CN214818689U

CN214818689U - Flexible exoskeleton integrated motor driving device and driver

Info

Publication number: CN214818689U
Application number: CN202120413951.7U
Authority: CN
Inventors: 郭超; 肖陶康; 强利刚; 李林; 张勇; 齐维伟; 史军辉; 任鑫; 毛玉怀; 李阳阳; 宋定安; 杨义光; 冉浩
Original assignee: Guizhou Aerospace Control Technology Co Ltd
Current assignee: Guizhou Aerospace Control Technology Co Ltd
Priority date: 2021-02-25
Filing date: 2021-02-25
Publication date: 2021-11-23
Anticipated expiration: 2031-02-25

Abstract

The utility model discloses an integrated motor drive arrangement of flexible ectoskeleton and driver relates to flexible drive arrangement technical field to solve current flexible ectoskeleton drive arrangement bulky, the structure is complicated, and the integrated level is not high, the poor problem of reliability. The speed reducing gear set of the motor driving device is arranged in the shell, the servo motor is arranged on the shell, the output end of the servo motor is meshed with the power input gear of the speed reducing gear set through the motor gear, the reel is arranged at one end of the power output gear rotating shaft of the speed reducing gear set and rotates under the driving of the power output gear, and the non-contact type magnetic-sensitive encoder is arranged on the shell and is opposite to the other end of the power output gear rotating shaft. Above-mentioned motor drive device driver is through the setting of integrating of adoption for the light little compactness of driver appearance has reduced part quantity, has practiced thrift the cost, and the driver has improved installation adaptability and system reliability simultaneously, has very high practicality.

Description

Flexible exoskeleton integrated motor driving device and driver

Technical Field

The utility model relates to a flexible drive technical field especially relates to an integrated motor drive arrangement of flexible ectoskeleton and driver.

Background

The flexible exoskeleton is rapidly developed in recent years, a flexible driving system is taken as one of key technologies in the field of the exoskeleton, and based on the requirements of miniaturization and integration of a servo driving system, a design approach integrating human-machine coordination, light weight and high efficiency is adopted, and a high-integration driving device is used for realizing flexible assistance of joints of a human body. The main driving mode of the existing flexible exoskeleton is rope driving, and a driving device is required to integrally design a motor, a speed reduction transmission mechanism and a bearing mechanism, so that the whole exoskeleton machine is light and small. Once the driving integration level is not high, the exoskeleton is very heavy, the matching performance of the human-computer and the wearing comfort level are reduced, and the assistance effect of the exoskeleton is severely limited.

With the development requirements of exoskeleton technology, particularly volume, mass, energy consumption, ergonomics and assistance efficiency, the flexible exoskeleton driving device is urgently required to be developed towards miniaturization, light weight, low energy consumption, high reliability and comfort level.

In recent years, the research on domestic flexible exoskeletons is just started, compared with international exoskeletons, the technical level is high, the engineering and practical degrees are low, and a great gap is left between the engineering and the practical use. The flexible exoskeleton driving device developed in China is large in size, complex in structure, low in integration level and poor in reliability, and the wearing comfort level and the power assisting efficiency of the whole machine are in urgent need of improvement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a small and light compactness of appearance has reduced part quantity, has practiced thrift the cost, and the design that integrates simultaneously has improved the flexible ectoskeleton integrated motor drive arrangement and the driver of installation adaptability and system reliability for solve the flexible ectoskeleton drive arrangement of present internal development bulky, the structure is complicated, and the integrated level is not high, and the reliability is poor, the wearing comfort level and the helping hand efficiency of complete machine all need the problem that improves urgently.

In order to achieve the above object, the present invention provides the following technical solutions:

the flexible exoskeleton integrated motor driving device comprises a servo motor, a shell, a non-contact magnetic-sensitive encoder, a reel and a reduction gear set;

the reduction gear group is installed in the casing, servo motor installs on the casing, its output pass through motor gear with reduction gear group's power input gear meshing, the reel is installed the one end of reduction gear group's power take off gear pivot, and power take off gear drives down and rotates, non-contact magnetic sensor encoder installs on the casing, and with power take off gear pivot other end sets up relatively.

The utility model provides an integrated motor drive arrangement of flexible ectoskeleton installs reduction gear group in the casing, the compactness more of structure, the reduction gear group of adoption, can transmit servo motor's output power to the spool, the effect of speed reduction and increase torque has been played, power take off is more stable, the drive is acted as go-between and is fixed on the reel, export suitable displacement, speed and pulling force, be used in human shank joint, for the human body provides a suitable joint moment in the motion process, realize articular gentle and agreeable helping hand. The non-contact magnetic-sensing encoder can measure the rotation angle of the wire winding wheel and serve as system feedback, the rotation angle is linearly related to the displacement of the driving stay wire, the movement position of the driving stay wire is indirectly reflected, and the displacement and the speed of the driving stay wire can be calculated through the rotation angle of the wire winding wheel to form a closed loop. The flexible exoskeleton integrated motor driving device is compact in structure, stable in power output and high in practicability.

Preferably, in the above technical solution, the reduction gear set includes a secondary gear, an intermediate gear and a winding gear;

the second grade gear intermediate gear and the equal rotary type of wire winding gear is installed in the casing, intermediate gear's one-level rodent and second grade rodent respectively with the second grade rodent of second grade gear with wire winding gear engagement, motor gear with the one-level rodent meshing of second grade gear.

Preferably, in the above technical solution, the diameter of the primary tooth wheel of the secondary gear is larger than the diameter of the secondary tooth wheel of the secondary gear.

Preferably, in the above technical solution, the diameter of the primary mesh of the intermediate gear is larger than the diameter of the secondary mesh of the intermediate gear.

Preferably, in the above technical solution, the housing includes a first housing and a second housing;

the second shell is buckled on the first shell to form a three-dimensional cavity structure.

Preferably, in the above technical solution, the secondary gear further includes a first bearing and a second bearing;

the first bearing and the second bearing are respectively arranged at two ends of the secondary gear rotating shaft, and the secondary gear is arranged on the first shell and the second shell through the first bearing and the second bearing.

Preferably, in the above technical solution, the winding gear further includes a third bearing and a fourth bearing;

the third bearing with the fourth bearing is installed respectively the both ends of wire winding gear pivot, the wire winding gear passes through the third bearing with the fourth bearing is installed first casing with on the second casing.

Preferably, in the above technical solution, two ends of the intermediate gear are respectively installed in corresponding installation grooves of the first housing and the second housing.

Preferably, in the above technical solution, the reel further comprises a bowden cable cylindrical head and a bowden cable cylindrical head pressing piece;

the bowden cable cylinder head is arranged in a groove of the reel, and the bowden cable cylinder head pressing sheet is arranged on the reel and limits the bowden cable cylinder head in the groove.

The utility model also provides a driver based on the flexible exoskeleton integrated motor driving device, which comprises a shell, a control panel, a control switch, a motor driving panel, a winding wheel cover and a driving power supply;

the motor drive device is two, two the motor drive device installs shell side both sides, the control panel the motor drive board and drive power supply all installs in the shell, the control panel with the motor drive board all with drive power supply electricity is connected, the control panel with control switch with the motor drive board electricity is connected, the reel cover is installed motor drive device is last, and will the reel cover is established including.

The driver provided by the utility model integrates the DC servo motor, the reduction gear set, the non-contact magnetic sensitive encoder and the like into the light and small motor driving device, thereby effectively reducing the volume of the motor driving device and having higher integration; the motor driving device, the control panel, the motor driving board, the control switch and the like are integrated in the shell, so that the integration level, reliability and stability of the driver are improved, the design of a replaceable battery is cancelled, the battery assembly is integrated in the driver, and an external charging interface is arranged, so that the reliability of an electrical component and a cable is improved; through the integrated arrangement, the driver is light and compact in appearance, the number of parts is reduced, the cost is saved, the installation adaptability and the system reliability are improved, and the practicability is high.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural diagram of a flexible exoskeleton integrated motor driving device in an embodiment of the present invention;

FIG. 2 is a cross-sectional view of the flexible exoskeleton integrated motor drive of FIG. 1;

fig. 3 is a schematic diagram of a driver according to an embodiment of the present invention.

Reference numerals:

1-a direct current servo motor, 2-a motor gear, 3-a non-contact magnetic-sensitive encoder, 4-an upper shell, 5-a winding gear, 6-a lower shell, 7-a winding wheel, 8-a Bowden wire cylindrical head pressing piece, 9-a secondary gear, 10-an intermediate gear, 11-a driving rear cover, 12-a 485 communication interface, 13-a driving bottom plate, 14-a control plate, 15-a wire tube fixing block, 16-a wire tube, 17-a wire guide wheel, 18-a winding wheel cover, 19-a control switch, 20-a motor driving plate, 21-a driving upper cover and 22-a battery cover plate.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

as shown in fig. 1 and fig. 2, the flexible exoskeleton integrated motor driving device provided by the present invention comprises a servo motor 1, a housing, a non-contact magnetic sensitive encoder 3, a reel 7 and a reduction gear set;

the speed reducing gear set is arranged in the shell, the servo motor 1 is arranged on the shell, the output end of the servo motor is meshed with the power input gear of the speed reducing gear set through the motor gear 2, the reel 7 is arranged at one end of the power output gear rotating shaft of the speed reducing gear set and driven by the power output gear to rotate, and the non-contact type magnetic-sensitive encoder 3 is arranged on the shell and is opposite to the other end of the power output gear rotating shaft.

The concrete during operation:

the speed reduction gear set is installed in the casing, and servo motor 1, reel 7, non-contact magnetic-sensitive encoder 3 are installed on the casing, and non-contact magnetic-sensitive encoder 3 and reel 7 are installed in the both sides of casing, and non-contact magnetic-sensitive encoder 3 measures the rotation angle of reel 7, as system feedback. The interior of the reel 7 is provided with a groove structure for accommodating the cylindrical head of the Bowden cable, and the groove structure can drive the Bowden cable to move without interfering the rolling path of the Bowden cable in the reel 7; the Bowden cable is led out from the reel 7 and then fixed on the thigh tension sensor to form force feedback closed-loop control and provide assistance for human body movement.

The working process of the flexible exoskeleton integrated motor driving device is as follows: after the motor driving device is powered on, the servo motor 1 works, the motor gear 2 serves as an input gear to drive the secondary gear 9 and the intermediate gear 10 to rotate, the reel 7 is meshed with the winding gear 5 to serve as an output gear, and the purposes of speed reduction and torque increase are achieved through transmission of the secondary gear 9 and the winding gear 5. The driving pull wire is fixed on the winding wheel 7, outputs proper displacement, speed and pulling force and acts on the leg joint of the human body. Provides a proper joint torque for the human body in the motion process, and realizes the flexible assistance of the joint. The non-contact magnetic sensitive encoder 3 measures the rotation angle of the reel 7 as a system feedback, the rotation angle being linearly related to the displacement of the drive wire, indirectly reflecting the movement position of the drive wire. And calculating to obtain the displacement and the speed of the driving stay wire to form a closed loop.

The utility model provides an integrated motor drive arrangement of flexible ectoskeleton installs reduction gear group in the casing, the compactness more of structure, the reduction gear group of adoption, can transmit servo motor's output power to the spool, the effect of speed reduction and increase torque has been played, power take off is more stable, the drive is acted as go-between and is fixed on the reel, export suitable displacement, speed and pulling force, be used in human shank joint, for the human body provides a suitable joint moment in the motion process, realize articular gentle and agreeable helping hand. The non-contact magnetic-sensing encoder can measure the rotation angle of the wire winding wheel and serve as system feedback, the rotation angle is linearly related to the displacement of the driving stay wire, the movement position of the driving stay wire is indirectly reflected, and the displacement and the speed of the driving stay wire can be calculated through the rotation angle of the wire winding wheel to form a closed loop. The flexible exoskeleton integrated motor driving device is compact in structure, has a power output problem and has high practicability.

As an embodiment, the reduction gear set includes a secondary gear 9, an intermediate gear 10, and a winding gear 5; second grade gear 9, intermediate gear 10 and wire winding gear 5 all install in the casing with the rotary type, and the one-level rodent and the second grade rodent of intermediate gear 10 mesh with the second grade rodent and the wire winding gear 5 of second grade gear 9 respectively, and motor gear 2 meshes with the one-level rodent of second grade gear 9.

The form of the speed reduction gear set consisting of the secondary gear 9, the intermediate gear 10 and the winding gear 5 is adopted, so that the output rotating speed of the servo motor 1 can be effectively adjusted in multiple stages, and the effects of speed reduction and torque increase are realized.

As an embodiment, the diameter of the primary teeth of the secondary gear 9 is larger than the diameter of the secondary teeth of the secondary gear 9. Further, the diameter of the primary mesh of the intermediate gear 10 is larger than that of the secondary mesh of the intermediate gear 10.

By adopting the secondary gear 9 and the intermediate gear 10 in the above form, the speed reduction adjustment of the rotating speed of the servo motor 1 is effectively realized, and the torque increasing effect is also realized.

As an embodiment, the housing includes a first housing 4 and a second housing 6; the second shell 6 is buckled on the first shell 4 to form a three-dimensional cavity structure.

The first shell 4 and the second shell 6 are assembled, so that the secondary gear 9, the intermediate gear 10, the winding gear 5 and the like can be conveniently installed and maintained later, and the installation is simpler and more convenient.

As an embodiment, the secondary gear 9 further comprises a first bearing and a second bearing; the first bearing and the second bearing are respectively arranged at two ends of a rotating shaft of the secondary gear 9, and the secondary gear 9 is arranged on the first shell 4 and the second shell 6 through the first bearing and the second bearing.

The secondary gear 9 adopts a bearing installation mode, so that the friction force between the gear shaft and the shell is effectively reduced, and the transmission effect of the power output by the servo motor 1 is ensured.

As an embodiment, the winding gear 5 further includes a third bearing and a fourth bearing; the third bearing and the fourth bearing are respectively arranged at two ends of a rotating shaft of the winding gear 5, and the winding gear 5 is arranged on the first shell 4 and the second shell 6 through the third bearing and the fourth bearing.

The winding gear 5 adopts a bearing installation mode, so that the friction force between the gear shaft and the shell is effectively reduced, and the transmission effect of the power output by the servo motor 1 is ensured.

As an embodiment, both ends of the intermediate gear 10 are respectively installed in corresponding installation grooves of the first and

second housings

4 and 6.

The intermediate gear 10 is assembled, so that the assembly is simpler and more convenient, and the transmission effect of the output power of the servo motor 1 is ensured.

As an embodiment, the reel 7 further comprises a bowden cable cylinder head and a bowden cable cylinder head presser plate 8; the Bowden cable cylinder head is mounted in a recess of the reel 7, and the Bowden cable cylinder head presser plate 8 is mounted on the reel 7 to restrain the Bowden cable cylinder head in the recess.

The arrangement of the bowden cable cylinder head can play a good guiding and guiding role for the bowden cable on the reel 7, and the bowden cable cylinder head pressing sheet 8 facilitates the installation of the bowden cable cylinder head.

As shown in fig. 3, the present invention further provides a driver based on the flexible exoskeleton integrated motor driving device, which comprises a driving housing, a control board 14, a control switch 19, a motor driving board 20, a winding wheel cover 18 and a driving power supply; the number of the motor driving devices is two, the two motor driving devices are arranged on two sides of the shell side, the control panel 14, the motor driving board 20 and the driving power supply are all arranged in the shell, the control panel 14 and the motor driving board 20 are all electrically connected with the driving power supply, the control panel 14 is electrically connected with the control switch 19 and the motor driving board 20, and the winding wheel cover 18 is arranged on the motor driving devices and is arranged in the shell.

Specifically, the method comprises the following steps:

the motor driving devices of the driver are respectively and symmetrically installed inside the driving shell through screws, and the outside of the driving shell drives the Bowden cable to roll through the reel 7 so as to provide assistance for a human body. The control panel 14, the motor drive board 20, 422 debugging interface, the 485 communication interface 12, the driving power supply and the like are sealed by the driving shell, and the electric appliance circuit is completely positioned in the driving shell, so that the reliability of the system is improved. The driving shell comprises a driving upper cover 21, a driving rear cover 11 and a driving bottom plate 13, and a driving power supply is installed in the driving shell through a battery cover plate 22, and the driving shell is assembled, so that the installation is more convenient. Special recesses are provided in the reel 7 for accommodating the bowden cable cylinder head (the outside of the bowden cable is the steel wire inside the wire sheath), while a bowden cable cylinder head pressure plate 8 is used to provide a stop for the bowden cable cylinder head while ensuring that it is free to rotate to some extent. The wire guide wheel 17 is made of nylon, wraps around the reel 7, reserves a hole for pulling the Bowden wire in the tangential direction, and is fixed on the driving shell by a screw; the counter bore is inserted with a conduit 16 and is pressed and fixed by a conduit fixing block 15. Thereby ensuring that the entire bowden cable is protected by the synthetic material during operation. Meanwhile, the position of the conduit pipe 16 is controlled to ensure that the phenomenon of overlapping and winding of the Bowden cable can not occur in the working process, and the service life of the Bowden cable is prolonged.

In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A flexible exoskeleton integrated motor driving device comprises a servo motor, and is characterized by further comprising a shell, a non-contact magnetic-sensitive encoder, a reel and a reduction gear set;

2. The flexible exoskeleton integrated motor drive of claim 1 wherein the reduction gear set comprises a secondary gear, an intermediate gear and a winding gear;

3. The flexible exoskeleton integrated motor drive of claim 2 wherein the diameter of the secondary gear primary mesh is larger than the diameter of the secondary gear secondary mesh.

4. The flexible exoskeleton integrated motor drive of claim 2 wherein the diameter of the primary mesh of the intermediate gear is greater than the diameter of the secondary mesh of the intermediate gear.

5. The flexible exoskeleton integrated motor drive of claim 3 wherein the housing comprises a first housing and a second housing;

6. The flexible exoskeleton integrated motor drive of claim 5 wherein the secondary gear further comprises a first bearing and a second bearing;

7. The flexible exoskeleton integrated motor drive of claim 5 wherein the winding gear further comprises a third bearing and a fourth bearing;

8. The flexible exoskeleton integrated motor drive of claim 5 wherein the intermediate gear is mounted at each end in a corresponding mounting slot in the first and second housings.

9. The flexible exoskeleton integrated motor drive of claim 1 wherein the reel further comprises a bowden cable cylinder head and a bowden cable cylinder head tab;

10. A driver for the integrated motor drive for the flexible exoskeleton of any one of claims 1 to 9, further comprising a housing, a control board, a control switch, a motor drive board, a reel cover and a drive power supply;