Universal belden cable drive device and its assembling method

Abstract

The application discloses a general type Borden cable driving device and an assembling method thereof. The driving device comprises a base and a rotating mechanism. The rotating mechanism is rotatably arranged in the base. A power installation interface is arranged on one side of the base. The power installation interface is used for fixing a torsional spring or a driving motor. A power input end of the rotating mechanism can be connected with the torsional spring or the driving motor through the power installation interface. The power installation interface is arranged on the base to facilitate quick dismounting and mounting of the torsional spring or the driving motor. The driving device is compatible with active and passive driving modes, and the application scene of the Borden cable driving device is enriched.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton joint drive technology, and in particular to a universal active and passive Boden cable drive device. Background Technology

[0002] Boden wire-driven exoskeleton joints are a common actuation method for exoskeletons, typically employing either active or passive actuation. Due to the different actuation principles of active and passive actuation, their structural forms also differ. Existing Boden wire-driven exoskeleton devices can only select one of the two methods, making it difficult to achieve compatibility between active and passive actuation. Validating both passive and active actuation methods requires replacing two sets of actuation devices, which is highly inconvenient. Summary of the Invention

[0003] To address the problems existing in the prior art, the purpose of this invention is to provide a universal Boden wire drive device with a simple structure that is compatible with both active and passive drive methods.

[0004] To achieve the above objectives, the first aspect of the present invention provides a universal Boden wire drive device, including a base and a rotating mechanism. The rotating mechanism is rotatably disposed in the base. A power mounting interface is provided on one side of the base. The power mounting interface is used to fix a torsion spring or a drive motor. The power input end of the rotating mechanism can be poweredly connected to the torsion spring or the drive motor through the power mounting interface.

[0005] Furthermore, the power mounting interface has a mounting groove, the size of which is adapted to the torsion spring or the drive motor. The mounting groove can accommodate the power end of the torsion spring or the drive motor, and the mounting groove is provided with a channel for the power input end of the rotating mechanism to connect with the power end of the drive motor or the torsion spring.

[0006] Furthermore, the rotating mechanism includes a drive shaft and a reel. The reel is fixed on the drive shaft and can rotate with the drive shaft. The reel is used to fix the core of the Boden wire.

[0007] Furthermore, the base is provided with a through hole for mounting the drive shaft, which is installed in the through hole and can drive the reel to rotate under external power.

[0008] Furthermore, a cover plate for sealing the mounting slot is detachably provided on the outside of the power mounting interface.

[0009] Furthermore, bearing mounting seats are provided on the bases on both sides of the through hole. The bearing mounting seats are used to fix and support the bearings of the drive shaft. The pulley is positioned between the two bearings, thereby positioning the drive shaft along the axial direction.

[0010] Furthermore, the spool has a first through hole for mounting the drive shaft along its axial direction, the drive shaft has a second through hole arranged radially, and the spool has a groove arranged radially. When the drive shaft passes through the first through hole along its axial direction, the second through hole corresponds to the groove. The drive shaft and the spool are fixed by inserting pins into the second through hole and the groove.

[0011] Furthermore, the base is also provided with a lead hole for leading the core of the Boden wire on the reel from the inside of the base to the outside.

[0012] Furthermore, the base is also provided with stepped holes for fixing the sheath of the Boden wire.

[0013] A second aspect of the present invention provides an assembly method for a universal Boden wire drive device, comprising:

[0014] Configure the drive unit as described above;

[0015] Selectively install a drive motor or torsion spring according to the driving requirements of the Boden cable;

[0016] When active driving of the Boden cable is required, the torsion spring is removed from the base and the drive motor is installed through the power mounting interface.

[0017] When passive driving of the Boden cable is required, the drive motor is removed from the base, and the torsion spring is installed through the power mounting interface.

[0018] This invention provides a power mounting interface on the base for easy and quick disassembly and installation of torsion springs or drive motors, enabling the drive device to be compatible with both active and passive drive modes, thus enriching the application scenarios of the Boden wire drive device.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a front view of a Boden wire drive device according to an embodiment of the present invention;

[0022] Figure 2 This is a right view of a Boden wire drive device according to an embodiment of the present invention;

[0023] Figure 3 This is a cross-sectional view of a Boden wire drive device according to an embodiment of the present invention;

[0024] Figure 4 This is a cross-sectional view of a Boden wire drive device according to another embodiment of the present invention. Detailed Implementation

[0025] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the invention will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0026] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connected" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0027] Throughout the text, the terms “top,” “bottom,” “above,” “below,” “on,” “left-right,” and “up-down” refer to the relative positions of components within the device, such as the relative positions of the top and bottom substrates inside the device. It is understood that the device is multifunctional and independent of its spatial orientation.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or the number of technical features indicated. Therefore, the defined "first" and "second" features may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0029] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0030] like Figure 1-3As shown, the universal Boden cable drive device of the present invention includes a base 1 and a rotating mechanism 2. The rotating mechanism 2 is rotatably disposed in the base 1. A power mounting interface 3 is provided on one side of the base 1. The power mounting interface 3 is used to fix a torsion spring 4. The power input end of the rotating mechanism 2 can be poweredly connected to the torsion spring 4 through the power mounting interface 3. The rotating mechanism 2 is used to install and fix the Boden cable, and the Boden cable is connected to the load. The load pulls the Boden cable, causing the rotating mechanism 2 to rotate, thereby providing a torsional force to the torsion spring 4. The torque of the torsion spring 4 drives the rotating mechanism 2 to rotate, further pulling the Boden cable to drive the load to move, thus realizing the passive drive of the Boden cable drive device.

[0031] The power mounting interface 3 has a mounting groove 31, the size of which is adapted to the torsion spring 4. The mounting groove 31 can accommodate the power end of the torsion spring 4, and the mounting groove 31 is provided with a channel for connecting the power input end of the rotating mechanism 2 to the torsion spring 4. In this way, the power input end of the rotating mechanism 2 can be easily connected to the torsion spring 4, and the torsion spring 4 can directly transmit torque to the rotating mechanism 2 and drive it to rotate.

[0032] The rotating mechanism 2 includes a drive shaft 21 and a reel 22. The reel 22 is fixed to the drive shaft 21 and can rotate with the drive shaft 21. The reel 22 is used to fix the core of the Boden wire. Specifically, the reel 22 has a first through hole in the axial direction for mounting the drive shaft 21. The drive shaft 21 has a second through hole in the radial direction. The reel 22 has a radial groove. When the drive shaft 21 passes through the first through hole along its axis, the second through hole corresponds to the groove. The drive shaft 21 and the reel 22 are fixed by inserting a pin 23 into the second through hole and the groove. To prevent the pin 23 from coming out of the second through hole and the groove, a plug 24 can be provided at the opening of the groove of the reel. The plug 24 can be fixed at the end of the groove by interference fit, or it can be threaded at the end of the groove and the opening of the groove can be sealed by screwing in a screw. The outer end of the torsion spring 4 is fixedly connected to the base 1, and the inner end of the torsion spring 4 is fixedly connected to the end of the transmission shaft 21 near the torsion spring via the connecting channel. The torque of the torsion spring 4 provides rotational torque to the transmission shaft 21, driving the transmission shaft 21 to rotate.

[0033] The base 1 has a through hole for mounting the drive shaft 21. The drive shaft 21 is installed in the through hole and can drive the reel 22 to rotate under external power. Specifically, bearing mounting seats 11 and 12 are provided on both sides of the through hole along the axial direction in the base 1. The bearing mounting seats 11 and 12 are fixedly installed with bearings 13 and 14 that support the drive shaft 21. The bearings 13 and 14 are positioned by the bearing mounting seats 11 and 12 at both ends. The length of the reel 22 is adapted to the distance between the two bearings 13 and 14, limiting the reel 22 between the two bearings 13 and 14, thereby positioning the drive shaft 21 along the axial direction and preventing the drive shaft 21 from shifting along the axial direction during rotation.

[0034] The power installation interface 3 is detachably provided with a cover plate 15 for sealing the installation groove 31. By providing the cover plate 15, the torsion spring 4 can be limited in the installation groove 31 to prevent the torsion spring 4 from coming out.

[0035] The base 1 is also provided with a lead hole 16 for leading the core of the Boden wire on the reel 22 from inside the base 1 to the outside. The base 1 is also provided with a stepped hole 17 for fixing the sheath of the Boden wire. This can guide the direction of the Boden wire pull.

[0036] like Figure 4 As shown, this embodiment is another driving method for the general-purpose Boden wire drive device. Its structure is basically the same as the drive device in the above embodiment. Only the torsion spring needs to be removed from the base. By installing the drive motor 5 on the power mounting interface 3, the passive Boden wire drive device can be replaced with an active Boden wire drive device. The drive motor 5 can directly and actively drive the rotating mechanism to rotate, thereby driving the Boden wire drive load to move.

[0037] The present invention also provides an assembly method for a universal Boden wire drive device, comprising:

[0038] Configure the drive unit as described above;

[0039] Selectively install a drive motor or torsion spring according to the driving requirements of the Boden cable;

[0040] When active driving of the Boden cable is required, the torsion spring is removed from the base and the drive motor is installed through the power mounting interface.

[0041] When passive driving of the Boden cable is required, the drive motor is removed from the base, and the torsion spring is installed through the power mounting interface.

[0042] In summary, by providing a power mounting interface on the base for easy and quick disassembly and installation of torsion springs or drive motors, this invention enables the drive device to be compatible with both active and passive drive modes, thus enriching the application scenarios of the Boden wire drive device.

[0043] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0044] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A universal BODEN wire drive device, characterized in that, The device includes a base and a rotating mechanism. The rotating mechanism is rotatably mounted in the base and includes a drive shaft and a reel. The reel is fixed to the drive shaft and can rotate with it. The reel is used to fix the core of the Boden wire. The base has a lead hole for leading the core of the Boden wire from the reel outward from the inside of the base, and a stepped hole for fixing the sheath of the Boden wire. A power mounting interface is provided on one side of the base. The power mounting interface has a mounting groove whose size is adapted to a torsion spring or a drive motor, and the mounting groove can accommodate the power end of the torsion spring or the drive motor. The power mounting interface is detachably provided with a cover plate for closing the mounting slot. The mounting slot is provided with a channel for the power input end of the drive shaft to connect with the power end of the drive motor or with the torsion spring. The outer end of the torsion spring is fixedly connected to the base, and the inner end of the torsion spring is fixedly connected to one end of the drive shaft near the power mounting interface via the channel, so that the torsion spring can directly provide rotational torque to the drive shaft. The power mounting interface is also configured to install the drive motor after the torsion spring is removed, and to directly power the power end of the drive motor to the power input end of the transmission shaft via the channel, so that the drive motor can directly drive the rotating mechanism to rotate; the spool has a first through hole for mounting the transmission shaft in the axial direction, the transmission shaft has a second through hole arranged radially, and the spool has a groove arranged radially. When the transmission shaft passes through the first through hole along the axial direction, the second through hole corresponds to the groove, and the transmission shaft and the spool are fixed by inserting pins into the second through hole and the groove.

2. The universal Boden wire drive device as described in claim 1, characterized in that, The base is provided with a through hole for mounting the drive shaft, which is installed in the through hole and can drive the reel to rotate under external power.

3. The universal Boden wire drive device as described in claim 2, characterized in that, Bearing mounting seats are also provided on the bases on both sides of the through hole. The bearing mounting seats are used to fix and support the bearings of the drive shaft. The pulley is positioned between the two bearings, thereby positioning the drive shaft along the axial direction.

4. An assembly method for a universal BODEN wire-driven device, characterized in that, include: Configure the drive device as described in any one of claims 1-3; Selectively install a drive motor or torsion spring according to the driving requirements of the Boden cable; When active driving of the Boden cable is required, the torsion spring is removed from the base and the drive motor is installed through the power mounting interface. When passive driving of the Boden cable is required, the drive motor is removed from the base, and the torsion spring is installed through the power mounting interface.

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