A series-parallel elastically driven linear motion unit
An elastic drive and linear motion technology, which is applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of slow movement, poor impact resistance, unstable output, etc., to achieve stable output, increase support capacity, and increase load capacity. Effect
Active Publication Date: 2019-01-08
HARBIN INST OF TECH
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Problems solved by technology
[0003] The present invention aims to solve the problems that the existing telescopic mechanism based on the parallel structure moves very slowly under the requirement of large load, has poor impact resistance and unstable output, and further provides a series-parallel elastically driven linear motion unit
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[0014] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and through specific embodiments.
[0015] combine Figure 1-Figure 5 Explain that a series-parallel elastically driven linear motion unit of this embodiment includes an electric linear actuator 1, and it also includes a gas spring 2, a gas spring extension shaft connector 3, an actuator extension shaft connector 4, Shaft 5, sliding sleeve 6, upper thin spring 7, lower thin spring 8, lower thick spring 9 and lower spring fixing part 10;
[0016] The top of the cylinder body of the electric linear actuator 1 is rotatably installed with the gas spring 2, and the gas spring extension shaft 2-1 of the gas spring 2 is connected with the actuator extension shaft 1-1 of the electric linear actuator 1. 1 are arranged in parallel, the actuator extension shaft 1-1 of the electric linear actuator 1 is a hollow cavity, the upper section of the shaft 5 is ins...
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The invention provides a serial-parallel elastically driven linear movement unit and relates to a linear movement unit. The objective is to solve the problems that the existing telescoping mechanism based on a parallel structure very slowly acts under the requirement of large load, is poor in impact resistance and unstable in force output. The serial-parallel elastically driven linear movement unit comprises an electric linear actuator and further comprises a gas spring, a gas spring extending shaft connector, an actuator extending shaft connector, a shaft, a sliding sleeve, an upper-end hair spring, a lower-end hair spring, a lower-end thick spring and a lower-end spring fixer, wherein the gas spring is mounted at the top end of a cylinder body of the electric linear actuator in a rotating manner, a gas spring extending shaft of the gas spring and an actuator extending shaft of the electric linear actuator are arranged in parallel, the sliding sleeve is arranged on the shaft in a sliding sleeving manner, the actuator extending shaft connector is fixedly arranged on the actuator extending shaft of the electric actuator, and the sliding sleeve is connected with the actuator extending shaft connector. The serial-parallel elastically driven linear movement unit is used for a lower limb assisting exoskeleton robot.
Description
technical field [0001] The invention relates to a linear motion unit, in particular to a series-parallel elastically driven linear motion unit. Background technique [0002] For the lower extremity exoskeleton robot based on the parallel structure, the design of the telescopic mechanism in the parallel structure is a crucial part. At present, most telescopic mechanisms with parallel structure are directly driven by electric cylinders or hydraulic cylinders. These mechanisms will cause a heavy load on the motor or hydraulic cylinder under heavy loads, and the action is very slow under the requirements of large loads. It has no cushioning effect, poor impact resistance and unstable output. Contents of the invention [0003] The present invention aims to solve the problems that the existing telescopic mechanism based on the parallel structure moves very slowly under the requirement of large load, has poor impact resistance and unstable output, and further provides a series-p...
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IPC IPC(8): B25J9/12B25J9/00
CPCB25J9/0009B25J9/123
Inventor 朱延河王天铄赵杰
Owner HARBIN INST OF TECH