CN216731873U - Self-damping integrated exoskeleton joint actuator - Google Patents
Self-damping integrated exoskeleton joint actuator Download PDFInfo
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- CN216731873U CN216731873U CN202220079649.7U CN202220079649U CN216731873U CN 216731873 U CN216731873 U CN 216731873U CN 202220079649 U CN202220079649 U CN 202220079649U CN 216731873 U CN216731873 U CN 216731873U
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Abstract
The utility model relates to the technical field of robot joint actuators and discloses a self-damping integrated exoskeleton joint actuator. The harmonic reducer comprises a motor, a harmonic reducer, a damping spring and other key components, wherein the motor comprises a motor shell, a motor stator, a motor rotor, a rear end cover shell and a motor shaft, the motor stator is connected with the motor shell, the motor rotor of the motor shaft is connected with the motor rotor of the motor shaft, one end of the motor rotor penetrates out of the motor shell, the harmonic reducer comprises a harmonic input component and a harmonic output component, the motor shaft and the harmonic input component are fixed, the harmonic output component is fixed with an output end cover, the damping spring is arranged between the motor shaft and the output end cover, a coil spring can be adopted, and a circuit board is arranged on the rear end cover shell.
Description
Technical Field
The utility model relates to the technical field of robot joint actuators, in particular to a self-damping integrated exoskeleton joint actuator.
Background
The execution joint is one of the most critical components of the exoskeleton robot. From the power source perspective, the design can be divided into a dynamic design and an unpowered design, the dynamic design mainly comprises a motor, a speed reducer, a brake unit and other parts, and the control device has the advantages of accurate and flexible control and the defects of large volume, poor stability and high energy consumption; the unpowered design mainly adopts the elasticity energy storage original paper, and the advantage is that the energy consumption is low, stability is high, and the shortcoming is uncontrollable, the suitability is poor.
Meanwhile, in the exoskeleton robot execution joint in the existing dynamic design, most of the exoskeleton robots adopt all-in-one machines integrating industrial motors and harmonic reducers, and are not designed according to the requirements on reliability and intensification of exoskeleton scenes. The integrated design of the encoder, the motor, the reducer and the driver is not considered, so that the performance of the whole joint is reduced, and the practicability is not high.
In view of the above disadvantages, the present invention/invention patent provides an integrated exoskeleton robot joint actuator with both unpowered and powered advantages.
SUMMERY OF THE UTILITY MODEL
The utility model provides a self-damping integrated exoskeleton joint actuator for solving the technical problems in the prior art.
In order to achieve the purpose, the utility model adopts the following technical scheme: the utility model provides a self-damping integral type ectoskeleton joint executor, includes motor and harmonic speed reducer machine, the motor includes motor housing, motor stator, motor rotor, rear end cap shell and motor shaft, motor stator links to each other with motor housing, motor shaft motor rotor links to each other and one end wears out motor housing, harmonic speed reducer machine includes speed reduction's harmonic input subassembly and harmonic output subassembly, motor shaft and harmonic input subassembly are fixed, harmonic output subassembly is fixed with the output end cover, be equipped with the coil spring between motor shaft and the output end cover, the inner and the motor shaft of coil spring are fixed, the outer end of coil spring is fixed on the output end cover, and the motor during operation, the motor drives the coil spring and tightens up, and the output end cover rotates the coil spring and relaxs, and the speed of loosing is less than the speed of tightening up, be equipped with the circuit board on the rear end cap shell.
The motor rotor drives the motor shaft to rotate, the motor shaft drives the harmonic input assembly to rotate, a large torque is obtained through the speed reduction harmonic output assembly to drive the output end cover to rotate, the motor shaft and the output end cover simultaneously drive the coil spring to rotate, the contraction rate of the coil spring is greater than the release rate, certain elastic force can be accumulated on the coil spring when the rotation is finished, the harmonic output assembly can be driven to rotate under the driving of the coil spring when the output end cover stops rotating, and the circuit board controls the motor to drive.
Preferably, the harmonic output assembly and the output end cover are connected through screws.
Preferably, a first bearing is arranged between the motor shaft and the motor shell.
Preferably, a second bearing is arranged between motor shafts of the output end covers.
The utility model has the beneficial effects that: the utility model has simple structure, integrates the motor, the harmonic speed reducer and the circuit board into a whole, greatly saves space, has more compact structure and self-damping function, can realize the function of rotating the harmonic output component by the coil spring, and greatly saves power when the harmonic output component does not need to move under the driving of the motor.
Drawings
FIG. 1 is a schematic cross-sectional view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a schematic view of a coil spring according to the present invention;
fig. 4 is an exploded view of the present invention.
In the figure: the motor comprises a coil spring 1, a bearing II 2, a flexible gear 3, a bearing I4, a motor shell 5, a motor stator 6, a motor rotor 7, a rear end cover shell 8, a motor shaft 9, a circuit board 10, a harmonic generator 11, a first fixing piece 12, a second fixing piece 13, a first connecting portion 14, a second connecting portion 15, a rigid gear 16 and an output end cover 17.
Detailed Description
The technical scheme of the utility model is further specifically described by the following embodiments and the accompanying drawings.
Example (b): a self-damping integrated exoskeleton joint actuator is shown in figures 1-4 and comprises a motor and a harmonic reducer, wherein the motor comprises a motor shell, a motor stator, a motor rotor, a rear end cover shell and a motor shaft, the motor stator is connected with a motor shell, the motor rotor of the motor shaft is connected with one end of the motor rotor, the motor shaft penetrates out of the motor shell, a bearing oil I is arranged between the motor shaft and the motor shell, the harmonic reducer comprises a harmonic input assembly and a harmonic output assembly, the harmonic input assembly is a harmonic generator in the prior art, the harmonic output assembly comprises a flexible gear and a rigid gear, the flexible gear is fixed with an output end cover by screws, the rigid gear and the motor shell are fixed by screws, the motor shaft and the harmonic generator are fixed by a fixing assembly, the harmonic generator is arranged at the front end of the bearing I, and the fixing assembly comprises a first fixing piece and a second fixing piece, the motor shaft is provided with a first connecting portion used for connection, the harmonic generator is provided with a corresponding second connecting portion, the first fixing piece and the second fixing piece press the first connecting portion and the second connecting portion and then fix the first connecting portion and the second connecting portion with screws, a coil spring is arranged between the motor shaft and the output end cover, the inner end of the coil spring is fixed with the motor shaft, the outer end of the coil spring is fixed on the output end cover, the motor shaft penetrates through the middle of the output end cover and the coil spring, a second bearing is arranged between the motor shaft and the output end cover, and a circuit board is arranged on a shell of the rear end cover and electrically connected with the motor.
The motor rotor drives the motor shaft to rotate, the motor shaft drives the harmonic generator to rotate, a large torque is obtained through the speed reduction harmonic output assembly to drive the output end cover to rotate, the motor shaft and the output end cover simultaneously drive the coil spring to rotate, the contraction rate of the coil spring is greater than the release rate, certain elastic force can be accumulated on the coil spring when the rotation is finished, when the output end cover stops rotating, the harmonic output assembly is driven to rotate under the driving of the coil spring, and the circuit board controls the motor to drive.
The foregoing is a detailed description of the preferred embodiments of the present patent, and it should be understood that this invention is not limited to the embodiments described above, but rather, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the utility model.
Claims (6)
1. A self-damping integrated exoskeleton joint actuator, comprising: including motor and harmonic speed reducer machine, the motor includes motor housing, motor stator, motor rotor, rear end cap shell and motor shaft, motor stator links to each other with motor housing, motor shaft motor rotor links to each other and motor housing is worn out to one end, the harmonic speed reducer machine includes harmonic input subassembly and harmonic output subassembly, motor shaft and harmonic input subassembly are fixed, harmonic output subassembly is fixed with the output end cover, be equipped with the wind spring between motor shaft and the output end cover, be equipped with the circuit board on the rear end cap shell.
2. The self-damping integrated exoskeleton joint actuator of claim 1, wherein: and the harmonic output assembly is connected with the output end cover through a screw.
3. The self-damping integrated exoskeleton joint actuator of claim 1, wherein: a first bearing is arranged between the motor shaft and the motor shell.
4. The self-damping integrated exoskeleton joint actuator of claim 1, wherein: and a second bearing is arranged between motor shafts of the output end covers.
5. The self-damping integrated exoskeleton joint actuator of claim 1, wherein: the harmonic input assembly and the motor shaft are fixed through the fixing assembly.
6. The self-damping integrated exoskeleton joint actuator of claim 5, wherein: the fixing assembly comprises a first fixing piece and a second fixing piece, a first connecting portion used for connection is arranged on the motor shaft, a corresponding second connecting portion is arranged on the harmonic input assembly, and the first connecting portion and the second connecting portion are pressed and then fixed through screws by the first fixing piece and the second fixing piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220079649.7U CN216731873U (en) | 2022-01-13 | 2022-01-13 | Self-damping integrated exoskeleton joint actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220079649.7U CN216731873U (en) | 2022-01-13 | 2022-01-13 | Self-damping integrated exoskeleton joint actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216731873U true CN216731873U (en) | 2022-06-14 |
Family
ID=81911434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220079649.7U Active CN216731873U (en) | 2022-01-13 | 2022-01-13 | Self-damping integrated exoskeleton joint actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216731873U (en) |
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2022
- 2022-01-13 CN CN202220079649.7U patent/CN216731873U/en active Active
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