A transmission device with flexible variable stiffness and adaptive human joint trajectory

Abstract

The present invention relates to the field of robot technology, and specifically to a transmission device with flexible variable stiffness and adaptive human joint trajectory, including a load connecting plate, a transmission plate and a motor connecting plate; and also including a biaxial slider; the biaxial slider is slidably connected to the X-axis slide rail and the Y-axis slide rail respectively; the motor connecting plate is provided with a receiving groove; an adjusting slider is provided in the receiving groove; a spring is provided between the adjusting slider and the inner wall of the receiving groove; the transmission plate is provided with a sliding groove; and the adjusting slider is slidably arranged in the sliding groove. The present invention sets a load connecting plate, a transmission plate and a motor connecting plate, and the motor drives the motor connecting plate to rotate and squeeze the spring. The force generated by the compression of the spring drives the human joints through the transmission plate and the load connecting plate, thereby realizing the flexible driving of the motor on the human joints; the biaxial slider can move freely on the XY plane, and can adapt to the variable axis motion trajectory of different human joints.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a transmission device with flexible variable stiffness and adaptive human joint trajectory. Background Art

[0002] With the increasing demand for sports rehabilitation among disabled patients and patients with joint sprains, robotic devices such as rehabilitation robots, exoskeleton robots, joint trainers, and gait correctors have been continuously developed, and have achieved certain rehabilitation training effects.

[0003] When designing these robots, the robot bodies usually imitate the physiological structure of human lower limbs and joints. The robot joints are generally designed as single-axis drive joints, and the robot joints are bound to the human joints. However, human joints have complex geometric structures and are not simple single-degree-of-freedom hinge mechanisms. Taking the knee joint as an example, its sagittal plane movement has variable axis plane movement with rolling and sliding coexisting, and the joint coupling surface has a non-constant rotation axis. If the human knee joint is driven by a traditional single-axis motor, it will cause a mismatch between the rotation centers of the two, which will cause mismatch damage to the human knee joint; at the same time, the movement of human joints is soft, and the stiffness of different human joints is different. Directly binding rigid robot joints to human joints is likely to cause rigid drive damage to the human joints.

[0004] In order for the robot to flexibly drive the human joints and adjust the driving stiffness, and at the same time the robot joint rotation center adapts to the human joint rotation center, it is necessary to design a transmission device with flexible variable stiffness and adaptive human joint trajectory. When the robot drives the human joints, it can flexibly apply driving force to the human joints, and can adjust the size of the robot joint driving stiffness according to the human joint stiffness. The driving device can self-adjust and adapt to the human body's rotation center according to the position of the human body's rotation center to ensure that no damage is caused when driving the human joints. Summary of the invention

[0005] The purpose of the present invention is to provide a transmission device with flexible variable stiffness and adaptive human joint trajectory in view of the above-mentioned deficiencies in the prior art.

[0006] The object of the present invention is achieved through the following technical solutions: A transmission device with flexible variable stiffness and adaptive human joint trajectory, comprising a load connection plate, a transmission plate and a motor connection plate connected in sequence; a double-axis slider is movably arranged between the load connection plate and the transmission plate; a Y-axis slide rail is arranged on a side of the load connection plate close to the transmission plate; an X-axis slide rail is arranged on a side of the transmission plate close to the load connection plate; the double-axis slider is slidably connected to the X-axis slide rail and the Y-axis slide rail respectively;

[0007] A receiving groove is provided on one side of the motor connecting plate close to the transmission plate; an adjusting slider is provided in the receiving groove; a spring is provided between the adjusting slider and the inner wall of the receiving groove; a sliding groove is provided on one side of the transmission plate close to the motor connecting plate; and the adjusting slider is slidably arranged in the sliding groove.

[0008] The present invention is further configured such that a first groove is provided on a side of the load connecting plate close to the transmission plate; the Y-axis slide rail is arranged in the first groove; and the Y-axis slide rail is detachably connected to the first groove by screws.

[0009] The present invention is further configured such that a second groove is provided on a side of the transmission plate close to the load connecting plate; the X-axis slide rail is arranged in the second groove; and the X-axis slide rail is detachably connected to the second groove by screws.

[0010] The present invention is further configured such that the top of the biaxial slider is provided with a Y-axis slide groove slidably connected to the Y-axis slide rail; the bottom of the biaxial slider is provided with an X-axis slide groove slidably connected to the X-axis slide rail;

[0011] The Y-axis slide rail is arranged perpendicularly to the X-axis slide rail.

[0012] The present invention is further configured such that the sliding groove includes a transverse groove and a vertical groove connected to the transverse groove; the adjusting slider includes a sliding part and a supporting part connected to the sliding part; the sliding part is used to slide in the transverse groove; the width of the transverse groove is greater than the width of the vertical groove; the width of the sliding part is greater than the width of the supporting part.

[0013] The present invention is further configured such that support shafts are provided on both sides of the support portion; and the spring is sleeved on the support shafts.

[0014] The present invention is further configured such that the number of the sliding groove, the containing groove and the adjusting slider are all four; the four containing grooves are arranged at equal intervals around the motor connecting plate.

[0015] The present invention is further configured such that the load connecting plate is provided with a first clamping hole.

[0016] The present invention is further configured such that the motor connecting plate is provided with a second clamping hole.

[0017] The present invention is further configured such that the sliding portion is detachably connected to the transverse groove via a screw.

[0018] Beneficial effects of the present invention: The present invention sets a load connecting plate, a transmission plate and a motor connecting plate. The motor drives the motor connecting plate to rotate and squeezes the spring. The force generated after the spring is compressed drives the human joints through the transmission plate and the load connecting plate, thereby realizing the flexible driving of the motor on the human joints; the dual-axis slider can move freely on the XY plane and can adapt to the variable axis motion trajectory of different human joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 is a structural exploded view of the present invention;

[0022] Figure 3 It is a structural exploded view of another perspective of the present invention;

[0023] Among them: 1. load connecting plate; 11. Y-axis slide rail; 12. first groove; 13. first clamping hole; 2. transmission plate; 21. X-axis slide rail; 22. sliding groove; 23. second groove; 3. motor connecting plate; 31. accommodating groove; 32. spring; 33. second clamping hole; 4. dual-axis slider; 41. Y-axis slide groove; 42. X-axis slide groove; 5. adjustment slider; 51. sliding part; 52. supporting part; 53. supporting shaft; 61. horizontal groove; 62. vertical groove. DETAILED DESCRIPTION

[0024] The present invention is further described in conjunction with the following examples.

[0025] Depend on Figures 1 to 3 It can be seen that the transmission device with flexible variable stiffness and adaptive human joint trajectory described in this embodiment includes a load connecting plate 1, a transmission plate 2 and a motor connecting plate 3 connected in sequence; a dual-axis slider 4 is movably provided between the load connecting plate 1 and the transmission plate 2; a Y-axis slide rail 11 is provided on a side of the load connecting plate 1 close to the transmission plate 2; an X-axis slide rail 21 is provided on a side of the transmission plate 2 close to the load connecting plate 1; the dual-axis slider 4 is slidably connected to the X-axis slide rail 21 and the Y-axis slide rail 11 respectively;

[0026] The motor connecting plate 3 is provided with a receiving groove 31 on one side close to the transmission plate 2; an adjusting slider 5 is provided in the receiving groove 31; a spring 32 is provided between the adjusting slider 5 and the inner wall of the receiving groove 31; the transmission plate 2 is provided with a sliding groove 22 on one side close to the motor connecting plate 3; the adjusting slider 5 is slidably provided in the sliding groove 22.

[0027] Specifically, the transmission device with flexible variable stiffness and adaptive human joint trajectory described in this embodiment can be used to adjust the adjustment slider 5 to slide inward or outward in the sliding groove 22 at the bottom of the transmission plate 2. When sliding inward, the driving stiffness of the transmission device decreases, and when sliding outward, the driving stiffness of the transmission device increases, thereby adapting to the driving stiffness requirements of different human bodies.

[0028] When a motor is needed to drive a human joint, the external motor first drives the motor connecting plate 3. After the motor connecting plate 3 rotates, it squeezes the spring 32. The force generated by the compression of the spring 32 drives the human joint through the transmission plate 2 and the load connecting plate 1, thereby realizing the flexible drive of the motor to the human joint.

[0029] Human joints have variable-axis joint motion trajectories. When the rotation center of the load connecting plate 1 connected to the human joint changes, the dual-axis slider 4 can move on the X-axis guide rail and the Y-axis guide rail. In this way, even if the rotation centers of the motor shaft and the human joint axis do not match, the motor can still safely drive the human joint. The dual-axis slider 4 can move freely on the XY plane and can adapt to the variable-axis motion trajectories of different human joints.

[0030] The present embodiment describes a transmission device with flexible variable stiffness and adaptive human joint trajectory, wherein a first groove 12 is provided on a side of the load connecting plate 1 close to the transmission plate 2; the Y-axis slide rail 11 is arranged in the first groove 12; the Y-axis slide rail 11 is detachably connected to the first groove 12 by screws.

[0031] Through the above arrangement, it is convenient to fix the Y-axis slide rail 11 in the first groove 12 , and it is convenient to replace the Y-axis slide rail 11 .

[0032] The present embodiment describes a transmission device with flexible variable stiffness and adaptive human joint trajectory, wherein a second groove 23 is provided on a side of the transmission plate 2 close to the load connecting plate 1; the X-axis slide rail 21 is provided in the second groove 23; the X-axis slide rail 21 is detachably connected to the second groove 23 by screws.

[0033] Through the above arrangement, it is convenient to fix the X-axis slide rail 21 in the second groove 23 and to replace the X-axis slide rail 21 .

[0034] The present embodiment describes a transmission device with flexible variable stiffness and adaptive human joint trajectory, wherein the top of the biaxial slider 4 is provided with a Y-axis slide groove 41 slidably connected to the Y-axis slide rail 11; the bottom of the biaxial slider 4 is provided with an X-axis slide groove 42 slidably connected to the X-axis slide rail 21;

[0035] The Y-axis slide rail 11 and the X-axis slide rail 21 are arranged perpendicularly.

[0036] Through the above arrangement, it can be ensured that the dual-axis slider 4 can move freely on the XY plane and can adapt to the variable axis motion trajectory of different human joints.

[0037] The present embodiment describes a transmission device with flexible variable stiffness and adaptive human joint trajectory, wherein the sliding groove 22 includes a transverse groove 61 and a vertical groove 62 connected to the transverse groove 61; the adjusting slider 5 includes a sliding portion 51 and a supporting portion 52 connected to the sliding portion 51; the sliding portion 51 is used to slide in the transverse groove 61; the width of the transverse groove 61 is greater than the width of the vertical groove 62; the width of the sliding portion 51 is greater than the width of the supporting portion 52.

[0038] Through the above arrangement, the sliding portion 51 can slide in the transverse groove 61 and the sliding portion 51 can be prevented from falling in the transverse groove 61 .

[0039] In the transmission device with flexible variable stiffness and self-adaptive human joint trajectory described in this embodiment, both sides of the support portion 52 are provided with support shafts 53; the spring 32 is sleeved on the support shafts 53. The above arrangement facilitates fixing the spring 32.

[0040] In the transmission device with flexible variable stiffness and adaptive human joint trajectory described in this embodiment, the number of the sliding slot 22, the containing slot 31 and the adjusting slider 5 are all four; the four containing slots 31 are arranged at equal intervals around the motor connecting plate 3. The above arrangement can effectively adapt to the driving stiffness requirements of different human bodies.

[0041] In the transmission device with flexible variable stiffness and self-adaptive human joint trajectory described in this embodiment, the load connecting plate 1 is provided with a first clamping hole 13. The above arrangement facilitates the connection of the load connecting plate 1 with an external robot.

[0042] In the transmission device with flexible variable stiffness and self-adaptive human joint trajectory described in this embodiment, the motor connecting plate 3 is provided with a second clamping hole 33. The above arrangement facilitates the connection between the motor connecting plate 3 and an external motor.

[0043] In the transmission device with flexible variable stiffness and adaptive human joint trajectory described in this embodiment, the sliding part 51 is detachably connected to the transverse groove 61 by screws. The above arrangement facilitates changing the position of the sliding part 51 in the transverse groove 61.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A transmission device with flexible variable stiffness and adaptive human joint trajectory, characterized by: The invention comprises a load connection plate (1), a transmission plate (2) and a motor connection plate (3) which are connected in sequence; a double-axis slider (4) is movably provided between the load connection plate (1) and the transmission plate (2); a Y-axis slide rail (11) is provided on a side of the load connection plate (1) close to the transmission plate (2); an X-axis slide rail (21) is provided on a side of the transmission plate (2) close to the load connection plate (1); and the double-axis slider (4) is slidably connected to the X-axis slide rail (21) and the Y-axis slide rail (11) respectively; A receiving groove (31) is provided on one side of the motor connecting plate (3) close to the transmission plate (2); an adjusting slider (5) is provided in the receiving groove (31); a spring (32) is provided between the adjusting slider (5) and the inner wall of the receiving groove (31); a sliding groove (22) is provided on one side of the transmission plate (2) close to the motor connecting plate (3); the adjusting slider (5) is slidably arranged in the sliding groove (22); A first groove (12) is provided on one side of the load connection plate (1) close to the transmission plate (2); the Y-axis slide rail (11) is arranged in the first groove (12); the Y-axis slide rail (11) is detachably connected to the first groove (12) by means of screws; a second groove (23) is provided on one side of the transmission plate (2) close to the load connection plate (1); the X-axis slide rail (21) is arranged in the second groove (23); the X-axis slide rail (21) is detachably connected to the second groove (23) by means of screws; a Y-axis slide groove (41) is provided on the top of the dual-axis slider (4) and is slidably connected to the Y-axis slide rail (11); and an X-axis slide groove (42) is provided on the bottom of the dual-axis slider (4) and is slidably connected to the X-axis slide rail (21); The Y-axis slide rail (11) is vertically arranged with respect to the X-axis slide rail (21); the sliding groove (22) comprises a transverse groove (61) and a vertical groove (62) connected to the transverse groove (61); the adjusting slider (5) comprises a sliding portion (51) and a supporting portion (52) connected to the sliding portion (51); the sliding portion (51) is used for sliding in the transverse groove (61); the width of the transverse groove (61) is greater than the width of the vertical groove (62); the width of the sliding portion (51) is greater than the width of the supporting portion (52); support shafts (53) are arranged on both sides of the supporting portion (52); the spring (32) is sleeved on the support shaft (53); the number of the sliding groove (22), the containing groove (31) and the adjusting slider (5) is four; the four containing grooves (31) are arranged at equal intervals around the motor connecting plate (3).

2. A transmission device with flexible variable stiffness and adaptive human joint trajectory according to claim 1, characterized in that: The load connecting plate (1) is provided with a first clamping hole (13).

3. The transmission device with flexible variable stiffness and adaptive human joint trajectory according to claim 1, characterized in that: The motor connecting plate (3) is provided with a second clamping hole (33).

4. The transmission device with flexible variable stiffness and adaptive human joint trajectory according to claim 1, characterized in that: The sliding portion (51) is detachably connected to the transverse groove (61) via screws.

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