Joint assistance adjusting device

Abstract

The invention relates to a joint assistance adjusting device, which relates to a podosoma one and a podosoma two which are hinged through a joint rotating shaft. The joint assistance adjusting device comprises a torque adjusting device used for adjusting a joint rotating torque; two ends of the torque adjusting device are fixedly connected to the podosoma one and the podosoma two respectively; the torque adjusting device is a rotary joint assistance mechanism consisting of a cam and elastic parts; and an effective contour surface curve of the cam is obtained through reverse by numeric iteration according to a torque assistant function. The joint assistance adjusting device realizes a rigidity changing torsion elastic device through the cam so as to adjust the joint rotating torque, make the reduction of a joint rotating torque peak possible, and improve a joint rotating torque valley; therefore, a motor with smaller power and smaller maximum torque can be selected, the self weight of a joint mechanism is lightened, and the energy is saved; or the driving torque of artificial limb wearers is increased, so labor is saved.

Description

Technical field [0001] The invention relates to a joint booster adjusting device, which is used to reduce the peak torque of joint drive, belongs to the field of mechanism design, robot technology and human body rehabilitation mechanism, and can be applied to walking robots and intelligent prosthetic knee joints. Background technique [0002] At present, the design of low-power walking mechanism is the basis for the study of human walking mechanism and the development of reasonable walking mechanism. Among them, the design of the knee joint of walking robot is the key. [0003] In the prior art, the driving of the knee joint of a robot is mainly directly driven by a driving device such as a motor. That is, during the walking of the robot, the angle of the knee joint is completely controlled by the driving device such as a motor, and during a walking cycle of the knee joint Internally, the rotational torque of the knee joint has peaks and valleys, and when the drive motor is selecte...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the driving of the robot knee joint is mainly directly driven by motors and other driving equipment, that is, during the walking process of the robot, the angle of the knee joint is completely controlled by the driving equipment such as the motor, and in one walking cycle of the knee joint Inside, there are peaks and valleys in the rotational torque of the knee joint, and when the drive motor is selected, it is obviously determined according to the peak value. Therefore, the problem with this drive method is that the selection of the drive motor is conservative, and the weight of the motor is the walking mechanism. One of the main components of the weight indirectly causes the energy consumption of the mechanism to run, which is not suitable for the research and application of the current walking mechanism

Images