CN116551730A - Exoskeleton robot knee joint clutch - Google Patents

Abstract

The invention discloses an exoskeleton robot knee joint clutch, wherein a jaw clutch driving body and a driving wheel are coaxially connected in a transmission way, and the opposite end surfaces of the jaw clutch driving body and a jaw clutch driven body are respectively provided with a matched tooth structure; the driving wheel is connected with the stepping motor in a transmission way; the tooth-embedded clutch driving body is in a cylindrical cam structure, a curved groove is formed in the side surface of the tooth-embedded clutch driving body, the tooth-embedded clutch driving body and the cam follower are coaxially sleeved and can rotate relative to the cam follower, and a convex column on the cam follower is matched with the curved groove of the tooth-embedded clutch driving body; when the jaw clutch driving body rotates, the convex column of the cam follower can move along the curved groove of the jaw clutch driving body to push the jaw clutch driving body to axially move along the cam follower, so that the jaw structures of the jaw clutch driving body and the jaw clutch driven body are separated or meshed. The invention ensures that the motion trail of the exoskeleton robot is more in line with the gait motion of the human body, and the electric quantity is more saved.

Description

An exoskeleton robot knee joint clutch

technical field

The invention relates to the technical field of exoskeleton robots, in particular to a knee joint clutch for an exoskeleton robot.

Background technique

Exoskeleton robots currently on the market rely on multiple rotating motors at the knee joints, or use flexion and extension motors to work together with rotating motors, so that the knee joints of exoskeleton robots can move similarly to human knee joints.

Although such a structure can well imitate the work of human knee joints, the control is complicated, there is a cumulative error in the control accuracy, and the energy consumption is high, and the battery life of the same capacity is poor.

Contents of the invention

Aiming at the deficiencies in the prior art, the present invention aims to provide a knee joint clutch of an exoskeleton robot.

In order to achieve the above object, the present invention adopts the following technical solutions:

A knee joint clutch of an exoskeleton robot, comprising a dog clutch follower, a cam follower, a dog clutch active body and a drive wheel;

The active body of the dog clutch and the transmission wheel are connected by coaxial transmission, and the opposite end faces of the active body of the dog clutch and the driven body of the dog clutch are respectively provided with matching tooth structures; the transmission wheel is connected to the stepping motor through transmission;

The jaw clutch active body has a cylindrical cam structure, and its side surface is provided with a curved groove. The jaw clutch active body and the cam follower are coaxially socketed and can rotate relative to the cam follower. The convex column and the curved groove of the active body of the dog clutch cooperate; when the active body of the dog clutch rotates, the convex column of the cam follower can push the active body of the dog clutch along the curved groove by moving along the curved groove of the active body of the dog clutch. The cam follower moves axially, thereby disengaging or engaging the tooth structures of the dog clutch active body and the dog clutch follower body.

Further, the jaw clutch follower and the cam follower are both fixedly connected to the upper end of the lower leg structure of the exoskeleton robot; the upper end of the lower leg structure of the exoskeleton robot is rotatably connected to the lower end of the thigh structure of the exoskeleton robot, The upper end of the thigh structure of the exoskeleton robot is connected to the stepping motor through transmission.

Further, the stepper motor is coaxially connected with a driving wheel, and the driving wheel is connected through a transmission belt.

The present invention also provides a working method of the above-mentioned exoskeleton robot knee joint clutch, the specific process is:

When the leg structure on one side of the exoskeleton robot needs to move forward, the stepping motor rotates forward, thereby driving the thigh structure and the calf structure to move forward as a whole, and at the same time, the stepping motor drives the drive wheel to rotate forward, thereby driving the jaw clutch active body Forward rotation, at this time, if the structure of the calf and the structure of the thigh are not in a straight line, the active body of the jaw clutch and the driven body of the jaw clutch are in the state of engagement, and the active body of the jaw clutch will drive the driven body of the jaw clutch to rotate forward, thereby driving the calf The structure also moves forward relative to the thigh structure; during the rotation of the dog clutch active body, since the cam follower is fixed, the relative movement of the cam follower's stud in the curved groove will push the dog clutch The active body moves axially and gradually separates from the driven body of the jaw clutch; when the calf structure moves forward to be in line with the thigh structure, and the heel of the foot lands, the active body of the jaw clutch is just completely connected to the driven body of the jaw clutch. Separation, the lower leg loses power and no longer moves forward; at this time, the leg structure on the other side of the exoskeleton robot starts to move forward;

At this time, the stepper motor corresponding to the leg structure on one side of the exoskeleton robot reverses, and the calf structure and thigh structure start to move backward as a whole. until the tooth structure of the dog clutch active body and the dog clutch follower re-engages, at this time the calf structure also begins to move backward relative to the thigh structure, and when the heel is off the ground, the leg structure on this side Complete a gait cycle.

The beneficial effect of the present invention is that the knee joint clutch of the exoskeleton robot of the present invention can make the movement trajectory of the exoskeleton robot more conform to the gait movement of the human body through the organic combination of the jaw clutch and the cylindrical cam, making the user more comfortable. At the same time, because the power of the stepping motor used is small, and each side of the leg structure only needs one stepping motor, it saves more power, doubles the battery life of the same capacity, and makes the control simpler.

Description of drawings

Fig. 1 is the exploded schematic diagram of the exoskeleton robot knee joint clutch in the embodiment 1 of the present invention;

Fig. 2 is a combined schematic view of the dog clutch follower, the cam follower and the dog clutch active body in Embodiment 1 of the present invention;

Fig. 3 is a combined schematic diagram of the cam follower and the jaw clutch active body in Embodiment 1 of the present invention;

4 is a schematic structural view of the active body of the jaw clutch in Embodiment 1 of the present invention;

Fig. 5 is a combined schematic diagram of the exoskeleton robot knee joint clutch and lower leg structure in Embodiment 1 of the present invention;

6 is a schematic diagram of the combination of the thigh structure and the calf structure in the exoskeleton robot in Embodiment 1 of the present invention;

Fig. 7 is a combined schematic diagram of another angle of the thigh structure and the calf structure of the exoskeleton robot in Embodiment 1 of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. It should be noted that this embodiment is based on the technical solution, and provides detailed implementation and specific operation process, but the protection scope of the present invention is not limited to the present invention. Example.

Example 1

This embodiment provides a knee joint clutch for an exoskeleton robot, as shown in Figures 1-7, including a jaw clutch follower 2, a cam follower 4, a jaw clutch active body 5, and a transmission wheel 7;

The jaw clutch active body 5 and the transmission wheel 7 are connected in coaxial transmission, and the opposite end faces of the jaw clutch active body 5 and the jaw clutch driven body 2 are respectively provided with matching tooth structures 51 and 21; 7. The transmission is connected to the stepping motor 8;

The jaw clutch active body 5 is a cylindrical cam structure, and its side surface is provided with a curved groove 52. The jaw clutch active body 5 and the cam follower 4 are coaxially socketed and can rotate relative to the cam follower 4. The cam The protruding column 41 on the follower 4 is matched with the curved groove 52 of the dog clutch active body 5; The movement of the curved groove 52 pushes the dog clutch active body 5 to move axially along the cam follower 4, so that the tooth structures of the dog clutch active body 5 and the dog clutch follower 2 are separated or engaged;

Both the jaw clutch follower 2 and the cam follower 4 are fixedly connected to the upper end of the lower leg structure 1 of the exoskeleton robot, and the upper end of the lower leg structure 1 of the exoskeleton robot and the lower end of the thigh structure 3 of the exoskeleton robot are rotatable Connected, the upper end of the thigh structure 3 of the exoskeleton robot is connected to the stepper motor 8 through transmission.

In this embodiment, the stepper motor 8 is coaxially connected with a driving wheel 9, and the driving wheel 9 and the driving wheel 7 are connected through a transmission belt. When the stepper motor 8 starts, it transmits power to the transmission wheel 7 through the driving wheel 9 .

Example 2

This embodiment provides a working method of the knee joint clutch of the exoskeleton robot described in Embodiment 1, the specific process is:

When the leg structure on one side of the exoskeleton robot needs to move forward, the stepping motor rotates forward, thereby driving the thigh structure and the calf structure to move forward as a whole, and at the same time, the stepping motor drives the drive wheel to rotate forward, thereby driving the jaw clutch active body 5 forward rotation, at this time, if the calf structure 1 and the thigh structure 3 are not in a straight line, the jaw clutch active body and the jaw clutch follower are in the state of engagement, and the jaw clutch active body 5 will drive the jaw clutch follower 2 Forward rotation, thereby driving the calf structure 1 to move forward relative to the thigh structure; during the rotation of the jaw clutch active body 5, since the cam follower 4 is fixed, the convex post 41 of the cam follower 4 is in the curve The relative movement in the groove 52 will push the jaw clutch active body 5 to move axially, and gradually separate from the jaw clutch driven body 2; At this time, the jaw clutch active body 5 is completely separated from the jaw clutch driven body 2, and the calf loses power and no longer moves forward; at this time, the leg structure on the other side of the exoskeleton robot starts to move forward;

At this time, the stepper motor corresponding to the leg structure on one side of the exoskeleton robot reverses, and the calf structure 1 and thigh structure 3 start to move backward as a whole. Rotate and move axially in the opposite direction until the teeth structure of the jaw clutch active body 5 and the jaw clutch follower 2 engage again. At this time, the calf structure 1 also starts to move backward relative to the thigh structure 3. When the ground is on the ground, the leg structure on that side completes a gait cycle.

Such a structure makes the movement trajectory of the lower limb robot more in line with the gait movement of the human body, making the user more comfortable. At the same time, because the power of the stepping motor used is small, and the leg structure on each side only needs one stepping motor, this saves more power and doubles the battery life of the same capacity.

For those skilled in the art, various corresponding changes and modifications can be made according to the above technical solutions and concepts, and all these changes and modifications should be included in the protection scope of the claims of the present invention.

Claims (4)

1. An exoskeleton robot knee joint clutch, is characterized in that, comprises dog clutch driven body, cam follower, dog clutch active body and drive wheel; The active body of the dog clutch and the transmission wheel are connected by coaxial transmission, and the opposite end faces of the active body of the dog clutch and the driven body of the dog clutch are respectively provided with matching tooth structures; the transmission wheel is connected to the stepping motor through transmission; The jaw clutch active body has a cylindrical cam structure, and its side surface is provided with a curved groove. The jaw clutch active body and the cam follower are coaxially socketed and can rotate relative to the cam follower. The convex column and the curved groove of the active body of the dog clutch cooperate; when the active body of the dog clutch rotates, the convex column of the cam follower can push the active body of the dog clutch along the curved groove by moving along the curved groove of the active body of the dog clutch. The cam follower moves axially, thereby disengaging or engaging the tooth structures of the dog clutch active body and the dog clutch follower body. 2. exoskeleton robot knee joint clutch according to claim 1, is characterized in that, described jaw clutch follower and cam follower are all fixedly connected with the upper end of the lower leg structure of exoskeleton robot; The upper end of the calf structure is rotatably connected to the lower end of the thigh structure of the exoskeleton robot, and the upper end of the thigh structure of the exoskeleton robot is connected to the stepping motor through transmission. 3. The knee joint clutch of an exoskeleton robot according to claim 1, wherein the stepping motor is connected with a driving wheel through coaxial transmission, and the driving wheel is connected through a transmission belt. 4. a working method of the exoskeleton robot knee joint clutch described in claim 2, is characterized in that, concrete process is: When the leg structure on one side of the exoskeleton robot needs to move forward, the stepping motor rotates forward, thereby driving the thigh structure and the calf structure to move forward as a whole, and at the same time, the stepping motor drives the drive wheel to rotate forward, thereby driving the jaw clutch active body Forward rotation, at this time, if the structure of the calf and the structure of the thigh are not in a straight line, the active body of the jaw clutch and the driven body of the jaw clutch are in the state of engagement, and the active body of the jaw clutch will drive the driven body of the jaw clutch to rotate forward, thereby driving the calf The structure also moves forward relative to the thigh structure; during the rotation of the dog clutch active body, since the cam follower is fixed, the relative movement of the cam follower's stud in the curved groove will push the dog clutch The active body moves axially and gradually separates from the driven body of the jaw clutch; when the calf structure moves forward to be in line with the thigh structure, and the heel of the foot lands, the active body of the jaw clutch is just completely connected to the driven body of the jaw clutch. Separation, the lower leg loses power and no longer moves forward; at this time, the leg structure on the other side of the exoskeleton robot starts to move forward; At this time, the stepper motor corresponding to the leg structure on one side of the exoskeleton robot reverses, and the calf structure and thigh structure start to move backward as a whole. until the tooth structure of the dog clutch active body and the dog clutch follower re-engages, at this time the calf structure also begins to move backward relative to the thigh structure, and when the heel is off the ground, the leg structure on this side Complete a gait cycle.