Flexible exoskeleton joint actuator capable of being clutched

Abstract

The invention provides a flexible exoskeleton joint actuator capable of being clutched. The flexible exoskeleton joint actuator is mounted between thighs and shanks of an orthotics exoskeleton which is in parallel connection to lower limbs of a human body, and is a structure for providing passive compliance and unilateral outgoing lines in a joint en-abled state. The flexible exoskeleton joint actuator comprises a motor base with a motor stator therein, a motor rotor arranged inside the motor stator, an output shaft and a speed reducer which are sequentially connected, and a rotary part whichpenetrates through the motor stator, the speed reducer and the output shaft, wherein the output shaft comprises an output disc, an outer ring corner feedback plate, a first magnetic ring, a pluralityof magnetic coding linear sensors, a shank locking connecting disc, a disc spring and a joint absolute rotation angle feedback rod; the speed reducer comprises a shank connecting disc, a speed reducerrigid wheel, a speed reducer flexible wheel and a speed reducer wave generator; and the rotary part comprises a rotor connector, a bearing group, a hollow centering shaft and a joint absolute motionfeedback shaft. The flexible exoskeleton joint actuator reduces complexity and weight of the structure, and improves integral safety and reliability.

Description

Technical field [0001] The invention belongs to the field of intelligent mechanical joint rotation actuators, and particularly relates to a flexible clutchable exoskeleton joint actuator. Background technique [0002] Intelligent lower limb assistive devices such as lower limb exoskeleton and power orthosis are assistive devices that can assist walking and assist walking for the elderly, the disabled and people with related motor dysfunction. Joint actuators are important components for lower limb assistive devices to achieve auxiliary functions. At present, the more common joint driving mode of this type of lower limb assistive devices is motor driving. On the one hand, in order to improve the drive efficiency and output torque, motor-driven joint actuators usually use a reduction mechanism with a higher reduction ratio (such as a harmonic reducer), which results in a large joint volume and a non-use in the joint. The performance state lacks the necessary passive compliance; o...

AI Technical Summary

Problems solved by technology

However, its joint clutch is based on the overload separation of the inner and outer rings of the polygonal elastomer, and its characteristics depend on the design parameters of the components, and it cannot be actively separated

Images