Bidirectional flexible cable driving wire wheel

Abstract

The utility model relates to the technical field of rehabilitation exoskeleton robots, in particular to a two-way flexible cable driving wire wheel which can be used as a driving structure component of a flexible exoskeleton robot for assisting human limb movement, and comprises a wire wheel shell, a two-way winding wire wheel and a driving wheel, and the two-way winding wire wheel and the driving wheel are arranged in the wire wheel shell. Wherein the driving wheel is coaxially connected with the bidirectional winding wheel, a continuous wire groove is formed in the outer circumference of the bidirectional winding wheel, the two sides of the bidirectional winding wheel are connected with the two flexible cables respectively, and the two flexible cables are reversely wound on the continuous wire groove and are led out from the two sides of a wire wheel shell; and when the driving wheel drives the bidirectional winding wheel to rotate, one flexible rope is retracted, and the other flexible rope is released. The power-assisted exoskeleton robot is suitable for being composed of an actuator of a lower limb multi-joint and multi-degree-of-freedom power-assisted exoskeleton robot, motor output torque is transmitted to the tail end of the robot through the Bowden cable, and the lower limbs of the human body are assisted to walk.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation exoskeleton robots, in particular to a bidirectional flexible cable driving wire wheel. Background Art

[0002] The quality of life of patients with lower limb movement disorders will be greatly affected. Flexible exoskeleton robots are increasingly being used in medical rehabilitation and human strength enhancement due to their low cost, comfort, convenience, and high auxiliary efficiency. One of the core technologies of the flexible exoskeleton system is its drive system, which is responsible for converting mechanical energy into the force and movement required for human movement. Traditional flexible exoskeleton drive systems are usually driven by motors, and each joint uses an independent motor to provide power in different directions. For example, the plantar flexion and dorsiflexion of the ankle joint require two motors to drive. Although this design achieves independent control of each joint, it also has many disadvantages: First, the use of multiple motors will increase the complexity and cost of the system. Each motor requires an independent control unit and power supply, and additional sensors and connecting wires are also required, making the system structure complicated; second, there is a certain waste of energy utilization in the multi-motor drive system. Since each motor independently drives a joint movement direction, the corresponding motor consumes energy when running in the reverse direction but does not produce actual effect. This energy waste not only increases energy consumption, but also reduces the efficiency of the system. Therefore, the structural design of bidirectional drive can reduce costs, simplify structure, and improve energy utilization efficiency while ensuring system functions and performance. Utility Model Content

[0003] In response to the above-mentioned problems and demands, the purpose of the utility model is to provide a bidirectional flexible cable drive pulley, which drives the multiple degrees of freedom of the lower limb exoskeleton through the forward and reverse rotation of a single motor, and at the same time has stable driving movement capabilities. By optimizing and improving the traditional drive system, the normal function of the flexible exoskeleton robot is guaranteed.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a bidirectional flexible rope driving reel, comprising a reel housing, a bidirectional winding reel and a driving wheel arranged in the reel housing, wherein the driving wheel is coaxially connected with the bidirectional winding reel, a continuous wire groove is arranged on the outer circumference of the bidirectional winding reel, two sides of the bidirectional winding reel are respectively connected with two flexible ropes, the two flexible ropes are reversely wound on the continuous wire grooves, and are led out at two sides of the reel housing; when the driving wheel drives the bidirectional winding reel to rotate, one flexible rope is retracted and the other is released.

[0006] Both side end surfaces of the bidirectional winding wheel are provided with flexible rope fixing grooves which are transitionally connected with the two ends of the continuous wire groove respectively, and the ends of the two flexible ropes are fixed in the flexible rope fixing grooves on the corresponding sides through flexible rope fixing structures.

[0007] The flexible rope fixing structure includes a wire wheel crimping cover and a wire wheel outlet baffle; a flexible rope cylindrical head is provided at the end of each flexible rope, and a wire crimping cover groove and a flexible rope cylindrical head groove are provided at the end of the flexible rope fixing groove in sequence along the thickness direction of the bidirectional winding wheel, the flexible rope cylindrical head is inserted into the flexible rope cylindrical head groove, the wire wheel crimping cover is arranged on the outside of the flexible rope cylindrical head, and transitionally cooperates with the wire crimping cover groove; the wire wheel outlet baffle is arranged on the wire outlet side of the flexible rope fixing groove, and transitionally cooperates with the baffle groove provided on the bidirectional winding wheel.

[0008] The depth of the continuous wire groove is greater than the diameter of the flexible cable.

[0009] A driving wheel installation groove is arranged at the center of the bidirectional winding reel, and a plurality of reel screw holes are arranged at the bottom of the driving wheel installation groove along the circumferential direction.

[0010] The bidirectional winding wheel is provided with a plurality of weight-reducing holes surrounding the driving wheel mounting groove.

[0011] An axial hole is provided at the center of the driving wheel, a motor keyway is provided on the side wall of the axial hole, an axial fixing screw hole of the driving wheel which passes through the axial hole is provided on the outer circumference of the driving wheel, a plurality of driving wheel screw holes are provided along the circumferential direction on the end face of the driving wheel, and the driving wheel screw holes are connected to the wheel screw holes on the bidirectional winding wheel through bolts.

[0012] The reel housing comprises a reel outer shell and an outer end cover and an inner shell of the reel respectively arranged on both sides of the reel outer shell, wherein a wire outlet structure is symmetrically arranged on both sides of the reel outer shell, and the wire outlet structure comprises a wire outlet groove and a wire outlet threaded opening located at the end of the wire outlet groove.

[0013] A driving wheel baffle is provided between the inner shell of the wire wheel and the driving wheel. The driving wheel baffle is provided with a center hole and a shaft sleeve arranged on one side of the center hole. The shaft sleeve is inserted into the connecting hole of the inner shell of the wire wheel.

[0014] The inner shell of the wire wheel is connected to the external motor reducer, and the output shaft of the external motor reducer is connected to the driving wheel.

[0015] The advantages and positive effects of the utility model are:

[0016] 1. As the key driving structure of the flexible exoskeleton robot, the utility model can transmit the torque generated by the forward and reverse rotation of the motor to the end of the robot through the steel wire. It also supports one-way use and cooperates with unique design methods such as the wire crimping cover to ensure the long-term stable operation of the driving assist device.

[0017] 2. The utility model reduces the number of driving devices such as motors used in the multi-degree-of-freedom assisted flexible exoskeleton, reduces the overall mass and volume of the system, and improves the utilization rate of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an exploded view of the bidirectional flexible cable drive pulley of the utility model;

[0019] Figure 2 It is a schematic structural diagram of the bidirectional winding reel in the utility model;

[0020] Figure 3 It is a structural schematic diagram of the driving wheel in the utility model;

[0021] Figure 4 It is a structural schematic diagram of the center line wheel housing of the utility model.

[0022] In the figure: 1 is the outer end cover of the reel, 2 is the reel wire pressure cover, 3 is the bidirectional winding reel, 4 is the reel wire outlet baffle, 5 is the reel shell, 6 is the driving wheel, 7 is the driving wheel baffle, 8 is the reel inner shell, 9 is the continuous wire groove, 10 is the reel screw hole, 11 is the driving wheel screw hole, 12 is the reel shell screw hole, 13 is the outlet wire groove, 14 is the outlet threaded mouth, 15 is the motor keyway, and 16 is the driving wheel axial fixing screw hole. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] like Figure 1 As shown, the utility model provides a bidirectional flexible rope driven reel, comprising a reel housing and a bidirectional winding reel 3 and a driving wheel 6 arranged in the reel housing, wherein the driving wheel 6 is coaxially connected to the bidirectional winding reel 3, a continuous wire groove 9 is provided on the outer circumference of the bidirectional winding reel 3, both sides of the bidirectional winding reel 3 are respectively connected to two flexible ropes, the two flexible ropes are reversely wound on the continuous wire groove 9, and are led out at both sides of the reel housing; when the driving wheel 6 drives the bidirectional winding reel 3 to rotate, one flexible rope is retracted and the other is released.

[0025] like Figure 2 As shown, in the embodiment of the utility model, both side end faces of the bidirectional winding wheel 3 are provided with flexible rope fixing grooves which are transitionally connected with the two ends of the continuous wire groove 9 respectively, and the ends of the two flexible ropes are fixed in the flexible rope fixing grooves on the corresponding sides through flexible rope fixing structures.

[0026] In an embodiment of the utility model, the flexible rope fixing structure includes a wire wheel crimping cover 2 and a wire wheel outlet baffle 4; a flexible rope cylindrical head is provided at the end of each flexible rope, and a wire crimping cover groove and a flexible rope cylindrical head groove are provided at the end of the flexible rope fixing groove in sequence along the thickness direction of the bidirectional winding wheel 3, the flexible rope cylindrical head is inserted into the flexible rope cylindrical head groove, the wire wheel crimping cover 2 is arranged on the outside of the flexible rope cylindrical head, and transitionally matches with the wire crimping cover groove; the wire wheel outlet baffle 4 is arranged on the outlet side of the flexible rope fixing groove, and transitionally matches with the baffle groove provided on the bidirectional winding wheel 3.

[0027] Preferably, the depth of the continuous wire groove 9 is greater than the diameter of the flexible cable.

[0028] like Figure 2 As shown, in the embodiment of the utility model, a driving wheel mounting groove is provided at the center of the bidirectional winding reel 3, and a plurality of reel screw holes 10 are provided at the bottom of the driving wheel mounting groove along the circumferential direction.

[0029] Furthermore, a plurality of weight-reducing holes are provided on the bidirectional winding reel 3 around the driving wheel mounting groove.

[0030] like Figure 3 As shown, in the embodiment of the utility model, an axial hole is provided at the center of the driving wheel 6, a motor keyway 15 is provided on the side wall of the axial hole, a driving wheel axial fixing screw hole 16 which passes through the axial hole is provided on the outer circumference of the driving wheel 6, a plurality of driving wheel screw holes 11 are provided on the end face of the driving wheel 6 along the circumferential direction, and the driving wheel screw holes 11 are connected to the reel screw holes 10 on the bidirectional winding reel 3 through bolts.

[0031] like Figure 1 , Figure 4 As shown, in the embodiment of the utility model, the reel housing includes a reel housing 5 and a reel outer end cover 1 and a reel inner housing 8 respectively arranged on both sides of the reel housing 5, wherein the reel housing 5 is symmetrically provided with a wire outlet structure on both sides, and the wire outlet structure includes a wire outlet groove 13 and a wire outlet threaded opening 14 located at the end of the wire outlet groove 13. The reel outer end cover 1 is used to protect the reel from external interference.

[0032] Furthermore, a driving wheel baffle 7 is provided between the inner shell 8 of the wire wheel and the driving wheel 6, and the driving wheel baffle 7 is provided with a center hole and a sleeve arranged on one side of the center hole, and the sleeve is inserted into the connecting hole of the inner shell 8 of the wire wheel. The inner shell 8 of the wire wheel is connected to the external motor reducer, and the output shaft of the external motor reducer is connected to the driving wheel 6.

[0033] In the embodiment of the utility model, the outer end cover 1 of the reel is connected and fixed to the reel housing 5 by four screws, and is used to isolate the bidirectional winding reel 3 from the outside world. A multi-turn continuous wire groove 9 is designed on the bidirectional winding reel 3 to avoid problems such as wire jamming and wear caused by overlapping when the flexible rope is wound in a single-turn wire groove. The depth and width of the continuous wire groove 9 are slightly larger than the diameter of the flexible rope to ensure a single turn and single line. A flexible rope is fixed on each side of the bidirectional winding reel 3, which can be used for the end power assistance of the exoskeleton robot. The two flexible ropes share the multi-turn continuous wire groove 9 in a time-sharing manner, reducing the volume and mass of the reel and improving the utilization rate of the wire groove. When a flexible rope is released, the other flexible rope will be retracted, so that when the end of the exoskeleton robot assists the joint, one side will assist when the other side is relaxed. There are eight wire wheel screw holes 10 in the center of the bidirectional winding reel 3, which can fine-tune the posture of the wire wheel to align with the drive wheel screw hole 11 of the drive wheel 6, and four of them are fixed to it to realize the rotation of the drive wheel 6 and drive the bidirectional winding reel 3 to rotate. In addition, the redundant parts of the two-way winding reel 3 are cut off to reduce the mass of the reel and the moment of inertia. There are four reel housing screw holes 12 on the outside of the reel housing 5, which are connected to the outer end cover 1 of the reel on the left side and to the inner shell 8 of the reel on the right side. The reel housing 5 includes two symmetrical wire outlets, which are composed of a wire outlet groove 3 and a wire outlet threaded opening 14. The wire outlet groove 3 is used for the entry and exit of the flexible cable, and the wire outlet threaded opening 14 is used to connect with the standard wire pipe joint device. The reel housing 5 wraps the two-way winding reel 3, and the gap between the two is about 1 / 4 of the diameter of the flexible cable, taking into account the difficulty of assembly and the degree of friction between the flexible cable and the shell, so that the flexible cable does not fall out of the groove or get stuck, ensuring the stability of long-term operation. The wire wheel crimping cover 2 is used to fix the cylindrical head of the flexible wire to the bidirectional winding reel 3 to prevent the flexible wire from moving. The bidirectional winding reel 3 is provided with a groove for the cylindrical head of the flexible wire and a groove for the wire crimping cover, which can accommodate the cylindrical head of the flexible wire. The wire wheel crimping cover 2 and the bidirectional winding reel 3 are transitionally matched; the wire wheel outlet baffle 4 is also assembled to the bidirectional winding reel 3 by transitionally matching, which is used to protect the flexible wire in the outermost wire groove from entering the inner wire groove normally, and to prevent the flexible wire from slipping out of the groove or bending due to the obstruction of the shell and the rigidity of the flexible wire itself when releasing the wire. There is a pair of wire wheel crimping cover 2 and wire wheel outlet baffle 4, which are respectively assembled to the front and back sides of the bidirectional winding reel 3. A motor keyway 15 is dug on the driving wheel 6, and an interference fit is adopted with the key on the motor reducer shaft. When the motor shaft rotates, it will drive the driving wheel 6 to rotate synchronously. Two right-angled screws are installed in the driving wheel axial fixing screw hole 16 of the driving wheel 6 and pushed onto the shaft key to achieve radial and axial fixation of the driving wheel 6. The driving wheel baffle 7 is made of POM material, embedded in the inner shell 8 of the wire wheel, and has a round hole in the middle to separate the driving wheel 6 from the inner shell 8 of the wire wheel to avoid friction caused by excessive assembly.There are four screw holes on the inner shell 8 of the reel, which are fixed to the four screw holes on the motor reducer by screws. The reducer shaft penetrates from the outside of the inner shell 8 of the reel, passes through the POM drive wheel baffle and is connected to the drive wheel 6, thereby fixing the motor and the entire bidirectional flexible cable reel.

[0034] The utility model is designed based on the relationship between the assistance requirements during the forward and reverse movement of the joints in the process of lower limb movement of the human body. It is suitable for the driving part of a multi-degree-of-freedom power-assisted flexible lower limb exoskeleton robot. It has a compact and lightweight structure, low complexity, and is easy to install, disassemble, and maintain, meeting the use requirements. After assembly, the rotation of the motor will drive the drive wheel 6, and then drive the two-way winding reel 3 to rotate. The two flexible cables fixed on the reel enter and exit from the two outlets of the reel housing 5 respectively, and when one of them is retracted, the other is released, which can be used for joint forward and reverse assistance respectively. The remaining structures ensure the fastening and stable operation of the two-way flexible cable drive reel. The utility model is suitable for the actuator composition of multi-joint, multi-degree-of-freedom power-assisted exoskeleton robots for the lower limbs. The motor output torque is transmitted to the end of the robot through the Bowden cable to assist the human lower limbs in walking.

[0035] The above description is only an implementation method of the utility model and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. A bidirectional flexible cable drive wheel, characterized in that: The invention comprises a reel housing, a bidirectional winding reel (3) and a driving wheel (6) arranged in the reel housing, wherein the driving wheel (6) is coaxially connected to the bidirectional winding reel (3), a continuous wire groove (9) is arranged on the outer circumference of the bidirectional winding reel (3), two sides of the bidirectional winding reel (3) are respectively connected to two flexible cables, the two flexible cables are reversely wound on the continuous wire groove (9) and led out at two sides of the reel housing; when the driving wheel (6) drives the bidirectional winding reel (3) to rotate, one flexible cable is retracted and the other is released.

2. The bidirectional flexible cable drive wheel according to claim 1, characterized in that: The two side end surfaces of the bidirectional winding wheel (3) are provided with flexible rope fixing grooves which are transitionally connected to the two ends of the continuous wire groove (9) respectively, and the ends of the two flexible ropes are fixed in the flexible rope fixing grooves on the corresponding sides through flexible rope fixing structures.

3. The bidirectional flexible cable drive wheel according to claim 2, characterized in that: The flexible cable fixing structure comprises a wire wheel crimping cover (2) and a wire wheel outlet baffle (4); the end of each flexible cable is provided with a flexible cable cylindrical head, the end of the flexible cable fixing groove is provided with a wire crimping cover groove and a flexible cable cylindrical head groove in sequence along the thickness direction of the bidirectional winding wheel (3), the flexible cable cylindrical head is inserted into the flexible cable cylindrical head groove, the wire wheel crimping cover (2) is arranged on the outside of the flexible cable cylindrical head, and transitionally matches with the wire crimping cover groove; the wire wheel outlet baffle (4) is arranged on the outlet side of the flexible cable fixing groove, and transitionally matches with the baffle groove provided on the bidirectional winding wheel (3).

4. The bidirectional flexible cable drive wheel according to claim 1, characterized in that: The depth of the continuous wire groove (9) is greater than the diameter of the flexible cable.

5. The bidirectional flexible cable drive wheel according to claim 1, characterized in that: A driving wheel installation groove is provided at the center of the bidirectional winding reel (3), and a plurality of reel screw holes (10) are provided at the bottom of the driving wheel installation groove along the circumferential direction.

6. The bidirectional flexible cable drive wheel according to claim 5, characterized in that: The bidirectional winding wheel (3) is provided with a plurality of weight-reducing holes surrounding the driving wheel mounting groove.

7. The bidirectional flexible cable drive wheel according to claim 5, characterized in that: The center of the driving wheel (6) is provided with an axial hole, the side wall of the axial hole is provided with a motor keyway (15), the outer circumference of the driving wheel (6) is provided with a driving wheel axial fixing screw hole (16) which penetrates the axial hole, and the end surface of the driving wheel (6) is provided with a plurality of driving wheel screw holes (11) along the circumferential direction, and the driving wheel screw holes (11) are connected to the reel screw holes (10) on the bidirectional winding reel (3) through bolts.

8. The bidirectional flexible cable drive wheel according to claim 1, characterized in that: The reel housing comprises a reel outer shell (5) and a reel outer end cover (1) and a reel inner shell (8) respectively arranged on both sides of the reel outer shell (5), wherein a wire outlet structure is symmetrically arranged on both sides of the reel outer shell (5), and the wire outlet structure comprises a wire outlet groove (13) and a wire outlet threaded opening (14) located at the end of the wire outlet groove (13).

9. The bidirectional flexible cable drive wheel according to claim 8, characterized in that: A driving wheel baffle (7) is provided between the inner shell (8) of the wire wheel and the driving wheel (6), the driving wheel baffle (7) being provided with a center hole and a shaft sleeve arranged on one side of the center hole, the shaft sleeve being inserted into the connecting hole of the inner shell (8) of the wire wheel.

10. The bidirectional flexible cable drive wheel according to claim 9, characterized in that: The inner shell (8) of the wire wheel is connected to an external motor reducer, and the output shaft of the external motor reducer is connected to the driving wheel (6).

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