CN213250907U - One-to-many rope driving mechanism for upper limb flexible exoskeleton application - Google Patents
One-to-many rope driving mechanism for upper limb flexible exoskeleton application Download PDFInfo
- Publication number
- CN213250907U CN213250907U CN202020316680.9U CN202020316680U CN213250907U CN 213250907 U CN213250907 U CN 213250907U CN 202020316680 U CN202020316680 U CN 202020316680U CN 213250907 U CN213250907 U CN 213250907U
- Authority
- CN
- China
- Prior art keywords
- shaft
- energy storage
- rope
- planetary gear
- gear train
- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 210000001364 upper extremity Anatomy 0.000 title abstract description 16
- 238000004146 energy storage Methods 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000009467 reduction Effects 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 abstract description 9
- 208000006011 Stroke Diseases 0.000 abstract description 7
- 238000005381 potential energy Methods 0.000 abstract description 5
- 238000004134 energy conservation Methods 0.000 abstract description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 abstract description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003042 antagnostic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a to a pair of many rope actuating mechanism towards flexible ectoskeleton of upper limbs is used utilizes the design of a pair of multimode piece, and this module has contained final drive shaft, planetary gear train, energy storage module, one way clutch, rope shaft module transmission module and has changed the direction of transmission of power, has improved the space utilization of this mechanism. The power is reduced by the planetary gear train. The energy storage module enables the motor drive to be converted into potential energy drive. The cooperation of one-way clutch realizes that corotation and the reversal of final drive shaft drive the rope shaft module and rotate, realizes the motion and the combination motion on the upper limbs multiple degrees of freedom, can be used to operate recovered flexible upper limbs ectoskeleton rehabilitation equipment of apoplexy, has characteristics such as lightweight, high efficiency, energy-conservation nature, portability for traditional rigidity upper limbs ectoskeleton equipment.
Description
Technical Field
The utility model relates to a skeleton rehabilitation equipment, concretely relates to a rope actuating mechanism that is used for towards flexible ectoskeleton of upper limbs and uses a pair of many.
Background
Stroke has become a high-grade disease in China. According to statistics, the number of stroke patients over 40 years old in China is up to 1036 ten thousand, and new cases are over 200 ten thousand every year. Stroke often results in neurological damage of varying degrees, can cause disorders of varying degrees to the function of the upper limbs, and due to insufficient control of the muscles, patients often have difficulty in performing resistance exercises, which causes them to lose some of their ability to live in daily life. According to modern rehabilitation theory and practice, the intervention of early motion therapy can relieve dysfunction caused by stroke, improve the motion function of the stroke and improve the ADL of a patient. With the increasing demand for rehabilitation, the technology in the field of rehabilitation is also developed. At present, one motor of the traditional upper limb rehabilitation training equipment can control one degree of freedom, so that the movement of multiple degrees of freedom of the upper limb needs to be controlled by multiple motors, and the motors are large in number and cannot achieve the purposes of light weight, high efficiency, energy conservation, portability and the like.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects, the utility model discloses an aim at designs the motion and the combined motion on realizing the a plurality of degrees of freedom of upper limbs, can be used to operate the recovered flexible upper limbs ectoskeleton rehabilitation equipment in apoplexy back, in order to realize this purpose the utility model discloses a following technical scheme:
a one-to-many rope driving mechanism for an upper limb flexible exoskeleton comprises a shell, wherein an energy storage module, a speed reduction planetary gear train, a rope shaft planetary gear train, a ratchet pawl structure, a main transmission shaft and a motor are arranged in the shell, the energy storage module and the speed reduction planetary gear train are connected through a ratchet to form energy storage mechanisms, the energy storage mechanisms are arranged on two sides of the motor symmetrically, the energy storage mechanism on one side is connected with a plurality of rope shaft planetary gear trains, the main transmission shaft penetrates through the two energy storage mechanisms and is connected with the rope shaft planetary gear train modules, and the rope shaft planetary gear trains are connected through square shaft heads.
Furthermore, the energy storage modules comprise circular rings and coil springs arranged in the circular rings, one ends of the coil springs are fixedly connected with inner rings of the circular rings, the other ends of the coil springs are connected with ratchet wheels, brakes are arranged outside the circular rings, the circular rings are connected with the main transmission shaft through one-way clutches, and the directions of the one-way clutches in the two energy storage modules are opposite.
Furthermore, the speed reduction planetary gear train comprises a first sun gear, a first planet carrier, a first gear ring and a large bevel gear, the first planet carrier is fixedly connected with the ratchet wheel, the first sun gear is fixedly connected with the large bevel gear, the large bevel gear is meshed with a small bevel gear on the motor, and a brake is arranged outside the first gear ring.
Furthermore, the rope shaft planetary gear train comprises a second sun gear, a second planet carrier, a second gear ring, a driven shaft, a rope shaft and a driving rope, the second sun gear is fixedly connected with the driven shaft, the second planet carrier is fixedly connected with the rope shaft, the rope shaft is sleeved on the main transmission shaft, and a brake is arranged outside the gear ring.
Furthermore, the main transmission shaft is only connected with the turntable as a clutch in the energy storage mechanism, the rest of the main transmission shaft is in shaft connection, and the main transmission shaft is fixedly connected with the driven shaft in the rope shaft planetary gear train through a square shaft head.
Further, the ratchet-pawl structure comprises a ratchet and a pawl, and the pawl is controlled by a push-pull electromagnet.
As the preferred technical scheme of the utility model, the rope shaft radius among the rope shaft planetary gear train is not of uniform size to dismantled and assembled the change.
The beneficial effects of the utility model reside in that: the scheme adopts a motor to control the two energy storage units to store energy, and the directions of potential energy stored by the two energy storage units cannot be changed due to different power input directions, but independent energy release can be realized through the connection of the two clutches with opposite directions and a transmission shaft; the main transmission shaft is connected with the driven shaft, so that one shaft can drive the rope shaft modules to rotate, and the movement and the combined movement of the upper limb in multiple degrees of freedom can be realized; in addition, the transmission module changes the transmission direction of power, and the space utilization rate of the mechanism is improved; the power is reduced by the planetary gear train; energy storage module makes motor drive turn into the potential energy drive, to sum up, the utility model discloses for have salient characteristics such as lightweight, high efficiency, energy-conservation nature, portability to traditional rigidity upper limbs ectoskeleton equipment.
Drawings
FIG. 1 is a view of the internal structure of the present invention;
FIG. 2 is an external overall structural view of the present invention;
FIG. 3 is a cross-sectional view of the internal structure of the present invention;
in the figure, a-shell, b-energy storage module, c-speed reduction planetary gear train, d-rope shaft planetary gear train, e-ratchet wheel and pawl structure, 1-motor, 2-main transmission shaft, 3-square shaft head, 4-circular ring, 5-coil spring, 6-ratchet wheel, 7-brake, 8-sun gear I, 9-planet carrier I, 10-gear ring I, 11-big bevel gear, 12-small bevel gear, 13-sun gear II, 14-planet carrier II, 15-gear ring II, 16-driven shaft, 17-rope shaft, 18-driving rope and 19-pawl.
Detailed Description
For a better understanding of the present invention, the following detailed description is given in conjunction with the accompanying drawings:
example (b): referring to fig. 1 to 3, the one-to-many rope driving mechanism for the upper limb flexible exoskeleton application comprises a shell (a), wherein an energy storage module (b), a speed reduction planetary gear train (c), two rope shaft planetary gear trains (d), a ratchet pawl structure (e), a motor (1) and a main transmission shaft (2) are arranged inside the shell (a), the energy storage module (b) and the speed reduction planetary gear train (c) are connected through a ratchet (6) to form an energy storage mechanism, the two energy storage mechanisms are symmetrically arranged on two sides of the motor (1), the energy storage mechanism on one side is connected with the plurality of rope shaft planetary gear trains (d), the main transmission shaft (2) penetrates through the two energy storage mechanisms and is connected with the rope shaft planetary gear trains (d), and the plurality of rope shaft planetary gear trains (d) are connected through a square shaft head (3).
The energy storage modules (b) comprise a circular ring (4) and coil springs (5) arranged in the circular ring, one ends of the coil springs (5) are fixedly connected with the inner ring of the circular ring (4), the other ends of the coil springs are connected with ratchet wheels (6), brakes (7) are arranged outside the circular ring (4), the circular ring is connected with the main transmission shaft (2) through one-way clutches, and the directions of the one-way clutches in the two energy storage modules (b) are opposite.
The speed reduction planetary gear train comprises a first sun gear (8), a first planet carrier (9), a first gear ring (10) and a large bevel gear (11), the first planet carrier (9) is fixedly connected with the ratchet wheel (6), the first sun gear (8) is fixedly connected with the large bevel gear (11), the large bevel gear (11) is meshed with a small bevel gear (12) on the motor, and a brake (7) is arranged outside the first gear ring (10).
Rope shaft planetary gear train includes two sun gear (13), two planet carrier (14), two ring gear (15), driven shaft (16), rope shaft (17) and driving rope (18), two sun gear (13) and driven shaft (16) fixed connection, two planet carrier (14) with rope shaft (17) fixed connection, rope shaft (17) cover is established on final drive shaft (2), two ring gear (15) outside is equipped with stopper (7).
The main transmission shaft (2) is connected with the turntable (4) only through a clutch in the energy storage mechanism, the rest are in shaft connection, and the main transmission shaft and the driven shaft (16) are fixedly in shaft connection through a square shaft head (3) in the rope shaft planetary gear train (d).
The ratchet wheel and pawl structure (e) comprises a ratchet wheel (6) and a pawl (19), and the pawl (19) is controlled by a push-pull electromagnet.
The rope shafts (17) in the rope shaft planetary gear train (d) have different radiuses and are detachable and replaceable.
The above embodiments are merely descriptions of structures and connection modes, and the functions and principles thereof are described in detail as follows:
firstly, an energy storage mode: firstly, an energy storage module (a) and a brake of a speed reduction planetary gear train (b) are locked, a pawl is separated from a ratchet wheel, a motor is started, power output by the motor (1) is transmitted to the speed reduction planetary gear train (b), primary speed reduction is realized by the power through the speed reduction planetary gear train (b), a planet carrier on the speed reduction planetary gear train (b) drives the ratchet wheel to rotate, and a coil spring (5) starts to store energy.
II, release mode: after the energy storage module (a) is full of energy, the motor (1) stops running, the ratchet wheel (6) is controlled to be meshed with the ratchet claw (19) when energy is required to be released, the brake (7) of the energy storage module is released, energy release is started, the ring (4) is connected with the main transmission shaft (2), the main transmission shaft (2) drives the second sun gear (13) in the rope shaft planetary gear train (d) to rotate, secondary speed reduction is achieved through the rope shaft planetary gear train (d), and finally power reaches the rope shaft module to achieve traction of the driving rope (18). The main transmission shaft (1) is connected with a plurality of rope shaft planetary gear trains (d) to rotate together, so that a plurality of driving ropes (18) share one motor (1), and the driving ropes are managed by matching of a one-way clutch, so that the purposes of light weight, high efficiency, energy conservation and portability are achieved. This technology can be easily miniaturized for more advanced applications in the future.
In the energy storage mode, the principle of energy storage of the coil springs at the two sides is the same, but the stored potential energy is opposite to each other and is a pair of mutually antagonistic potential energy. In the release mode, the energy release processes of the two energy storage modules are not interfered with each other.
It should be noted that, when the brake of the planetary gear train is in the open state (i.e. the planetary gear train is in the free state) in the present solution, the whole device can be conveniently reset.
The above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the protection of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. A one-to-many cord drive mechanism for upper extremity-oriented flexible exoskeleton application, comprising: the energy storage mechanism comprises a shell (a), an energy storage module (b), a speed reduction planetary gear train (c), a rope shaft planetary gear train (d), a ratchet pawl structure (e), a motor (1) and a main transmission shaft (2) are arranged inside the shell (a), the energy storage module (b) and the speed reduction planetary gear train (c) are connected through a ratchet wheel (6) to form an energy storage mechanism, the energy storage mechanism is provided with two energy storage mechanisms which are symmetrically arranged on two sides of the motor (1), the energy storage mechanism on one side is connected with the rope shaft planetary gear train (d), the main transmission shaft (2) penetrates through the two energy storage mechanisms and is connected with the rope shaft planetary gear train (d), and the rope shaft planetary gear trains (d) are connected through square shaft heads (3).
2. A one-to-many cord drive mechanism for upper extremity-facing flexible exoskeleton application as claimed in claim 1, wherein: the energy storage modules (b) comprise a circular ring (4) and coil springs (5) arranged in the circular ring, one ends of the coil springs (5) are fixedly connected with the inner ring of the circular ring (4), the other ends of the coil springs are connected with ratchet wheels (6), brakes (7) are arranged outside the circular ring (4), the circular ring is connected with the main transmission shaft (2) through one-way clutches, and the directions of the one-way clutches in the two energy storage modules (b) are opposite.
3. A one-to-many cord drive mechanism for upper extremity-facing flexible exoskeleton application as claimed in claim 2, wherein: the speed reduction planetary gear train comprises a first sun gear (8), a first planet carrier (9), a first gear ring (10) and a large bevel gear (11), the first planet carrier (9) is fixedly connected with the ratchet wheel (6), the first sun gear (8) is fixedly connected with the large bevel gear (11), the large bevel gear (11) is meshed with a small bevel gear (12) on the motor, and a brake (7) is arranged outside the first gear ring (10).
4. A one-to-many cord drive mechanism for upper extremity-facing flexible exoskeleton application as claimed in claim 3, wherein: rope shaft planetary gear train includes two sun gear (13), two planet carrier (14), two ring gear (15), driven shaft (16), rope shaft (17) and driving rope (18), two sun gear (13) and driven shaft (16) fixed connection, two planet carrier (14) with rope shaft (17) fixed connection, rope shaft (17) cover is established on final drive shaft (2), two ring gear (15) outside is equipped with stopper (7).
5. A one-to-many cord drive mechanism for upper extremity-facing flexible exoskeleton application as claimed in claim 4, wherein: the main transmission shaft (2) is only connected with the circular ring (4) as a clutch in the energy storage mechanism, the rest are in shaft connection, and the main transmission shaft and the driven shaft (16) are fixedly in shaft connection through the square shaft head (3) in the rope shaft planetary gear train (d).
6. A one-to-many cord drive mechanism for upper extremity-facing flexible exoskeleton application as claimed in claim 5, wherein: the ratchet wheel and pawl structure (e) comprises a ratchet wheel (6) and a pawl (19), and the pawl (19) is controlled by a push-pull electromagnet.
7. A one-to-many cord drive mechanism for upper extremity-facing flexible exoskeleton application as claimed in claim 6, wherein: the rope shafts (17) in the rope shaft planetary gear train (d) have different radiuses and are detachable and replaceable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020316680.9U CN213250907U (en) | 2020-03-15 | 2020-03-15 | One-to-many rope driving mechanism for upper limb flexible exoskeleton application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020316680.9U CN213250907U (en) | 2020-03-15 | 2020-03-15 | One-to-many rope driving mechanism for upper limb flexible exoskeleton application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213250907U true CN213250907U (en) | 2021-05-25 |
Family
ID=75934781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020316680.9U Expired - Fee Related CN213250907U (en) | 2020-03-15 | 2020-03-15 | One-to-many rope driving mechanism for upper limb flexible exoskeleton application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213250907U (en) |
-
2020
- 2020-03-15 CN CN202020316680.9U patent/CN213250907U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111388270A (en) | One-to-many rope driving mechanism for upper limb flexible exoskeleton application | |
| JP2011220524A (en) | Dual gear train driving structure at input side of basin-type gear | |
| CN213250907U (en) | One-to-many rope driving mechanism for upper limb flexible exoskeleton application | |
| CN103206338B (en) | Wave energy generating set | |
| CN104500353A (en) | Large-power wind driven generator step-up gearbox with electric barring device | |
| TW201632724A (en) | Power supply device | |
| CN205744316U (en) | A kind of clockwork spring is collected kinetic energy and is driven the device of electromotor converting electrical energy | |
| WO2024045402A1 (en) | Gearbox, hybrid power system, and vehicle | |
| TWM592929U (en) | Unidirectional deceleration transmission structure | |
| CN110180124A (en) | Physical-strength-type fitness facility sources of resistance | |
| RU179517U1 (en) | Vehicle recuperator equipped with flywheel and elastic elements | |
| WO2002063185A1 (en) | Bi-directional to unidirectional torque conversion method and apparatus | |
| RU94953U1 (en) | EASY HELICOPTER TRANSMISSION | |
| CN212318590U (en) | Pawl type bidirectional controllable overrunning clutch | |
| CN203516630U (en) | Four-phase side-by-side connecting rod impulse infinitely variable speed device | |
| JPS5861353A (en) | Power transmission device | |
| CN102678428A (en) | Movable wave energy absorption and conversion device | |
| CN207875378U (en) | Hybrid gearbox and hybrid power system | |
| CN111271392A (en) | Pawl type bidirectional controllable overrunning clutch | |
| CN202082055U (en) | Pedal emergency generator set | |
| CN203162011U (en) | Power mechanism of mini-tiller | |
| CN201496502U (en) | Star-type converter | |
| CN104896049A (en) | Mini-type dual-power aircraft bearing speed reduction device | |
| CN112156212A (en) | Medical mask disinfection equipment | |
| WO2018176587A1 (en) | One-way power conversion device provided with rocking-rotating shell and method for implementing one-way conversion of one-way power conversion device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210525 |