A variable stiffness rope-driven joint for exoskeleton and walking robot

Abstract

The invention relates to a variable stiffness rope driving joint for exoskeletons and walking robots. The variable stiffness rope driving joint comprises a framework, a driver disk, a force transmission rope, driving ropes and stiffness regulating mechanisms, wherein the framework comprises an upper framework and a lower framework which are connected through a rotating shaft to form a revolving pair; the driver disk is coaxially sheathed on the rotating shaft, and the revolving pair is formed between the driver disk and the rotating shaft; one force transmission rope and the two driving ropes are wound on the driver disk; both ends of the force transmission rope are connected to the stiffness regulating mechanisms separately, and the driving stiffness between the upper framework and the lower framework is adjusted through the stiffness regulating mechanisms; the two driving ropes are wound oppositely, one end of each driving rope is fixed to the driver disk, and the other end of each driving rope is connected to a driving component used for driving the two driving ropes to drive the driver disk to rotate; and the rotation force is converted into driving force through the force transmission rope for driving the upper framework and the lower framework to rotate mutually. The variable stiffness rope driving joint provided by the invention is high in sensitivity of stiffness adjustment and control, and universality, and can be applied to different kinds of exoskeletons and walking robots.

Description

technical field [0001] The invention belongs to the technical field of machinery, and specifically relates to a mechanically driven joint, which is a variable stiffness rope-driven joint that can be used in exoskeletons and walking robots. Through the driving force of the rope transmission, the joint can be rotated under the action of the rope drive, and can Different stiffness and mechanical properties can be obtained by changing or adjusting the joint springs. Background technique [0002] In the existing exoskeletons and walking robots, most of the drivers at the joints are directly installed on the joints, which increases the mass of the leg / arm branch, increases the inertia of the leg / arm branch, reduces the control sensitivity of the device, and increases the movement process. energy consumption in . At the same time, the driving joints are generally rigid joints, which do not have variable stiffness and cushioning functions, and there are impacts during the movement,...

AI Technical Summary

Problems solved by technology

[0002] In the existing exoskeletons and walking robots, most of the drivers at the joints are directly installed on the joints, which increases the mass of the leg / arm branch, increases the inertia of the leg / arm branch, reduces the control sensitivity of the device, and increases the movement process. energy consumption in

At the same time, the driving joints are generally rigid joints, which do not have variable stiffness and cushioning functions, and there are impacts during the movement, which reduces the service life of the driving joints

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