CN110173550A - A kind of energy storage driver - Google Patents
A kind of energy storage driver Download PDFInfo
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- CN110173550A CN110173550A CN201910400011.1A CN201910400011A CN110173550A CN 110173550 A CN110173550 A CN 110173550A CN 201910400011 A CN201910400011 A CN 201910400011A CN 110173550 A CN110173550 A CN 110173550A
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- energy storage
- transmission parts
- deceleration unit
- energy
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
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- General Engineering & Computer Science (AREA)
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Abstract
The present embodiments relate to a kind of energy storage drivers, including driving unit, the first deceleration unit, energy-storage units, the first transmission parts, the second deceleration unit and the second transmission parts；The power output end of driving unit is connected with the first deceleration unit；Energy-storage units include crimp member and energy storage shell, and on the interior acies of crimp member is connected in the card slot of the first deceleration unit, the outer edge of crimp member is connected in the card slot of energy storage shell；The power intake of first transmission parts is connected with the output end of the first deceleration unit；The power intake of second deceleration unit is connected with the power output end of the first transmission parts, and the power output end of the second deceleration unit is connected with the second transmission parts.Energy storage driver of the invention can carry out the storage of energy-storage units elastic potential energy and the output of driving force when driving unit works simultaneously, in the release of energy-storage units elastic potential energy, the acting of driving unit can be reduced, so that the power supply for reducing driving unit carries out energy conservation.
Description
Technical field
The present invention relates to field of mechanical technique more particularly to a kind of energy storage drivers.
Background technique
Drive module is common dynamical element in mechanical system, and the effect of drive module is to provide power source for system,
Output driving power, drive module is worked by supply current, so that the driving of system is realized, due to the need of work of system
By drive module supply current, therefore, the supplying cell consumption of system quickly, can be brought using this drive module as a result,
A large amount of power consumption, and it is uneconomical.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of energy storage driver, in driving unit work
The storage of energy-storage units elastic potential energy and the output of driving force can be carried out simultaneously, it, can in the release of energy-storage units elastic potential energy
To reduce the acting of driving unit, so that the power supply for reducing driving unit carries out energy conservation.
In view of this, the embodiment of the invention provides a kind of energy storage driver, including driving unit, the first deceleration unit,
Energy-storage units, the first transmission parts, the second deceleration unit and the second transmission parts；
The power output end of the driving unit is connected with the power intake of first deceleration unit；
The energy-storage units include crimp member and energy storage shell, and the interior acies of the crimp member is connected to described first
On in first card slot of the power output end of deceleration unit, the outer edge of the crimp member is connected to the of the energy storage shell
In two draw-in groove；
The power intake of first transmission parts is connected with the power output end of first deceleration unit；
The power intake of second deceleration unit is connected with the power output end of first transmission parts, described
The power output end of second deceleration unit is connected with second transmission parts；
The driving unit receives the first control signal that host computer issues, and drives the first deceleration unit forward direction rotation
Turn, first deceleration unit generates First Driving Force and drives the crimp member around the power output of first deceleration unit
Rectify to curling, thus the first elastic potential energy of storage, while first transmission parts being driven to rotate in the forward direction, first transmission
Component drives second transmission parts to rotate forward by second deceleration unit, to generate first terminal driving force；
Alternatively,
The driving unit receives the second control signal that host computer issues, and first deceleration unit is driven reversely to revolve
Turn, first deceleration unit generates the first transmission parts described in the second drive force and reversely rotates, and the curled portion
Part is reversely discharged around the power output end of first deceleration unit, thus first elastic potential energy generation that release is stored
Third driving force is driven thus under the action of the second driving force and the third driving force by second deceleration unit
Second transmission parts rotate backward, to generate second terminal driving force.
Preferably, the energy storage driver further includes pedestal, and the fixing end of the driving unit is fixed on the base.
It is further preferred that the energy storage driver further includes drive shell, there is the first accommodating area and the second accommodating area,
First accommodating area is for fixing the driving unit and pedestal, and second accommodating area is for accommodating the driving unit
Power output end.
Preferably, first deceleration unit include the first central gear, multiple first driven wheels, the first decelerating casing and
First drive plate；
The central axis of first central gear is connected with the power output end of the driving unit, first center
Gear is meshed with multiple first driven wheels respectively；
The inner wall of first decelerating casing is dentalation, first central gear and the accommodating of multiple first driven wheels
In in first decelerating casing, and the multiple first driven wheel is meshed in the inner wall of first decelerating casing；
One end of first decelerating casing is fixedly connected with the drive shell, the other end of first decelerating casing and the storage
One end of energy shell is fixedly connected；
One end of first drive plate be equipped with multiple first connecting portions, the multiple first connecting portion respectively with it is described more
The central axis of a first driven wheel is connected；The center of first drive plate has the first hollow hole, for described in grafting the
The power intake of one transmission parts；
When the driving unit rotates, the first central gear rotation is driven, so that multiple first driven wheels be driven to exist
It is rotated in first decelerating casing around first central gear, drives described first to pass by the multiple first connecting portion
Moving plate rotation, and then the first transmission parts rotation is driven, thus complete primary speed-down.
It is further preferred that second deceleration unit includes the second central gear, multiple second driven wheels, the second deceleration
Shell and the second drive plate；
The central axis of second central gear is connected with the power output end of first transmission parts, and described second
Central gear is meshed with multiple second driven wheels respectively；
The inner wall of second decelerating casing is dentalation, second central gear and the accommodating of multiple second driven wheels
In in second decelerating casing, and the multiple second driven wheel is meshed in the inner wall of second decelerating casing；
One end of second decelerating casing is fixedly connected with the other end of the energy storage shell；
One end of second drive plate be equipped with multiple second connecting portions, the multiple second connecting portion respectively with it is described more
The central axis of a second driven wheel is connected；The center of second drive plate has the second hollow hole, for described in grafting the
The power intake of two transmission parts；
When first transmission parts rotate, second central gear rotation is driven, to drive multiple second driven
Wheel rotates in second decelerating casing around second central gear, drives described the by the multiple second connecting portion
The rotation of two drive plates, and then the second transmission parts rotation is driven, thus complete double reduction.
It is further preferred that the energy storage driver further include cover board and connection shell, one end of the cover board with it is described
The other end of second decelerating casing is fixedly connected, and second transmission parts, which are worn, penetrates the cover board, and by bearing with it is described
Cover board is connected；
The connection shell is socketed on the outside of the energy storage shell, and the two sides of the connection shell are respectively with described first
Decelerating casing and the second decelerating casing are fixedly connected.
Preferably, the crimp member is plane scroll spring.
Preferably, the driving unit, the first deceleration unit, the first transmission parts, energy-storage units, the second deceleration unit and
The central axis of second transmission parts is located on the same line.
Preferably, the driving unit does not work, when the energy storage shell is rotated forward by the first external force, the storage
Energy shell drives the crimp member to crimp around the power output end forward direction of first deceleration unit, stores the second elastic potential
Energy；When the energy storage shell is rotated backward by the second external force, power of the crimp member around first deceleration unit
Output end reversely discharges, and discharges stored second elastic potential energy, the energy storage shell is driven to rotate backward.
Preferably, the driving unit does not work, when the energy storage shell is rotated forward by the first external force, the energy storage
Shell drives the crimp member to crimp around the power output end forward direction of first deceleration unit, stores the second elastic potential energy；
When the driving unit works, the crimp member is stored up around the power output end release of first deceleration unit
Second elastic potential energy deposited.
A kind of energy storage driver provided in an embodiment of the present invention can carry out energy-storage units in driving unit work simultaneously
The storage of elastic potential energy and the output of driving force, in the release of energy-storage units elastic potential energy, it is possible to reduce the acting of driving unit,
Energy conservation is carried out to reduce the power supply of driving unit.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of energy storage driver provided in an embodiment of the present invention；
Fig. 2 is a kind of perspective view of the explosion of energy storage driver provided in an embodiment of the present invention；
Fig. 3 is a kind of perspective view of the explosion of first deceleration unit provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of energy-storage units provided in an embodiment of the present invention；
Fig. 5 is a kind of perspective view of the explosion of second deceleration unit provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of ectoskeleton provided in an embodiment of the present invention；
Fig. 7 is a kind of perspective view of the explosion of ectoskeleton provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
A kind of energy storage driver provided in an embodiment of the present invention can carry out energy-storage units in driving unit work simultaneously
The storage of elastic potential energy and the output of driving force, in the release of energy-storage units elastic potential energy, it is possible to reduce the acting of driving unit,
To reduce the power supply of driving unit, it is achieved in energy conservation.
Fig. 1 is a kind of structural schematic diagram of energy storage driver provided in an embodiment of the present invention, and Fig. 2 mentions for the embodiment of the present invention
A kind of perspective view of the explosion of the energy storage driver supplied, in conjunction with shown in 1 and Fig. 2, the energy storage driver includes driving unit 1, the
One deceleration unit 2, the first transmission parts 3, energy-storage units 4, the second deceleration unit 5 and the second transmission parts 6.
Driving unit 1 refers to that the dynamical element for being capable of providing power, driving unit 1 have fixing end and power output end,
The power output end of driving unit 1 is connected with the power intake of the first deceleration unit 2.In this example, driving unit 1 is preferred
For motor, motor output shaft is the power output end of driving unit 1.
In order to guarantee the stability of driving unit 1 during the work time, energy storage driver further includes that pedestal (does not show in figure
Out), the fixing end of driving unit 1 is fixed on the base, and can be specifically fixed by bolt.
Further, energy storage driver further includes drive shell 11, and drive shell 11, which refers to, to be arranged in outside driving unit 1
Shell, drive shell 11 is preferably cylinder shape, internal to have the first accommodating area and the second accommodating area, the first accommodating area and second
Accommodating area mutual conduction, the first accommodating area is for fixing and accommodating driving unit 1 and pedestal, and the second accommodating area is for accommodating driving
The power output end of unit 1, one end of motor shaft are encapsulated in the second accommodating area, the other end from the exposing of second accommodating area,
Bearing is equipped between motor shaft and the second accommodating area, driving unit 1 is fixed and can be guaranteed by pedestal and drive shell 11
The stability of driving unit 1 during the work time.
First deceleration unit 2 refers to first stage decelerator, the power intake of the first deceleration unit 2 and moving for driving unit 1
Power output end is connected, and the power output end of the first deceleration unit 2 is connected with the power intake of the first transmission parts 3, the
The effect of one deceleration unit 2 is to reduce revolving speed, increase torque, i.e., the high-revolving driving force exported driving unit 1 is converted into
The slow-speed of revolution, large torque driving force.It should be noted that those skilled in the art can be according to specific actual deceleration needs pair
The structure and parameter of first deceleration unit 2 is designed and selects.
Fig. 3 is a kind of perspective view of the explosion of first deceleration unit provided in an embodiment of the present invention, and lower mask body subtracts to first
The structure of fast unit 2 is introduced, as shown in figure 3, the first deceleration unit 2 include the first central gear 21, it is multiple first driven
Take turns the 22, first decelerating casing 23 and the first drive plate 24.
In conjunction with shown in Fig. 2 and Fig. 3, the central axis of the first central gear 21 is connected with the power output end of driving unit 1,
First central gear 21 is meshed with multiple first driven wheels 22 respectively, it is preferred that multiple first driven wheels 22 in this example
Size is identical.It should be noted that those skilled in the art can be needed according to reduction of speed to the first central gear 21 and multiple
The gear ratio parameter of one driven wheel 22 is selected.
First decelerating casing 23 refers to the shell of the first deceleration unit 2, and inner wall is dentalation, driven with multiple first
Wheel 22 matches, and the first central gear 21 and multiple first driven wheels 22 are placed in the first decelerating casing 23, and multiple the
One driven wheel 22 is meshed in the inner wall of the first decelerating casing 23；One end of first decelerating casing 23 and drive shell 11 are fixed
Connection, the other end of the first decelerating casing 23 are fixedly connected with one end of energy storage shell 42.
One end of first drive plate 24 is equipped with multiple first connecting portions, the quantity of first connecting portion and the first driven wheel 22
Quantity is identical, and multiple first connecting portions are connected with the central axis of multiple first driven wheels 22 respectively；The one of first drive plate 24
Side center has transmission connection portion 240, and transmission connection portion 240 here can refer to the power output end of the first deceleration unit 2,
There is the first card slot, for being clamped energy-storage units 4, and the center in transmission connection portion 240 has first in transmission connection portion 240
Hollow hole, for the power intake of the first transmission parts of grafting 3, thus the first deceleration unit 2 is simultaneously to energy-storage units 4 and the
One transmission parts 3 carry out power output.
When driving unit 1 rotates, the rotation of the first central gear 21 is driven, to drive multiple first driven wheels 22 first
It is rotated on the dentalation of 23 inner wall of decelerating casing around the first central gear 21, the rotation direction of multiple first driven wheels 22 and the
The rotation direction of one central gear 21 is identical, and the rotation of multiple first driven wheels 22 drives first to pass by multiple first connecting portions
Moving plate 24 rotates, and then drives the rotation of the first transmission parts 3, thus completes primary speed-down, the high revolving speed that driving unit 1 is exported
It is converted into the slow-speed of revolution.
Fig. 4 is a kind of structural schematic diagram of energy-storage units provided in an embodiment of the present invention, in conjunction with shown in Fig. 2 to Fig. 4, energy storage
Unit 4 includes crimp member 41 and energy storage shell 42, and energy storage shell 42 refers to the shell of energy-storage units 4, preferably cylindric, storage
The inside of energy shell 42 has the second card slot；Crimp member 41, which refers to, to be had the function of curling, can generate and discharge elastic potential energy
Component, those skilled in the art can need to select the elastic curled portion of different parameters according to the storage volume of energy-storage units 4
Part 41, crimp member 41 is preferably plane scroll spring in this example, and the interior acies of crimp member 41 is connected to the first deceleration list
On first card slot of the power output end of member 2, the outer edge of crimp member 41 is connected in the second card slot of energy storage shell 42, from
And realize the fixation at 41 both ends of crimp member.In order to crimp member 41 curling and release process limit, in energy storage shell
42 both ends of body are preferably provided with two baffles, to crimp member 41 is encapsulated in energy storage shell 42, in order to guarantee the first transmission
The transmission of component 3 is equipped with through-hole at the center of two baffles.
When the first deceleration unit 2 rotates forward, crimp member 41 can be driven around the power output of the first deceleration unit 2
Rectify to curling, so that elastic potential energy is generated and stores, after this, when the first deceleration unit 2 rotates backward, crimp member
41 reversely discharge around the power output end of the first deceleration unit 2, to discharge the elastic potential energy of storage, are achieved in the storage of energy
It deposits and discharges.
The effect of first transmission parts 3 is that the driving force of the output of the first deceleration unit 2 is transferred to the second deceleration unit
5, it can specifically be realized by transmission shaft, the first transmission parts 3 can specifically include power intake and power output end, the
The input terminal of one transmission parts 3 is connect with the power output end of the first deceleration unit 2 by keyway, and the first transmission parts 3 move
Power output end is connected with the power intake of the second deceleration unit 5, and the power input of the first transmission parts 3 is by first as a result,
What deceleration unit 2 provided, the first transmission parts 3 carry out power output to the second deceleration unit 5.
Second deceleration unit 5 refers to two stage reducer, the power intake of the second deceleration unit 5 and the first transmission parts 3
Power output end be connected, the power output end of the second deceleration unit 5 is connected with the power intake of the second transmission parts 6
It connects；The effect of second deceleration unit 5 is to carry out secondary reduction revolving speed, increase torque.
Fig. 5 is a kind of perspective view of the explosion of second deceleration unit 5 provided in an embodiment of the present invention, and in this example, second subtracts
The structure of fast unit 5 is similar to the first deceleration unit 2, it should be noted that those skilled in the art can be according to specific reality
Border, which is slowed down, needs the structure and parameter to the second deceleration unit 5 to be designed and select.Lower mask body is to the second deceleration unit 5
Structure is introduced, as shown in figure 5, the second deceleration unit 5 includes the second central gear 51, multiple second driven wheels 52, second
Decelerating casing 53 and the second drive plate 54.
In conjunction with shown in Fig. 2 and Fig. 5, the power output end phase of the central axis of the second central gear 51 and the first transmission parts 3
Connection, the second central gear 51 are meshed with multiple second driven wheels 52 respectively.Preferably, multiple second driven wheels in this example
52 size is identical.It should be noted that those skilled in the art can be needed according to reduction of speed to the second central gear 51 and more
The gear ratio parameter of a second driven wheel 52 is selected.
Second decelerating casing 53 refers to the shell of the second deceleration unit 5, and inner wall is dentalation, driven with multiple second
Wheel 52 matches, and the second central gear 51 and multiple second driven wheels 52 are placed in the second decelerating casing 53, and multiple the
Two driven wheels 52 are meshed in the inner wall of the second decelerating casing 53；One end of second decelerating casing 53 is another with energy storage shell 42
One end is fixedly connected.
One end of second drive plate 54 is equipped with multiple second connecting portions, the number of the quantity of second connecting portion and the second driven wheel
Measure identical, multiple second connecting portions are connected with the central axis of multiple second driven wheels 52 respectively；The center of second drive plate 54
Power intake with the second hollow hole, for the second transmission parts of grafting 6.
In the rotation of the first transmission parts 3, the rotation of the second central gear 51 is driven, to drive multiple second driven wheels 52
It is rotated in the dentalation of 53 inner wall of the second decelerating casing around the second central gear 51, the rotation side of multiple second driven wheels 52
To identical as the rotation direction of the second central gear 51, the rotation of multiple second driven wheels 52 is driven by multiple second connecting portions
The rotation of second drive plate 54, and then the rotation of the second transmission parts 6 is driven, so that the revolving speed that the first transmission parts 3 are exported carries out
It reduces, thus completes double reduction.
The effect of second transmission parts 6 is to carry out terminal output, and the power intake of the second transmission parts 6 and second slows down
The power output end of unit 5, i.e. the second hollow hole are connected, and those skilled in the art can according to need in the second transmission parts
6 power access port connects other component.
In order to guarantee the efficient driving and stability of energy storage driver, above-mentioned driving unit 1, the first deceleration unit 2, first
Transmission parts 3, energy-storage units 4, the second deceleration unit 5 and the second transmission parts 6 central axis be located on the same line.
Preferably, energy storage driver further includes cover board 60, and one end of cover board 60 and the other end of the second decelerating casing 53 are solid
Fixed connection, the second transmission parts 6, which are worn, penetrates cover board 60, and is connected by bearing with cover board 60.
In a preferred embodiment, in order to guarantee the stability and service life of energy storage shell, energy storage driver further includes
Shell 400 is connected, specifically as shown in Fig. 2, connection shell 400 is socketed on the outside of energy storage shell 42, and it is solid with energy storage shell 42
Fixed connection, further, the two sides for connecting shell 400 are fixed with the first decelerating casing 23 and the second decelerating casing 53 respectively to be connected
It connects.
After the structure for providing energy storage driver to the embodiment of the present invention describes in detail, energy storage of the present invention is driven below
The operating mode and the course of work of dynamic device are described in detail, and the operating mode of energy storage driver of the present invention may include following three kinds:
The first is that driving unit 1 does work when elastic potential energy stores and discharges.
(1) storage of elastic potential energy
Driving unit 1 receives the first control signal that host computer issues, and the first deceleration unit 2 of driving rotates in the forward direction, and first
Deceleration unit 2 generates First Driving Force, specifically, driving unit 1 rotates forward output height under the action of first control signal
Thus revolving speed drives the first central gear 21 to rotate forward, to drive multiple first driven wheels 22 in the first decelerating casing 23
It is rotated forward on the dentalation of inner wall around the first central gear 21, multiple first driven wheels 22 are rotated forward by multiple
One interconnecting piece drives the rotation of the first drive plate 24, thus completes primary speed-down, the high revolving speed that driving unit 1 is exported is converted into low
Revolving speed.When first drive plate 24 rotates forward, crimp member 41 is driven to roll up around the power output end forward direction of the first deceleration unit 2
Song, to generate and store the first elastic potential energy；Simultaneously, the first transmission parts of rotate driving 3 of the first drive plate 24 are being just
To rotation, the first transmission parts 3 drive the second transmission parts 6 to rotate forward by the second deceleration unit 5, to generate first eventually
Driving force is held, specifically, the rotation of the first transmission parts 3 drives the second central gear 51 to rotate forward, to drive multiple the
Two driven wheels 52 rotate forward in the dentalation of 53 inner wall of the second decelerating casing around the second central gear 51, multiple second from
Rotating forward for driving wheel 52 drives the second drive plate 54 to rotate forward by multiple second connecting portions, and then drives the second driving section
Part 6 rotates forward, so that the revolving speed that the first transmission parts 3 export be reduced, thus completes double reduction, reduce revolving speed,
Increase torque.
(2) release of elastic potential energy
Driving unit 1 receives the second control signal that host computer issues, and the first deceleration unit 2 of driving reversely rotates, and first
Deceleration unit 2 generates second the first transmission parts of drive force 3 and reversely rotates, and crimp member 41 is around the first deceleration unit
2 power output end reversely discharges, so that stored the first elastic potential energy of release generates third driving force, specifically, the
Driving unit 1 rotates backward the high revolving speed of output under the action of two control signals, and the first central gear 21 is thus driven to rotate backward,
To drive multiple first driven wheels 22 reversed around the first central gear 21 on the dentalation of 23 inner wall of the first decelerating casing
Rotation, rotating forward for multiple first driven wheels 22 drives the first drive plate 24 to rotate backward by multiple first connecting portions, defeated
Second the first transmission parts of drive force 3 reversely rotate out, also, crimp member 41 is defeated around the power of the first deceleration unit 2
Outlet reversely discharges, so that stored the first elastic potential energy of release generates third driving force, thus in the second driving force and the
Under the action of three driving forces, the second transmission parts 6 are driven to rotate backward by the second deceleration unit 5, to generate second terminal
Driving force, specifically, the second central gear 51 rotates backward, thus band under the action of the second driving force and third driving force
Multiple second driven wheels 52 are moved to rotate backward in the dentalation of 53 inner wall of the second decelerating casing around the second central gear 51, it is more
The rotation of a second driven wheel 52 drives the second drive plate 54 to rotate backward by multiple second connecting portions, and then drives second to pass
Dynamic component 6 rotates backward, and the power that the second transmission parts 6 are subject to can double, that is to say, that during elastic potential energy release,
Since the presence of elastic potential energy can reduce the electric current of driving unit 1, to reach energy-efficient effect.
It should be understood that rotating forward and rotating backward here is merely illustrative rotation direction on the contrary, ability
Field technique personnel can set specific direction and inverse direction according to specific cellular construction.
It should be noted that those skilled in the art can according to actual needs and driving unit 1, crimp member 41,
The performance parameter of first deceleration unit 2 and the second deceleration unit 5 sets the supply current of driving unit 1, thus according to
Actual needs adjusts the final drive power of the second transmission parts 6 output by adjusting supply current.
Second is that driving unit 1 does not do work when elastic potential energy stores and discharges.
(1) storage of elastic potential energy
Driving unit 1 does not work, and when energy storage shell 42 is rotated forward by the first external force, energy storage shell 42 drives curling
Component 41 is crimped around the power output end forward direction of the first deceleration unit 2, to generate and store the second elastic potential energy.
(2) release of elastic potential energy
When energy storage shell 42 is rotated backward by the second external force, crimp member 41 is defeated around the power of the first deceleration unit 2
Outlet reversely discharges, and discharges the second stored elastic potential energy, and energy storage shell 42 is driven to rotate backward.
The third is that in elastic potential energy storage, driving unit 1 does not do work, and driving unit 1 is reversed when elastic potential energy discharges
Acting.
(1) storage of elastic potential energy
First transmission parts 3 are fixed, and when energy storage shell 42 is rotated forward by the first external force, energy storage shell 42 is driven
Crimp member 41 is crimped around the power output end forward direction of the first deceleration unit 2, to generate and store the second elastic potential energy.
(2) release of elastic potential energy
First transmission parts 3 driving unit 1, the first deceleration unit 2 driving under rotate forward when, crimp member 41 around
The second stored elastic potential energy of the power output end release of first deceleration unit 2, the driving force that elastic potential energy generates at this time with
The driving force that first deceleration unit 2 generates is cancelled out each other.
It should be noted that the release of the storage process and elastic potential energy of the elastic potential energy in above-mentioned three kinds of operating modes
Journey can intersect combination, and user can according to need the storage of any elastic potential energy in three kinds of operating modes of selection
The release process of journey and any elastic potential energy is combined.
A kind of energy storage driver provided in an embodiment of the present invention can be applied in exoskeleton system, the work of exoskeleton system
With being that power-assisted wearer bends over to act with straight waist, it is particularly suitable for logistics carrying personnel, below to energy storage driver of the invention
Application in exoskeleton system is briefly described.
Fig. 6, Fig. 7 are respectively structural schematic diagram and the explosion signal of a kind of exoskeleton system provided in an embodiment of the present invention
Figure, in conjunction with shown in Fig. 6 and Fig. 7, the exoskeleton system includes 7, two, the back fixation frame leg of energy storage driver 100, two gear 8
With shell 9.
Electric control element (not shown) and battery (not shown) are equipped in back fixation frame 7, electric control element is (with storage
The driving unit 1 of energy driver 100 is electrically connected, and for controlling driving unit 1, battery to driving unit 1 for being powered.
Shoulder fixing belt (not shown) is additionally provided on back fixation frame 7, the wearing for user.
Two leg gears 8 are separately connected the output end of second transmission parts 6 of two energy storage drivers 100, and leg gear 8 is with second
The rotations of transmission parts 6 and swing.When wearer dresses exoskeleton system, two leg gears 8 are bonded the left side of wearer respectively
Right thigh.
The effect of shell 9 is fixed and accommodating energy storage driver 100, and shell 9 and the bottom of back fixation frame 7 are fixed
Connection.
Lower mask body introduces wearer when dressing exoskeleton system, the detailed process bent over straight waist, is driven based on energy storage
The operating mode of the operating mode exoskeleton system of dynamic device 100 can also there are many.
The first is to bend over to do work with driving unit 1 during straight waist.
When wearer bends over, driving unit 1 receives the first control signal that electric control element issues and starts to do work, driving the
One deceleration unit 2 rotates forward generation First Driving Force, and crimp member 41 is driven to store elastic potential energy, while driving the first transmission
Component 3 rotates, and transmits First Driving Force to leg gear 8 (through the second deceleration unit 5, the second transmission parts by the first transmission parts 3
8) 6 are transmitted to leg gear, since two leg gears 8 compress the thigh of wearer, leg keeps off the 8, second transmission parts 6 and remains stationary, therefore
It drives back fixation frame 7 that relative motion occurs by shell 9, i.e., drives back fixation frame 7 to the side close to leg gear 8 from shell 9
To turning an angle, shoulder strap drives wearer back to front curve, so that power-assisted wearer's bends over to act.It is bending over
When, since driving unit 1 overcomes the elastic resistance of energy-storage units 4 to do work, buffering can be increased, avoid bringing discomfort to wearer
Sense.
When the straight waist of wearer, driving unit 1 receives the second control signal that host computer issues and starts to do work, driving first
Deceleration unit 2, which rotates backward, generates the second driving force, and second driving force is transmitted to the second driving section by the first transmission parts 3
Part 6, and crimp member 41 discharges stored elastic potential energy and generates third driving force, by the first transmission parts 3 by third
Driving force is transmitted to the second deceleration unit 5, the second transmission parts 6, leg gear 8, since two leg gears 8 compress the thigh of wearer,
Second transmission parts 6 remain stationary, therefore drive back fixation frame 7 that relative motion occurs by shell 9, i.e., are driven by shell 9
Back fixation frame 7 turns an angle to the direction far from leg gear 8, and shoulder strap drives wearer back upward, thus power-assisted
The straight waist of wearer acts.During wearer's straight waist, since the release of 4 elastic potential energy of energy-storage units can reduce driving
The acting of unit 1, thus reduces power consumption.It should be noted that those skilled in the art can according to actual needs and
The power supply of driving unit 1, crimp member 41, the performance parameter of the first deceleration unit 2 and the second deceleration unit 5 to driving unit 1
Electric current is set, thus power-assisted dynamics and angle during adjusting the straight waist of wearer according to actual needs and bending over, in addition,
Wearer can also pass through power-assisted dynamics and angle needed for external control equipment selection.
Second is to bend over not do work with driving unit 1 during straight waist.
When wearer bends over, two leg gears 8 compress the thigh of wearer, and forward, shoulder strap drives at wearer back
To front curve, wearer overcomes the resistance of crimp member 41 to do work for back fixation frame 7, shell 9, the positive curling storage of crimp member 41
Deposit elastic potential energy.
When the straight waist of wearer, the elastic potential energy of the release storage of crimp member 41, since two leg gears 8 compress wearer's
Thigh, leg keep off the 8, second transmission parts 6 and remain stationary, therefore drive back fixation frame 7 that relative motion occurs by shell 9, i.e.,
From shell 9 drive back fixation frame 7 to far from leg gear 8 direction turn an angle, shoulder strap drive wearer back to
On, so that the straight waist of power-assisted wearer acts.During wearer's straight waist, by the release of 4 elastic potential energy of energy-storage units
The straight waist of power-assisted wearer does not need the acting of driving unit 1, thus reduces power consumption.
The third is not done work when bending over, and driving unit 1 reversely does work when straight waist, offsets the elasticity that energy-storage units 4 discharge
Potential energy.
When wearer bends over, two leg gears 8 compress the thigh of wearer, and forward, shoulder strap drives at wearer back
To front curve, wearer overcomes the resistance of crimp member 41 to do work for back fixation frame 7, shell 9, the positive curling storage of crimp member 41
Deposit elastic potential energy.
When the straight waist of wearer, driving unit 1 reversely does work, i.e., driving unit 1, the first deceleration unit 2 rotate forward defeated
Driving force out, the crimp member 41 of energy-storage units 4 discharge stored elastic potential energy output driving power, and the first deceleration unit 2 is defeated
The direction of driving force is contrary with 4 output driving power of energy-storage units out, the driving force and first that thus elastic potential energy generates
The driving force that deceleration unit 2 generates is cancelled out each other, and power-assisted is not present at this time, that is to say, that wearer can be according to choosing whether
Need power-assisted.
It should be noted that the process of bending in above-mentioned three kinds of operating modes can intersect with straight waist process and combine,
Any process of bending over that user can according to need in three kinds of operating modes of selection is combined with any straight waist process.
A kind of energy storage driver provided in an embodiment of the present invention can carry out energy-storage units in driving unit work simultaneously
The storage of elastic potential energy and the output of driving force, in the release of energy-storage units elastic potential energy, it is possible to reduce the acting of driving unit,
To reduce the power supply of driving unit, it is achieved in energy conservation.
In the present invention, term " multiple " refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In description in the present specification, term " specific embodiment ", " some embodiments ", " one embodiment "
Deng description mean particular features, structures, materials, or characteristics described in conjunction with this embodiment or example be contained in it is of the invention extremely
In few one embodiment or example.In the present specification, identical reality is not necessarily referring to the schematic illustration of above-mentioned term
Apply example or example.Moreover, the particular features, structures, materials, or characteristics of description can in any one or more embodiments or
It can be combined in any suitable manner in example.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of energy storage driver, which is characterized in that the energy storage driver includes driving unit, the first deceleration unit, energy storage
Unit, the first transmission parts, the second deceleration unit and the second transmission parts；
The power output end of the driving unit is connected with the power intake of first deceleration unit；
The energy-storage units include crimp member and energy storage shell, and the interior acies of the crimp member is connected to described first and slows down
On in first card slot of the power output end of unit, the outer edge of the crimp member is connected to the second card of the energy storage shell
In slot；
The power intake of first transmission parts is connected with the power output end of first deceleration unit；
The power intake of second deceleration unit is connected with the power output end of first transmission parts, and described second
The power output end of deceleration unit is connected with second transmission parts；
The driving unit receives the first control signal that host computer issues, and drives first deceleration unit to rotate in the forward direction, institute
Stating the first deceleration unit generation First Driving Force drives the crimp member to rectify around the power output of first deceleration unit
To curling, to store the first elastic potential energy, while first transmission parts being driven to rotate in the forward direction, first transmission parts
Second transmission parts are driven to rotate forward by second deceleration unit, to generate first terminal driving force；Alternatively,
The driving unit receives the second control signal that host computer issues, and drives first deceleration unit to reversely rotate, institute
It states the first deceleration unit and generates the reverse rotation of the first transmission parts described in the second drive force, and the crimp member is around institute
The power output end for stating the first deceleration unit reversely discharges, thus first elastic potential energy generation third drive that release is stored
Power drives described the by second deceleration unit thus under the action of the second driving force and the third driving force
Two transmission parts rotate backward, to generate second terminal driving force.
2. energy storage driver according to claim 1, which is characterized in that the energy storage driver further includes pedestal, described
The fixing end of driving unit is fixed on the base.
3. energy storage driver according to claim 2, which is characterized in that the energy storage driver further includes drive shell,
With the first accommodating area and the second accommodating area, first accommodating area is for fixing the driving unit and pedestal, and described second
Accommodating area is used to accommodate the power output end of the driving unit.
4. energy storage driver according to claim 1, which is characterized in that first deceleration unit includes the first centre tooth
Wheel, multiple first driven wheels, the first decelerating casing and the first drive plate；
The central axis of first central gear is connected with the power output end of the driving unit, first central gear
It is meshed respectively with multiple first driven wheels；
The inner wall of first decelerating casing is dentalation, and first central gear and multiple first driven wheels are placed in institute
It states in the first decelerating casing, and the multiple first driven wheel is meshed in the inner wall of first decelerating casing；It is described
One end of first decelerating casing is fixedly connected with the drive shell, the other end of first decelerating casing and the energy storage shell
One end of body is fixedly connected；
One end of first drive plate is equipped with multiple first connecting portions, and the multiple first connecting portion is respectively with the multiple the
The central axis of one driven wheel is connected；The center of first drive plate has the first hollow hole, passes for described in grafting first
The power intake of dynamic component；
When the driving unit rotates, the first central gear rotation is driven, to drive multiple first driven wheels described
It is rotated in first decelerating casing around first central gear, first drive plate is driven by the multiple first connecting portion
Rotation, and then the first transmission parts rotation is driven, thus complete primary speed-down.
5. energy storage driver according to claim 4, which is characterized in that second deceleration unit includes the second centre tooth
Wheel, multiple second driven wheels, the second decelerating casing and the second drive plate；
The central axis of second central gear is connected with the power output end of first transmission parts, second center
Gear is meshed with multiple second driven wheels respectively；
The inner wall of second decelerating casing is dentalation, and second central gear and multiple second driven wheels are placed in institute
It states in the second decelerating casing, and the multiple second driven wheel is meshed in the inner wall of second decelerating casing；It is described
One end of second decelerating casing is fixedly connected with the other end of the energy storage shell；
One end of second drive plate is equipped with multiple second connecting portions, and the multiple second connecting portion is respectively with the multiple the
The central axis of two driven wheels is connected；The center of second drive plate has the second hollow hole, passes for described in grafting second
The power intake of dynamic component；
When first transmission parts rotate, the second central gear rotation is driven, so that multiple second driven wheels be driven to exist
It is rotated in second decelerating casing around second central gear, drives described second to pass by the multiple second connecting portion
Moving plate rotation, and then the second transmission parts rotation is driven, thus complete double reduction.
6. energy storage driver according to claim 5, which is characterized in that the energy storage driver further includes cover board and connection
Shell, one end of the cover board are fixedly connected with the other end of second decelerating casing, and second transmission parts, which are worn, penetrates institute
Cover board is stated, and is connected by bearing with the cover board；
The connection shell is socketed on the outside of the energy storage shell, and the two sides of the connection shell are slowed down with described first respectively
Shell and the second decelerating casing are fixedly connected.
7. energy storage driver according to claim 1, which is characterized in that the crimp member is plane scroll spring.
8. energy storage driver according to claim 1, which is characterized in that the driving unit, the first deceleration unit, first
Transmission parts, energy-storage units, the second deceleration unit and the second transmission parts central axis be located on the same line.
9. energy storage driver according to claim 1, which is characterized in that
The driving unit does not work, and when the energy storage shell is rotated forward by the first external force, the energy storage shell is driven
The crimp member is crimped around the power output end forward direction of first deceleration unit, stores the second elastic potential energy；When the storage
When energy shell is rotated backward by the second external force, the crimp member is reversely released around the power output end of first deceleration unit
It puts, discharges stored second elastic potential energy, the energy storage shell is driven to rotate backward.
10. energy storage driver according to claim 1, which is characterized in that
The driving unit does not work, and when the energy storage shell is rotated forward by the first external force, the energy storage shell drives institute
The power output end forward direction that crimp member is stated around first deceleration unit crimps, and stores the second elastic potential energy；
When the driving unit works, stored by power output end release of the crimp member around first deceleration unit
Second elastic potential energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400011.1A CN110173550B (en) | 2019-05-14 | 2019-05-14 | Energy storage driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400011.1A CN110173550B (en) | 2019-05-14 | 2019-05-14 | Energy storage driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110173550A true CN110173550A (en) | 2019-08-27 |
| CN110173550B CN110173550B (en) | 2020-10-16 |
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| CN201910400011.1A Active CN110173550B (en) | 2019-05-14 | 2019-05-14 | Energy storage driver |
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2019
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| TW200300719A (en) * | 2003-02-25 | 2003-06-16 | Power Network Industry Co Ltd | Power transmission device capable of automatic gear shifting |
| US20070207889A1 (en) * | 2006-03-03 | 2007-09-06 | American Axle & Manufacturing, Inc. | Propeller shaft assembly with energy storage mechanism and controlled clutch |
| CN101445202A (en) * | 2008-12-10 | 2009-06-03 | 浙江工商大学 | Motion mechanical energy storage and release device |
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| Publication number | Publication date |
|---|---|
| CN110173550B (en) | 2020-10-16 |
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