An exoskeleton robot joint that can be quickly separated

Abstract

The present invention discloses an exoskeleton robot joint that can be quickly separated, which is composed of a driving motor, a main frame plate, a transfer shaft, a harmonic reducer, a clutch device, an output frame plate, and a reducer output flange; the flexible wheel of the driving motor and the harmonic reducer is installed on the main frame plate, the power of the driving motor is connected to the wave generator of the harmonic reducer through the transfer shaft, and the power of the driving motor is input after being connected to the wave generator in the harmonic reducer through the transfer shaft; the power of the driving motor is output by the steel wheel of the harmonic reducer after deceleration; the reducer output flange is connected to the steel wheel of the harmonic reducer; the connection and separation between the reducer output flange and the output frame plate are realized through the clutch device.

Description

Technical Field

[0001] The present invention relates to a joint module of an exoskeleton robot, and more particularly to an exoskeleton robot joint that can be quickly separated. Background Art

[0002] Currently, for domestic assistive wearable exoskeleton robots, when the driving motor is powered off, due to the large reduction ratio of the speed reducer, the effect of the speed reducer in increasing torque makes each joint unable to rotate flexibly during donning and doffing. At this time, the human body needs to maintain a fixed posture during donning and doffing, and the process is cumbersome and complex and cannot be completed independently by oneself. It requires multiple people to cooperate and assist to complete the donning and doffing tasks. The comfort during the donning and doffing process is poor and the experience is not good. In the case of the driving motor being powered off, if one wants to achieve free rotation of the joint to achieve flexible donning and doffing, the output joint can only reach the free state by disassembling and separating the drive, but this method is extremely inefficient, and the installation accuracy requirements are relatively high when assembling again after disassembly and separation. Although it can be relatively flexible in donning and doffing, it is easy to damage the drive and the reduction mechanism, causing damage to the exoskeleton robot joint. Summary of the Invention

[0003] The purpose of the present invention is to provide an exoskeleton robot joint that can be quickly separated. This device can complete the rapid detachment and closing of the joint module of the exoskeleton robot during donning and doffing, realize the rapid switching of the joint module from a fixed position to a free state, and thus quickly and flexibly realize the donning and doffing operation tasks of the exoskeleton robot.

[0004] The present invention is achieved through the following technical solutions:

[0005] An exoskeleton robot joint that can be quickly separated, which consists of a driving motor, a speed reducer, a clutch device, an output frame plate, and a speed reducer output flange; the power of the driving motor is decelerated by the speed reducer and then connected to the speed reducer output flange. The inner ring of the output frame plate is sleeved on the central axis of the speed reducer output flange, and the outer ring of the output frame plate cooperates with the clutch device to realize the connection and separation between the output frame plate and the speed reducer output flange through the clutch device.

[0006] Further, the speed reducer adopts a harmonic accelerator. The driving motor and the flexible gear of the harmonic speed reducer are installed on the main frame plate. The power of the driving motor is connected to the wave generator of the harmonic speed reducer through a transfer shaft. After the power of the driving motor is connected to the wave generator in the harmonic speed reducer through the transfer shaft, power input is carried out; the power of the driving motor is output by the steel gear of the harmonic speed reducer after deceleration; the speed reducer output flange is connected to the harmonic speed reducer steel gear.

[0007] Further, the clutch device consists of a clutch, an end cover, a locking steel ball, a button spring, and a separation button;

[0008] The top of the described clutch is fixedly connected to the end cover, and the clutch and the end cover are coaxially installed. The separation button is inserted into the central hole of the end cover. A curved surface is designed on the outer circle of the separation button, and the locking steel ball is arranged within this curved surface. A button spring is sleeved between the end cover and the separation button. The top of the button spring abuts against the separation button, the bottom abuts against a boss on the end cover, and the button spring is located above the locking steel ball.

[0009] Furthermore, the clutch is in tapered surface fit with both the output flange of the reducer and the output support plate. When connected, it can ensure that there is no mechanical clearance on the mating surface, guaranteeing the accuracy during the operation of the joint module.

[0010] Furthermore, there are boss A and boss B on the clutch, and there is a groove A on the output support plate that mates with boss A. Boss A and groove A are in tapered surface fit. There is a groove B on the output flange of the reducer that mates with boss B. Boss B and groove B are in tapered surface fit. When connected, it can ensure that there is no mechanical clearance on the mating surface, guaranteeing the accuracy during the operation of the joint module.

[0011] Furthermore, at the center position of the output flange of the reducer, there is a central shaft with an internal opening. A groove I is provided on the inner circle of the central shaft for clamping the locking steel ball. The outer circle of the central shaft mates with the inner circle of the output support plate, and the outer circle of the output support plate mates with the clutch.

[0012] Furthermore, a groove II is provided on the outer circle of the central shaft. A snap ring is installed in this groove II to fix and limit the output support plate to prevent it from coming out. The clutch can connect the output flange of the reducer and the output support plate to achieve quick separation.

[0013] Furthermore, mounting holes are provided on the output support plate, and a clutch release spring is arranged within these mounting holes. The top of the clutch release spring contacts the bottom of the end cover. When the clutch is closed, the clutch release spring is in a compressed state. When the clutch is disengaged, the clutch release spring pushes up the clutch.

[0014] Furthermore, the upper and lower ends of the adapter shaft are respectively fixedly supported by an upper adapter shaft bearing and a lower adapter shaft bearing.

[0015] The specific working mode of the clutch device is as follows:

[0016] Clutch device closed:

[0017] When the clutch device is closed, the clutch connects the output flange of the reducer and the output support plate. At this time, the output flange of the reducer and the output support plate can move synchronously.

[0018] Both the output flange of the speed reducer and the output mounting plate have directional grooves, while the clutch has corresponding bosses; when the clutch device is not closed, the output mounting plate can rotate freely around the central axis of the output flange of the speed reducer. When the groove of the output flange of the speed reducer rotates to coincide with the groove of the output mounting plate, at this time, pressing the boss of the entire clutch can connect the output flange of the speed reducer and the output mounting plate, realizing the synchronization of the output flange of the speed reducer and the output mounting plate. At this time, the button spring jacks up the separation button. The separation button is designed with a curved surface, and the locking steel ball is extruded outward along the curved surface of the separation button and moves to be stuck in the corresponding groove of the output flange of the speed reducer, and then the entire clutch device is locked with the output flange of the speed reducer to prevent the clutch device from disengaging. In addition, the bosses of the clutch and the corresponding grooves of the output flange of the speed reducer and the output mounting plate are all tapered surface fits, which can ensure that there is no mechanical gap between the mating surfaces when connecting, and ensure the accuracy when the joint module works.

[0019] Disengagement of the clutch device:

[0020] When the clutch device disengages, the clutch disengages from the output flange of the speed reducer and the output mounting plate under the jacking of the clutch disengagement spring. At this time, the output mounting plate can rotate freely around the central axis of the output flange of the speed reducer.

[0021] When disengaging, first press the separation button. At this time, the button spring is compressed, and the locking steel ball falls back along the designed curved surface of the separation button, and the entire clutch device is unlocked. Under the action of the clutch disengagement spring, the clutch device is jacked up along the central axis of the output flange of the speed reducer, and the clutch disengages from the output flange of the speed reducer and the output mounting plate. In addition, there are bosses on the clutch and the output mounting plate to limit each other, which can prevent the entire clutch device from disengaging after disengaging from the output flange of the speed reducer and the output mounting plate. After the entire clutch mechanism is disengaged, it can be rotated by a certain angle, and the bottom surface of the clutch is placed on the top surface of the output mounting plate.

[0022] The beneficial effects of the present invention are as follows:

[0023] This joint can realize the rapid separation and closing of the joints of the exoskeleton robot. When the driving motor is powered off, the joint module can be switched from the fixed state to the free state with one key. At this time, the human body can independently and flexibly complete the tasks of putting on and taking off the exoskeleton robot, greatly improving the efficiency of putting on and taking off the exoskeleton robot, enhancing the comfort of putting on and taking off, solving the problem of manual assistance for putting on and taking off, and at the same time avoiding the damage to the robot joints caused by the method of disassembling the drive for putting on and taking off. Description of the drawings

[0024] The specification drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application.

[0025] Figure 1 Schematic cross-sectional view of the overall structure of the present invention;

[0026] Figure 2 Cross-sectional view of the clutch device of the present invention;

[0027] Figure 3 For Figure 2 Partial enlarged view of;

[0028] Figure 4 Appearance of the clutch device of the present invention;

[0029] Figure 5 Appearance of the output flange of the speed reducer;

[0030] Figure 6 Schematic diagram of the output support plate;

[0031] Figure 7 Appearance diagram when the clutch device is closed;

[0032] Figure 8 Appearance diagram when the clutch device is disengaged;

[0033] In the figure: 1 driving motor, 2 main support plate, 3 transfer shaft, 4 harmonic speed reducer, 4-1 harmonic speed reducer wave generator, 5 lower bearing of the transfer shaft, 6 upper bearing of the transfer shaft, 7 output flange of the speed reducer, 7-1, steel ball positioning groove, 7-2 groove B, 7-3 central shaft, 7-4 groove, 8 clutch, 8-1 clutch limit boss, 8-2 clutch boss A, 8-3 clutch boss B, 15-1 steel ball sliding surface; 9 output support plate, 9-1 anti-disengagement boss, 9-2 groove A, 9-3 central hole, 9-4 mounting hole, 10, end cover, 11, clutch disengagement spring, 12, snap ring, 13 locking steel ball, 14 button spring, 15 separation button. Detailed implementation manners

[0034] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs.

[0035] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of the features, steps, operations, devices, components, and / or combinations thereof;

[0036] For the convenience of description, in the present invention, if terms such as "upper", "lower", "left", and "right" appear, they only indicate the same directions as the upper, lower, left, and right of the attached drawings themselves, and do not limit the structure. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the present invention.

[0037] As introduced in the background art, at present, for domestic assistive wearable exoskeleton robots, when the driving motor is powered off, due to the large reduction ratio of the reducer, the effect of the reducer increasing the torque makes the joints unable to rotate flexibly during donning and doffing. At this time, the human body needs to maintain a fixed posture during donning and doffing, and the process is cumbersome and complex and cannot be completed independently by oneself, and requires the cooperation of multiple people to assist in completing the donning and doffing tasks. The comfort during the donning and doffing process is poor and the experience is not good. If you want to achieve free rotation of the joints to achieve flexible donning and doffing when the driving motor is powered off, you can only make the output joint reach a free state by disassembling and separating the drive. However, this method has extremely low efficiency, and the installation accuracy requirements are relatively high when assembling again after disassembling and separating. Although it can be relatively flexible in donning and doffing, it is easy to damage the drive and reduction mechanism and cause damage to the joints of the exoskeleton robot. To solve the above technical problems, the present application proposes an exoskeleton robot joint that can be quickly separated.

[0038] In a typical embodiment of the present application, as Figure 1 shown, the exoskeleton robot joint that can be quickly separated is composed of a driving motor 1, a main frame plate 2, a transfer shaft 3, a harmonic reducer 4, a clutch device, an output frame plate 9, and a reducer output flange 7;

[0039] Among them, the driving motor can be selected to be a DC motor.

[0040] The driving motor 1 is installed on the main frame plate 2, and the power of the driving motor 1 is connected to the harmonic reducer wave generator 4-1 through the transfer shaft 3. The upper and lower ends of the transfer shaft 3 are respectively fixedly supported by a transfer shaft upper bearing 6 and a transfer shaft lower bearing 5. In addition, the flexspline of the harmonic reducer 4 is fixed on the main frame plate 2. The power of the driving motor 1 is input after being connected through the transfer shaft 3 and the harmonic reducer wave generator 4-1, and is output by the steel gear of the harmonic reducer 4 after being decelerated by the harmonic reducer 4. At the same time, the reducer output flange 7 is connected to the steel gear of the harmonic reducer 4; the connection and separation between the reducer output flange and the output frame plate are realized through the clutch device.

[0041] The specific structures of each part are explained as follows:

[0042] As Figure 3 and Figure 3 shown, the clutch device is composed of a clutch 8, an end cover 10, a locking steel ball 13, a button spring 14, and a separation button 15;

[0043] The top of the clutch 8 is fixedly connected to the end cover 10 by bolts, and the clutch 8 and the end cover 10 are coaxially installed. A through hole is opened at the center position of the end cover 10. The separation button 15 is inserted into the through hole of the end cover 10. A steel ball sliding surface 15-1 is designed on the outer circle of the separation button 15, and the locking steel ball is arranged in this surface. And a button spring 14 is sleeved between the end cover and the separation button. The top of the button spring 14 abuts against the separation button 15, and the bottom abuts against a small boss of the end cover, and the button spring is located above the locking steel ball 13.

[0044] The clutch is provided with a clutch limit boss 8-1, a clutch boss A 8-2, and a clutch boss B 8-3.

[0045] As Figure 5 shown, it is the structure of the reducer output flange 7. There is a central shaft 7-3 at the center position of the reducer output flange 7. The inside of the central shaft 7-3 is opened with a hole. A groove 7-1 is provided on the inner circle of the central shaft 7-3 for clamping the locking steel ball. A groove 7-4 is also provided on the outer circle of the central shaft 7-3. The groove 7-4 and the groove on the end cover form a space for installing the snap ring 12.

[0046] A groove B 7-2 for cooperating with the clutch boss B 8-3 is provided on the outer circle of the reducer output flange 7.

[0047] The outer circle of the central shaft cooperates with the inner circle of the output support plate, and the outer circle of the output support plate cooperates with the clutch.

[0048] As Figure 6 shown, it is the structure of the output support plate 9. A central hole 9-3 is provided at the center of the clutch for sleeving on the central shaft of the reducer output flange 7. On the outer circle of the output support plate 9, there are provided a preventing detachment boss 9-1, a clutch groove A 9-2, and a mounting hole 9-4. The mounting hole 9-4 is used for installing the clutch detachment spring 11. The top of the clutch detachment spring 11 contacts the bottom of the end cover. When the clutch is closed, the clutch detachment spring is in a compressed state. When the clutch is detached, the clutch detachment spring jacks up the clutch. The groove A 9-2 cooperates with the clutch boss A 8-2.

[0049] The outer circle of the central shaft 7-3 is sleeved with the central hole 9-3, and the output support plate 9 can rotate freely along the central shaft 7-3. The snap ring 12 fixes and limits the output support plate 9 to prevent it from coming out. The clutch 8 can connect the reducer output flange 7 and the output support plate 9 to achieve quick separation.

[0050] The working process of the specific clutch device is as follows:

[0051] Clutch device closing:

[0052] When the clutch device is closed, the clutch 8 connects the reducer output flange 7 and the output frame plate 9 (the clutch boss A8-2 and the clutch boss B8-3 connect the clutch groove A9-2 and the clutch groove B7-2), and the reducer output flange 7 and the output frame plate 9 can move synchronously.

[0053] Both the reducer output flange 7 and the output frame plate 9 have directional grooves B 7-2 and grooves A9-2, and the clutch 8 has corresponding clutch bosses A 8-2 and clutch bosses B 8-3.

[0054] When the clutch device is not closed, the output frame plate 9 can rotate freely around the central axis 7-3. When the groove B7-2 rotates to coincide with the groove A 9-2, the entire clutch device is pressed down, and the clutch boss A 8-2 and the clutch boss B 8-3 can connect with the clutch groove A 9-2 and the clutch groove B 7-2, so as to achieve synchronization between the reducer output flange 7 and the output frame plate 9. At this time, the button spring 14 lifts the separation button 15, and the separation button 15 is designed with a curved steel ball sliding surface 15-1. The locking steel ball 13 is squeezed outward along the steel ball sliding surface 15-1 and moves to the steel ball positioning groove 7-1 to get stuck, and then the entire clutch device is locked with the reducer output flange 7 to prevent the clutch device from disengaging. In addition, the clutch boss A 8-2, the clutch boss B 8-3 and the groove B 7-2 and the groove A9-2 are all conical surfaces, which can ensure that there is no mechanical clearance on the matching surface when connected, and ensure the accuracy of the joint module when working.

[0055] Clutch disengagement:

[0056] When the clutch device is disengaged, the clutch 8 is disengaged from the reducer output flange 7 and the output frame plate 9 under the lifting of the clutch disengagement spring 11. At this time, the output frame plate 9 can rotate freely around the central axis of the reducer output flange 7.

[0057] When disengaging, first press the separation button 15, at which time the button spring 14 is compressed, and the locking steel ball 13 falls back along the steel ball sliding surface 15-1 designed on the separation button 15, and the entire clutch device is unlocked. Under the action of the clutch disengagement spring 11, the clutch device is lifted up along the axial direction, and the clutch 8 is separated from the reducer output flange 7 and the output frame plate 9; that is, the clutch boss A 8-2 and the clutch boss B 8-3 are separated from the groove B 7-2 and the groove A9-2;

[0058] In addition, the clutch 8 and the output frame plate 9 are provided with clutch limiting bosses 8-1 and anti-disengagement bosses 9-1 for limiting each other, which can prevent the entire clutch device from disengaging after disengaging from the reducer output flange 7 and the output frame plate 9. After the entire clutch mechanism is disengaged, it can be rotated to a certain angle, and the bottom surface of the clutch 8 is placed on the top surface of the output frame plate 9, as shown in FIG. Figure 8, preventing it from falling back and shaking.

[0059] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A quickly detachable joint of an exoskeleton robot, characterized in that, it is composed of a driving motor, a transfer shaft, a speed reducer, a clutch device, an output mounting plate, and a speed reducer output flange; The power of the driving motor is decelerated by the speed reducer and then connected to the speed reducer output flange. The inner ring of the output mounting plate is sleeved on the central axis of the speed reducer output flange, and the outer ring of the output mounting plate cooperates with the clutch device to achieve the connection and separation between the output mounting plate and the speed reducer output flange through the clutch device; The clutch device is composed of a clutch, an end cover, locking steel balls, a button spring, and a separation button; The top of the clutch is fixedly connected to the end cover, and the clutch and the end cover are coaxially installed. The separation button is inserted into the central hole of the end cover. A curved surface is designed on the outer circle of the separation button, and the locking steel balls are arranged in this curved surface; And a button spring is sleeved between the end cover and the separation button; The top of the button spring abuts on the separation button, the bottom abuts on a boss of the end cover, and the button spring is located above the locking steel balls; The clutch is in conical surface fit with both the speed reducer output flange and the output mounting plate; There are boss A and boss B on the clutch; There is a groove B on the speed reducer output flange that is in conical surface fit with boss B; There is also a groove A on the output mounting plate that is in conical surface fit with boss A; A groove II is provided on the outer circle of the central axis for installing a snap ring to fix and limit the output mounting plate to prevent it from coming out.

2. The quickly detachable joint of an exoskeleton robot according to claim 1, characterized in that, at the center position of the speed reducer output flange, there is a central axis with an internal opening. The inner circle of the central axis is provided with a groove I; The outer circle of the central axis cooperates with the inner circle of the output mounting plate, and the outer circle of the output mounting plate cooperates with the clutch device.

3. The quickly detachable joint of an exoskeleton robot according to claim 1, characterized in that, mounting holes are provided on the output mounting plate, and a clutch disengaging spring is arranged in the mounting holes. The top of the clutch disengaging spring contacts the bottom of the end cover. When the clutch is closed, the clutch disengaging spring is in a compressed state; When the clutch is disengaged, the clutch disengaging spring pushes up the clutch.

4. The quickly detachable joint of an exoskeleton robot according to claim 1, characterized in that, a transfer shaft upper bearing and a transfer shaft lower bearing are respectively fixedly supported at the upper and lower ends of the transfer shaft.

5. The quickly detachable joint of an exoskeleton robot according to claim 1, characterized in that, the speed reducer adopts a harmonic speed reducer. The flexible gear of the driving motor and the harmonic speed reducer is installed on the main mounting plate. The power of the driving motor is connected to the wave generator of the harmonic speed reducer through the transfer shaft. After the power of the driving motor is connected through the transfer shaft and the wave generator in the harmonic speed reducer, power input is carried out; The power of the driving motor is output by the steel gear of the harmonic speed reducer after deceleration; The speed reducer output flange is connected to the harmonic speed reducer steel gear.

Images