603546A CN202210452191.XA CN202210452191A CN114603546A CN 114603546 A CN114603546 A CN 114603546A CN 202210452191 A CN202210452191 A CN 202210452191A CN 114603546 A CN114603546 A CN 114603546A
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- steel wire
- driving
- wire rope
- rope
- variable
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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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wearable variable-rigidity rope driving system, which comprises a variable-rigidity rope driving system and a variable-rigidity elastic mechanism, wherein the variable-rigidity rope driving system comprises a driving motor, the driving motor provides power for the rope driving system, a single driving joint in the rope driving system comprises a bending steel wire rope, an extending steel wire rope and a driving wheel, the surface of the driving wheel comprises a bending steel wire rope fixing hole and an extending steel wire rope fixing hole, the side surface of the driving wheel is provided with a bending steel wire rope slot and an extending steel wire rope slot, the bending steel wire rope fixing block on the bending steel wire rope is arranged in the bending steel wire rope fixing hole, the bending steel wire rope is sequentially wound in the bending steel wire rope slot and a guide pulley, the extending steel wire rope fixing block on the extending steel wire rope is arranged in the extending steel wire rope fixing hole, the extending steel wire rope is sequentially wound in the extending steel wire rope slot and the other guide pulley of the driving wheel, the wearable variable-rigidity rope driving system is worn on the back or waist of a human body, the power is output by the steel wire rope in the mechanism, and the mechanism has the characteristics of convenience in wearing and interactive comfort.
Description
Technical Field
The invention relates to the technical field of power drive of a skeleton system, in particular to a wearable variable-rigidity rope drive system.
Background
The application of the traditional driving joint with high deceleration ratio and high rigidity in the field of exoskeleton is very limited, and the requirement of flexible interaction with a human body cannot be met; and the heavy weight of the joints increases the inertia of the human legs, making the motion control complicated.
The existing rope driving scheme is usually a unidirectional driving mode, only unidirectional motion driving of bending or stretching can be completed, and the driving rope is easy to fall off. On the other hand, there are some series elastic drivers that can reduce the stiffness of the driving joint, but the constant stiffness elastic driver cannot be adjusted to the most suitable stiffness parameter according to different motion modes of the human body.
Disclosure of Invention
In order to overcome the technical problems, the invention aims to provide a wearable variable-rigidity rope driving system which is worn on the back or waist of a human body, power is output by a steel wire rope in a mechanism, and the wearable variable-rigidity rope driving system has the characteristics of convenience in wearing and interactive comfort.
In order to achieve the purpose, the invention adopts the technical scheme that:
a wearable variable-stiffness rope driving system comprises a variable-stiffness rope driving system and a variable-stiffness elastic mechanism which are arranged on a driving mechanism base plate 1, wherein the variable-stiffness rope driving system comprises a driving motor 2, the driving motor 2 provides power for the rope driving system, a single driving joint in the rope driving system comprises a bending steel wire rope 8, an extending steel wire rope 11 and a driving wheel 9, the surface of the driving wheel 9 comprises a bending steel wire rope fixing hole 29 and an extending steel wire rope fixing hole 30, the side surface of the driving wheel 9 is provided with a bending steel wire rope slot 32 and an extending steel wire rope slot 31, the bending steel wire rope fixing block 27 on the bending steel wire rope 8 is arranged in the bending steel wire rope fixing hole 29, the bending steel wire rope 8 is sequentially wound in the bending steel wire rope slot 32 and a guide pulley 14, the bending steel wire rope guide block 6 penetrates through the bending rope guide block 6 to be sleeved in a bending steel wire rope pipe 7 to be used as joint bending power output, the extending steel wire rope fixing block 28 on the extending steel wire rope 11 is arranged in the extending steel wire rope fixing hole 30, the wire rope 11 is sequentially wound in a wire rope groove 31 of the driving wheel 9 and another guide pulley 14, passes through the lasso guide block 13 and is sleeved in the lasso pipe 12 to be used as joint extension power output.
The variable-rigidity rope driving system comprises a driving wheel 9 and a driving main shaft 21 which are installed on a driving mechanism base plate 1, the driving wheel 9 and the driving main shaft 21 are coaxially fixed, the driving wheel 9 and a large bevel gear 10 are coaxially fixed, the lower end of the driving main shaft 21 is installed on the driving mechanism base plate 1 through a base bearing 22, an installation bearing cover 5 is installed at the upper end of the driving main shaft 21 through a pressure plate bearing 23, two ends of the bearing cover 5 are respectively fixed on the driving mechanism base plate 1 through a buckling noose guide block 6 and a buckling noose guide block 13, the large bevel gear 10 is meshed with a small bevel gear 4, the small bevel gear 4 is connected with an output shaft of a driving motor 2, and variable-rigidity elastic mechanisms are respectively arranged on the left side and the right side of the driving motor 2 in the axial direction.
The variable-rigidity elastic mechanism comprises a rigidity adjusting motor 19, one end of an adjusting screw rod 24 is coaxially fixed to an output shaft of the rigidity adjusting motor 19, the other end of the adjusting screw rod 24 is installed on a limiting support 33, the limiting support 33 is fixed on the driving mechanism substrate 1, the adjusting screw rod 24 is parallel to two adjusting guide rails 20, the adjusting guide rails 20 are distributed on two sides of the adjusting screw rod 24, a nut sliding block 16 is arranged on the adjusting screw rod 24, the nut sliding block 16 is installed on the adjusting guide rails 20 through sliding block linear bearings 26, the other side of the nut sliding block 16 is provided with two parallel spring sliding shafts 25, and the two parallel spring sliding shafts are installed on the nut sliding block 16 through the two sliding block linear bearings 26.
One end of the spring sliding shaft 25 is respectively connected with the pulley fixing block 15 and the guide pulley 14; the other end of the spring sliding shaft 25 passes through the adjusting spring 17 and is connected with the optical axis fixing block 18.
The rigidity adjusting motor 19 is fixed on the driving mechanism substrate 1 through a rigidity adjusting motor support 34, and two ends of the two adjusting guide rails 20 are respectively fixed with the rigidity adjusting motor support 34 and the limiting support 33.
The bending steel wire rope 8 and the extending steel wire rope 11 are controlled by the driving motor 2 to move and output.
The invention has the beneficial effects that:
in the invention, a single driving motor can simultaneously drive two movement directions of the target joint.
The elastic mechanism with variable rigidity is added in the invention, on one hand, the rope can be prevented from falling off from the driving wheel; on the other hand, the rigidity parameter can be adjusted in real time, and the boosting efficiency and the human comfort are enhanced.
Drawings
Fig. 1 is a schematic view of a wearing scheme of a variable stiffness rope driving system.
Fig. 2 is a schematic diagram of the whole scheme of the variable stiffness rope driving system.
Fig. 3 is a schematic view of the bottom structure of the variable stiffness rope driving system.
FIG. 4 is a schematic diagram of a core mechanism of a variable stiffness rope driving system.
Fig. 5 a schematic view of a cord driven reel.
Fig. 6 is a schematic diagram of a variable stiffness elastic mechanism.
FIG. 7 is a schematic view of the drive cord winding pattern.
The present invention comprises in its entirety:
a 001 variable stiffness cord drive system, and 002 human body joint anchor (here, ankle joint is taken as an example).
A 001 variable stiffness cord drive system comprising:
1 driving mechanism base plate, 2 driving motor, 3 driving motor base, 4 small bevel gear, 5 bearing gland, 6 bending lasso guide block, 7 bending lasso pipe, 8 bending steel wire rope, 9 driving wheel, 10 large bevel gear, 11 extending steel wire rope, 12 extending lasso pipe, 13 extending lasso guide block, 14 guide pulley, 15 pulley fixed block, 16 nut sliding block, 17 adjusting spring, 18 optical axis fixed block, 19 rigidity adjusting motor, 20 adjusting guide rail, 21 driving main shaft, 22 base bearing, 23 press plate bearing, 24 adjusting screw rod, 25 spring sliding shaft, 26 sliding block linear bearing, 27 bending steel wire rope fixed block, 28 extending steel wire rope fixed block, 29 bending steel wire rope fixed hole, 30 extending steel wire rope fixed hole, 31 extending steel wire rope slot, 32 bending steel wire rope slot, 33 limiting support and 34 rigidity adjusting motor support.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention aims to provide a novel exoskeleton lasso driving mechanism which can be worn on the waist and the back of a human body, and power is transmitted to an acting joint through a soft lasso. The wearing scheme of the human body is shown in figure 1, wherein 001 is a variable stiffness rope driving system which is fixed on the back of the human body through a binding belt and a waistband; the power mechanism transmits power to the human joint anchor point 002 through the lasso (containing a steel wire rope and a steel wire hose), wherein the ankle joint is taken as an example. The two anchor points are pulled to respectively correspond to the two degrees of freedom of flexion and extension of the ankle joint.
As shown in fig. 2 and 3, the variable stiffness rope drive system 001 includes two drive units, each of which can drive the flexion and extension movement of one joint, and is described in detail by taking a single drive unit (left side) as an example.
In the variable-rigidity rope driving system, all driving mechanisms are supported on a driving mechanism base plate 1, a driving wheel 9 and a driving main shaft 21 are coaxially fixed, a large bevel gear 10 and the driving wheel 9 are coaxially fixed, and the lower end of the driving main shaft 21 is installed on the driving mechanism base plate 1 through a base bearing 22. The bearing gland 5 is installed at the upper end of the driving main shaft 21 through a pressure plate bearing 23, and two ends of the bearing gland 5 are respectively fixed on the driving mechanism base plate 1 through a buckling lasso guide block 6 and a stretching lasso guide block 13. The driving motor 2 is fixed on the driving mechanism substrate 1 through a driving motor base 3. The small bevel gear 4 is connected with an output shaft of the driving motor 2 and is in matched transmission with the large bevel gear 10. On the left and right sides of the driving motor 2 in the axial direction, a variable stiffness elastic mechanism is respectively arranged, as shown in fig. 6. The stiffness adjustment motor 19 is fixed to the drive mechanism base plate 1 via a stiffness adjustment motor mount 34. One end of the adjusting screw rod 24 is coaxially fixed with an output shaft of the rigidity adjusting motor 19, the other end of the adjusting screw rod 24 is installed on a limiting support 33, and the limiting support 33 is fixed on the driving mechanism substrate 1. The two adjusting guide rails 20 are parallel to the adjusting screw rod 24 and distributed on two sides of the adjusting screw rod 24, and two ends of the two adjusting guide rails 20 are respectively fixed with the rigidity adjusting motor support 34 and the limiting support 33. The nut runner 16 is mounted on an adjusting screw 24 and on the adjusting rail 20 by means of a runner linear bearing 26. On the other side of the nut slider 16, there are two parallel spring slider shafts 25 mounted on the nut slider 16 by means of two slider linear bearings 26. One end of the spring sliding shaft 25 is respectively connected with the pulley fixing block 15 and the guide pulley 14; the other end of the spring sliding shaft 25 passes through the adjusting spring 17 and is connected with the optical axis fixing block 18. When the pulley fixing block 15 is pulled, the spring sliding shaft 25 can slide in the nut sliding block 16, and the adjusting spring 17 is compressed. By controlling the movement of the stiffness adjustment motor 19, the position of the nut slider 16 (i.e., the compression start point of the adjustment spring 17) can be adjusted, i.e., the degree of compression of the adjustment spring 17 can be changed.
In a cord drive system, a single drive joint contains two power output cords, as shown in FIG. 7. As shown in fig. 5, the drive wheel 9 comprises two rope fixing holes: the wire bending fixing hole 29 and the wire extending fixing hole 30 correspond to the wire bending groove 32 and the wire extending groove 31, respectively.
The bending wire rope fixing block 27 on the bending wire rope 8 is arranged in the bending wire rope fixing hole 29 on the driving wheel 9, and the bending wire rope 8 is sequentially wound in the bending wire rope slot 32 on the driving wheel 9 and the guide pulley 14, passes through the bending lasso guide block 6 and is sleeved in the bending lasso pipe 7 to be used as joint bending power output. And a wire rope fixing block 28 on the wire rope 11 is fixed in a wire rope fixing hole 30 on the driving wheel 9. And the steel wire rope 11 is sequentially wound in the steel wire rope wire casing 31 of the driving wheel 9 and the other guide pulley 14, passes through the lasso rope guide block 13, and is sleeved in the lasso rope pipe 12 to be used as joint extension power output.
The motion output of the bending steel wire rope 8 and the stretching steel wire rope 11 can be controlled by controlling the forward and backward rotation motion of the driving motor 2. The presence of the adjusting spring 17 reduces the stiffness of the system throughout the transmission link. By controlling the rigidity adjusting motor 19, on one hand, the tensioning degree of the rope can be adjusted, and the bending steel wire rope 8 and the extending steel wire rope 11 are prevented from falling off from the bending steel wire rope slot 32 and the extending steel wire rope slot 31; on the other hand, the output rigidity of the bending steel wire rope 8 and the stretching steel wire rope 11 can be adjusted, the driving rigidity can be adjusted in real time according to different motion scenes and motion phases, and the flexibility of exoskeleton driving and the comfort of a wearer can be enhanced.
The single driving motor can simultaneously drive two movement directions of the target joint. The traditional link is added with an elastic mechanism with variable rigidity, so that on one hand, the rope can be prevented from falling off from a driving wheel; on the other hand, the rigidity parameter can be adjusted in real time, and the boosting efficiency and the human comfort are enhanced.
The mechanism is compact in size and can be carried on the back or waist of a human body in a wearing manner. The power is output by a steel wire rope in the mechanism, and an anchor point can be directly installed at a joint which needs to be driven by a human body. The invention has the characteristics of convenient wearing and comfortable interaction.
The single motor and the bidirectional driving wheel can complete two driving directions of a single joint; a linear adjusting mechanism capable of changing the initial state of the spring is connected in series in the transmission link and used for changing the rigidity parameter of interaction between the exoskeleton and the human body and enhancing the comfort of the human body; and the pre-tightening degree of the driving rope can be adjusted in real time, the driving rope is prevented from falling off from the pulley, and the stability of the driving scheme is improved.
In a compact space, a single drive wheel can output both directions of noose tension simultaneously.
In the path of rope drive, the elastomer of variable rigidity has established ties, can adjust the pretightning force of elastomer in real time: on one hand, the rigidity parameter adjustment can be realized, and the interaction force with the outside can be accurately output; on the other hand, the lasso rope is ensured to be in a stretching state in the driving process, and the lasso rope is prevented from falling off from the driving wheel.
The invention comprises a left driving unit and a right driving unit, and each driving unit can perform flexion and extension bidirectional movement of one joint. The motor is transversely arranged and transmits the motion to the driving wheel through the bevel gear set, so that the size of the driving mechanism is reduced. A linear spring group is added on a pulley through which a steel wire rope passes, and when the rope of a driving system has force interaction with the outside, the deformation quantity of the spring group represents the magnitude and the direction of human-computer interaction force. The scheme of introducing the elastomer into the link can greatly reduce the rigidity of the driving mechanism and achieve the purpose of enhancing the comfort of human bodies. Meanwhile, the initial position of the spring group can be adjusted through the linear motor, so that the pretightening force of the steel wire rope and the output rigidity of the power system can be adjusted, on one hand, the rope can be prevented from falling off from the driving wheel, and the driving stability of the system is enhanced. On the other hand, the rigidity parameter can be adjusted in real time, and the boosting efficiency and the human comfort are enhanced.
The whole set of driving system is small in size, a wearer ties the system on the waist and back through a binding band, the rope driving end is directly led to a target joint through a lasso transmission mode, and a wearable anchor point is added at a human body joint to fix a rope output end, so that a set of light exoskeleton system can be formed. In particular to a power driving part of an exoskeleton system, which is integrated with rope driving and variable stiffness driving and can be used for accurately outputting interactive force in a portable scheme.
Claims (6)
1. A wearable variable-rigidity rope driving system is characterized by comprising a variable-rigidity rope driving system and a variable-rigidity elastic mechanism which are arranged on a driving mechanism base plate (1), wherein the variable-rigidity rope driving system comprises a driving motor (2), the driving motor (2) provides power for the rope driving system, a single driving joint in the rope driving system comprises a bending steel wire rope (8), an extending steel wire rope (11) and a driving wheel (9), the surface of the driving wheel (9) comprises a bending steel wire rope fixing hole (29) and an extending steel wire rope fixing hole (30), a bending steel wire rope slot (32) and an extending steel wire rope slot (31) are arranged on the side surface of the driving wheel (9), a bending steel wire rope fixing block (27) on the bending steel wire rope (8) is arranged in the bending steel wire rope fixing hole (29), the bending steel wire rope (8) is sequentially wound in the bending steel wire rope slot (32) and a guide pulley (14), the telescopic rope penetrates through a telescopic rope guide block (6) to be sleeved in a telescopic rope pipe (7) to be used as joint buckling power output, a steel wire rope fixing block (28) on a steel wire rope (11) is arranged in a steel wire rope fixing hole (30), the steel wire rope (11) is sequentially wound in a steel wire rope wire groove (31) of a driving wheel (9) and in another guide pulley (14), and penetrates through a telescopic rope guide block (13) to be sleeved in a telescopic rope pipe (12) to be used as joint stretching power output.
2. The wearable variable-stiffness rope driving system according to claim 1, wherein the variable-stiffness rope driving system comprises a driving wheel (9) and a driving spindle (21) which are mounted on a driving mechanism substrate (1), the driving wheel (9) and the driving spindle (21) are coaxially fixed, the driving wheel (9) and a large bevel gear (10) are coaxially fixed, the lower end of the driving spindle (21) is mounted on the driving mechanism substrate (1) through a base bearing (22), the upper end of the driving spindle (21) is provided with a bearing cover (5) through a pressure plate bearing (23), two ends of the bearing cover (5) are respectively fixed on the driving mechanism substrate (1) through a bending lasso guide block (6) and a stretching lasso guide block (13), the large bevel gear (10) is meshed with a small bevel gear (4), and the small bevel gear (4) is connected with an output shaft of a driving motor (2), the left side and the right side of the driving motor (2) in the axial direction are respectively provided with a variable stiffness elastic mechanism.
3. The wearable variable stiffness cord drive system of claim 1, the variable-rigidity elastic mechanism comprises a rigidity adjusting motor (19), one end of an adjusting screw rod (24) is coaxially fixed to an output shaft of the rigidity adjusting motor (19), the other end of the adjusting screw rod (24) is installed on a limiting support (33), the limiting support (33) is fixed on a driving mechanism substrate (1), the adjusting screw rod (24) is parallel to two adjusting guide rails (20), the adjusting guide rails (20) are distributed on two sides of the adjusting screw rod (24), a nut sliding block (16) is arranged on the adjusting screw rod (24), the nut sliding block (16) is installed on the adjusting guide rails (20) through a sliding block linear bearing (26), the other side of the nut sliding block (16) is installed on the nut sliding block (16) through two sliding block linear bearings (26), and two parallel spring sliding shafts (25) are installed on the nut sliding block (16).
4. The wearable variable stiffness cord drive system according to claim 3, wherein one end of the spring sliding shaft (25) is connected with the pulley fixing block (15) and the guide pulley (14), respectively; the other end of the spring sliding shaft (25) penetrates through the adjusting spring (17) and is connected with the optical axis fixing block (18).
5. The wearable variable-stiffness rope driving system according to claim 3, wherein the stiffness adjusting motor (19) is fixed on the driving mechanism base plate (1) through a stiffness adjusting motor support (34), and two ends of the two adjusting guide rails (20) are respectively fixed with the stiffness adjusting motor support (34) and the limit support (33).
6. The wearable variable stiffness cord drive system according to claim 1, wherein the flex (8) and stretch (11) cables are controlled in motion output by a drive motor (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210452191.XA CN114603546B (en) | 2022-04-27 | 2022-04-27 | Wearable variable-rigidity rope driving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210452191.XA CN114603546B (en) | 2022-04-27 | 2022-04-27 | Wearable variable-rigidity rope driving system |
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| CN114603546A true CN114603546A (en) | 2022-06-10 |
| CN114603546B CN114603546B (en) | 2023-10-03 |
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| CN202210452191.XA Active CN114603546B (en) | 2022-04-27 | 2022-04-27 | Wearable variable-rigidity rope driving system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263525A (en) * | 2017-04-25 | 2017-10-20 | 北京航空航天大学 | A kind of variation rigidity rope driving joint available for ectoskeleton and walking robot |
| CN110652425A (en) * | 2019-08-20 | 2020-01-07 | 南京航空航天大学 | Variable-rigidity lower limb exoskeleton power-assisted robot |
| CN112092007A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Modular steel wire rope driven variable-rigidity joint |
| WO2021238293A1 (en) * | 2020-05-25 | 2021-12-02 | 南京航空航天大学 | Wearable cable-driven robotic arm system |
| CN114012715A (en) * | 2021-11-29 | 2022-02-08 | 北京航空航天大学杭州创新研究院 | Variable-rigidity driving system for robot joint |
-
2022
- 2022-04-27 CN CN202210452191.XA patent/CN114603546B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263525A (en) * | 2017-04-25 | 2017-10-20 | 北京航空航天大学 | A kind of variation rigidity rope driving joint available for ectoskeleton and walking robot |
| CN110652425A (en) * | 2019-08-20 | 2020-01-07 | 南京航空航天大学 | Variable-rigidity lower limb exoskeleton power-assisted robot |
| WO2021238293A1 (en) * | 2020-05-25 | 2021-12-02 | 南京航空航天大学 | Wearable cable-driven robotic arm system |
| CN112092007A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Modular steel wire rope driven variable-rigidity joint |
| CN114012715A (en) * | 2021-11-29 | 2022-02-08 | 北京航空航天大学杭州创新研究院 | Variable-rigidity driving system for robot joint |
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| CN114603546B (en) | 2023-10-03 |
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