Variable-damping flexibly-driven exoskeleton joint

Abstract

The invention discloses a variable-damping flexibly-driven exoskeleton joint. The variable-damping flexibly-driven exoskeleton joint comprises a crank-slider series elastic driver, an exoskeleton joint shell and a magnetorheological damper, two joint rolling bearings are placed in the exoskeleton joint shell and used for supporting a joint center rotating body in the crank sliding block series connection elastic driver, other rod pieces or joints are connected through joint connecting pieces, and elastic elements are connected with the exoskeleton joint shell and the joint center rotating body respectively. A first magneto-rheological damper connecting block in the magneto-rheological damper is connected with an exoskeleton joint shell, a second magneto-rheological damper connecting block in the magneto-rheological damper is connected with a joint center rotating body, and the crank sliding block is connected with the elastic driver in series, and the magneto-rheological damper and the elastic element are connected in parallel. According to the invention, the mechanism can realize flexible driving and can resist external impact, so that the wearing comfort of the exoskeleton is improved.

Description

technical field [0001] The invention belongs to the technical field of mechanical joint units, in particular to an exoskeleton joint driven by variable damping and compliance. Background technique [0002] The joints of the exoskeleton mainly provide power for the wearer's joint movement. Most of the traditional exoskeleton joints use a scheme in which the motor and the reducer are connected in series and directly connected to the execution part, which makes the exoskeleton joint rigid and limits the wearer's flexibility and flexibility. Comfort; there is also a scheme of using series elastic actuators for driving, which can better reduce the impact of robot collisions, but the stiffness of series elastic actuators is fixed and cannot adapt to different working conditions, and the added elasticity The components will inevitably bring about vibration and low control accuracy. The existing solution to reduce the shortcomings of series elastic drives by adding damping cannot q...

AI Technical Summary

Problems solved by technology

[0002] The joints of the exoskeleton mainly provide power for the wearer's joint movement. Most of the traditional exoskeleton joints use a scheme in which the motor and the reducer are connected in series and directly connected to the execution part, which makes the exoskeleton joint rigid and limits the wearer's flexibility and flexibility. Comfort; there is also a scheme of using series elastic actuators for driving, which can better reduce the impact of robot collisions, but the stiffness of series elastic actuators is fixed and cannot adapt to different working conditions, and the added elasticity Components will inevitably bring about vibration and low control accuracy

The existing solution to reduce the shortcomings of series elastic drives by adding damping cannot quickly change the damping size, consumes a lot of energy, cannot achieve continuous adjustment, and the damping control accuracy is low; in addition, the average power of the current exoskeleton joints is too large, and the overall High energy consumption

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