CN210968877U - Old man helps capable robot based on flexible joint driver - Google Patents
Old man helps capable robot based on flexible joint driver Download PDFInfo
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- CN210968877U CN210968877U CN201922078459.4U CN201922078459U CN210968877U CN 210968877 U CN210968877 U CN 210968877U CN 201922078459 U CN201922078459 U CN 201922078459U CN 210968877 U CN210968877 U CN 210968877U
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Abstract
The utility model provides a flexible joint driver-based walking-assisting robot for the old, which is characterized in that a waist wearing device is worn on the waist of a user, a backpack device is arranged on the back of the user, and a power supply device and a control device are arranged in a backpack of the backpack device; the pair of thigh actuating mechanisms are arranged on the left side and the right side of the waist wearing device in a bilateral symmetry manner; the thigh actuating mechanism utilizes a lower connecting rod which synchronously moves along with the lower limbs of a user as an input end, and realizes flexible output of joint torque by serially connecting a bidirectional torsion spring between a driving output end and an actuating end. The utility model discloses can improve old user's use comfort.
Description
Technical Field
The utility model relates to an ectoskeleton robot technical field, the more specifically old man helps capable robot based on flexible joint driver that says so.
Background
With the increase of age, the strength of leg muscles of the old is reduced, the walking speed is reduced, and the stride is reduced. The old man helps capable robot just through providing extra assistance torque for the human body to compensate that part moment that old person loses because of the increase of age, realize helping capable motion. However, the existing walking-aid robot mechanism for the old has strong transmission rigidity and small impact resistance, and is easy to cause damage to the bodies of the old.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving above-mentioned technical problem to a certain extent at least. Therefore, the utility model provides an old man helps capable robot based on flexible joint driver can realize the flexible output of joint moment of torsion, improves old user's use comfort.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an old man helps capable robot based on flexible joint driver, its structural feature is: the robot body structure comprises a backpack device, a waist wearing device and a thigh executing mechanism;
the waist wearing device is worn on the waist of a user, the backpack device is arranged on the back of the user, and a power supply device and a control device are arranged in a backpack of the backpack device;
the pair of thigh actuating mechanisms are arranged on the left side and the right side of the waist wearing device in a bilateral symmetry manner; the thigh actuating mechanism is characterized in that a power part is arranged in a housing shell, the shaft end of an output shaft of the power part is exposed out of the housing shell, a torque sensor is coaxially sleeved at the shaft end of the output shaft of the power part through a sensor supporting shaft sleeve, an inner bearing sleeve, a bearing and an outer bearing sleeve are sequentially and coaxially arranged on the torque sensor from inside to outside along the radial direction, the bearing is clamped between the inner bearing sleeve and the outer bearing sleeve, an inner ring is fixedly connected with the inner bearing sleeve, and an outer ring is fixedly connected with the outer bearing sleeve; the mounting hole at the upper end part of the lower connecting rod is coaxially sleeved on the outer bearing sleeve and is axially and tightly connected with the outer bearing sleeve to form a lower connecting rod synchronous rotation assembly together with the outer bearing sleeve, and the lower rod end of the lower connecting rod is bound on the outer side of a thigh of a user through a binding band; the inner bearing sleeve is clamped and fixedly connected between the torque sensor and the flange plate along the axial direction, the flange plate and the inner bearing sleeve are coaxially arranged, the middle part of the outward disk surface is radially and outwards protruded to form a cylindrical protruding part, and the upper connecting rod is sleeved on the flange plate by virtue of a short sleeve at the lower end part and forms radial limit with the flange plate; the two-way torsion spring is sleeved on the convex part, two ends of the two-way torsion spring are respectively fixed and tensioned between the inner wall of the short sleeve of the upper connecting rod and the disc surface of the flange plate, and the upper rod end of the upper connecting rod is fixedly arranged on the waist wearing device and acts on the hip of a user; the upper connecting rod can provide driving force by the power part and swings around the central axis of the flange plate under the driving of the flexible output of the bidirectional torsion spring;
the lower connecting rod is used as an input end, the upper connecting rod is used as an execution end, a torque signal generated when the input end moves is detected through the torque sensor and transmitted to the control device, and the control device receives the torque signal, analyzes and processes the torque signal and sends a driving instruction to the power component.
The utility model discloses a structural feature also lies in:
two sections of arc-shaped guide holes which are formed along the circumferential direction are formed in the end face, facing outwards in the axial direction, of the short sleeve of the upper connecting rod, the two sections of guide holes are symmetrically arranged by taking the flange plate protruding portion as the center, two limit screws which protrude along the axial direction are correspondingly arranged on the flange plate face corresponding to the two sections of guide holes, and the limit screws penetrate through the corresponding guide holes and are matched with the guide holes to form the guide for the rotation of the upper connecting rod.
The power part is powered by a motor, is output by a speed reducer and is transmitted by a bevel gear pair connected to an output shaft of the speed reducer, and the shaft end of the output shaft of the bevel gear pair is exposed out of the housing.
A bandage mounting hole is reserved in the waist wearing device.
Compared with the prior art, the utility model discloses beneficial effect embodies:
the utility model discloses a robot that lower limbs helped to provide for that old person leads to muscle intensity to descend because age increases, utilize the lower connecting rod along with user's low limbs simultaneous movement as the input, through the two-way torsional spring of establishing ties between drive output and execution end, realize the flexible output of joint moment of torsion, can reduce the impact that motor start brought well, make output gentle and smooth, avoid causing the injury to old person's health, have easy wearing, easy operation have a bit, be applicable to the old person and help the movement.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a thigh actuator;
FIG. 3 is a cross-sectional structural schematic view of the internal structure of FIG. 2;
fig. 4 is a sectional structure diagram of the bidirectional torsion spring mounting portion.
In the figure, 1 a waist-wearing device; 2, a backpack device; 3 thigh actuators; 4, a motor; 5, a speed reducer; 6 bevel gear pair; 7, a sensor supporting shaft sleeve; 8, a torque sensor; 9 bearing; 10 an inner bearing sleeve; 11 an outer bearing sleeve; 12 a lower connecting rod; 13 a flange plate; 14 a projection; 15 a bidirectional torsion spring; 16 an upper connecting rod; 17 a short sleeve; 18 a pilot hole; 19 a limit screw; 20 bandage mounting holes; 21 fixing the pin; 22 housing.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 to 4, the structure of the elderly walking-assisting robot body based on the flexible joint driver of the present embodiment includes a backpack device 2, a waist wearing device 1 and a thigh actuator 3;
the waist wearing device 1 is worn on the waist of a user, a backpack device 2 is arranged at the back, a power supply device and a control device are arranged in a backpack of the backpack device 2, and power is supplied to each electric element by the power supply device;
the pair of thigh actuators 3 are arranged on the left and right sides of the waist wearing device 1 in a bilateral symmetry manner;
the thigh actuating mechanism 3 is internally provided with a power part in a shell 22, the shaft end of an output shaft of the power part is exposed outside the shell, a torque sensor 8 is coaxially sleeved at the shaft end of the output shaft of the power part through a sensor supporting shaft sleeve 7, an inner bearing sleeve 10, a bearing 9 and an outer bearing sleeve 11 are coaxially arranged on the torque sensor 8 from inside to outside along the radial direction, the bearing 9 is clamped between the inner bearing sleeve 10 and the outer bearing sleeve 11, an inner ring is fixedly connected with the inner bearing sleeve 10, and an outer ring is fixedly connected with the outer bearing sleeve 11;
the mounting hole at the upper end part of the lower connecting rod 12 is coaxially sleeved on the outer bearing sleeve 11 and is axially and tightly connected with the outer bearing sleeve 11 to form a lower connecting rod 12 synchronous rotation assembly together with the outer bearing sleeve 11;
the inner bearing sleeve 10 is tightly attached to the torque sensor 8 along the radial direction, is clamped and fixedly connected between the torque sensor 8 and the flange plate 13 along the axial direction, the flange plate 13 and the inner bearing sleeve 10 are coaxially arranged, the middle part of the outward disc surface is protruded outwards along the radial direction to form a cylindrical protruding part 14, and the upper connecting rod 16 is sleeved on the flange plate 13 by a short sleeve 17 at the lower end part and forms radial limit with the flange plate 13; the bidirectional torsion spring 15 is sleeved on the convex part 14, one end of the bidirectional torsion spring is fixed on the flange 13 through a limit screw 19, the other end of the bidirectional torsion spring is fixed on the short sleeve of the upper connecting rod through a fixing pin 21, the two ends of the bidirectional torsion spring are fixed and tensioned between the inner wall of the short sleeve 17 of the upper connecting rod 16 and the disc surface of the flange 13, and the upper rod end of the upper connecting rod 16 is fixedly arranged on the waist wearing device 1 and acts on the hip of a user; the upper connecting rod 16 can provide driving force by a power part, and the flange plate 13 swings around the central axis of the flange plate 13 under the driving of the flexible output of the bidirectional torsion spring 15 through the output torque of the bevel gear pair 6;
the lower connecting rod 12 is used as an input end, the upper connecting rod 16 is used as an execution end, a torque signal generated when the input end moves is detected through the torque sensor 8 and is transmitted to the control device, and the control device receives the torque signal, analyzes and processes the torque signal and sends a driving command to the power component.
In specific implementation, the corresponding structural arrangement also includes:
two arc-shaped guide holes 18 which are arranged along the circumferential direction are formed in the end face, facing outwards in the axial direction, of the short sleeve 17 of the upper connecting rod 16, the two arc-shaped guide holes 18 are symmetrically arranged by taking the protruding portion 14 of the flange plate 13 as the center, two limit screws 19 which protrude along the axial direction are correspondingly arranged on the disk face of the flange plate 13 corresponding to the two arc-shaped guide holes 18, the limit screws 19 penetrate through the corresponding guide holes 18, a gap is reserved between the limit screws and the guide holes 18, and the two limit screws are matched to form the guide for the rotation of the upper connecting rod 16.
The power part is powered by the motor 4, is output by the speed reducer 5, and is driven by the bevel gear pair 6 connected to the output shaft of the speed reducer 5, and the shaft end of the output shaft of the bevel gear pair 6 is exposed out of the housing.
The waist wearing device 1 is provided with a bandage mounting hole 20 which can be bound on the waist of the user by using a bandage.
The working principle of the present invention is described below by taking the thigh actuator 3 on the left side of the robot as an example, as follows:
when the user lifts the legs and walks, the lower connecting rod 12 is driven to swing forwards along with the lifting, and the lower connecting rod and the upper connecting rod 16 rotate relatively; meanwhile, the torque sensor 8 detects the rotation of the lower connecting rod 12, transmits a torque signal to the control device, the control device subsequently transmits a driving signal to the motor 4 to drive the motor 4 to rotate, the motor 4 outputs torque through the speed reducer 5 and the bevel gear pair 6, and then drives the upper connecting rod 16 to swing anticlockwise along the arrow direction shown in fig. 1 through the bidirectional torsion spring 15 on the flange 13, so that the lower connecting rod 12 rotates clockwise relative to the upper connecting rod 16, and the flexible output of joint torque is realized. In the same way, the right thigh actuating mechanism 3 can generate reverse joint torque flexible output to provide torque for the old.
The utility model discloses a two-way torsional spring 15 connects power component output and execution end, can reduce the impact that motor 4 starts to bring well, makes output gentle and agreeable, avoids causing the injury to the old person's health.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (4)
1. The utility model provides an old man helps capable robot based on flexible joint driver, characterized by: the robot body structure comprises a backpack device, a waist wearing device and a thigh executing mechanism;
the waist wearing device is worn on the waist of a user, the backpack device is arranged on the back of the user, and a power supply device and a control device are arranged in a backpack of the backpack device;
the pair of thigh actuating mechanisms are arranged on the left side and the right side of the waist wearing device in a bilateral symmetry manner; the thigh actuating mechanism is characterized in that a power part is arranged in a housing shell, the shaft end of an output shaft of the power part is exposed out of the housing shell, a torque sensor is coaxially sleeved at the shaft end of the output shaft of the power part through a sensor supporting shaft sleeve, an inner bearing sleeve, a bearing and an outer bearing sleeve are sequentially and coaxially arranged on the torque sensor from inside to outside along the radial direction, the bearing is clamped between the inner bearing sleeve and the outer bearing sleeve, an inner ring is fixedly connected with the inner bearing sleeve, and an outer ring is fixedly connected with the outer bearing sleeve; the mounting hole at the upper end part of the lower connecting rod is coaxially sleeved on the outer bearing sleeve and is axially and tightly connected with the outer bearing sleeve to form a lower connecting rod synchronous rotation assembly together with the outer bearing sleeve, and the lower rod end of the lower connecting rod is bound on the outer side of a thigh of a user through a binding band; the inner bearing sleeve is clamped and fixedly connected between the torque sensor and the flange plate along the axial direction, the flange plate and the inner bearing sleeve are coaxially arranged, the middle part of the outward disk surface is radially and outwards protruded to form a cylindrical protruding part, and the upper connecting rod is sleeved on the flange plate by virtue of a short sleeve at the lower end part and forms radial limit with the flange plate; the two-way torsion spring is sleeved on the convex part, two ends of the two-way torsion spring are respectively fixed and tensioned between the inner wall of the short sleeve of the upper connecting rod and the disc surface of the flange plate, and the upper rod end of the upper connecting rod is fixedly arranged on the waist wearing device and acts on the hip of a user; the upper connecting rod can provide driving force by the power part and swings around the central axis of the flange plate under the driving of the flexible output of the bidirectional torsion spring;
the lower connecting rod is used as an input end, the upper connecting rod is used as an execution end, a torque signal generated when the input end moves is detected through the torque sensor and transmitted to the control device, and the control device receives the torque signal, analyzes and processes the torque signal and sends a driving instruction to the power component.
2. The elderly walking aid robot based on flexible joint driver of claim 1, which is characterized in that: two sections of arc-shaped guide holes which are formed along the circumferential direction are formed in the end face, facing outwards in the axial direction, of the short sleeve of the upper connecting rod, the two sections of guide holes are symmetrically arranged by taking the flange plate protruding portion as the center, two limit screws which protrude along the axial direction are correspondingly arranged on the flange plate face corresponding to the two sections of guide holes, and the limit screws penetrate through the corresponding guide holes and are matched with the guide holes to form the guide for the rotation of the upper connecting rod.
3. The elderly walking aid robot based on flexible joint driver of claim 1, which is characterized in that: the power part is powered by a motor, is output by a speed reducer and is transmitted by a bevel gear pair connected to an output shaft of the speed reducer, and the shaft end of the output shaft of the bevel gear pair is exposed out of the housing.
4. The elderly walking aid robot based on flexible joint driver of claim 1, which is characterized in that: a bandage mounting hole is reserved in the waist wearing device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922078459.4U CN210968877U (en) | 2019-11-27 | 2019-11-27 | Old man helps capable robot based on flexible joint driver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922078459.4U CN210968877U (en) | 2019-11-27 | 2019-11-27 | Old man helps capable robot based on flexible joint driver |
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| CN210968877U true CN210968877U (en) | 2020-07-10 |
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| CN201922078459.4U Active CN210968877U (en) | 2019-11-27 | 2019-11-27 | Old man helps capable robot based on flexible joint driver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733028A (en) * | 2019-11-27 | 2020-01-31 | 中国科学院合肥物质科学研究院 | old people walking-aid robot based on flexible joint driver |
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- 2019-11-27 CN CN201922078459.4U patent/CN210968877U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733028A (en) * | 2019-11-27 | 2020-01-31 | 中国科学院合肥物质科学研究院 | old people walking-aid robot based on flexible joint driver |
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