CN203779524U - Multi-mode elastic driver for lower-limb power-assisted exoskeleton robot - Google Patents
Multi-mode elastic driver for lower-limb power-assisted exoskeleton robot Download PDFInfo
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- CN203779524U CN203779524U CN201420188306.XU CN201420188306U CN203779524U CN 203779524 U CN203779524 U CN 203779524U CN 201420188306 U CN201420188306 U CN 201420188306U CN 203779524 U CN203779524 U CN 203779524U
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Abstract
The utility model provides a multi-mode elastic driver for a lower-limb power-assisted exoskeleton robot. The multi-mode elastic driver comprises an upper base, a driving motor, a guiding rail, a lead screw, a brake track, a spring, a lower base and brake modules. The guiding rail and the brake track are arranged between the upper base and the lower base. The brake modules are arranged on the guiding rail and the brake track in series. The driving motor is connected with the third brake module through a brake module connecting plate, and connected with the lead screw through a coupler. The spring is connected between the second brake module and the first brake module. Compared with the prior art, different working modes can be achieved by changing the locking and loosening relation between the three brake modules and the brake track; the driving and driven combined mode is adopted, the energy storage and releasing functions of an energy storage device in the walking stage are fully utilized, the driving motor only conducts driving at the suitable stage, and the multi-mode elastic driver has the advantage of being low in power consumption.
Description
Technical field
The utility model relates to a kind of multi-mode elastic driver, and particularly a kind of elastic driver for power-assisted exoskeleton robot and the driving of bio-robot joint of lower extremity, belongs to robot field.
Background technology
At present, lower limb power-assisted exoskeleton robot adopts hydraulic pressure and motor to drive joint more, no matter adopts hydraulic pressure or motor drives, and is active drive mode.Because Incoercibility, motor-gear-box mechanism of hydraulic oil belongs to positive drive, they cushion poor in power transmission process, when wearable assistant to walking exoskeleton robot is when carrying out actual walking, lead leg while landing, the collision meeting moment generation larger impact of sole to ground, due to the effect of reaction force, can cause the vibration of robot main body mechanism, thereby affect the stability of robot integral body.
Particularly fast when continuous walking, continuous impulsive force and vibration, can cause the damage of body and airborne equipment.For lower limb power-assisted ectoskeleton driver, except cushioning poor in power transmission process, also there is the function singleness problem that drives.
Due to technical limitations, driver is all to design for specific driving function, Motor ability is limited, and our desirable power-assisted ectoskeleton should have the ability that adapts to various road conditions motions, can not only level land with walking, and can jump, energy climbing and stair activity etc., and in motion process, there is low power consumption and other advantages, this just has higher requirement to driver, wish that the drive pattern of driver is as human muscle's driving, human body is when carrying out exercises, muscle drives skeletal traction joint to produce corresponding motion, muscle energy driving joint produces large driving moment, can relax one's muscles by the very fast passive movement mode with low resistance simultaneously, and when running into external environment patterns of change, the viscoelasticity characteristic of muscle makes muscle band movable joint make the variation of adjusting flexibly to adapt to external environment condition.
Because lower limb power-assisted ectoskeleton is that a kind of parallel connection and human body lower limbs are outside, wearer is carried out the robot of power-assisted in motion process, therefore need its driver need have lower mechanical output impedance, can adapt to larger control bandwidth, similar muscular work principle equally has good natural compliance and pooling feature.
Utility model content
The deficiency and the demand of lower limb power-assisted exoskeleton robot to bionical energy-conservation driver that for above-mentioned lower limb power-assisted ectoskeleton driver, exist, the utility model provides a kind of active and passive combining, and can realize the elastic driver of the low-power consumption of multi-motion modes.
Technical solution of the present utility model is:
A kind of multi-mode elastic driver towards lower limb power-assisted exoskeleton robot, comprise top base, drive motors, guide rail, screw mandrel, brake track, spring, bottom base and brake module, between described top base and bottom base, be provided with guide rail and brake track, brake module string is on guide rail and brake track, brake module comprises first brake module, the second brake module and the 3rd brake module, drive motors is connected with the 3rd brake module by brake module connecting plate, drive motors is connected with screw mandrel by shaft coupling, described screw mandrel is through the inside of the second brake module, linking springs between the second brake module and first brake module.
Preferably, described first brake module, the second brake module are identical with the structure of the 3rd brake module.
Preferably, described brake module comprises rack-track, left push rod, right push rod, left brake block, right brake block, brake gear back-up block, brake motor supporting seat one, brake motor supporting seat two, brake motor, tooth bar, gear; Brake motor is connected with gear, and wheel and rack is meshed, and tooth bar slides on rack-track, and tooth bar is connected with left push rod, right push rod, and left push rod is connected with left brake block, and right push rod is connected with right brake block.
Preferably, rack-track is fixed on brake gear back-up block, brake motor is fixed on brake gear back-up block by brake motor supporting seat one, brake motor supporting seat two, the both sides of described brake gear back-up block are provided with and are respectively equipped with the linear bearing passing for guide rail, described brake gear back-up block is provided with the through hole passing for the track that brakes, and the top of described brake gear back-up block is provided with the circular hole passing for tooth bar.
Preferably, described first brake module, the second brake module and the 3rd brake module are located between top base and bottom base successively, between first brake module and the second brake module, by spring coupling plate, are connected with spring.
Preferably, motor drives screw mandrel and nut to move by shaft coupling, and then Compress Spring, realizes different mode of operations from brake module combination.
Preferably, brake module has two kinds of working methods with brake track: when gear driven tooth bar moves downward, promote push rod and move downward, and then promote brake block extruding brake track, brake module is locked on brake track; And when gear driven tooth bar moves upward, the track that makes to brake loosens, and then can realize brake module moving freely on guide rail.
The utility model the beneficial effects of the utility model are: compared with prior art, the utility model, by changing three brake modules with the interorbital locking of brake and loosening relation, can be realized different mode of operations; The utility model adopts the moving mode combining of main quilt, make full use of energy storage device walking stage energy storage, release can function, active drive motor is only implemented to drive in stage in good time, has the feature of low-power consumption.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing towards the multi-mode elastic driver of lower limb power-assisted exoskeleton robot;
Fig. 2 is the top view towards the multi-mode elastic driver of lower limb power-assisted exoskeleton robot;
Fig. 3 is the front view towards the multi-mode elastic driver of lower limb power-assisted exoskeleton robot;
Fig. 4 is the internals figure towards the multi-mode elastic driver of lower limb power-assisted exoskeleton robot;
Fig. 5 is the axonometric drawing of brake module in embodiment;
Fig. 6 is the member decomposing schematic representation of brake module in embodiment.
Wherein, 1, top base; 2, drive motors; 3, guide rail; 4, screw mandrel; 5, brake track; 6, spring; 7, bottom base; 8, first brake module; 9, the second brake module; 10, the 3rd brake module; 11, rack-track; 12, left push rod; 13, left brake block; 14, brake gear back-up block; 15, brake motor supporting seat one; 16, brake motor supporting seat two; 17, brake motor; 18, right brake block; 19, right push rod; 20, tooth bar; 21, gear; 22, brake module connecting plate; 23, shaft coupling; 24, brake sheet rubber; 25, elasticity installing plate; 26, nut; 27, linear bearing; 28, spring coupling plate.
The specific embodiment
Below in conjunction with accompanying drawing, describe preferred embodiment of the present utility model in detail.
Embodiment is a kind of strong driver of multi-mode elasticity towards lower limb power-assisted exoskeleton robot, is an active and passive driver combining, and initiatively device is drive motors 2, and passive device is spring 6.Motor drives screw mandrel 4 and nut 26 motions by shaft coupling 23, and then Compress Spring 6, in conjunction with the existing different mode of operation of brake module.
Only in good time stage in the process of walking drives the active drive motor 2 of multi-mode elastic driver, that is to say that motor only needs the stage of power-assisted to drive at lower limb, multi-mode driver make full use of energy storage device energy storage and effectively release can advantage make lower limb power-assisted exoskeleton robot there is the feature of low-power consumption.
In Fig. 1, Fig. 2 and Fig. 3, multi-mode elastic driver is comprised of top base 1, drive motors 2, guide rail 3, screw mandrel 4, brake track 5, spring 6, bottom base 7 and three brake modules.Guide rail 3, brake track 5 are connected with top base 1 and bottom base 7.Three brake modules are gone here and there at guide rail 3 and through brake track 5 by linear bearing 27.Drive motors 2 is connected with the 3rd brake module 10 by brake module connecting plate 22, drive motors 2 is connected with screw mandrel 4 by shaft coupling 23 simultaneously, nut 26 is arranged on screw mandrel 4, screw mandrel 4 is through the inside of the second brake module 9, between the second brake module 9 and first brake module 8, by spring 6 connecting plates, is connected with spring 6.The 3rd brake module 10 can arrange elasticity installing plate 28, is used for fixing support spring.
In Fig. 4, three brake module internal mechanisms are identical.As shown in Figure 5 and Figure 6, brake module is comprised of tooth bar 20 tracks 11, left push rod 12 and right push rod 19, left brake block 13 and right brake block 18, brake gear back-up block 14, brake motor supporting seat 1 and brake motor supporting seat 2 16, brake motor 17, tooth bar 20 and gear 21.Tooth bar 20 slides on tooth bar 20 tracks 11, and tooth bar 20 is connected with left push rod 12, right push rod 19, and left push rod 12 is connected with left brake block 13, and right push rod 19 is connected with right brake block 18, and tooth bar 20 is meshed with gear 21.
When the brake module in embodiment is worked, its concrete course of work is: when brake motor 17 is done forward rotation, driven gear 21 rotates, gear 21 band carry-over bars 20 move downward, and tooth bar 20 is connected with right push rod 19 with left push rod 12, therefore promote left push rod 12, move downward with right push rod 19, and then promote left brake block 13 and right brake block 18 two lateral movements extruding brake tracks 5 mutually, under the effect of brake sheet rubber 24, jam-packed brake track 5, is locked on guide rail 3 brake module; Contrary, and when gear 21 band carry-over bars 20 move upward, the track 5 that makes to brake loosens, and then can realize brake module moving freely on guide rail 3.
The multi-mode elastic driver of embodiment, when work, according to locking and the releasing orientation between brake module and guide rail 3, has eight kinds of mode of operations as shown in table 1.
The mode of operation of table 1 multi-mode elastic driver
| Sequence number | First brake module 8 | The second brake module 9 | The 3rd brake module 10 | Mode of operation |
| 1 | 0 | 0 | 0 | Three brake modules overcome friction on brake track 5 moves |
| 2 | 0 | 0 | 1 | The 3rd brake module 10 work, elastic driver outgoing position remains unchanged, and drive motors 2 rotates and can regulate first brake module 8, the second position of brake module 9 on elastic driver guide rail 3 |
| 3 | 0 | 1 | 0 | The second brake module 9 work, drive motors 2 rotatings, elastic driver keeps rigidity output state, and now spring 6 does not seal in output system |
| 4 | 0 | 1 | 1 | Output state keeps rigidly fixing constant, and drive motors 2 cannot rotate |
| 5 | 1 | 0 | 0 | Spring 6 seals in output system, and drive motors 2 rotates, and elastic driver is in flexible output state; If proceed to this pattern from the pattern of spring 6 compressed energy-storage, can realize the energy of retracting spring 6 storages |
| 6 | 1 | 0 | 1 | Now drive motors 2 rotates, can Compress Spring 6, and stored energy |
| 7 | 1 | 1 | 0 | If spring 6 is compressed, now spring 6 still keeps compressed energy-storage state; Drive motors 2 rotatings can, the in the situation that of keep-spring 6 energy storage, be adjusted outgoing position |
| 8 | 1 | 1 | 1 | If spring 6 is compressed, now spring 6 still keeps compressed energy-storage state, and drive motors 2 cannot rotate |
Embodiment in the course of the work, multi-mode elastic driver takes full advantage of spring 6 energy storage, releases the feature of energy, drive motors 2 only the in good time stage in lower limb power-assisted ectoskeleton walking process carry out power compensation, therefore multi-mode elastic driver has advantages of low-power consumption.
Embodiment has combined active drive element (drive motors 2) and flexible member (spring 6), by changing the locking of 5, three brake modules and brake track and unclamping relation, realize the various modes motion of elastic driver, that a kind of volume is small and exquisite, dependable performance, low-power consumption and there is the elastic driver of bionical feature, the joint of lower extremity that can be used for power-assisted exoskeleton robot and anthropomorphic robot drives, in driving process, energy has storage and amplification, therefore, bionical actuation techniques and the energy amplification characteristic of this kind of multi-mode elastic driver have very high researching value, and the aggravation along with aging population, the increase day by day of power-assisted exoskeleton robot demand, this kind of multi-mode elastic driver also has broad application prospects.
Be more than the preferred forms of embodiment, according to the disclosed content of embodiment, those skilled in the art's enough some modification of expecting apparently of energy or alternative scheme, all should fall into the scope that embodiment protects.
Claims (7)
1. the multi-mode elastic driver towards lower limb power-assisted exoskeleton robot, it is characterized in that: comprise top base (1), drive motors (2), guide rail (3), screw mandrel (4), brake track (5), spring (6), bottom base (7) and brake module, between described top base (1) and bottom base (7), be provided with guide rail (3) and brake track (5), brake module string is on guide rail (3) and brake track (5), brake module comprises first brake module (8), the second brake module (9) and the 3rd brake module (10), drive motors (2) is connected with the 3rd brake module (10) by brake module connecting plate (22), drive motors (2) is connected with screw mandrel (4) by shaft coupling (23), described screw mandrel (4) is through the inside of the second brake module (9), linking springs (6) between the second brake module (9) and first brake module (8).
2. the multi-mode elastic driver towards lower limb power-assisted exoskeleton robot as claimed in claim 1, is characterized in that: described first brake module (8), the second brake module (9) are identical with the structure of the 3rd brake module (10).
3. the multi-mode elastic driver towards lower limb power-assisted exoskeleton robot as claimed in claim 2, is characterized in that: described brake module comprises rack-track (11), left push rod (12), right push rod (19), left brake block (13), right brake block (18), brake gear back-up block (14), brake motor supporting seat one (15), brake motor supporting seat two (16), brake motor (17), tooth bar (20), gear (21); Brake motor (17) is connected with gear (21), gear (21) is meshed with tooth bar (20), tooth bar (20) is in the upper slip of rack-track (11), tooth bar (20) is connected with left push rod (12), right push rod (19), left push rod (12) is connected with left brake block (13), and right push rod (19) is connected with right brake block (18).
4. the multi-mode elastic driver towards lower limb power-assisted exoskeleton robot as claimed in claim 3, it is characterized in that: rack-track (11) is fixed on brake gear back-up block (14), brake motor (17) is by brake motor supporting seat one (15), brake motor supporting seat two (16) is fixed on brake gear back-up block (14), the both sides of described brake gear back-up block (14) are provided with and are respectively equipped with the linear bearing (27) passing for guide rail (3), described brake gear back-up block (14) is provided with the through hole passing for the track that brakes (5), the top of described brake gear back-up block (14) is provided with the circular hole passing for tooth bar (20).
5. the multi-mode elastic driver towards lower limb power-assisted exoskeleton robot as described in claim 1-4 any one, it is characterized in that: described first brake module (8), the second brake module (9) and the 3rd brake module (10) are located between top base (1) and bottom base (7) successively, between first brake module (8) and the second brake module (9), by spring coupling plate (28), be connected with spring (6).
6. the multi-mode elastic driver towards lower limb power-assisted exoskeleton robot as described in claim 1-4 any one, it is characterized in that: motor drives screw mandrel (4) and nut (26) motion by shaft coupling (23), and then Compress Spring (6), realize different mode of operations from brake module combination.
7. the multi-mode elastic driver towards lower limb power-assisted exoskeleton robot as described in claim 1-4 any one, it is characterized in that, brake module has two kinds of working methods with brake track (5): when gear (21) band carry-over bar (20) moves downward, promotion push rod moves downward, and then promote brake block extruding brake track (5), brake module is locked on brake track (5); And when gear (21) band carry-over bar (20) moves upward, the track (5) that makes to brake loosens, and then can realize brake module moving freely on guide rail (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420188306.XU CN203779524U (en) | 2014-04-18 | 2014-04-18 | Multi-mode elastic driver for lower-limb power-assisted exoskeleton robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420188306.XU CN203779524U (en) | 2014-04-18 | 2014-04-18 | Multi-mode elastic driver for lower-limb power-assisted exoskeleton robot |
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| CN203779524U true CN203779524U (en) | 2014-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420188306.XU Withdrawn - After Issue CN203779524U (en) | 2014-04-18 | 2014-04-18 | Multi-mode elastic driver for lower-limb power-assisted exoskeleton robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103878790A (en) * | 2014-04-18 | 2014-06-25 | 南京工程学院 | Multi-mode elastic driver for lower limb power-assisted exoskeleton robot |
| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN108247607A (en) * | 2016-12-27 | 2018-07-06 | 本田技研工业株式会社 | Action assisting device |
-
2014
- 2014-04-18 CN CN201420188306.XU patent/CN203779524U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103878790A (en) * | 2014-04-18 | 2014-06-25 | 南京工程学院 | Multi-mode elastic driver for lower limb power-assisted exoskeleton robot |
| CN103878790B (en) * | 2014-04-18 | 2015-08-12 | 南京工程学院 | Towards the multi-mode elastic driver of lower limb assistance exoskeleton robot |
| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN107028733B (en) * | 2016-12-16 | 2023-05-12 | 中国科学院沈阳自动化研究所 | Flexible joint of power-assisted robot |
| CN108247607A (en) * | 2016-12-27 | 2018-07-06 | 本田技研工业株式会社 | Action assisting device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140820 Effective date of abandoning: 20150812 |
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| RGAV | Abandon patent right to avoid regrant |