CN206475177U - Series driver and exoskeleton device - Google Patents

Abstract

The utility model provides a kind of series driver, for connecting first component and second component, including support body, actuating unit, rotating shaft, the first tumbler, the second tumbler and an at least flexible drive member；Support body, rotating shaft can be arranged at the first skeletal structure；Actuating unit is arranged at support body, and actuating unit includes drive shaft, and drive shaft is provided with the first gear teeth structure；First tumbler is rotatably arranged in rotating shaft, and the first tumbler is provided with the second gear teeth structure engaged with the first gear teeth structure；Actuating unit can drive or brake the first tumbler and rotate around the axis；Second tumbler is rotationally connected with rotating shaft, and can be connected to the second skeletal structure；Flexible drive member is arranged between the first tumbler and the second tumbler, and the first tumbler drives the delay of the second tumbler to rotate by flexible drive member.The need for above-mentioned flexible actuator meets compliant rotational；Power transmission is stable.The utility model additionally provides a kind of exoskeleton device.

Description

Series driver and exoskeleton device

Technical field

The utility model is related to medical instruments field, more particularly to a kind of series driver, and applies the series driver Exoskeleton device.

Background technology

With the development of science and technology, increasing engineering goods are applied to in the physiotherapy of human body, such as exoskeleton device, Wherein exoskeleton robot is widely used to the physiotherapy to lower part of the body paralytic.In addition, ectoskeleton arm also rises.

The driver of adjacent segment of being connected in existing exoskeleton device uses rigid driver mostly, and rigid driver There is certain difficulty to control man-machine interaction power, in use, there is the hidden danger of loss of stability, easily human body is caused Injury；A small amount of ectoskeleton mechanical device uses flexible actuator, but current flexible actuator generally using leading screw or The structures such as travelling gear, cause local volume larger, overall weight increase, in-convenience in use.

Utility model content

For drawbacks described above, the utility model provides a kind of series driver simple in construction, being capable of soft drive, and Using the exoskeleton device of the series driver.

A kind of series driver, for connecting first component and second component, the series driver includes support body, power Mechanism, rotating shaft, the first tumbler, the second tumbler and an at least flexible drive member；The support body, rotating shaft can be arranged at first Skeletal structure；The actuating unit is arranged at the support body, and the actuating unit includes drive shaft, and the drive shaft is provided with first Gear teeth structure；First tumbler is rotatably arranged in the rotating shaft, and first tumbler is provided with and first gear teeth Second gear teeth structure of structure engagement；The actuating unit can drive or brake first tumbler and turn around the rotating shaft It is dynamic；Second tumbler is rotationally connected with the rotating shaft, and can be connected to the second skeletal structure；The flexible drive member It is arranged between first tumbler and second tumbler, first tumbler is driven by the flexible drive member The second tumbler delay is rotated.

Preferably, the drive shaft is vertical with the rotating shaft, and first gear teeth structure is last to be arranged at the drive shaft The taper gear teeth structure at end, second gear teeth structure is arranged in correspondence with as positioned at the taper gear teeth of the first tumbler outer rim Structure.

Preferably, the actuating unit also includes motor and deceleration device, and the motor and the deceleration device are connected to The drive shaft, drives or brakes respectively the drive shaft.

Preferably, first tumbler is set with second tumbler axially move closer to ground, first tumbler Provided with least one first receiving space, second tumbler is received at least provided with corresponding with first receiving space one second Hold space, the flexible drive member is contained in first receiving space and second receiving space, described first rotates The rotation of part can be transferred to second tumbler by the flexible drive member, rotate the second tumbler delay.

Preferably, first receiving space and second receiving space are arranged to turn along first tumbler The end face of dynamic circumferentially extending, first receiving space and second receiving space is disposed radially, and described first houses End face of the end face of space and second receiving space accordingly with the flexible drive member offsets.

Preferably, second tumbler extends a limited block, institute respectively inwards in the end face of second receiving space Flexible drive member is stated provided with stopper slot corresponding with the limited block, the limited block is contained in corresponding stopper slot；Or, First tumbler extends a limited block respectively inwards in the end face of first receiving space, and the flexible drive member is provided with Stopper slot corresponding with the limited block, the limited block is contained in the corresponding stopper slot.

Preferably, first receiving space, the structure of the second receiving space vertically symmetrical are respectively set Put, so that first tumbler and second tumbler are when rotating, the driving force rotated toward different directions or braking Power is identical.

Preferably, series driver also includes the first sensing mechanism for being connected to the drive shaft, for sensing the drive The velocity of rotation of moving axis.

Preferably, series driver also includes the second sensing mechanism, for sensing the angle that second tumbler is rotated And angular speed, wherein, second sensing mechanism be set to include the active runner coaxial with second tumbler, with it is described The driven runner of active rotation tyre type drive connection and the sensor being coaxially disposed with the driven runner；Or described Two sensing mechanisms are set to the sensor positioned at second tumbler.

A kind of exoskeleton device, including skeleton structure and articulation structure, the exoskeleton device include as described above Series driver, the series driver is arranged at articulation structure and connects adjacent skeletal structure, the articulation structure Place realizes soft drive by the series driver, to control the skeletal structure flexibility being connected by the articulation structure to turn It is dynamic.

Above-mentioned series driver drives first tumbler to rotate by the drive shaft of actuating unit, passes through the flexibility Driving force transmission is flexibly passed to second tumbler by actuator, so that second tumbler delay is rotated, The need for meeting compliant rotational；Drive shaft is coordinated with the first actuator by gear, and power transmission is stable.

Using the exoskeleton device of above-mentioned flexible actuator, it can realize that skeletal structure is flexibly moved, with Regular Human Action more closely, reaching good simulated effect.

Brief description of the drawings

Fig. 1 is the stereogram of the series driver for the preferred embodiment that the utility model is provided.

Fig. 2 is the three-dimensional exploded view of subelement in Fig. 1.

Fig. 3 is the stereogram of subelement in Fig. 1.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made The all other embodiment obtained, belongs to the scope of the utility model protection.

It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component Or can also have component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to To another component or it may be simultaneously present component placed in the middle.

Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model The implication that the technical staff in domain is generally understood that is identical.It is herein to be in term used in the description of the present utility model The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include The arbitrary and all combination of one or more related Listed Items.

In addition, and can not be managed in the utility model such as relating to the description of " first ", " second " etc. is only used for describing purpose Solve to indicate or imply its relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the One ", at least one this feature can be expressed or be implicitly included to the feature of " second ".It is " many in description of the present utility model It is individual " it is meant that at least two, such as two, three etc., unless otherwise specifically defined.

Fig. 1 is refer to, preferred embodiment of the present utility model provides a kind of series driver 100, applied to ectoskeleton dress Put（It is not shown）.The ectoskeleton mechanical device includes skeleton structure and articulation structure, and the series driver 100 is set At articulation structure and connect at adjacent skeletal structure, the articulation structure by series driver 100 of the present utility model Soft drive is realized, to control the skeletal structure compliant rotational being connected by the articulation structure.Below to preferred embodiment string Connection driver 100 is described in detail.

Please also refer to Fig. 1 to Fig. 3, the series driver 100 includes support body 5, actuating unit 10, rotating shaft 20, first Tumbler 30, the second tumbler 40 and an at least flexible drive member 50.The support body 5, rotating shaft 20 can be arranged at the first bone Structure（It is not shown）；The actuating unit 10 is arranged at the support body 5, and the actuating unit 10 includes drive shaft 12, described to drive Moving axis 12 is provided with the first gear teeth structure 121；First tumbler 30 is rotatably arranged in the rotating shaft 20, and described first rotates Part 30 is provided with the second gear teeth structure 31 engaged with first gear teeth structure 121；The actuating unit 10 can drive or First tumbler 30 is braked to rotate around the rotating shaft 20；Second tumbler 40 is rotationally connected with the rotating shaft 20, And the second skeletal structure can be connected to（It is not shown）；The flexible drive member 50 be arranged at first tumbler 30 with it is described Between second tumbler 40, first tumbler 30 drives second tumbler 40 to be delayed by the flexible drive member 50 Rotate.

The drive shaft 12 is vertical with the rotating shaft 20, and first gear teeth structure 121 is to be arranged at the drive shaft 12 The taper gear teeth structure of end, second gear teeth structure 31 is arranged in correspondence with as positioned at the cone of the outer rim of the first tumbler 30 Shape gear teeth structure.

The support body 5 is provided with bearing part 6, and the drive shaft 12 passes through the bearing part 6.

The actuating unit 10 also includes motor 13 and deceleration device 14, and the motor 13 and the deceleration device 14 are connected In the drive shaft 12, the drive shaft 12 is driven or braked respectively.

First tumbler 30 is set with second tumbler 40 axially move closer to ground, and first tumbler 30 is set Have at least one first receiving space 32, second tumbler 40 at least provided with first receiving space 32 corresponding 1 Two receiving spaces 41, the flexible drive member 50 is contained in first receiving space 32 and second receiving space 41 simultaneously It is interior.When first tumbler 30 rotates, move the flexible drive member 50, the flexible drive member 50 is by driving force Delay is transferred to second tumbler 40, realizes that delay is rotated.In present embodiment, first tumbler 30 includes setting The rotation dish 33 of above-mentioned gear teeth structure and the drive disk 34 for setting above-mentioned first receiving space 32, the drive disk 34 are fixedly connected In the rotation dish 33.In other embodiment, the rotation dish 33 could be arranged to integrative-structure in the drive disk 34.

First receiving space 32 and second receiving space 41 are that the circumference rotated along the first tumbler 30 is prolonged Stretch, the end face of first receiving space 32 and second receiving space 41 is disposed radially, first receiving space 32 End face 321 and end face of the end face 412 accordingly with the flexible drive member 50 of second receiving space 41 offset.

Second tumbler 40 extends a limited block 42 respectively inwards in the end face 412 of second receiving space 41, The flexible drive member 50 is provided with stopper slot 51 corresponding with the limited block 42, and the limited block 42 is contained in corresponding described Stopper slot 51.In present embodiment, the flexible drive member 50 is set to spring, and the two ends of the spring are sheathed on corresponding limit Position block 42.

In present embodiment, first tumbler 30 offers two adjacent the first receiving spaces 32, described second Tumbler 40 is offered and two described first receiving space, 32 corresponding two the second receiving spaces 41.Described first houses empty Between the structure of the 32, second receiving space 41 be vertically symmetrical set so that first tumbler 30 and described second Tumbler 40 is when rotating, and the driving force or brake force rotated toward different directions is identical.Specifically, first receiving space 31st, the quantity of the second receiving space 41 and the flexible drive member 50 is set to symmetrical two.

The series driver 100 also includes the first sensing mechanism 60 for being connected to the drive shaft 12, and described first passes Sense mechanism 60 is used for the velocity of rotation for sensing the drive shaft 12.

Fig. 3 is refer to, the series driver 100 also includes the second sensing mechanism 70, and second sensing mechanism 60 is used In the angle and angular speed that sense the rotation of the second tumbler 40.Specifically, second sensing mechanism 70 include with it is described The coaxial active runner 71 of second tumbler 40, the driven runner 72 being connected with the belt drive of active runner 71 and with institute State the sensor 73 that driven runner 72 is coaxially disposed.In other embodiment, second sensing mechanism 70 may be arranged as It is directly arranged at the sensor on second tumbler 40.

The series driver 100 also includes guard member 80, and the guard member 80 is connected to first tumbler 30, institute State the second actuator 40 and be partially housed in the guard member 80, the flexible drive member 50 is contained in the guard member 80, to keep away From to destruction.

It is appreciated that the position of the limited block 42 can change, for example, first tumbler 30 is arranged at, it is described soft Property actuator 50 is sheathed on the limited block of first tumbler 30.

It is appreciated that the flexible drive member 50 could be arranged to be made up of elastomeric material, such as rubber or silica gel.

It is appreciated that above-mentioned series driver can also be applied in other devices, need realization relatively soft for connecting Property rotate first component and second component.

Above-mentioned series driver drives first tumbler to rotate by the drive shaft of actuating unit, passes through the flexibility Driving force transmission is flexibly passed to second tumbler by actuator, so that second tumbler delay is rotated, The need for meeting compliant rotational；Drive shaft is coordinated with the first actuator by gear, and power transmission is stable.

Using the exoskeleton device of above-mentioned flexible actuator, it can realize that skeletal structure is flexibly moved, with Regular Human Action more closely, reaching good simulated effect.

Claims (10)

1. a kind of series driver, for connecting first component and second component, it is characterised in that the series driver includes Support body, actuating unit, rotating shaft, the first tumbler, the second tumbler and an at least flexible drive member；The support body, rotating shaft can It is arranged at first component；The actuating unit is arranged at the support body, and the actuating unit includes drive shaft, and the drive shaft is set There is the first gear teeth structure；First tumbler is rotatably arranged in the rotating shaft, and first tumbler is provided with and described the Second gear teeth structure of one gear teeth structure engagement；The actuating unit can drive or brake first tumbler around described Axis of rotation；Second tumbler is rotationally connected with the rotating shaft, and can be connected to second component；The soft drive Part is arranged between first tumbler and second tumbler, and first tumbler passes through the flexible drive member band The dynamic second tumbler delay is rotated.

2. series driver as claimed in claim 1, it is characterised in that the drive shaft is vertical with the rotating shaft, described One gear teeth structure is the taper gear teeth structure for being arranged at the driving shaft end, and second gear teeth structure is arranged in correspondence with as position In the taper gear teeth structure of the first tumbler outer rim.

3. series driver as claimed in claim 1, it is characterised in that the actuating unit also includes motor and the dress that slows down Put, the motor and the deceleration device are connected to the drive shaft, drive or brake the drive shaft respectively.

4. series driver as claimed in claim 1, it is characterised in that first tumbler and the second tumbler edge Axially adjacent to ground set, first tumbler be provided with least one first receiving space, second tumbler at least provided with Corresponding one second receiving space of first receiving space, the flexible drive member is contained in first receiving space and institute State in the second receiving space, the rotation of first tumbler can be transferred to described second by the flexible drive member and be rotated Part, rotates the second tumbler delay.

5. series driver as claimed in claim 4, it is characterised in that first receiving space and second collecting are empty Between be the circumferentially extending rotated along first tumbler, the end face of first receiving space and second receiving space It is disposed radially, the end of the end face of first receiving space and second receiving space accordingly with the flexible drive member Face offsets.

6. series driver as claimed in claim 5, it is characterised in that second tumbler is in second receiving space End face extend a limited block respectively inwards, the flexible drive member is provided with stopper slot corresponding with the limited block, the limit Position block is contained in corresponding stopper slot；Or, first tumbler prolongs respectively inwards in the end face of first receiving space A limited block is stretched, the flexible drive member is provided with stopper slot corresponding with the limited block, and the limited block is contained in corresponding The stopper slot.

7. as claimed in claim 5 series driver, it is characterised in that first receiving space, the second receiving space Structure is vertically symmetrical set respectively, so that first tumbler and second tumbler are when rotating, toward not The driving force or brake force of equidirectional rotation are identical.

8. series driver as claimed in claim 1, it is characterised in that series driver also includes being connected to the drive shaft The first sensing mechanism, the velocity of rotation for sensing the drive shaft.

9. series driver as claimed in claim 1, it is characterised in that series driver also includes the second sensing mechanism, is used In the angle and angular speed that sense the second tumbler rotation, wherein, second sensing mechanism includes and described second turn The coaxial active runner of moving part, the driven runner being connected with the active runner belt drive and coaxially set with the driven runner The sensor put；Or second sensing mechanism is the sensor for being arranged on second tumbler.

10. a kind of exoskeleton device, including skeleton structure and articulation structure, it is characterised in that the exoskeleton device bag The series driver as described in claim 1-9 any one is included, the series driver is arranged at articulation structure and connected Soft drive is realized by the series driver at adjacent skeletal structure, the articulation structure, to control to close by described The connected skeletal structure compliant rotational of nodule structure.