CN211675180U - SEA mechanism and flexible knee joint - Google Patents
SEA mechanism and flexible knee joint Download PDFInfo
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- CN211675180U CN211675180U CN202020154710.0U CN202020154710U CN211675180U CN 211675180 U CN211675180 U CN 211675180U CN 202020154710 U CN202020154710 U CN 202020154710U CN 211675180 U CN211675180 U CN 211675180U
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Abstract
The application discloses an SEA mechanism and flexible knee joint. The SEA mechanism comprises an input disc, an output shaft and a spring; the output shaft penetrates through a central hole of the input disc; be equipped with a plurality of arms of sweeping on the output shaft, a plurality of arms of sweeping surround output shaft interval distribution, and each is swept both sides of arm and is connected with the input disc through the spring respectively. The technical scheme that this application provided can solve the great traditional rehabilitation robot of current rigidity, brings the problem of very big potential safety hazard to the rehabilitation process with patient's human-computer interaction.
Description
Technical Field
The application relates to the technical field of rehabilitation robots, in particular to an SEA mechanism and a flexible knee joint.
Background
The traditional rehabilitation robot design usually assumes the realization of functional requirements, in order to pursue high-speed and high-precision performance, most of the mechanical mechanism designs are rigid structures, the output end of the rehabilitation robot is often too rigid due to the mechanism design, and under the working condition, the traditional rehabilitation robot with higher rigidity brings great potential safety hazard to the rehabilitation treatment process of human-computer interaction with a patient. Therefore, the traditional rehabilitation robot design technology cannot meet the functional requirements to be realized by the modern rehabilitation robot.
SUMMERY OF THE UTILITY MODEL
The application provides an SEA mechanism and flexible knee joint, and SEA mechanism and flexible knee joint can solve the great traditional rehabilitation robot of current rigidity, bring very big potential safety hazard to the rehabilitation process with patient's human-computer interaction.
In a first aspect, the present application provides an SEA mechanism comprising an input disc, an output shaft, and a spring;
the output shaft penetrates through a central hole of the input disc;
be equipped with a plurality of arms of sweeping on the output shaft, a plurality of arms of sweeping surround output shaft interval distribution, and each is swept both sides of arm and is connected with the input disc through the spring respectively.
In the scheme, the SEA mechanism capable of flexibly outputting power is provided. The output shaft penetrates through the central hole of the input disc and can rotate relative to the input disc. Wherein, the output shaft realizes the flexible cooperation with the input disc through sweeping the cooperation of arm and spring. When the SEA mechanism is applied to the rehabilitation robot, the power device of the rehabilitation robot transmits power to the input disc, the power is transmitted to the output shaft through the spring, and then the output shaft can flexibly output the power to the load structure of the rehabilitation robot, so that the safety and the comfort degree of a patient in the human-computer interaction process are improved.
In one possible implementation, the sweep arm extends in a radial direction of the input disc.
Alternatively, in a possible implementation manner, a plurality of stoppers are formed on the input disc, the plurality of stoppers are distributed at intervals along the circumferential direction of the input disc, each sweeping arm is located between two adjacent stoppers, and the sweeping arms are connected to the stoppers through springs.
Optionally, in a possible implementation manner, a first limit post is formed on the stop, a second limit post is formed on the sweeping arm, and two ends of each spring are respectively sleeved on the first limit post and the second limit post.
Alternatively, in one possible implementation, the output shaft is a hollow shaft, the inside of which is provided with a keyway.
Optionally, in one possible implementation, three sweep arms are spaced apart on the output shaft.
In a second aspect, the present application also provides a flexible knee joint comprising a knee joint housing, a motor, a transmission system, an output flange, and the SEA mechanism of any of the first aspects. The motor, the transmission system and the SEA mechanism are arranged in the knee joint shell, the motor is connected with an input disc of the SEA mechanism through the transmission system, and an output shaft of the SEA mechanism is connected with an output flange.
Optionally, in a possible implementation manner, the transmission system includes a synchronous belt mechanism and a harmonic reducer, the synchronous belt mechanism includes a first synchronous wheel, a second synchronous wheel and a synchronous belt, the first synchronous wheel is installed on the output shaft of the motor, the second synchronous wheel is installed on the first central rotating shaft, the first synchronous wheel and the second synchronous wheel are sleeved with the synchronous belt, the first central rotating shaft is connected to the input end of the harmonic reducer, and the output end of the harmonic reducer is connected to the input disc of the SEA mechanism.
Optionally, in a possible implementation manner, the output shaft of the SEA mechanism is a hollow shaft, the flexible knee joint further includes a second central rotating shaft, the second central rotating shaft is disposed through the output shaft of the SEA mechanism and is in key connection with the output shaft of the SEA mechanism, and the second central rotating shaft is connected with the output flange.
Optionally, in one possible implementation, the flexible knee joint further comprises a first position sensor and a second position sensor;
the first position sensor is arranged at the output end of the harmonic reducer, and the second position sensor is arranged at the output end of the harmonic reducer.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic view of a flexible knee joint of the present embodiment from a first perspective;
FIG. 2 is a schematic view of the flexible knee joint of the present embodiment from a second perspective;
FIG. 3 is a schematic view of the flexible knee joint of the present embodiment from a third perspective;
fig. 4 is a schematic perspective view of the SEA mechanism in this embodiment;
fig. 5 is a schematic diagram of the input disc and the output shaft in this embodiment.
Icon: 10-flexible knee joint; 11-knee joint shell; 12-a motor; 13-a transmission system; 14-an output flange; 15-a first position sensor; 16-a second position sensor; 20-SEA mechanism; 21-an input disc; 22-an output shaft; 23-a spring; 24-a sweep arm; 25-a movable groove; 26-a flange; 27-a first restraint post; 28-a second restraint post; 30-a first synchronizing wheel; 31-a second synchronizing wheel; 32-synchronous belt; 33-a first central rotating shaft; 34-a second central rotating shaft; 35-a flange plate; 40-thin-walled bearings; 41-a first deep groove ball bearing; 42-a second deep groove ball bearing; 43-third deep groove ball bearing; 44-a fourth deep groove ball bearing; 130-synchronous belt mechanism; 131-harmonic reducer; 210-stop.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The embodiment provides a flexible knee joint 10, which can solve the problem that the existing traditional rehabilitation robot with high rigidity brings great potential safety hazard to the rehabilitation process of human-computer interaction with a patient.
Referring to fig. 1 and 2, fig. 1 shows a specific structure of a flexible knee joint 10 in a first view in the present embodiment. Fig. 2 shows a specific structure of the flexible knee joint 10 in the second viewing angle in the present embodiment, and fig. 3 shows a specific structure of the flexible knee joint 10 in the third viewing angle in the present embodiment.
The flexible knee joint 10 includes a knee joint housing 11, a motor 12, a drive train 13, an output flange 14, and an SEA mechanism 20.
Wherein, motor 12, transmission system 13 and SEA mechanism 20 are located in knee joint shell 11, and motor 12 passes through transmission system 13 and links to each other with input disc 21 of SEA mechanism 20, and the output shaft 22 of SEA mechanism 20 is connected with output flange 14.
It should be noted that SEA mechanism 20 refers to a Series Elastic Actuator, i.e., Series Elastic Actuator, which can achieve the purpose of flexible actuation. The specific structure of SEA mechanism 20 in the present embodiment will be described in detail below.
Referring to fig. 4, fig. 4 shows a perspective structure of SEA mechanism 20 in the present embodiment.
The output shaft 22 is inserted through a center hole of the input disc 21. The output shaft 22 is provided with a plurality of sweeping arms 24, the sweeping arms 24 are distributed around the output shaft 22 at intervals, and both sides of each sweeping arm 24 are respectively connected with the input disc 21 through springs 23.
The output shaft 22 is inserted through a center hole of the input disc 21 and is rotatable with respect to the input disc 21. The output shaft 22 is flexibly engaged with the input disc 21 by the engagement of the sweep arm 24 and the spring 23. When the SEA mechanism 20 is applied to a rehabilitation robot, for example, in the flexible knee joint 10 provided in the present embodiment, the motor 12 is connected to the input disc 21 of the SEA mechanism 20 through the transmission system 13, and transmits power to the output shaft 22 through the spring 23, and then the output shaft 22 can flexibly output the power to the load structure (output flange 14) of the rehabilitation robot (flexible knee joint 10) for load movement, so as to improve the safety and comfort of the patient during human-computer interaction.
In the present embodiment, as shown in fig. 4, the sweep arm 24 extends in the radial direction of the input disc 21.
Alternatively, in one possible implementation, the input disc 21 is formed with a plurality of stoppers 210, the plurality of stoppers 210 are spaced apart along the circumferential direction of the input disc 21, each of the sweep arms 24 is located between two adjacent stoppers 210, and the sweep arms 24 are connected to the stoppers 210 by springs 23.
In the embodiment, the number of the sweep arms 24 is three, the three sweep arms 24 are uniformly distributed on the peripheral wall of the output shaft 22, and the number of the stoppers 210 is also three, and the three stoppers are uniformly distributed along the circumferential direction of the input disc 21.
Specifically, the surface of the input tray 21 in the present embodiment is recessed so that the center position of the input tray 21 forms the movable groove 25, the edge of the input tray 21 forms the flange 26, the stopper 210 is formed inside the flange 26 on the surface of the input tray 21, and the sweep arm 24 is located in the movable groove 25.
Alternatively, in one possible implementation, fig. 5 shows the specific structure of the input disc 21 and the output shaft 22, as shown in fig. 5.
The stopper 210 is formed with a first position-limiting pillar 27, the sweeping arm 24 is formed with a second position-limiting pillar 28, and two ends of each spring 23 are respectively sleeved on the first position-limiting pillar 27 and the second position-limiting pillar 28.
In the embodiment, the output shaft 22 is a hollow shaft, and a key groove is formed inside the hollow shaft.
It should be noted that, in the present embodiment, three sweeping arms 24 and six springs 23 are provided, and since two sides of each sweeping arm 24 are respectively connected to the input disc 21 through the springs 23, the sweeping arms are symmetrically arranged, and bidirectional flexible transmission can be achieved, so that the present invention has a more stable effect than the existing series elastic actuator.
Referring to fig. 2 and 3 again, the transmission system 13 includes a timing belt mechanism 130 and a harmonic reducer 131, the timing belt mechanism 130 includes a first synchronizing wheel 30, a second synchronizing wheel 31 and a timing belt 32, the first synchronizing wheel 30 is installed on the output shaft 22 of the motor 12, the second synchronizing wheel 31 is installed on the first central rotating shaft 33, and the timing belt 32 is sleeved on the first synchronizing wheel 30 and the second synchronizing wheel 31. First central rotating shaft 33 is connected to the input end of harmonic reducer 131, and the output end of harmonic reducer 131 is connected to input disc 21 of SEA mechanism 20.
In the present embodiment, the diameter of the first synchronizing wheel 30 is equal to the diameter of the second synchronizing wheel 31, and in other embodiments, the sizes of the first synchronizing wheel 30 and the second synchronizing wheel 31 are not limited.
Wherein a thin-walled bearing 40 is provided between the input disc 21 of the SEA mechanism 20 and the knee shell 11 to accommodate rotation of the input disc 21 and to assemble it with the knee shell 11.
In order to realize the lightness and thinness of the flexible knee joint 10, the motor 12 and the harmonic reducer 131 are driven by a synchronous wheel and a synchronous belt 32. Wherein, the motor 12 is installed in the knee joint housing 11 through the first deep groove ball bearing 41 to realize the rotation of the output shaft 22 of the motor 12. The first central rotating shaft 33 is installed in the knee joint housing 11 through the second deep groove ball bearing 42 to achieve rotation of the first central rotating shaft 33, thereby inputting power into the harmonic reducer 131. The harmonic reducer 131 is mounted on the flange 35 by a third deep groove ball bearing 43 to effect rotation of the harmonic reducer 131.
It should be noted that, in this embodiment, the harmonic reducer 131 may be a harmonic reducer 131 with a larger reduction ratio, for example, an LHD series harmonic reducer 131 (for example, the harmonic reducer 131 with model number LHD-14-100-CL-1) produced by green harmonic drive company, which has a smaller axial size to save joint space.
The flexible knee joint 10 further includes a second central rotating shaft 34, the second central rotating shaft 34 is disposed through the output shaft 22 of the SEA mechanism 20 and is connected with the output shaft 22 of the SEA mechanism 20 in a key manner, and the second central rotating shaft 34 is connected with the output flange 14.
A fourth deep groove ball bearing 44 is disposed between the second central rotating shaft 34 and the SEA mechanism 20.
Alternatively, in one possible implementation, as shown in FIG. 3.
The flexible knee joint 10 further includes a first position sensor 15 and a second position sensor 16.
The first position sensor 15 is provided at the output of the harmonic reducer 131, and the second position sensor 16 is provided at the output of the SEA mechanism 20.
With the first position sensor 15 and the second position sensor 16, it is possible to acquire information on the position of the flexible knee joint 10 during operation and to monitor the rotation angle of the sweep arm 24 in the SEA mechanism 20. In this embodiment, the types of the adopted sensors are: MBAD01-08 series of MBA7with MRA7D049AA025B00 ring and MBA7with MRA7D049AB025E00 ring encoders in a rotary and linear motion sensor (RLS) hollow single-turn absolute position sensor.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An SEA mechanism, characterized in that,
comprises an input disc, an output shaft and a spring;
the output shaft penetrates through a central hole of the input disc;
the output shaft is provided with a plurality of sweeping arms which are distributed around the output shaft at intervals, and two sides of each sweeping arm are connected with the input disc through the springs respectively.
2. The SEA mechanism of claim 1,
the sweep arm extends in a radial direction of the input disc.
3. The SEA mechanism of claim 1,
the input disc is provided with a plurality of stop blocks which are distributed at intervals along the circumferential direction of the input disc, each sweeping arm is positioned between two adjacent stop blocks, and the sweeping arms are connected to the stop blocks through the springs.
4. The SEA mechanism of claim 3,
the stop block is provided with a first limiting column, the sweeping arm is provided with a second limiting column, and two ends of each spring are respectively sleeved on the first limiting column and the second limiting column.
5. The SEA mechanism of claim 1,
the output shaft is a hollow shaft, and a key groove is formed in the inner side of the hollow shaft.
6. The SEA mechanism of claim 1,
the output shaft is provided with three sweeping arms at intervals.
7. A flexible knee joint, characterized in that,
comprising a knee joint housing, a motor, a transmission system, an output flange, and the SEA mechanism of any of claims 1-6;
the motor, the transmission system and the SEA mechanism are arranged in the knee joint shell, the motor is connected with an input disc of the SEA mechanism through the transmission system, and an output shaft of the SEA mechanism is connected with the output flange.
8. The flexible knee joint of claim 7,
the transmission system comprises a synchronous belt mechanism and a harmonic reducer, the synchronous belt mechanism comprises a first synchronous wheel, a second synchronous wheel and a synchronous belt, the first synchronous wheel is installed on an output shaft of the motor, the second synchronous wheel is installed on a first central rotating shaft, the synchronous belt sleeve is arranged on the first synchronous wheel and the second synchronous wheel, the first central rotating shaft is connected with an input end of the harmonic reducer, and an output end of the harmonic reducer is connected with an input disc of the SEA mechanism.
9. The flexible knee joint of claim 7,
the output shaft of the SEA mechanism is a hollow shaft, the flexible knee joint further comprises a second central rotating shaft, the second central rotating shaft penetrates through the output shaft of the SEA mechanism and is in key connection with the output shaft of the SEA mechanism, and the second central rotating shaft is connected with the output flange.
10. The flexible knee joint of claim 8,
the flexible knee joint further comprises a first position sensor and a second position sensor;
the first position sensor is arranged at the output end of the harmonic reducer, and the second position sensor is arranged at the output end of the SEA mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020154710.0U CN211675180U (en) | 2020-02-06 | 2020-02-06 | SEA mechanism and flexible knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020154710.0U CN211675180U (en) | 2020-02-06 | 2020-02-06 | SEA mechanism and flexible knee joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211675180U true CN211675180U (en) | 2020-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020154710.0U Active CN211675180U (en) | 2020-02-06 | 2020-02-06 | SEA mechanism and flexible knee joint |
Country Status (1)
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|---|---|
| CN (1) | CN211675180U (en) |
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2020
- 2020-02-06 CN CN202020154710.0U patent/CN211675180U/en active Active
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