Exoskeleton driving integrated device with torque adjusting function

Abstract

The utility model belongs to the technical field of wearable exoskeleton instruments, and particularly relates to an exoskeleton driving integrated device with a torque adjusting function, which comprises a transmission module, a critical torque adjusting module and a shell, the transmission module and the critical torque adjusting module are fixedly installed in the shell. The transmission module 1 comprises a plantar flexion driving unit and a dorsal flexion driving unit and is used for driving Bowden cables to contract and loosen; and the critical torque adjusting module is used for adjusting critical limiting torque to realize passive protection. The forward and reverse tooth double-sliding-block lead screw mechanism is adopted, one lead screw can drive the two sliding blocks moving in the reverse direction, parts are arranged in an integrated mode, the occupied space is greatly saved, the structure is more compact, and the compact space requirement of the ankle exoskeleton can be better met.

Description

Technical Field

[0001] This utility model belongs to the field of wearable exoskeleton device technology, specifically relating to an exoskeleton drive integrated device with torque adjustment function. Background Technology

[0002] Foot and ankle exoskeletons are of significant value in assisting patients with lower limb dysfunction to walk. Their actuation methods mainly include electric motors, hydraulic systems, and pneumatic drives. Hydraulic and pneumatic drives rely on fluid transmission, utilizing the compressibility of fluids for shock protection; however, these systems are complex, bulky, and heavy, making them inconvenient to wear. While electric motor-Bowden wire drive systems are simpler, they still have key drawbacks: the motor's output torque cannot be actively adjusted, and there is a lack of passive protection, leading to safety hazards for the wearer in overload or sudden situations.

[0003] Existing torque regulation technologies, such as mechanical friction, worm gear, or magnetic powder clutch solutions, have significant shortcomings when applied to exoskeletons. Mechanical friction adjustment is cumbersome, slow in response, and friction losses affect accuracy; worm gear transmission is inefficient, bulky, and difficult to integrate, and its reverse self-locking characteristic limits passive joint movement; magnetic powder clutches are susceptible to vibration and temperature fluctuations, leading to variations in control accuracy, and require additional power supplies, increasing power consumption and weight. Therefore, existing technologies struggle to achieve highly flexible, precise, and lightweight torque regulation within the compact space of a foot and ankle exoskeleton. Utility Model Content

[0004] The purpose of this invention is to provide an exoskeleton drive integrated device with torque adjustment function to solve the problems existing in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an exoskeleton drive integrated device with torque adjustment function, comprising: a transmission module, a critical torque adjustment module, and a shell; the transmission module and the critical torque adjustment module are fixedly installed inside the shell; the transmission module includes a plantar flexion drive unit and a dorsiflexion drive unit, used to drive the contraction and relaxation of Bowden's lines; the critical torque adjustment module is used to adjust the critical limiting torque to achieve passive protection.

[0006] Preferably, the transmission module includes a connecting shaft, a pulley, friction plates, a pressure plate, a disc spring, a top ring, a left-side push bearing, a spring, a slider, a right-side push bearing, a coupling, and a motor. The motor is fixed to the bottom plate of the housing via a motor base, and the motor's output shaft is connected to the connecting shaft via a coupling. The right-side push bearing is mounted on the first section of the connecting shaft, the slider is mounted on the second section of the connecting shaft with a clearance fit, the left-side push bearing is mounted on the top ring, and the top ring, disc spring, and friction plates are all mounted on the second section with a clearance fit. A copper sleeve is installed between the pulley and the connecting shaft, the copper sleeve being interference-fitted onto the second section. The friction plates are sleeved on the connecting shaft and located on both sides of the pulley, and the disc spring is located between the pressure plate and the top ring. The portion other than the two push bearings is the rotating portion, and the portion between the two push bearings is the non-rotating portion.

[0007] Preferably, the critical torque adjustment module includes an adjustment motor, a lead screw base, a lead screw, a lead screw sleeve, and a connecting rod; the adjustment motor is fixed on the bottom plate of the housing, the output shaft of the adjustment motor is fixedly connected to the lead screw, the lead screw is mounted on the lead screw base, and the lead screw base is fixed on the bottom plate of the housing; the left and right ends of the lead screw are respectively machined with left-hand and right-hand threaded sections, the lead screw sleeve is threadedly connected to the lead screw, and is connected to the slider through the connecting rod.

[0008] Preferably, the outer shell is 3D printed in one piece, with the top plate fitting into the hollow frame structure at the top of the outer shell, and strap buckles are installed on the outer shell.

[0009] Preferably, in the transmission module, under the elastic pressure of the spring, the left friction plate is attached between the pulley and the end face of the connecting shaft, and the right friction plate is attached between the pulley and the pressure plate.

[0010] Preferably, when the adjusting motor rotates forward, the drive screw rotates clockwise, and the two sliders move in opposite directions to compress the spring, increasing the friction between the friction plate and the pulley; when the adjusting motor rotates in reverse, the drive screw rotates counterclockwise, and the two sliders move towards each other to relax the spring, reducing the friction between the friction plate and the pulley.

[0011] Preferably, the Bowden wire is wound around the pulley and protrudes through the Bowden wire hole on the bottom plate of the housing.

[0012] The beneficial effects of this utility model are: This utility model adopts a positive and negative tooth double slider screw mechanism, one screw can drive two moving sliders, the components are integrated, which greatly saves space occupation, the structure is more compact, and can better adapt to the compact space requirements of foot and ankle exoskeletons.

[0013] The device has a passive protection mechanism. When the motor torque exceeds the set safety threshold or an emergency occurs, the pulley and friction plate will slip, thereby stopping the exoskeleton from overloading and effectively protecting the wearer's safety. At the same time, it adopts a symmetrical structural design, which can drive the Bowden line to retract in both directions. The response speed is fast and significantly improves the driving assistance efficiency of the exoskeleton. Attached Figure Description

[0014] Figure 1 This is a front view of the transmission module and the critical torque adjustment module in this utility model;

[0015] Figure 2 This is a front view of the transmission module in this utility model;

[0016] Figure 3 This is a cross-sectional view of the transmission module in this utility model;

[0017] Figure 4 This is a perspective view of the connecting shaft in this utility model;

[0018] Figure 5 This is a perspective view of the critical torque adjustment module of this utility model;

[0019] Figure 6 This is a perspective view of the transmission module and the critical torque adjustment module in this utility model;

[0020] Figure 7 This is a schematic diagram showing the transmission module and critical torque adjustment module installed inside the outer casing in this utility model.

[0021] Figure 8 This is a perspective view of the outer shell of this utility model;

[0022] Figure 9 This is a schematic diagram illustrating the application of this utility model. Detailed Implementation

[0023] In the description of this disclosure, it should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0025] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a wire connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0026] The specific embodiments of this utility model are described in detail below with reference to the accompanying drawings and preferred embodiments.

[0027] like Figure 1 As shown, it includes three main modules: a transmission module 1 (plantar flexion drive unit and dorsiflexion drive unit) and a critical torque adjustment module 2. The transmission module is fixed to the base plate of the housing 5 by screws, consisting of a bearing housing 3 and a motor base 4. The critical torque adjustment module is fixed to the base plate of the housing by screws, consisting of a lead screw base.

[0028] Transmission module structure diagram as follows Figure 2-4As shown, the transmission module 1 comprises a connecting shaft 11, a pulley 12, a friction plate 13, a pressure plate 14, a disc spring 15, a top ring 16, a left-side push bearing 17, a spring 18, a slider 19, a right-side push bearing 110, a coupling 111, and a motor 112. The motor is fixed to the motor base with screws, and the flange is fixed to the motor with screws. The coupling connects the flange to the connecting shaft, thereby driving the connecting shaft to rotate. The right-side push bearing is installed on the first shaft section 1101 of the connecting shaft, and the slider is installed on the second shaft section 1102 with a clearance fit. The left-side push bearing is installed on the top ring 16. The top ring, disc spring, and friction plate are all installed on the second shaft section 1102 with a clearance fit. A copper sleeve is installed between the pulley and the connecting shaft 11, and the copper sleeve is installed on the second shaft section 1102 with an interference fit. Friction plates are fitted onto the connecting shaft with a clearance fit and are located on both sides of the pulley. Disc springs are located between the pressure plate and the top ring. All parts except the two push bearings are rotating, while the part between the two push bearings is non-rotating, only capable of axial translation. The motor's power is transmitted to the connecting shaft via a flange and coupling, causing the connecting shaft to rotate. The pulley mounted on the connecting shaft, under the elastic pressure of the springs, keeps the left friction plate tightly pressed between the pulley and the end face of the connecting shaft, and the right friction plate tightly pressed between the pulley and the pressure plate. When the connecting shaft rotates, friction is generated between the friction plates and the pulley, and the pulley rotates synchronously with the connecting shaft through pure friction.

[0029] like Figure 5 and Figure 6 As shown, the critical torque adjustment module 2 consists of an adjustment motor 21, a lead screw base 22, a lead screw 23, a lead screw sleeve 24, and a connecting rod 25. The adjustment motor is installed on the bottom plate of the housing by screws. The output shaft of the adjustment motor and the lead screw are fixed by set screws. The lead screw is installed on the lead screw base 22, which is installed on the bottom plate of the housing. There is a bearing between the lead screw and the lead screw base to ensure rotation performance. The left and right ends of the lead screw are machined with left-hand and right-hand threaded sections of 80mm. The lead screw sleeve 24 is threaded to the lead screw and connected to the slider 19 by four connecting rods.

[0030] The structural diagram of the outer shell assembly is as follows: Figure 7 and Figure 8 As shown, the outer shell is 3D printed in one piece, and the top plate is fitted with a hollow frame structure designed on the top of the shell, making it easy to install and disassemble and open and close at any time. Four strap buckles are connected to the outer shell by bolts.

[0031] like Figure 9 As shown. Bowden wire is wound around the pulley and protrudes through the Bowden wire hole on the bottom plate of the housing.

[0032] During plantar flexion, the motor in the plantar flexion drive unit starts and rotates forward, generating rotational power. This power is transmitted to the connecting shaft through the flange and coupling, causing the connecting shaft to rotate. The pulley mounted on the connecting shaft, under the elastic pressure of the spring, keeps the left friction plate tightly pressed between the pulley and the end face of the connecting shaft, and the right friction plate tightly pressed between the pulley and the pressure plate. When the connecting shaft rotates, friction is generated between the friction plates and the pulley. The pulley rotates synchronously with the connecting shaft through pure friction, thus achieving the contraction of the Bowden line, lifting the heel. Simultaneously, the motor in the dorsiflexion unit rotates counterclockwise a certain number of times, relaxing the Bowden line at the toes. Similarly, during dorsiflexion, the motor in the dorsiflexion unit rotates forward, controlling the contraction of the Bowden line to lift the toes, while the motor in the plantar flexion drive unit rotates counterclockwise a certain number of times, relaxing the Bowden line at the heel.

[0033] A copper sleeve is installed between the pulley and the connecting shaft to protect the pulley; the disc spring acts as a buffer, ensuring that the structure, together with the spring module, protects the structure in the event of excessive torque or sudden situations, and also provides pre-tightening and anti-loosening protection. This transmission module utilizes the characteristic that the drive bearings only transmit axial pressure and position rotation. It cleverly divides the transmission module into a rotating group, a non-rotating group, and another rotating group using two drive bearings. The rotating group, excluding the two drive bearings, is the drive module; the non-rotating group, between the two drive bearings, is the adjustment module. This ensures rotational stability and supports the adjustable critical torque in the passive protection device.

[0034] When the adjustment motor rotates forward in the adjustment module, it drives the lead screw to rotate clockwise. The two lead screw sleeves move in opposite directions according to their thread direction—the left lead screw sleeve feeds to the left, while the right lead screw sleeve feeds to the right, compressing the springs on both sides at the same rate. This increases the axial pressure on the friction plate, thereby increasing the friction between the friction plate and the pulley, thus increasing the critical limiting torque. When the adjustment motor rotates in reverse, it drives the lead screw to rotate counterclockwise. The two lead screw sleeves move in opposite directions according to their thread direction—the left lead screw sleeve feeds to the right, while the right lead screw sleeve feeds to the left, releasing the springs on both sides at the same rate. This reduces the axial pressure on the friction plate, thereby reducing the friction between the friction plate and the pulley, thus reducing the critical limiting torque. When the motor torque exceeds the set safety threshold or an emergency occurs, slippage occurs between the pulley and the friction plate, stopping the exoskeleton's movement and protecting the user's safety.

[0035] It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. An integrated exoskeleton drive device with torque adjustment function, characterized in that, include: The transmission module (1), the critical torque adjustment module (2), and the housing (5) are fixedly installed inside the housing (5). The transmission module (1) includes a plantar flexion drive unit and a dorsiflexion drive unit, which are used to drive the Bowden line to contract and relax. The critical torque adjustment module (2) is used to adjust the critical limiting torque to achieve passive protection.

2. The exoskeleton drive integration device with torque adjustment function according to claim 1, characterized in that, The transmission module (1) includes a connecting shaft (11), a pulley (12), a friction plate (13), a pressure plate (14), a disc spring (15), a top ring (16), a left-side push bearing (17), a spring (18), a slider (19), a right-side push bearing (110), a coupling (111), and a motor (112). The motor (112) is fixed to the bottom plate of the outer casing (5) via a motor base (4), and the output shaft of the motor (112) is connected to the connecting shaft (11) via the coupling (111). The right-side push bearing (110) is installed on the first shaft section (1101) of the connecting shaft (11), and the slider (19) is fitted with a clearance. The second shaft section (1102) of the connecting shaft (11) is installed together. The left push bearing (17) is installed on the top ring (16). The top ring (16), disc spring (15), and friction plate (13) are all installed on the second shaft section (1102) with clearance fit. A copper sleeve is installed between the pulley (12) and the connecting shaft (11). The copper sleeve is interference-fitted on the second shaft section (1102). The friction plate (13) is sleeved on the connecting shaft (11) and located on both sides of the pulley (12). The disc spring (15) is located between the pressure plate (14) and the top ring (16). The part other than the two push bearings is the rotating part, and the part between the two push bearings is the non-rotating part.

3. The exoskeleton drive integration device with torque adjustment function according to claim 2, characterized in that, The critical torque adjustment module (2) includes an adjustment motor (21), a lead screw base (22), a lead screw (23), a lead screw sleeve (24), and a connecting rod (25). The adjustment motor (21) is fixed on the bottom plate of the outer shell (5). The output shaft of the adjustment motor (21) is fixedly connected to the lead screw (23). The lead screw (23) is installed on the lead screw base (22), and the lead screw base (22) is fixed on the bottom plate of the outer shell (5). The left and right ends of the lead screw (23) are respectively machined with left-hand and right-hand threaded sections. The lead screw sleeve (24) is connected to the lead screw (23) by threads and is connected to the slider (19) by the connecting rod (25).

4. The exoskeleton drive integration device with torque adjustment function according to claim 3, characterized in that, The outer shell (5) is 3D printed in one piece. The top plate is matched with the empty frame structure on the top of the outer shell (5). The outer shell (5) is equipped with strap buckles.

5. The exoskeleton drive integration device with torque adjustment function according to claim 4, characterized in that, In the transmission module (1), under the elastic pressure of the spring (18), the left friction plate (13) of the pulley (12) is attached between the pulley (12) and the end face of the connecting shaft (11), and the right friction plate (13) is attached between the pulley (12) and the pressure plate (14).

6. The exoskeleton drive integration device with torque adjustment function according to claim 5, characterized in that, When the regulating motor (21) rotates forward, the driving screw (23) rotates clockwise, and the two sliders (19) move in opposite directions to compress the spring (18), increasing the friction between the friction plate (13) and the pulley (12); when the regulating motor (21) rotates in reverse, the driving screw (23) rotates counterclockwise, and the two sliders (19) move towards each other to relax the spring (18), reducing the friction between the friction plate (13) and the pulley (12).

7. The exoskeleton drive integration device with torque adjustment function according to claim 6, characterized in that, The Bowden wire is wound around the pulley (12) and protrudes through the Bowden wire hole on the bottom plate of the housing (5).

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