Variable-rigidity flexible drive for lower-limb ankle joint exoskeleton robot

Abstract

The invention discloses a variable-rigidity flexible drive for a lower-limb ankle joint exoskeleton robot. The variable-rigidity flexible drive comprises an external frame, a driving motor, a gear transmission mechanism, a worm and gear mechanism, a torsion spring driving end, a torsion end, a turntable poking fork mechanism, a step shaft and a terminal actuation piece; the step shaft is respectively connected with the worm and gear mechanism, the torsion spring driving end, the turntable poking fork mechanism and the terminal actuation piece; the driving motor and the worm and gear mechanism are connected through the gear transmission mechanism; the torsion spring driving end is connected with the turntable poking fork mechanism through the torsion spring; and the worm and gear mechanism transfers a motion to the torsion spring driving end so as to compress the torsion spring to drive the turntable poking fork mechanism to move. The spring is compressed to change an included angle between a spring compression direction and a stress direction to satisfy the variable rigidity requirements of an ankle joint exoskeleton mechanism; the functions of energy storage and energy release of an elastic element in a walking phase are fully used; an active driving motor only performs driving in the proper phase; and the characteristic of low power consumption is achieved.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a flexible driver with variable stiffness, in particular to a flexible driver used to drive lower limb joints of assisting exoskeleton robots and bionic robots. Background technique [0002] At present, the lower extremity power-assisted exoskeleton is mostly a rigid mechanism, and the driving method is mostly hydraulic or motor. However, whether it is hydraulic drive or motor drive, there is the problem of poor cushioning during the force transmission process, especially when the soles of the feet touch the ground. Large impact force causes the vibration of the machine body, thus affecting the stability of the man-machine system, especially when walking rapidly and continuously, continuous impact force and vibration will cause damage to the machine body and airborne equipment. [0003] In recent years, robot technology has become increasingly mature, and there are more and more...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the single drive mode problem of the current ankle exoskeleton driver and the demand for bionic energy-saving drivers for ankle exoskeleton robots, the present invention provides a flexible driver with energy storage and energy release functions and variable stiffness. So as to meet the motion requirements of the lower limb ankle exoskeleton robot

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