Bowden cable pre-tensioning mechanism for power-assisted robot with flexible exoskeleton

Abstract

The invention provides a Bowden cable pre-tensioning mechanism for a power-assisted robot with a flexible exoskeleton. The pre-tensioning mechanism is composed of a guide sleeve, a slide block, an upper cover and a pressure spring, wherein a pre-tensioning force of the Bowden cable pre-tensioning mechanism is generated by compressing the pressure spring, and enables a Bowden cable to be in a tensioned state. The Bowden cable pre-tensioning mechanisms are symmetrically installed at the two sides of a wheel; and when a motor rotates clockwise, the Bowden cable at the left side is tensioned, andthe pressure spring of the corresponding pre-tensioning mechanism shrinks to absorb energy, and when the motor rotates anticlockwise, the Bowden cable at the left side is loosened. The compressed pressure spring releases energy to stretch and give a pre-tensioning force to the loosened Bowden cable at the left side; and in this way, the loosened Bowden cable at the left side cannot be accumulatedon the wheel, and then cannot fly out to be clamped in a gap between the wheel and a housing. Similarly, the pre-tensioning principle of the Bowden cable at the right side is the same as the pre-tensioning principle of the Bowden cable at the left side. During the alternating forward rotation and reverse rotation of the motor, the left pre-tensioning mechanism and the right pre-tensioning mechanism work in an alternating manner to complete pre-tensioning for the Bowden cable at the left side and the Bowden cable at the right side.

Description

technical field [0001] The invention relates to the field of motor tools, in particular to a Bowden wire pretensioning mechanism for a flexible exoskeleton power-assisted robot. The pre-tightening mechanism is to give a pre-tightening force to the Bowden wire to prevent the loose Bowden wire from being caught in the gap between the reel and the reel housing when the motor reverses. [0002] technical background [0003] With the rapid development of modern science and technology, the level of weapons and equipment has increasingly become an important guarantee for the victory of modern warfare. The small scale of combat troops and high combat consumption have become the basic characteristics of modern warfare. At the same time, new forms of armed strikes such as the anti-terrorist war have higher and higher requirements for individual soldiers' equipment, and the individual soldier's load has also increased. However, excessive individual soldier load is an important factor a...

AI Technical Summary

Problems solved by technology

In the above design, when the motor speed is too fast, the Bowden wires are easy to fly out of the wheel and get stuck in the gap between the wheel and the shell. This problem increases the instability of the mechanism and limits the speed of the exoskeleton robot.

This is a common problem that must be faced when using a Bowden wire as an end effector, and this is also a disadvantage of Bowden wire control

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