CN110434832A - A kind of compact ectoskeleton power unit - Google Patents
A kind of compact ectoskeleton power unit Download PDFInfo
- Publication number
- CN110434832A CN110434832A CN201910599738.7A CN201910599738A CN110434832A CN 110434832 A CN110434832 A CN 110434832A CN 201910599738 A CN201910599738 A CN 201910599738A CN 110434832 A CN110434832 A CN 110434832A
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- Prior art keywords
- cursor
- fixed arm
- compact
- power unit
- motor
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to exoskeleton mechanism fields, disclose a kind of compact ectoskeleton power unit, including motor (1), with fixed arm (3) and cursor (4), one end of the fixed arm (3) is provided with installation cavity, the motor (1) is arranged in the installation cavity of fixed arm (3), the output axis connection harmonic speed reducer (2) of the motor (1), harmonic speed reducer (2) output end connects cursor (4), the bottom of the fixed arm (3) is provided with limited block (8), correspondingly periphery is provided with arc limit slot (9) on cursor (4), the limited block (8), which is placed in arc limit slot (9), carries out rotary stopper, the bottom of the cursor (4) is provided with encoder.It is an advantage of the invention that utilizing the inner space of unit to greatest extent, accomplish to minimize lightweight and highly integrated, provides the necessary bearing strength in ectoskeleton joint with compact structure.
Description
Technical field
The present invention relates to exoskeleton mechanism field, especially a kind of compact ectoskeleton power unit.
Background technique
Ectoskeleton power-assisting robot will improve the walking and movable ability of human body, under the working strength for making labour people
Drop.Manufacture, logistic industry worker are faced with the operation of a large amount of mechanical carrying heavy goods repeatedly daily, and the positions such as waist, shoulder are held
By huge weight bearing pressure, the occupational diseases such as protrusion of lumber intervertebral disc are also easy to produce, are worked at the same time inefficient.This programme provides a outer
Bone power-assisting robot, it is convenient to be used in worker's course of work, mitigate the weight bearing pressure of body in work.
Ectoskeleton essence is a kind of structure being capable of fixing on human body, it can be the behavior and machinery that human body is made
The kinetic energy of system is closely linked, and at the same time, the extra power and locomitivity of needs can be provided for people, and then realize
Enhance the effect of function of human body.So far, the crowd that ectoskeleton provides help mainly may include two classes: first is that being moved through
With the people of obstacle in journey, such as the elderly, the people of physical disabilities, hemiplegia patient, he ectoskeleton technology has given these people second
The secondary chance moved such as normal person when giving emergency treatment to a patient such as hospital, needs pair second is that the people for needing to improve in terms of locomitivity
Patient implements the doctor, at work of CPR, and the nurse of paralytic is nursed in the worker that is engaged in manual labor, hospital
Deng.
Ectoskeleton is human body wearable device, and volume, weight, driving capability, bearing strength are several critical indexs,
But the power unit of current ectoskeleton is generally bigger than normal, and sensor needed for lacking closed-loop control.Current ectoskeleton machine
Device person joint's power unit is primarily present following defect；
1, volume is big, especially with the length of the articulation axial direction of harmonic structure, seriously affects use；
2, weight is big, and many single joint weight are just more than 2kg；
3, transmission efficiency is low, many to be only had more than 50% using the efficiency of Gear Planet Transmission；
4, it is limited by mounting structure or size, many power units are all without absolute position feedback；
5, position limiting structure is big or does not have position limiting structure, influences using safe.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology, provides a kind of compact ectoskeleton power unit.
The purpose of the present invention is achieved through the following technical solutions: a kind of compact ectoskeleton power unit, including motor,
With fixed arm and cursor, one end of the fixed arm is provided with installation cavity, and the installation of fixed arm is arranged in the motor
Intracavitary, the output axis connection harmonic speed reducer of the motor, the harmonic speed reducer output end connects cursor.
Specifically, the bottom of the fixed arm is provided with limited block, and correspondingly periphery is provided with arc on cursor
Limiting slot, the limited block, which is placed in arc limit slot, carries out rotary stopper.
Specifically, the bottom of the cursor is provided with encoder.
Specifically, one end of cursor connection harmonic speed reducer is hollow structure, installation in the hollow structure
There is absolute type encoder Moving plate, the bottom of the fixed arm is provided with encoder mounting disk plate, sets at the top of encoder mounting plate
It is equipped with the quiet disk of absolute type encoder, and the quiet disk of absolute type encoder is located in the hollow structure of cursor.
Specifically, the motor is fixedly mounted on fixed arm by ring flange.
Specifically, incremental encoder is integrated on the motor.
The invention has the following advantages that the present invention utilizes the inner space of unit to greatest extent, accomplish to minimize lightweight
With it is highly integrated, provide the necessary bearing strength in ectoskeleton joint with compact structure；Shorten the axial length of power unit；In
It does not influence to reduce all unnecessary structures under the premise of functional performance, accomplish highly integrated.
Detailed description of the invention
Fig. 1 is the first configuration schematic diagram of the invention；
Fig. 2 is the second configuration schematic diagram of the invention；
Fig. 3 is position limiting structure schematic diagram of the invention；
Fig. 4 is assembling structure schematic diagram of the invention；
In figure: 1- motor, 2- harmonic speed reducer, 3- fixed arm, 4- cursor, 5- absolute type encoder Moving plate, 6- absolute type are compiled
The code quiet disk of device, 7- encoder mounting plate, 8- limited block, 9- arc limit slot.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing, but protection scope of the present invention is not limited to following institute
It states.
As shown in figures 1-4, a kind of compact ectoskeleton power unit, including motor 1 and fixed arm 3 and cursor 4, institute
The one end for the fixed arm 3 stated is provided with installation cavity, and the motor 1 is arranged in the installation cavity of fixed arm 3, the motor 1
Output axis connection harmonic speed reducer 2, motor 1 of the invention and harmonic speed reducer 2 use Integration Design, motor 1 directly with
The steel wheel and flexbile gear of harmonic speed reducer 1 integrate, in this way design keep drive mechanism more compact, reduce device volume and
Weight, 2 output end of harmonic speed reducer connect cursor 4.
Further, the bottom of the fixed arm 3 is provided with limited block 8, and correspondingly periphery is provided on cursor 4
Arc limit slot 9, the limited block 8, which is placed in arc limit slot 9, carries out rotary stopper, the arc-shaped limit on cursor 4
Slot 9 can adjust distribution angle according to use demand, and so as to adjust limit angle, motor 1 drives cursor 4 can only be in arc
Rotation in limiting slot, the advantage of this structure are the space that power unit can be utilized axial and radial to greatest extent, machine
Tool position-limit mechanism will not occupy any volumetric spaces, and structure is simple, securely and reliably.
Further, the bottom of the cursor 4 is provided with encoder.
Further, the cursor 4 connects one end of harmonic speed reducer 2 for hollow structure, in the hollow structure
Absolute type encoder Moving plate 5 is installed, the Moving plate that absolute type encoder is used to feed back is fixed on to the hollow structure of cursor 4
Interior, advantage is will not to occupy joint axial direction and space radially, and structurally reasonable, the bottom of the fixed arm 3 is provided with
Encoder mounting disk plate 7 is provided with the quiet disk 6 of absolute type encoder, and the quiet disk 6 of absolute type encoder at the top of encoder mounting plate 7
In the hollow structure of cursor 4, quiet 6 installation position of disk of absolute type encoder is located in the hollow structure of cursor 4, but fixed
On encoder mounting plate 7, encoder mounting plate 7 is connected with fixed arm 3, thus the absolute type encoder Moving plate in articulation
5 and the mutually rotation of the quiet disk of absolute type encoder 6, joint position is measured, advantage is similarly will not axial occupation space.
Further, the motor 1 is fixedly mounted on fixed arm 3 by ring flange.
Further, incremental encoder is integrated on the motor 1.
The above, only presently preferred embodiments of the present invention not do limitation in any form to the present invention.It is any ripe
Those skilled in the art is known, without departing from the scope of the technical proposal of the invention, all using technology contents described above
Many possible changes and modifications or equivalent example modified to equivalent change are made to technical solution of the present invention.Therefore, all
It is the content without departing from technical solution of the present invention, any change modification made to the above embodiment of technology according to the present invention,
Equivalent variations and modification belong to the protection scope of the technical program.
Claims (6)
1. a kind of compact ectoskeleton power unit, which is characterized in that including motor (1) and fixed arm (3) and cursor (4),
One end of the fixed arm (3) is provided with installation cavity, and the motor (1) is arranged in the installation cavity of fixed arm (3), described
Motor (1) output axis connection harmonic speed reducer (2), the harmonic speed reducer (2) output end connect cursor (4).
2. a kind of compact ectoskeleton power unit according to claim 1, it is characterised in that: the fixed arm (3)
Bottom be provided with limited block (8), correspondingly periphery is provided with arc limit slot (9), the limiting block on cursor (4)
Block (8), which is placed in arc limit slot (9), carries out rotary stopper.
3. a kind of compact ectoskeleton power unit according to claim 1, it is characterised in that: the cursor (4)
Bottom be provided with encoder.
4. a kind of compact ectoskeleton power unit according to claim 3, it is characterised in that: the cursor (4)
The one end for connecting harmonic speed reducer (2) is hollow structure, is equipped with absolute type encoder Moving plate (5), institute in the hollow structure
The bottom for the fixed arm (3) stated is provided with encoder mounting disk plate (7), and absolute type volume is provided at the top of encoder mounting plate (7)
The code quiet disk of device (6), and the quiet disk of absolute type encoder (6) is located in the hollow structure of cursor (4).
5. a kind of compact ectoskeleton power unit according to claim 1, it is characterised in that: the motor (1) is logical
Ring flange is crossed to be fixedly mounted on fixed arm (3).
6. a kind of compact ectoskeleton power unit according to claim 1, it is characterised in that: on the motor (1)
It is integrated with incremental encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599738.7A CN110434832A (en) | 2019-07-04 | 2019-07-04 | A kind of compact ectoskeleton power unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910599738.7A CN110434832A (en) | 2019-07-04 | 2019-07-04 | A kind of compact ectoskeleton power unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110434832A true CN110434832A (en) | 2019-11-12 |
Family
ID=68428547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910599738.7A Pending CN110434832A (en) | 2019-07-04 | 2019-07-04 | A kind of compact ectoskeleton power unit |
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| Country | Link |
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| CN (1) | CN110434832A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111249117A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
| CN112405599A (en) * | 2020-10-29 | 2021-02-26 | 北京航天光华电子技术有限公司 | Mechanical limiting exoskeleton robot joint |
| CN114653660A (en) * | 2022-05-20 | 2022-06-24 | 智程半导体设备科技(昆山)有限公司 | Magnetic clamping block and semiconductor substrate cleaning device |
| CN114795750A (en) * | 2022-05-26 | 2022-07-29 | 西南交通大学 | Transfer nursing device |
| CN115256452A (en) * | 2022-08-30 | 2022-11-01 | 广东天机智能系统有限公司 | Hidden mechanical limit structure and robot rotary joint on a large scale |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20120330198A1 (en) * | 2011-06-21 | 2012-12-27 | Volkan Patoglu | Exoskeleton |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| CN107811819A (en) * | 2017-11-23 | 2018-03-20 | 航天科工智能机器人有限责任公司 | A kind of wearable lower limb rehabilitation robot |
| CN109223456A (en) * | 2018-10-23 | 2019-01-18 | 哈尔滨工业大学 | A kind of lower limb exoskeleton robot system based on the interaction of man-machine end |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
-
2019
- 2019-07-04 CN CN201910599738.7A patent/CN110434832A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120330198A1 (en) * | 2011-06-21 | 2012-12-27 | Volkan Patoglu | Exoskeleton |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| CN107811819A (en) * | 2017-11-23 | 2018-03-20 | 航天科工智能机器人有限责任公司 | A kind of wearable lower limb rehabilitation robot |
| CN109223456A (en) * | 2018-10-23 | 2019-01-18 | 哈尔滨工业大学 | A kind of lower limb exoskeleton robot system based on the interaction of man-machine end |
| CN109730891A (en) * | 2019-01-25 | 2019-05-10 | 电子科技大学 | A kind of upper limb ectoskeleton can be hand-off and the shoulder horizontal movement joint structure that limits |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111249117A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
| CN111249117B (en) * | 2020-01-20 | 2022-07-15 | 深圳市丞辉威世智能科技有限公司 | Power joint and power exoskeleton rehabilitation robot |
| CN112405599A (en) * | 2020-10-29 | 2021-02-26 | 北京航天光华电子技术有限公司 | Mechanical limiting exoskeleton robot joint |
| CN114653660A (en) * | 2022-05-20 | 2022-06-24 | 智程半导体设备科技(昆山)有限公司 | Magnetic clamping block and semiconductor substrate cleaning device |
| CN114653660B (en) * | 2022-05-20 | 2022-09-16 | 智程半导体设备科技(昆山)有限公司 | Magnetic clamping block and semiconductor substrate cleaning device |
| CN114795750A (en) * | 2022-05-26 | 2022-07-29 | 西南交通大学 | Transfer nursing device |
| CN115256452A (en) * | 2022-08-30 | 2022-11-01 | 广东天机智能系统有限公司 | Hidden mechanical limit structure and robot rotary joint on a large scale |
| CN115256452B (en) * | 2022-08-30 | 2024-11-05 | 广东天机智能系统有限公司 | Hidden large-scale mechanical limit structure and robot rotary joint |
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Application publication date: 20191112 |
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| RJ01 | Rejection of invention patent application after publication |