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    • 1. 发明申请
    • ACTUATOR FOR EXOSKELETON
    • EXOSKELETON的执行机构
    • WO2017178903A1
    • 2017-10-19
    • PCT/IB2017/050971
    • 2017-03-01
    • FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIAISTITUTO NAZIONALE PER L'ASSICURAZIONE CONTRO GLI INFORTUNI SUL LAVORO
    • LAFFRANCHI, MatteoD'ANGELLA, StefanoCAPPA, SamueleUBOLDI, PaoloSAGLIA, JodySANFILIPPO, CarloGRUPPIONI, Emanuele
    • F16H25/20F16H25/22
    • The present invention relates to an actuation device (1) comprising a threaded shaft (2) connected at one end to driving means adapted to allow the threaded shaft (2) to rotate about its longitudinal axis (a). The device further comprises a movable element (3) provided with a cylindrical cavity (30) adapted to receive the threaded shaft (2), and configured in such a way that a rotation of the threaded shaft (2) corresponds to a translation the movable element (3) along the longitudinal axis (a). The device (1) further comprises two guiding rods (4, 4') coupled to the movable element (3) and adapted to constrain the translation of the latter along a direction parallel to the longitudinal axis (a). The movable element (3) comprises a first (31) and a second (32) element constrained to each other, wherein the first element (31) is coupled to the threaded shaft (2) and the second element (32) is coupled to the two guiding rods (4, 4'). A portion (320) protrudes from the second element (32) adapted to fit into a seat (312) formed in the first element (31), and wherein the portion (320) and the seat (312) are shaped in such a way that the contact between the seat (312) and the portion (320) takes place in a contact zone that extends along a section of the portion (320) whose midpoint lies in a plane that comprises the longitudinal axis (a) and is parallel to the plane which comprises the development axes (β,β ') of the two guiding rods (4, 4').
    • 本发明涉及一种致动装置(1),该致动装置包括螺纹轴(2),螺纹轴(2)的一端连接到驱动装置,该驱动装置适于允许螺纹轴(2)围绕其纵向轴线(a )。 该装置还包括设置有适于接纳螺纹轴(2)的圆柱形空腔(30)的可移动元件(3),并且该螺纹轴(2)的旋转对应于可移动元件 元件(3)沿着纵向轴线(a)。 装置(1)还包括耦合到可移动元件(3)并且适于限制后者沿平行于纵向轴线(a)的方向平移的两个引导杆(4,4')。 可动元件(3)包括彼此约束的第一元件(31)和第二元件(32),其中第一元件(31)联接到螺纹轴(2)并且第二元件(32)联接到 两个导杆(4,4')。 部分(320)从第二元件(32)突出,适于配合到形成在第一元件(31)中的座部(312)中,并且其中部分(320)和座部(312)以这种方式成形 (312)和部分(320)之间的接触发生在沿着部分(320)的一部分延伸的接触区域中,该部分的中点位于包括纵轴线(a)的平面内并平行于 包括两根导杆(4,4')的展开轴(β,β')的平面。