WO2023193463A1 - 穿戴式外骨骼的驱动装置 - Google Patents

穿戴式外骨骼的驱动装置 Download PDF

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Publication number
WO2023193463A1
WO2023193463A1 PCT/CN2022/137983 CN2022137983W WO2023193463A1 WO 2023193463 A1 WO2023193463 A1 WO 2023193463A1 CN 2022137983 W CN2022137983 W CN 2022137983W WO 2023193463 A1 WO2023193463 A1 WO 2023193463A1
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WO
WIPO (PCT)
Prior art keywords
wheel
driven wheel
driving
present
motor
Prior art date
Application number
PCT/CN2022/137983
Other languages
English (en)
French (fr)
Inventor
丁也
B普洛透斯
孙涛
Original Assignee
远也科技（苏州）有限公司
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Application filed by 远也科技（苏州）有限公司 filed Critical 远也科技（苏州）有限公司
Publication of WO2023193463A1 publication Critical patent/WO2023193463A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

Definitions

  • the present invention relates to nerve, muscle and skeletal rehabilitation equipment, and in particular to a drive device for a wearable exoskeleton with good transmission function.
  • exoskeletons are mainly in two aspects: one is to improve the mobility of healthy people, and the other is to provide rehabilitation training and walking assistance for people with mobility impairments.
  • the power control of the exoskeleton is realized by the driving device.
  • the driving device of the existing wearable exoskeleton is relatively simple. It basically provides power to the exoskeleton. In particular, its transmission method is unreasonable, rigid, prone to danger, and not It is suitable for patients to walk independently during rehabilitation training and requires human assistance. It has low integration, large volume, heavy weight, poor heat dissipation, unergonomic design, and poor performance.
  • the purpose of the present invention is to provide a driving device for a wearable exoskeleton with reasonable transmission mode, not easy to wear, long life, and good safety performance.
  • the driving device of the wearable exoskeleton provided by the invention includes a driving module and a transmission module.
  • the driving module includes a motor.
  • the transmission module includes a motor shaft, a driving wheel and a driven wheel. The driving wheel passes through the motor shaft. Connected to the motor, the driven wheel is connected to the driving wheel, and the cross section of the driving wheel is non-circular.
  • the preferred solution is that the driving wheel has a polygonal cross-section.
  • cross section of the driving wheel is triangular.
  • the cross-section of the driving wheel is a Lello triangle with its vertices guided into rounded corners.
  • the driven wheel is configured as a pulley structure with the driving wheel as the center.
  • the transmission module also includes a bearing, the driving wheel is connected to the driven wheel through the bearing, the inner ring of the driven wheel is sleeved with the outer ring of the bearing, and the inner ring of the bearing is sleeved with the outer ring of the driving wheel.
  • the transmission module further includes a driven wheel fixing piece, the driven wheel fixing piece is sleeved on the outer ring of the driving wheel, and the shape of the inner ring of the driven wheel fixing piece matches the shape of the outer ring of the driving wheel.
  • the gears are engaged and the driven wheel is connected to the driven wheel fixing part.
  • the transmission module further includes a traction line, and the traction line is connected to the driven wheel; the traction line is configured as a Bowden line.
  • Another preferred solution is that one end of the Bowden wire is fixedly installed in the preset fixing groove of the driven wheel, and then the Bowden wire is fixed through the provided pressing piece and screws.
  • the present invention has the following advantages:
  • the cross-section of the driving wheel is set to a non-circular shape, especially a multi-arc shape, a three-arc shape or a Lello triangle structure with a vertex guided into a rounded corner, so that the driving wheel can generate higher torque and reduce the number of the driving wheel and the bushing.
  • the material of the components connected to it wears away, and high torque support is provided, and the transmission power is better transmitted to each component connected to it.
  • the ingenious structural design improves the service life of the invention and improves the transmission performance;
  • the setting of bearings and driven wheel fixings increases the axial stress that the turntable can withstand, protects the bearings in the driving device, increases the service life of the motor, and at the same time makes the power transmission from the driving wheel to the driven wheel softer and less stiff.
  • the safety is better, and this setting method also has the advantages of compactness, simplicity and low transmission noise.
  • Figure 1 is a functional module diagram of the driving device of the wearable exoskeleton of the present invention
  • Figure 2 is a schematic structural diagram of the driving device of the wearable exoskeleton of the present invention.
  • Figure 3 is an exploded schematic diagram of the structure of the driving device of the wearable exoskeleton of the present invention.
  • Figure 4 is a schematic front view of the driving device structure of the wearable exoskeleton of the present invention.
  • Figure 5 is a schematic back view of the driving device structure of the wearable exoskeleton of the present invention.
  • Figure 6 is a schematic top view of the driving device structure of the wearable exoskeleton of the present invention.
  • Figure 7 is a schematic bottom view of the driving device structure of the wearable exoskeleton of the present invention.
  • Figure 8 is a schematic structural diagram of the housing of the driving device of the present invention.
  • Figure 9 is a schematic diagram of the installation structure of the power module of the driving device of the present invention.
  • Figure 10 is a schematic diagram of the exploded structure of the battery module of the driving device of the present invention.
  • FIG 11 is a schematic cross-sectional structural diagram of the battery module in the driving device according to the embodiment of the present invention.
  • Figure 12 is a partial cross-sectional structural schematic diagram of the driving device according to the embodiment of the present invention.
  • Figure 13 is another cross-sectional structural schematic diagram of the driving device according to the embodiment of the present invention.
  • Figure 14 is a schematic diagram of the partial structure of the bottom spring in Figure 13;
  • Figure 15 is a schematic diagram of the connection structure of the motor and the motor fixing part in the driving device of the present invention.
  • Figure 16 is a partial structural diagram of the fixed position of the motor in the driving device of the present invention.
  • Figure 17 is a schematic structural diagram of the connection between the driving wheel, the pulley and the driven wheel in the embodiment of the present invention.
  • Figure 18 is a partial structural schematic diagram after installing the driven wheel fixing member in the embodiment of the present invention.
  • Figure 19 is a schematic diagram of the exploded structure of the connection between the driven wheel and the traction line in the embodiment of the present invention.
  • Figure 20 is a schematic cross-sectional view of the driving device with a light guide column according to the embodiment of the present invention.
  • Figure 21 is a partial enlarged view of the light guide column in Figure 20.
  • the drive device of the wearable exoskeleton of the present invention includes a drive module, a transmission module, a battery module and a heat dissipation module.
  • the battery module is the drive module.
  • the module provides power, the transmission module moves under the control of the drive module, and the heat dissipation module dissipates heat for the drive module.
  • the close cooperation and coordinated operation of each module enable the invention to effectively help patients with rehabilitation training.
  • the driving module includes a driving plate 11 and a motor 1; the heat dissipation module includes a radiator 2, and the radiator 2 and the motor 1 is connected to the drive board 11 to dissipate heat for the motor 1 and the drive board 11.
  • the motor 1 and the drive board 11 are connected to the same radiator 2, so that the two heat sources of the motor 1 and the drive board 11 are combined into one heat source to generate heat together, and only one radiator is needed. 2. Heat dissipation to achieve the functions of saving costs, saving space, reducing weight and improving heat dissipation efficiency.
  • the transmission module includes a motor shaft 100, a driving wheel 101, a driven wheel 102 and a traction line 107.
  • the driven wheel 102 is set as a pulley structure with the driving wheel 101 as the center, so
  • the driving wheel 101 is connected to the motor 1 through the motor shaft 100, and the traction wire 107 is connected to the driven wheel 102;
  • the traction wire 107 is set as a Bowden wire, and one end of the Bowden wire is fixedly installed on the preset position of the driven wheel 102.
  • the Bowden wire is fixed through the provided pressing piece 109 and screws.
  • the drive board 11 is connected to the motor 1.
  • the motor 1 is connected to the driving wheel 101 through the motor bearing 100.
  • the driving wheel 101 is connected to the driven wheel 102.
  • the driving board 11 controls the motor. 1's power, including start and stop, power magnitude, the movement of the motor 1 is transmitted to the driving wheel 101 and the driven wheel 102 through the motor shaft 100 in sequence.
  • the drive module further includes The main board 4, the upper bracket 6, the lower bracket 7, and the power board 15; the upper bracket 6 and the lower bracket 7 form a stable frame structure by connecting and locking motor fixings 18 respectively, see Figure 2.
  • Figures 2 and 6 which are schematic top views of the driving device structure of the wearable exoskeleton of the present invention.
  • the upper bracket 6 is locked and fixed on the motor fixing member 18 through the upper bracket fixing screws 10; please refer to Figures 2 and 7, the lower bracket 7 It is locked and fixed on the motor fixing part 18 through the lower bracket fixing screw 13.
  • FIGs 2 and 15 are schematic diagrams of the connection structure between the motor and the motor fixing part in the driving device of the present invention.
  • the motor 1 is connected to the motor fixing part 18, and the motor is supported by a stable frame structure composed of the motor fixing part 18 and the upper and lower brackets. 1, and make the motor 1 stable in the present invention.
  • Figures 15 and 16 which are partial structural schematic diagrams of the fixing position of the motor in the driving device of the present invention.
  • the motor 1 is fixed on the motor fixing member 18 through the motor fixing screw 17.
  • the power board 15 is locked and fixed with the lower bracket 7 through the power board fixing screws 16 .
  • the drive plate 11 is locked and fixed with the upper bracket 6 through the drive plate fixing screws 12 .
  • the transmission module also includes a bearing 103.
  • the driving wheel 101 is connected to the driven wheel 102 through the bearing 103.
  • the inner ring of the driven wheel 102 is sleeved with the outer ring of the bearing 103.
  • the inner ring of the bearing 103 is connected to the driving wheel.
  • the outer ring of the wheel 101 is sleeved, and the cross section of the driving wheel 101 is non-circular.
  • the cross section of the driving wheel 101 is a polyarcagon, preferably a triarcagon.
  • the cross section of the driving wheel 101 is set as a Lello triangle with the vertex being rounded.
  • the cross section of the driving wheel 101 is set to be non-circular, especially a polyarcagonal shape, a triarcagonal shape or a Lello triangle structure with the vertices guided into rounded corners, so that the driving wheel 101 can generate higher torque and reduce the cost of the driving wheel.
  • 101 and the material of the components sleeved on it, and provide high torque support, and the transmission power is better transmitted to the various components sleeved on it.
  • the ingenious structural design improves the service life of the invention and improves the transmission performance.
  • the transmission module further includes a driven wheel fixing part 104.
  • the driven wheel fixing part 104 is sleeved on the outer ring of the driving wheel 101.
  • the shape of the inner ring of the driven wheel fixing part 104 is The shape of the outer ring of the driving wheel 101 matches the sleeve gearing, and the driven wheel 102 is connected to the driven wheel fixing part 104.
  • This arrangement realizes the supporting effect of the motor shaft 100 on the driven wheel 102, and at the same time, the motor shaft 100 drives the driving wheel 101 to rotate. , and then drive the driven wheel fixing piece 104 that is sleeved with the driving wheel 101 to rotate, and then drive the driven wheel 102 to rotate.
  • the rotation of the driven wheel 102 drives the traction wire 107 to move, so that the transmission module can convert the rotating motion of the motor 1 into Linear movement of the pulling wire 107.
  • the arrangement of the bearing 103 and the driven wheel fixing 104 increases the axial stress that the turntable can withstand, protects the bearing 103 in the driving device, increases the service life of the motor 1, and at the same time enables power transmission from the driving wheel 101 to the driven wheel 102 It is softer, less stiff, and safer.
  • This setting method also has the advantages of compactness, simplicity, and low transmission noise.
  • the driving wheel 101 is fixedly connected to the motor shaft 100 through the driving wheel fixing screw 108; please refer to Figures 3, 18 and 19.
  • the driven wheel 102 is connected through the driven wheel.
  • the fixing screw 106 is fixedly connected to the driven wheel fixing 104.
  • the motor shaft 100 is driven to rotate, thereby driving the driving wheel 101 to move synchronously.
  • the movement of the driving wheel 101 drives the driven wheel fixing part 104 connected with it to move, and then drives the driven wheel fixing part 104 to be fixedly connected.
  • the driven wheel 102 moves, and the driven wheel 102 drives the traction wire 107 connected to it to move, thereby realizing the linear reciprocating motion of the traction wire 107.
  • two sets of drive modules, two sets of transmission modules and two sets of heat dissipation modules are symmetrically arranged left and right, realizing the power control of the exoskeleton in the left and right directions of the present invention.
  • multiple sets of driving modules, multiple sets of transmission modules, and multiple sets of heat dissipation modules can be arranged symmetrically left and right to achieve power control of the exoskeleton in multiple directions.
  • FIG 8 is a schematic structural diagram of the housing of the driving device of the present invention.
  • the present invention also includes a housing 110, and the driving module is arranged in the housing 110.
  • the power module 200 is electrically connected through the power board 15 to provide power for the entire device.
  • the power module 200 includes a battery core 201 and a battery case 202.
  • the battery core 201 Set inside the battery case 202.
  • the power module 200 can be built into the housing 110 , or can be externally fixed on the housing 110 .
  • a battery compartment 203 with an upper opening is provided on the housing 110, and a bottom spring is provided at the bottom of the battery compartment 203. 207.
  • the battery module 200 is detachably installed in the battery compartment 203.
  • the battery module 200 is electrically connected to the power board 15 by being placed in the battery compartment 203 with an upper opening.
  • the battery cells are configured as lithium batteries, and the battery cells inside the lithium battery are arranged horizontally in an optimal manner based on the minimum space design of the shape.
  • a battery lock 204 is provided on the battery module 200.
  • the battery lock 204 is fixed on the built-in elastic piece 205 of the battery module; the battery compartment 203 is provided with a lock slot 210, and the battery module 200 and the battery compartment 203 are connected by a snap connection that matches the battery lock 204 and the lock slot 210.
  • the battery lock 204 can automatically pop into the reserved lock slot 210 of the battery compartment 203 to realize the locking and fixing effect of the battery module 200 and the battery compartment 203.
  • a battery unlock button 211 is provided on the housing 110 corresponding to the lock groove 210 .
  • Fig. 13 for another cross-sectional structural diagram of the driving device according to the embodiment of the present invention
  • Fig. 14 for the partial structural diagram of the bottom spring in Fig. 13.
  • one end of the bottom spring 207 is fixed below the battery compartment 203.
  • a spring outer cover 208 is set outside the other end.
  • the upper part of the outer cover is set as a cylindrical shape with a top seal.
  • An opening 209 is set at the bottom of the battery compartment 203 and is connected to the cylindrical top of the spring outer cover.
  • an opening 209 with a diameter larger than The large diameter structure of the opening 209 allows the bottom spring 207 to be connected to the bottom of the battery compartment by the spring outer cover 208 without affecting the appearance. And the fixed position of the bottom spring 207 is set so that when the large diameter structure of the spring cover 208 is pushed to the bottom, the upper cylindrical top of the spring cover 208 is just flush with the bottom of the battery compartment 203, ensuring that the spring cover 208 will not be pushed out of the opening by mistake. 209, easy to use.
  • the heat dissipation module also includes a cooling fan 5 and a heat conductor 8.
  • the cooling fan 5 is connected to the radiator 2.
  • One end of the radiator 2 is connected to the motor 1.
  • the other end of the radiator 2 is also connected to the upper bracket 6.
  • the upper bracket 6 provides support for the radiator 2 and realizes the operation of the radiator 2.
  • stability; a thermal conductive sheet 8 is provided between the drive plate 11 and the radiator 2, that is, the drive plate 11 is connected to the radiator 2 through the thermal conductive sheet 8, and the other end of the drive plate 11 is connected to the upper bracket 6.
  • the thermal conductive sheet 8 will be pressed and fixed by the locking pressure between the radiator 2 and the drive plate 11 and the upper bracket 6 .
  • the radiator 2 is fixed on the motor 1 through the radiator fixing screw 9, which realizes the close fit between the radiator 2 and the motor 1 to achieve the best heat radiation.
  • the radiator 2 is also fixed on the upper bracket 6 through the radiator fixing screw 2 19 .
  • the heat conductor 8 in the heat dissipation module, since the drive board 11 will generate a large amount of heat during operation, the heat conductor 8 will conduct the heat generated by the drive board 11 to the radiator 2 to achieve auxiliary heat dissipation.
  • the function prevents the driver board 11 from overheating during operation, maintains the temperature stability within a reasonable range during operation, and ensures the stable operation of the driver board 11.
  • the thermally conductive sheet 8 described in the embodiment of the present invention is specifically configured as a thermally conductive silicone sheet.
  • the cooling fan 5 is connected to the radiator 2 through the lower bracket 7.
  • the connection method is conducive to stabilizing the stability of the radiator 2 and the cooling fan 5 in the present invention.
  • the advantage of the cooling fan 5 is that air convection can be used to exchange heat for rapid cooling, which solves the problem that the heat generated by multiple heat sources in the closed cavity of the present invention cannot be quickly discharged.
  • the cooling fan 5 is locked and fixed with the radiator 2 and the lower bracket 7 through the fan fixing screws 14 .
  • the heat dissipation module also includes a heat dissipation hole 22.
  • the heat dissipation hole 22 is provided at the bottom of the casing 110, so that the invention can be emptied out in time.
  • the heat in the cavity is discharged to the outside of the device of the present invention through the heat dissipation holes 22. Especially when the cooling fan 5 is working, the heat will be discharged quickly.
  • One or more heat dissipation holes 22 are provided.
  • the advantage of having the heat dissipation holes 22 at the bottom of the housing 110 is that it can effectively prevent dust, water, and foreign matter from entering.
  • the working principle of the heat dissipation module shown is: when the motor 1 is working, the heat generated is directly transferred to the radiator 2. When the drive board 11 is working, the heat is transferred to the radiator 2 through the heat conductor 8, and the cooling fan 5 is working to transfer the heat to the radiator 2.
  • the heat in the heat dissipation hole 22 and the heat in the space inside the housing 110 are conducted to the heat dissipation holes 22 through the heat conduction air channel and discharged out of the device of the present invention.
  • Figure 20 is a schematic cross-sectional view of a driving device with a light guide column according to an embodiment of the present invention.
  • Figure 21 is a partial enlarged view of the light guide column in Figure 20, where Figure 21 is an enlarged view of the structure of point A in Figure 20.
  • Schematic diagram the present invention is also provided with a light source indicator 300 for identifying the working status of the present invention.
  • the present invention is provided with a light guide column explosion-proof point 302 on the light guide column 301.
  • the above-mentioned explosion-proof point 302 of the light guide column is set as an astigmatism tooth, and the strong light source is refracted to the dark area of the light guide column through the tooth-shaped slope, thereby solving the problem of uneven backlight and achieving a uniform backlight effect of the light guide column.
  • the cross section of the driving wheel 101 of the present invention is set to a non-circular shape, especially a polyarcagonal shape, a triarcagonal shape or a Lello triangle structure with the vertices guided into rounded corners, so that the driving wheel 101 can generate higher torque. It reduces the wear of the driving wheel 101 and the material of the components connected to it, and provides high torque support, so that the transmission power is better transmitted to the various components connected to it.
  • the ingenious structural design improves the service life of the invention and improves the transmission efficiency.
  • the arrangement of the bearing 103 and the driven wheel fixing 104 increases the axial stress that the turntable can withstand, protects the bearing 103 in the driving device, increases the service life of the motor 1, and at the same time allows the driving wheel 101 to
  • the power transmission of the driven wheel 102 is softer, less rigid, and safer. This arrangement also has the advantages of compactness, simplicity, and low transmission noise.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • General Health & Medical Sciences (AREA)
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Abstract

穿戴式外骨骼的驱动装置，包括驱动模块和传动模块，驱动模块包括电机(1)，传动模块包括电机转轴(100)、主动轮(101)和从动轮(102)，主动轮(101)通过电机转轴(100)和电机(1)相连，从动轮(102)和主动轮(101)相连，主动轮(101)的截面为非圆形，例如多弧边形、三弧边形或顶点被导成圆角的莱洛三角形，使主动轮(101)可产生更高的扭矩，减少主动轮(101)和套接部件的磨损，提供高扭矩支撑，传动动力更好的传递给套接在其上的各部件，结构设计巧妙，使得使用寿命和传动性能提升；设置轴承(103)和从动轮固定件(104)，使得主动轮(101)到从动轮(102)的动力传送更加柔且不生硬，安全性更好，传动噪声低。驱动装置传动方式合理，不易磨损，寿命长、安全性能好。

Description

穿戴式外骨骼的驱动装置
相关申请的交叉引用
本申请主张在2022年4月6日在中国提交的中国专利申请号No.202210354775.3的优先权，其全部内容通过引用包含于此。
技术领域
本发明涉及神经、肌肉及骨骼的康复设备，尤其涉及一种传动功能好的穿戴式外骨骼的驱动装置。
背景技术
现阶段外骨骼的应用场景中，主要是在两个方面：一个是提升健康人群的移动能力，另一种是提供行动功能障碍人群的康复训练和行走辅助。
外骨骼的动力控制是由驱动装置实现，现有的穿戴式外骨骼的驱动装置比较简单，基本就是给外骨骼提供动力，尤其是其传动方式并不合理，比较生硬，容易发生危险，并不合适病人康复训练时独立行走，需要人为辅助帮扶，且集成度不高、体积大、重量重，散热性差、设计不符合人体工学，性能差。
因此，对克服或尽量减少上述问题的穿戴式外骨骼的驱动装置存在一种需求。
发明内容
本发明的目的是提供一种传动方式合理、不易磨损、寿命长、安全性能好的穿戴式外骨骼的驱动装置。
本发明提供的穿戴式外骨骼的驱动装置，包括驱动模块和传动模块，所述的驱动模块包括电机，所述的传动模块包括电机转轴、主动轮和从动轮，所述的主动轮通过电机转轴和电机相连，所述的从动轮和主动轮相连，所述主动轮的截面为非圆形。
其优选方案为，所述主动轮截面为多弧边形。
其又一优选方案为，所述主动轮截面为三弧边形。
其又一优选方案为，所述主动轮截面为顶点被导成圆角的莱洛三角形。
其又一优选方案为，所述的从动轮设置为一个以主动轮为中心的滑轮结构。
其又一优选方案为，所述的传动模块还包括轴承，主动轮通过轴承与从动轮相连，从动轮内圈与轴承的外圈套接，该轴承的内圈与主动轮外圈套接。
其又一优选方案为，所述的传动模块还包括从动轮固定件，从动轮固定件套接在主动轮外圈上，从动轮固定件的内圈形状和主动轮外圈形状相匹配套接齿合，且从动轮和从动轮固定件相连。
其又一优选方案为，所述的传动模块还包括牵引线，所述的牵引线与从动轮相连；牵引线设置为鲍登线。
其又一优选方案为，所述的鲍登线一端固定安装在从动轮预设的固定槽内，再通过设置的压片、螺丝固定该鲍登线。
其又一优选方案为，所述的主动轮通过主动轮固定螺丝与电机转轴固定相连；所述的从动轮通过从动轮固定件固定螺丝与从动轮固定件固定相连。
本发明与现有技术相比，具有以下优点：
主动轮的截面设置为非圆形，特别是多弧边形、三弧边形或者顶点被导成圆角的莱洛三角形的结构，使得主动轮可产生更高的扭矩，减少主动轮和套接在其上部件的材料的磨损，并提供高扭矩支撑，传动动力更好的传递给套接在其上的各个部件，结构设计巧妙，使得本发明使用寿命提升，传动性能提升；所述的轴承和从动轮固定件的设置，增加了转盘可承受的轴向应力，保护了驱动装置内的轴承，增加了电机的使用寿命，同时使得主动轮到从动轮的动力传送更加柔且不生硬，安全性更好，且该设置方式还具有紧凑、简单，传动噪声低的优点。
附图的简要说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明穿戴式外骨骼的驱动装置的功能模块图；
图2为本发明穿戴式外骨骼的驱动装置结构示意图；
图3为本发明穿戴式外骨骼的驱动装置结构分解示意图；
图4为本发明穿戴式外骨骼的驱动装置结构正面示意图；
图5为本发明穿戴式外骨骼的驱动装置结构背面示意图；
图6为本发明穿戴式外骨骼的驱动装置结构俯视示意图；
图7为本发明穿戴式外骨骼的驱动装置结构仰视示意图；
图8为本发明驱动装置的外壳结构示意图；
图9为本发明驱动装置的电源模块安装结构示意图；
图10为本发明驱动装置的电池模块分解结构示意图；
图11为本发明实施例驱动装置中电池模块截面结构示意图；
图12为本发明实施例驱动装置局部截面结构示意图；
图13为本发明实施例驱动装置的另一截面结构示意图；
图14为图13中底部弹簧局部结构示意图；
图15为本发明驱动装置中电机和电机固定件连接结构示意图；
图16为本发明驱动装置中电机固定位置局部结构示意图；
图17为本发明实施例中主动轮、滑轮和从动轮连接处结构示意图；
图18为本发明实施例中装上从动轮固定件后局部结构示意图；
图19为本发明实施例中从动轮与牵引线连接分解结构示意图；
图20为本发明实施例驱动装置带有导光柱的一种截面示意图；
图21为图20中导光柱的局部放大图。
本发明的实施方式
为更进一步阐述本发明为达成预定目的所采取的技术手段及功效，以下结合附图及较佳实施例，对依据本发明提出的穿戴式外骨骼的驱动装置，其具体实施方式、结构、特征及其功效，说明如后。
如图1为本发明穿戴式外骨骼的驱动装置的功能模块图所示，本发明的穿戴式外骨骼的驱动装置包括驱动模块、传动模块、电池模块和散热模块，所述的电池模块为驱动模块提供电源，所述的传动模块受驱动模块的控制而运动，所述的散热模块为驱动模块散热。各模块间紧密配合、协调运转，使得本发明能够有效的帮助病人康复训练。
请参见图2为本发明穿戴式外骨骼的驱动装置结构示意图所示，所述的驱动模块包括驱动板11、电机1；所述的散热模块包括散热器2，所述的散热器2与电机1和驱动板11相连， 为电机1和驱动板11散热。本发明的实施例中，所述的电机1、驱动板11和同一个散热器2相连，这样电机1和驱动板11两个发热源集合为一个发热源整体共同发热，仅需一台散热器2散热，达到节约成本，节约空间，减轻重量，提升散热效率的功能。
请参见图3为本发明穿戴式外骨骼的驱动装置结构分解示意图、图17为本发明实施例中主动轮、滑轮和从动轮连接处结构示意图和图19为本发明实施例中从动轮与牵引线连接分解结构示意图所示，所述的传动模块包括电机转轴100、主动轮101、从动轮102和牵引线107，所述的从动轮102设置为一个以主动轮101为中心的滑轮结构，所述的主动轮101通过电机转轴100和电机1相连，所述的牵引线107与从动轮102相连；牵引线107设置为鲍登线，将该鲍登线一端固定安装在从动轮102预设的固定槽内，再通过设置的压片109、螺丝固定该鲍登线。
请参见图2、图3，所述的驱动板11与电机1相连，该电机1通过电机轴承100与主动轮101相连，该主动轮101和从动轮102相连，所述的驱动板11控制电机1的动力，包括启停、动力大小，所述电机1的运动通过电机转轴100依次传递给主动轮101、从动轮102。
请参见图4为本发明穿戴式外骨骼的驱动装置结构正面示意图和图7为本发明穿戴式外骨骼的驱动装置结构仰视示意图所示，本发明的实施例中，所述的驱动模块还包括主板4、上支架6、下支架7、电源板15；上支架6、下支架7通过分别连接锁紧电机固定件18构成一个稳固框架结构，请参见图2。请参见图2和图6为本发明穿戴式外骨骼的驱动装置结构俯视示意图，上支架6通过上支架固定螺丝10锁紧固定电机固定件18上；请参见图2和图7，下支架7通过下支架固定螺丝13锁紧固定在电机固定件18上。
请参见图2和图15为本发明驱动装置中电机和电机固定件连接结构示意图所示，电机1与电机固定件18相连，通过电机固定件18与上、下支架构成的稳固框架结构支撑电机1，并使电机1在本发明中稳固。请参见如图15和图16为本发明驱动装置中电机固定位置局部结构示意图所示，本发明的实施例中，所述的电机1通过电机固定螺丝17固定在电机固定件18上。
请参见图7所示，本发明的实施例中，所述的电源板15通过电源板固定螺丝16与下支架7锁紧固定。
请参见图4所示，所述的主板4通过主板固定螺丝3与散热器2锁紧固定。
请参见图6所示，本发明实施例中，所述的驱动板11通过驱动板固定螺丝12与上支架6锁紧固定。
请参见图3所示，所述的传动模块还包括轴承103，主动轮101通过轴承103与从动轮102相连，从动轮102内圈与轴承103的外圈套接，该轴承103的内圈与主动轮101外圈套接，所述主动轮101的截面为非圆形。
请参见图17和图18为本发明实施例中装上从动轮固定件后局部结构示意图所示，本发明的实施例中，主动轮101的截面为多弧边形，优选三弧边形，或者主动轮101的截面设置为顶点被导成圆角的莱洛三角形。主动轮101的截面设置为非圆形，特别是多弧边形、三弧边形或者顶点被导成圆角的莱洛三角形的结构，使得主动轮101可产生更高的扭矩，减少主动轮101和套接在其上部件的材料的磨损，并提供高扭矩支撑，传动动力更好的传递给套接在其上的各个部件，结构设计巧妙，使得本发明使用寿命提升，传动性能提升。
请参见图3，本发明的实施例中，所述的传动模块还包括从动轮固定件104，从动轮固定件104套接在主动轮101外圈上，从动轮固定件104的内圈形状和主动轮101外圈形状相匹配套接齿合，且从动轮102和从动轮固定件104相连，该设置方式实现了电机转轴100对从动轮102的支撑作用，同时电机转轴100带动主动轮101旋转，进而带动和主动轮101套接的从动轮固定件104旋转，进而带动从动轮102旋转，从动轮102的旋转带动牵引线107运动，从而实现传动模块将电机1的旋转运动通过结构设计转为牵引线107的直线运动。轴承103和从动轮固定件104的设置，增加了转盘可承受的轴向应力，保护了驱动装置内的轴承103，增加了电机1的使用寿命，同时使得主动轮101到从动轮102的动力传送更加柔和不生硬，安全性更好，且该设置方式还具有紧凑、简单，传动噪声低的优点。
请参见图3和图17所示，本发明的实施例中，主动轮101通过主动轮固定螺丝108与电机转轴100固定相连；请参见图3、图18和图19，从动轮102通过从动轮固定件固定螺丝106与从动轮固定件104固定相连。
这样，通过电机1转动时，带动电机转轴100的旋转，进而带动主动轮101同步运动，主动轮101运动带动和其套接的从动轮固定件104运动，进而带动和从动轮固定件104固定联结的从动轮102运动，从动轮102带动和其连接的牵引线107运动，从而实现牵引线107直线往复循环运动。
本发明实施例中，左右对称设置两组驱动模块、两组传动模块和两组散热模块，实现了本发明对左右两个方向外骨骼的动力控制。本发明实施例中，可左右对称设置多组驱动模块、多组传动模块和多组散热模块，实现对多个方向外骨骼的动力控制。
请参见图8为本发明驱动装置的外壳结构示意图所示，本发明还包括外壳110，所述的 驱动模块设置在外壳110内。
所述的电源模块200，其通过电源板15电性连接为整个装置提供电源。
请参见图9为本发明驱动装置的电源模块安装结构示意图和图10为本发明驱动装置的电池模块分解结构示意图所示，所述的电源模块200包括电芯201和电池壳202，电芯201设置在电池壳202内。
所述的电源模块200可内置于外壳110内，也可外置固定于外壳110上。
请参见图9和图13为本发明实施例驱动装置的另一截面结构示意图所示，本发明的实施例中，外壳110上设置上开口的电池仓203，在电池仓203的底部设置底部弹簧207，电池模块200可拆卸的安装在电池仓203内，电池模块200通过放置在上开口的电池仓203内与电源板15电性连接。
本发明的实施例中，电芯设置为锂电池，锂电池内部的电芯横向排列为根据外形最小空间设计的最优方式。
请参考图11为本发明实施例驱动装置中电池模块截面结构示意图所示和图12为本发明实施例驱动装置局部截面结构示意图，本发明实施例中，电池模块200上设置电池锁扣204，该电池锁扣204固定在电池模块的内置弹片205上；电池仓203设置锁扣槽210，电池模块200与电池仓203的连接方式为采用通过电池锁扣204与锁口槽210匹配的卡接连接方式，在电池模块200与电池仓203安装时，电池锁扣204可自动弹到电池仓203预留的锁扣槽210内，实现电池模块200与电池仓203的卡接锁合固定作用。
请参见图12所示，本发明实施例中，所述的锁扣槽210对应的外壳110上设有电池解锁按钮211。
通过手动按压外壳110上电池解锁按钮211，将电池模块200上的电池锁扣204推离锁扣槽210，同时，电池模块200整体受到底部弹簧207的弹力，自动将电池模块200整体推离电池仓203。该结构设置方式便于电池模块200的安装使用及拆卸拿取。
请参见图13为本发明实施例驱动装置的另一截面结构示意图和图14为图13中底部弹簧局部结构示意图所示，本发明的实施例中，底部弹簧207一端固定在电池仓203的下方，另一端外设置一个弹簧外罩208，该外罩上部设置为一个顶部封口的柱形，在电池仓203底部设置和该弹簧外罩顶部柱形套接的开口209，在该外罩208的底部设置直径大于开口209的大直径结构，这样底部弹簧207就被弹簧外罩208套接在了电池仓的底部，并且还不影响美观。且底部弹簧207的固定位设置为弹簧外罩208的大直径结构顶到底部时，刚好弹簧外 罩208的上部柱形顶部与电池仓203底部平齐，确保弹簧外罩208不会被误操作顶出开口209，方便使用。
请参见图2、图4和图5为本发明穿戴式外骨骼的驱动装置结构背面示意图所示，本发明的实施例中，所述的散热模块还包括散热风扇5和导热片8，所述的散热风扇5和散热器2相连，该散热器2一端与电机1相连，散热器2另一端还与上支架6相连，上支架6给散热器2提供支撑，并实现散热器2工作过程中的稳定性；所述的驱动板11和散热器2之间设置导热片8，即驱动板11通过导热片8与散热器2相连，驱动板11另一端与上支架6相连。所述的导热片8会受到散热器2和驱动板11与上支架6之间锁紧压力而压紧固定。
如图5所示，本发明的实施例中，所述的散热器2通过散热器固定螺丝一9固定在电机1上，实现了散热器2与电机1的紧密贴合，以达到最佳的散热效果。如图6所示，本发明的实施例中，所述的散热器2还通过散热器固定螺丝二19固定在上支架6上。
通过在散热模块中设置导热片8的优点，由于驱动板11在工作中会产生较大的热量，导热片8将会把驱动板11工作时产生的热量传导到散热器2上，实现辅助散热功能，避免了驱动板11工作时过热，维持了其工作时温度稳定在一个合理范围内，保证了驱动板11的稳定工作。本发明实施例中所述的导热片8具体设置为导热硅胶片。
请参见图2所示，所述的散热风扇5通过下支架7与散热器2相连，其连接方式有利于稳固散热器2和散热风扇5在本发明中的稳定性。所述的散热风扇5设置的优点，可利用空气对流，交换热量快速降温，解决了多个热源在本发明密闭的空腔内，所产生的热量无法快速排出的问题。
请参见图7所示，本发明的实施例中，所述的散热风扇5通过风扇固定螺丝14与散热器2和下支架7锁紧固定。
请参见如图8所示，本发明的另一实施例中，所述的散热模块中还包括有散热孔22，所述的散热孔22设置在外壳110的底部，可以及时的将本发明空腔内的热量通过散热孔22排出到本发明装置外，尤其是散热风扇5工作时，热量会快速的排出。散热孔22设置为1个或多个。
而所述的散热孔22开设在所述的外壳110的底部的优点是：可有效的起到防尘、防水、防异物进入的功能。
所示的散热模块的工作原理：电机1工作时将产生的热量直接传到给散热器2，驱动板11工作时通过导热片8将热量传递给散热器2，散热风扇5工作将散热片2中的热量和外壳 110内空间中的热量，通过导热风通道传导至散热孔22排出本发明的装置外。
请参考图20为本发明实施例驱动装置带有导光柱的一种截面示意图、图21为图20中导光柱的局部放大图所示，其中图21为图20中A处放大5被后结构示意图，本发明还设置有光源指示灯300，用于标识本发明的工作状态，为了避免设备背光不均匀问题，本发明在导光柱301上设置了导光柱防爆点302，本发明实施例中所述的导光柱防爆点302设置为散光齿，通过齿形的斜面，将强光源折射到导光柱暗区，解决背光不均的问题，可实现导光柱背光均匀的效果。
本发明的主动轮101的截面设置为非圆形，特别是多弧边形、三弧边形或者顶点被导成圆角的莱洛三角形的结构，使得主动轮101可产生更高的扭矩，减少主动轮101和套接在其上部件的材料的磨损，并提供高扭矩支撑，传动动力更好的传递给套接在其上的各个部件，结构设计巧妙，使得本发明使用寿命提升，传动性能提升；所述的轴承103和从动轮固定件104的设置，增加了转盘可承受的轴向应力，保护了驱动装置内的轴承103，增加了电机1的使用寿命，同时使得主动轮101到从动轮102的动力传送更加柔且不生硬，安全性更好，且该设置方式还具有紧凑、简单，传动噪声低的优点。
在此说明书中，本发明已参照其特定的实施例作了描述，但是，很显然仍可以做出各种修改和变换而不背离本发明的精神和范围。因此，本发明的说明书和附图被认为是说明性的而非限制性的。

Claims (10)

  1. 穿戴式外骨骼的驱动装置，其特征在于，包括驱动模块和传动模块，所述的驱动模块包括电机，所述的传动模块包括电机转轴、主动轮和从动轮，所述的主动轮通过电机转轴和电机相连，所述的从动轮和主动轮相连，所述主动轮的截面为非圆形。
  2. 如权利要求1所述的穿戴式外骨骼的驱动装置，其特征在于，所述主动轮截面为多弧边形。
  3. 如权利要求2所述的穿戴式外骨骼的驱动装置，其特征在于，所述主动轮截面为三弧边形。
  4. 如权利要求1所述的穿戴式外骨骼的驱动装置，其特征在于，所述主动轮截面为顶点被导成圆角的莱洛三角形。
  5. 如权利要求1-4任一项所述的穿戴式外骨骼的驱动装置，其特征在于，所述的从动轮设置为一个以主动轮为中心的滑轮结构。
  6. 如权利要求5所述的穿戴式外骨骼的驱动装置，其特征在于，所述的传动模块还包括轴承，主动轮通过轴承与从动轮相连，从动轮内圈与轴承的外圈套接，该轴承的内圈与主动轮外圈套接。
  7. 如权利要求6所述的穿戴式外骨骼的驱动装置，其特征在于，所述的传动模块还包括从动轮固定件，从动轮固定件套接在主动轮外圈上，从动轮固定件的内圈形状和主动轮外圈形状相匹配套接齿合，且从动轮和从动轮固定件相连。
  8. 如权利要求7所述的穿戴式外骨骼的驱动装置，其特征在于，所述的传动模块还包括牵引线，所述的牵引线与从动轮相连；牵引线设置为鲍登线。
  9. 如权利要求8所述的穿戴式外骨骼的驱动装置，其特征在于，所述的鲍登线一端固定安装在从动轮预设的固定槽内，再通过设置的压片、螺丝固定该鲍登线。
  10. 如权利要求9所述的穿戴式外骨骼的驱动装置，其特征在于，所述的主动轮通过主动轮固定螺丝与电机转轴固定相连；所述的从动轮通过从动轮固定件固定螺丝与从动轮固定件固定相连。
PCT/CN2022/137983 2022-04-06 2022-12-09 穿戴式外骨骼的驱动装置 WO2023193463A1 (zh)

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