A lightweight integrated joint driving device for an exoskeleton robot

Abstract

The application provides a lightweight integrated joint driving device for an exoskeleton robot, which comprises a fixing module, an output module and a joint driving module; the joint driving module is worn on a human body through the fixing module; an output end of the joint driving module is in transmission connection with the output module; a strain gauge is arranged on a stress action surface between the joint driving module and the fixing module; the joint driving module outputs power through the output module; and the strain gauge feeds back a reaction force generated between the fixing module and the joint driving module when the power is output. The strain gauge is arranged on the stress action surface between the joint driving module and the fixing module, so that the detection and feedback of the joint interaction force can be realized. The strain gauge is very light, and has beneficial effects on the wearing comfort of the wearable device. Compared with the joint force sensor in the prior art, the joint force sensor is smaller in size and lower in cost. In addition, the joint modular design in the exoskeleton design is strengthened.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a lightweight integrated joint driving device for an exoskeleton robot. BACKGROUND

[0002] In the field of civil, industrial or military applications, most of the exoskeletons in the past mainly consist of a motor connected to a reducer to form a joint driving module.

[0003] In the field of civil, industrial or military applications of exoskeletons, most of the wearers are people who can normally move, and for people with movement obstacles in non-rehabilitation medical fields, the interaction force and contact force feedback between the exoskeleton and the person are particularly important; especially in active exoskeleton devices with active driving such as motors, hydraulic pressure, etc., because the control of the power source needs to consider human-machine interaction force.

[0004] Therefore, joint interaction force detection is particularly important, and most of the existing exoskeleton joint driving modules do not integrate force sensors; of course, some driving modules are provided with six-axis force sensors, but the cost is high and the weight is large, which greatly affects the wearing experience of the wearable product, and it is difficult to control the cost, affecting its competitiveness in the market. Therefore, in view of the above problems, it is necessary to put forward a further solution. SUMMARY

[0005] The present application aims to provide a lightweight integrated joint driving device for an exoskeleton robot to overcome the deficiencies in the prior art.

[0006] To achieve the above-mentioned application purposes, the present application provides a lightweight integrated joint driving device for an exoskeleton robot, which comprises a fixed module, an output module and a joint driving module.

[0007] The joint driving module is worn on the human body through the fixed module;

[0008] The output end of the joint driving module is in transmission connection with the output module;

[0009] The force acting surface between the joint driving module and the fixed module is provided with a strain sheet, the joint driving module outputs power through the output module, and the strain sheet feeds back the reaction force generated between the fixed module and the joint driving module when the power is output.

[0010] As the improvement of the lightweight integrated joint driving device for the exoskeleton robot of the present application, the joint driving module comprises a fixing frame, a groove structure for mounting the fixing module is arranged on the fixing frame, and the strain gauge is mounted on the wall surface of the groove structure which interacts with the fixing module.

[0011] As the improvement of the lightweight integrated joint driving device for the exoskeleton robot of the present application, the fixing module is a joint module fixing rod which is a T-shaped structure, the vertical part of the joint module fixing rod is inserted into the groove structure, and the horizontal part forms a connecting end suitable for wearing on the human body, and the strain gauge is attached to the gap on both sides of the vertical part.

[0012] As the improvement of the lightweight integrated joint driving device for the exoskeleton robot of the present application, the output module is an output flange, one end of which is in transmission connection with the output end of the joint driving module.

[0013] As the improvement of the lightweight integrated joint driving device for the exoskeleton robot of the present application, the joint driving module comprises a fixing frame, a driver, a motor and a reducer.

[0014] The driver is integrated on the back of the motor, the reducer is sleeved on the output end of the motor, the output end of the motor is in transmission connection with the output module, the fixing frame is connected to the reducer, and the fixing module is connected to the fixing frame.

[0015] As the improvement of the lightweight integrated joint driving device for the exoskeleton robot of the present application, the fixing frame is provided with a groove structure for mounting the fixing module, and the strain gauge is mounted on the wall surface of the groove structure which interacts with the fixing module.

[0016] As the improvement of the lightweight integrated joint driving device for the exoskeleton robot of the present application, the fixing module is a joint module fixing rod which is a T-shaped structure, the vertical part of the joint module fixing rod is inserted into the groove structure, and the horizontal part forms a connecting end suitable for wearing on the human body, and the strain gauge is attached to the gap on both sides of the vertical part.

[0017] As the improvement of the lightweight integrated joint driving device for the exoskeleton robot of the present application, the joint driving module further comprises a joint control board and a wire outlet.

[0018] The joint control board is integrated on the fixing frame, the wire outlet is electrically connected to the joint control board, and the joint control board is electrically connected to the power supply signal port on the motor through the wire outlet.

[0019] As an improvement to the lightweight integrated joint drive device for exoskeleton robots of the present invention, the lightweight integrated joint drive device for exoskeleton robots further includes a housing, in which the joint drive module is integrated.

[0020] Compared with the prior art, the beneficial effects of the present invention are: in the lightweight integrated joint drive device for exoskeleton robots of the present invention, strain gauges are provided on the force-bearing surface between the joint drive module and the fixed module, so as to realize the detection and feedback of joint interaction forces.

[0021] Because strain gauges are very lightweight, they improve the comfort of wearable devices. Furthermore, they are smaller and less expensive than previous joint force sensors (such as six-axis force sensors). In addition, the modular design of joints in the exoskeleton design has been enhanced, allowing these joint modules to be applied in other fields, such as collaborative robot joints, thus demonstrating broad application prospects. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional schematic diagram of an embodiment of the lightweight integrated joint drive device for exoskeleton robots according to the present invention.

[0024] Figure 2 for Figure 1 A three-dimensional schematic diagram of the joint drive device after removing the housing, fixing module, and output module;

[0025] Figure 3 for Figure 1 A three-dimensional schematic diagram of the joint drive device after removing the housing and output module;

[0026] Figure 4 for Figure 1 A three-dimensional schematic diagram of the joint drive module. Detailed Implementation

[0027] The present invention will now be described in detail with reference to various embodiments. However, it should be noted that these embodiments are not intended to limit the present invention. Equivalent changes or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are all within the protection scope of the present invention.

[0028] The application provides a joint driving device based on a force sensor and an integrated driver, which can effectively detect the human-machine interaction force at the joint and has the advantages of low cost and light weight.

[0029] An embodiment of the application provides an exoskeleton robot, at least one joint of which is driven by the light-weight integrated joint driving device for an exoskeleton robot.

[0030] As shown in Figures 1-3 , the light-weight integrated joint driving device for an exoskeleton robot comprises a fixing module 10, an output module 20 and a joint driving module 30.

[0031] The joint driving module 30 is worn on the human body through the fixing module 10. That is, one end of the fixing module 10 is connected to the wearing part of the exoskeleton robot, and the other end is in transmission connection with the joint driving module 30.

[0032] In one embodiment, the fixing module 10 is a joint module fixing rod, which is a T-shaped structure. At this time, the horizontal part of the joint module fixing rod forms a connecting end suitable for wearing on the human body. Correspondingly, the horizontal part is provided with a row hole suitable for connection. The vertical part forms a transmission connection end with the joint driving module 30.

[0033] The output end of the joint driving module 30 is in transmission connection with the output module 20. In one embodiment, the output module 20 can be an output flange. At this time, one end of the output flange is in transmission connection with the output end of the joint driving module 30.

[0034] Therefore, when the joint driving module 30 outputs power through the output module 20, a reaction force, i.e., a joint interaction force, is generated between the fixing module 10 and the joint driving module 30, which is further transmitted to the human body.

[0035] Therefore, in order to realize the detection and feedback of the joint interaction force, a strain gauge 40 is arranged on the stress action surface between the joint driving module 30 and the fixing module 10. When the joint driving module 30 outputs power through the output module 20, the strain gauge 40 feeds back the reaction force generated between the fixing module 10 and the joint driving module 30.

[0036] As shown in Figure 4 , the joint driving module 30 comprises a fixing frame 31, a driver 32, a motor 33 and a speed reducer 34.

[0037] The driver 32 is integrated at the back of the motor 33, the reducer 34 is sleeved on the output end of the motor 33, the output end of the motor 33 is in transmission connection with the output module 20, and the fixing frame 31 is connected to the reducer 34.

[0038] The fixing frame 31 has a main body part connected with the reducer 34 and an extension part extending from the main body part.

[0039] When the fixing module 10 is a joint module fixing rod, the vertical part of the joint module fixing rod is inserted into the slot structure 311, and the strain gauge 40 is attached to the gap on both sides of the vertical part.

[0040] In order to facilitate the fixation of the joint driving module 30, the extension part of the fixing frame 31 is also provided with a whole machine fixing end fastening hole 312.

[0041] The joint driving module 30 further comprises a joint control board 35 and a wire outlet 36.

[0042] In addition, in order to protect the joint driving module 30, the lightweight integrated joint driving device for an exoskeleton robot further comprises a shell 50, and the joint driving module 30 is integrated in the shell 50.

[0043] In summary, in the lightweight integrated joint driving device for an exoskeleton robot, the strain gauge is arranged on the stress receiving surface between the joint driving module and the fixing module, so that the joint interaction force can be detected and fed back.

[0044] The strain gauge is very light, which is beneficial to the wearing comfort of the wearable device. Compared with the traditional joint force sensor (such as a six-axis force sensor), the volume is smaller and the cost is lower. In addition, the joint modular design in the exoskeleton design is strengthened, and the joint module can also be applied to other fields, such as collaborative robot joints, thereby having a broad application prospect.

[0045] It will be obvious to a person skilled in the art that the application is not limited to the details of the above-described exemplary embodiments, but that the application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. The embodiments should, therefore, be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

[0046] Furthermore, it should be understood that although the description is made on the basis of the embodiments, not every embodiment contains only one independent technical solution, and the description is made in this way only for the sake of clarity, and a person skilled in the art should consider the description as a whole, and the technical solutions in each embodiment can also be combined appropriately to form other embodiments that can be understood by a person skilled in the art.

Claims

1. A lightweight integrated joint drive device for an exoskeleton robot, characterized by, The light-weight integrated joint driving device for the exoskeleton robot comprises a fixing module, an output module and a joint driving module; The joint driving module is worn on the human body through the fixing module; The output end of the joint driving module is in transmission connection with the output module; Strain gauges are arranged on the force-acting surface between the joint driving module and the fixing module, the joint driving module outputs power through the output module, the strain gauges feed back the reaction force generated between the fixing module and the joint driving module when the power is outputted; The joint driving module comprises a fixing frame, a driver, a motor and a speed reducer; The driver is integrated on the back of the motor, the speed reducer is sleeved on the output end of the motor, the output end of the motor is in transmission connection with the output module, the fixing frame is connected to the speed reducer, and the fixing module is connected to the fixing frame; The fixing frame is provided with a groove structure for mounting the fixing module, and the strain gauges are mounted on the wall surface of the groove structure which interacts with the fixing module; the fixing module is a joint module fixed rod which is a T-shaped structure, the vertical part of the joint module fixed rod is inserted into the groove structure, the horizontal part of the joint module fixed rod forms a connecting end suitable for wearing on the human body, and the strain gauges are attached to the gaps on both sides of the vertical part.

2. The lightweight integrated joint drive device for an exoskeleton robot according to claim 1, characterized by, The output module is an output flange, one end of which is in transmission connection with the output end of the joint driving module.

3. The lightweight integrated joint drive apparatus for an exoskeleton robot according to claim 1, characterized by, The joint driving module further comprises a joint control board and a wire outlet; The joint control board is integrated on the fixing frame, the wire outlet is electrically connected to the joint control board, and the joint control board is electrically connected to the power supply signal port on the motor through the wire outlet.

4. The lightweight integrated joint drive apparatus for an exoskeleton robot according to claim 1, characterized by The light-weight integrated joint driving device for the exoskeleton robot further comprises a shell, and the joint driving module is integrated in the shell.

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