CN211761541U - Flexible variable-rigidity transmission device adaptive to human body joint track - Google Patents
Flexible variable-rigidity transmission device adaptive to human body joint track Download PDFInfo
- Publication number
- CN211761541U CN211761541U CN202020022540.0U CN202020022540U CN211761541U CN 211761541 U CN211761541 U CN 211761541U CN 202020022540 U CN202020022540 U CN 202020022540U CN 211761541 U CN211761541 U CN 211761541U
- Authority
- CN
- China
- Prior art keywords
- sliding
- groove
- connecting plate
- human body
- transmission device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to the technical field of robots, in particular to a flexible variable-stiffness transmission device adaptive to human joint tracks, which comprises a load connecting plate, a transmission plate and a motor connecting plate; the double-shaft sliding block is also included; the double-shaft sliding block is respectively connected with the X-axis sliding rail and the Y-axis sliding rail in a sliding manner; the motor connecting plate is provided with an accommodating groove; an adjusting slide block is arranged in the accommodating groove; a spring is arranged between the adjusting slide block and the inner wall of the accommodating groove; the transmission plate is provided with a sliding groove; the adjusting slide block is arranged in the sliding groove in a sliding mode. The utility model discloses a set up load connecting plate, driving plate and motor connecting plate, the motor drives the extrusion spring after the motor connecting plate rotates, the power that produces after the spring compression drives human joint through driving plate and load connecting plate, realizes the flexible drive of motor to human joint; the double-shaft sliding block can freely move on an XY plane and can be self-adaptive to variable axis motion tracks of different human body joints.
Description
Technical Field
The utility model relates to the technical field of robots, concretely relates to flexible variable stiffness transmission of human joint orbit of self-adaptation.
Background
With the increasing demand of disabled patients and patients with joint sprain for exercise rehabilitation, robot devices such as rehabilitation robots, exoskeleton robots, joint trainers, gait orthotics and the like are continuously researched and developed, and a certain rehabilitation training effect is achieved.
In these robot designs, the robot body generally mimics the physiological structure of the lower limbs and joints of the human body, and the robot joints are generally designed to drive the joints in a single axis and bind the robot joints with the human body joints. However, human joints have complex geometries and are not simple single degree of freedom hinge mechanisms. Taking the knee joint as an example, the sagittal plane motion of the knee joint has variable axial center plane motion with both rolling and sliding, and the joint coupling curved surface has a non-constant rotation axis. If the knee joint of the human body is driven by the traditional single-shaft motor, the rotation centers of the knee joint and the human body are not matched, and the human body knee joint is damaged by mismatching; meanwhile, the movement of the human body joints is smooth, the rigidity of different human body joints is different, and the rigid driving injury to the human body joints is easily caused by directly binding the rigid robot joints and the human body joints.
In order to flexibly drive human joints and adjust the driving rigidity, and meanwhile, the rotation center of the robot joint is adaptive to the rotation center of the human joint, a flexible rigidity-variable transmission device adaptive to the track of the human joint needs to be designed.
Disclosure of Invention
The utility model aims at the above-mentioned not enough among the prior art, provide a flexible variable rigidity transmission of human joint orbit of self-adaptation.
The purpose of the utility model is realized through the following technical scheme: a flexible variable stiffness transmission device adaptive to human joint tracks comprises a load connecting plate, a transmission plate and a motor connecting plate which are sequentially connected; a double-shaft sliding block is movably arranged between the load connecting plate and the transmission plate; one surface of the load connecting plate, which is close to the transmission plate, is provided with a Y-axis slide rail; an X-axis sliding rail is arranged on one surface of the transmission plate, which is close to the load connecting plate; the double-shaft sliding block is respectively connected with the X-axis sliding rail and the Y-axis sliding rail in a sliding manner;
one surface of the motor connecting plate, which is close to the transmission plate, is provided with an accommodating groove; an adjusting slide block is arranged in the accommodating groove; a spring is arranged between the adjusting slide block and the inner wall of the accommodating groove; one surface of the transmission plate, which is close to the motor connecting plate, is provided with a sliding groove; the adjusting slide block is arranged in the sliding groove in a sliding mode.
The utility model is further arranged that one side of the load connecting plate, which is close to the transmission plate, is provided with a first groove; the Y-axis slide rail is arranged in the first groove; the Y-axis slide rail is detachably connected with the first groove through a screw.
The utility model is further arranged that one side of the transmission plate close to the load connecting plate is provided with a second groove; the X-axis slide rail is arranged in the second groove; the X-axis slide rail is detachably connected with the second groove through a screw.
The utility model is further arranged that the top of the double-shaft slide block is provided with a Y-shaft slide groove which is connected with the Y-shaft slide rail in a sliding way; the bottom of the double-shaft sliding block is provided with an X-shaft sliding groove in sliding connection with an X-shaft sliding rail;
the Y-axis slide rail is perpendicular to the X-axis slide rail.
The utility model is further provided that the sliding groove comprises a transverse groove and a vertical groove communicated with the transverse groove; the adjusting slide block comprises a sliding part and a supporting part connected with the sliding part; the sliding part is used for sliding in the transverse groove; the width of the transverse groove is greater than that of the vertical groove; the width of the sliding part is larger than that of the supporting part.
The utility model is further arranged that two sides of the supporting part are provided with supporting shafts; the spring is sleeved on the supporting shaft.
The utility model is further arranged that the number of the sliding grooves, the accommodating grooves and the adjusting sliders is four; the four containing grooves are arranged around the motor connecting plate at equal intervals.
The utility model discloses further set up to, the load connecting plate is equipped with first card hole.
The utility model discloses further set up to, the motor connecting plate is equipped with second card hole.
The utility model discloses further set up to, the sliding part passes through the screw and can dismantle with the cross slot and be connected.
The utility model has the advantages that: the utility model discloses a set up load connecting plate, driving plate and motor connecting plate, the motor drives the extrusion spring after the motor connecting plate rotates, the power that produces after the spring compression drives human joint through driving plate and load connecting plate, realizes the flexible drive of motor to human joint; the double-shaft sliding block can freely move on an XY plane and can be self-adaptive to variable axis motion tracks of different human body joints.
Drawings
The invention is further described with the aid of the accompanying drawings, in which, however, the embodiments do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be derived from the following drawings without inventive effort.
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is an exploded view of the present invention;
fig. 3 is an exploded view from another perspective of the present invention;
wherein: 1. a load connection plate; 11. a Y-axis slide rail; 12. a first groove; 13. a first card hole; 2. a drive plate; 21. an X-axis slide rail; 22. a sliding groove; 23. a second groove; 3. a motor connecting plate; 31. a containing groove; 32. a spring; 33. a second card hole; 4. a biaxial slider; 41. a Y-axis chute; 42. an X-axis chute; 5. adjusting the sliding block; 51. a sliding part; 52. a support portion; 53. a support shaft; 61. a transverse groove; 62. a vertical slot.
Detailed Description
The invention will be further described with reference to the following examples.
As can be seen from fig. 1 to 3, the flexible variable stiffness transmission device adaptive to human joint trajectories in this embodiment includes a load connection plate 1, a transmission plate 2, and a motor connection plate 3, which are connected in sequence; a double-shaft sliding block 4 is movably arranged between the load connecting plate 1 and the transmission plate 2; one surface of the load connecting plate 1, which is close to the transmission plate 2, is provided with a Y-axis slide rail 11; an X-axis slide rail 21 is arranged on one surface of the transmission plate 2 close to the load connecting plate 1; the double-shaft sliding block 4 is respectively connected with the X-axis sliding rail 21 and the Y-axis sliding rail 11 in a sliding manner;
one surface of the motor connecting plate 3, which is close to the transmission plate 2, is provided with an accommodating groove 31; an adjusting slide block 5 is arranged in the accommodating groove 31; a spring 32 is arranged between the adjusting slide block 5 and the inner wall of the accommodating groove 31; one surface of the transmission plate 2 close to the motor connecting plate 3 is provided with a sliding groove 22; the adjusting slider 5 is slidably arranged in the sliding groove 22.
Specifically, in the transmission device with variable flexibility and adaptive human joint trajectory according to the embodiment, when in use, the adjusting slider 5 can be adjusted to slide inwards or outwards in the sliding groove 22 at the lower part of the transmission plate 2, so that the driving stiffness of the transmission device is reduced when the adjusting slider slides inwards, and the driving stiffness of the transmission device is increased when the adjusting slider slides outwards, thereby adapting to different requirements on the driving stiffness of human bodies.
When the motor is needed to drive the human joint, firstly, the motor is driven by the external motor to be connected with the motor connecting plate 3, the spring 32 is extruded after the motor connecting plate 3 rotates, the force generated after the spring 32 is compressed drives the human joint through the transmission plate 2 and the load connecting plate 1, and the flexible driving of the motor to the human joint is realized.
The human body joint has a variable axis joint motion track, when the rotation center of the load connecting plate 1 connected with the human body joint is changed, the double-shaft sliding block 4 can move on the X-axis guide rail and the Y-axis guide rail, so that even if the rotation centers of the motor shaft and the human body joint shaft are not matched, the motor can still safely drive the human body joint, the double-shaft sliding block 4 can freely move on an XY plane, and the variable axis joint motion track of different human body joints can be self-adapted.
In the flexible variable-stiffness transmission device adaptive to the human joint track, a first groove 12 is formed in one surface, close to the transmission plate 2, of the load connection plate 1; the Y-axis slide rail 11 is arranged in the first groove 12; the Y-axis slide rail 11 is detachably connected with the first groove 12 through screws.
Through the arrangement, the Y-axis slide rail 11 is conveniently fixed in the first groove 12, and the Y-axis slide rail 11 is conveniently replaced.
In the flexible variable-stiffness transmission device adaptive to the human joint trajectory, a second groove 23 is formed in one surface, close to the load connecting plate 1, of the transmission plate 2; the X-axis slide rail 21 is arranged in the second groove 23; the X-axis slide rail 21 is detachably connected with the second groove 23 through a screw.
Through the arrangement, the X-axis slide rail 21 is conveniently fixed in the second groove 23, and the X-axis slide rail 21 is conveniently replaced.
In the flexible variable-stiffness transmission device adaptive to the human joint track, a Y-axis chute 41 connected with a Y-axis slide rail 11 in a sliding manner is arranged at the top of the double-axis slide block 4; the bottom of the double-shaft sliding block 4 is provided with an X-shaft sliding groove 42 which is connected with the X-shaft sliding rail 21 in a sliding manner;
the Y-axis slide rail 11 and the X-axis slide rail 21 are arranged vertically.
Through the arrangement, the biaxial slide block 4 can be ensured to move freely on an XY plane, and the variable-axis motion tracks of different human body joints can be self-adapted.
In the flexible variable stiffness transmission device adaptive to the human joint trajectory according to this embodiment, the sliding groove 22 includes a transverse groove 61 and a vertical groove 62 communicated with the transverse groove 61; the adjusting slider 5 comprises a sliding part 51 and a supporting part 52 connected with the sliding part 51; the sliding part 51 is used for sliding in the transverse groove 61; the width of the transverse groove 61 is larger than that of the vertical groove 62; the width of the sliding portion 51 is greater than the width of the supporting portion 52.
With the above arrangement, the slide portion 51 can be made to slide in the lateral groove 61, and the slide portion 51 can be prevented from falling in the lateral groove 61.
In the flexible variable stiffness transmission device adaptive to the human joint trajectory, support shafts 53 are arranged on two sides of the support part 52; the spring 32 is sleeved on the supporting shaft 53. The above arrangement facilitates securing the spring 32.
In the flexible variable-stiffness transmission device adaptive to the human joint trajectory, the number of the sliding grooves 22, the accommodating grooves 31 and the adjusting sliders 5 is four; the four accommodating grooves 31 are arranged around the motor connecting plate 3 at equal intervals. The driving rigidity requirements of different human bodies can be effectively met through the arrangement.
According to the flexible variable-stiffness transmission device adaptive to the human joint track, the load connecting plate 1 is provided with a first clamping hole 13. The above arrangement facilitates connection of the load connection plate 1 to an external robot.
In the flexible variable-stiffness transmission device adaptive to the human joint track, the motor connecting plate 3 is provided with a second clamping hole 33. The motor connecting plate 3 is convenient to be connected with an external motor through the arrangement.
In the flexible variable stiffness transmission device adaptive to the human joint trajectory in the embodiment, the sliding part 51 is detachably connected with the transverse groove 61 through a screw. This arrangement facilitates changing the position of the slide portion 51 in the lateral groove 61.
It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. The utility model provides a flexible rigidity-variable transmission of human joint orbit of self-adaptation which characterized in that: comprises a load connecting plate (1), a transmission plate (2) and a motor connecting plate (3) which are connected in sequence; a double-shaft sliding block (4) is movably arranged between the load connecting plate (1) and the transmission plate (2); one surface of the load connecting plate (1) close to the transmission plate (2) is provided with a Y-axis slide rail (11); an X-axis sliding rail (21) is arranged on one surface, close to the load connecting plate (1), of the transmission plate (2); the double-shaft sliding block (4) is respectively connected with the X-axis sliding rail (21) and the Y-axis sliding rail (11) in a sliding manner;
one surface of the motor connecting plate (3) close to the transmission plate (2) is provided with an accommodating groove (31); an adjusting slide block (5) is arranged in the accommodating groove (31); a spring (32) is arranged between the adjusting slide block (5) and the inner wall of the accommodating groove (31); one surface of the transmission plate (2) close to the motor connecting plate (3) is provided with a sliding groove (22); the adjusting slide block (5) is arranged in the sliding groove (22) in a sliding mode.
2. The flexible variable stiffness transmission device adaptive to human body joint tracks according to claim 1, wherein: one surface of the load connecting plate (1) close to the transmission plate (2) is provided with a first groove (12); the Y-axis slide rail (11) is arranged in the first groove (12); the Y-axis sliding rail (11) is detachably connected with the first groove (12) through screws.
3. The flexible variable stiffness transmission device adaptive to human body joint tracks according to claim 1, wherein: one surface of the transmission plate (2) close to the load connecting plate (1) is provided with a second groove (23); the X-axis slide rail (21) is arranged in the second groove (23); the X-axis sliding rail (21) is detachably connected with the second groove (23) through a screw.
4. The flexible variable stiffness transmission device adaptive to human body joint tracks according to claim 1, wherein: the top of the double-shaft sliding block (4) is provided with a Y-shaft sliding groove (41) which is connected with the Y-shaft sliding rail (11) in a sliding manner; the bottom of the double-shaft sliding block (4) is provided with an X-shaft sliding groove (42) which is connected with the X-shaft sliding rail (21) in a sliding manner;
the Y-axis slide rail (11) is perpendicular to the X-axis slide rail (21).
5. The flexible variable stiffness transmission device adaptive to human body joint tracks according to claim 1, wherein: the sliding groove (22) comprises a transverse groove (61) and a vertical groove (62) communicated with the transverse groove (61); the adjusting slider (5) comprises a sliding part (51) and a supporting part (52) connected with the sliding part (51); the sliding part (51) is used for sliding in the transverse groove (61); the width of the transverse groove (61) is greater than that of the vertical groove (62); the width of the sliding part (51) is larger than that of the supporting part (52).
6. The flexible variable stiffness transmission device capable of adapting to the human body joint track according to claim 5, wherein: supporting shafts (53) are arranged on two sides of the supporting part (52); the spring (32) is sleeved on the support shaft (53).
7. The flexible variable stiffness transmission device adaptive to human body joint tracks according to claim 1, wherein: the number of the sliding grooves (22), the number of the accommodating grooves (31) and the number of the adjusting sliding blocks (5) are four; the four containing grooves (31) are arranged around the motor connecting plate (3) at equal intervals.
8. The flexible variable stiffness transmission device adaptive to human body joint tracks according to claim 1, wherein: the load connecting plate (1) is provided with a first clamping hole (13).
9. The flexible variable stiffness transmission device adaptive to human body joint tracks according to claim 1, wherein: the motor connecting plate (3) is provided with a second clamping hole (33).
10. The flexible variable stiffness transmission device capable of adapting to the human body joint track according to claim 5, wherein: the sliding part (51) is detachably connected with the transverse groove (61) through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020022540.0U CN211761541U (en) | 2020-01-07 | 2020-01-07 | Flexible variable-rigidity transmission device adaptive to human body joint track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020022540.0U CN211761541U (en) | 2020-01-07 | 2020-01-07 | Flexible variable-rigidity transmission device adaptive to human body joint track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211761541U true CN211761541U (en) | 2020-10-27 |
Family
ID=72889527
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020022540.0U Active CN211761541U (en) | 2020-01-07 | 2020-01-07 | Flexible variable-rigidity transmission device adaptive to human body joint track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211761541U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015647A (en) * | 2020-01-07 | 2020-04-17 | 广东思谷智能技术有限公司 | Flexible variable-rigidity self-adaptive transmission device for human joint track |
-
2020
- 2020-01-07 CN CN202020022540.0U patent/CN211761541U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015647A (en) * | 2020-01-07 | 2020-04-17 | 广东思谷智能技术有限公司 | Flexible variable-rigidity self-adaptive transmission device for human joint track |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20190232485A1 (en) | Exoskeleton and master | |
| Saglia et al. | A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation | |
| US8800366B2 (en) | Robotic exoskeleton for limb movement | |
| CN107648013B (en) | 4-degree-of-freedom forearm of upper limb exoskeleton robot | |
| Ball et al. | A planar 3DOF robotic exoskeleton for rehabilitation and assessment | |
| CN202342398U (en) | Multi-degree-of-freedom robot for lower limb surgery and rehabilitation training | |
| CN108478391B (en) | Wearable exoskeleton rehabilitation manipulator | |
| CN107320910A (en) | A kind of submissive rehabilitation ectoskeleton of upper limbs | |
| CN108186279B (en) | Rotary internal and external joint for rehabilitation exoskeleton mechanism | |
| CN211761541U (en) | Flexible variable-rigidity transmission device adaptive to human body joint track | |
| CN105520820A (en) | Three-freedom-degree wrist function rehabilitation robot | |
| CN109662867A (en) | Based on the improved ankle rehabilitation institution of Stewart platform | |
| CN113133898B (en) | Lower limb rehabilitation exoskeleton mechanism with flexible joints | |
| CN106239479A (en) | A kind of series connection flexible drive knee joint in lower limb assistance exoskeleton robot | |
| CN113545958A (en) | Shoulder joint rehabilitation robot | |
| CN111015647A (en) | Flexible variable-rigidity self-adaptive transmission device for human joint track | |
| CN111803329A (en) | Elbow exoskeleton for rehabilitation robot | |
| CN112894787A (en) | Variable-rigidity module and modularized flexible variable-rigidity driving mechanism | |
| CN112716749A (en) | Exoskeleton type upper limb rehabilitation robot | |
| CN111759678B (en) | Four-degree-of-freedom parallel robot for leg rehabilitation | |
| CN215358438U (en) | Variable-rigidity module and modularized flexible variable-rigidity driving mechanism | |
| CN215607347U (en) | Exoskeleton type upper limb rehabilitation robot | |
| Yellewa et al. | Design and hybrid impedance control of a compliant and balanced wrist rehabilitation device | |
| Zhang et al. | Design and human–machine compatibility analysis of Co-Exos II for upper-limb rehabilitation | |
| Lu et al. | Mechanism Design and Analysis of a Multi-DOF Flexible Ankle Rehabilitation Robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |