CN110173550B - Energy storage driver - Google Patents
Energy storage driver Download PDFInfo
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- CN110173550B CN110173550B CN201910400011.1A CN201910400011A CN110173550B CN 110173550 B CN110173550 B CN 110173550B CN 201910400011 A CN201910400011 A CN 201910400011A CN 110173550 B CN110173550 B CN 110173550B
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- 238000004146 energy storage Methods 0.000 title claims abstract description 111
- 230000005540 biological transmission Effects 0.000 claims abstract description 119
- 238000005381 potential energy Methods 0.000 claims abstract description 58
- 230000009467 reduction Effects 0.000 claims description 104
- 230000009471 action Effects 0.000 claims description 12
- 210000002414 leg Anatomy 0.000 description 19
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 8
- 238000005452 bending Methods 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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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Abstract
The embodiment of the invention relates to an energy storage driver, which comprises a driving unit, a first speed reducing unit, an energy storage unit, a first transmission component, a second speed reducing unit and a second transmission component, wherein the driving unit is connected with the first speed reducing unit; the power output end of the driving unit is connected with the first speed reducing unit; the energy storage unit comprises a curling component and an energy storage shell, the inner edge end of the curling component is clamped in the clamping groove of the first speed reducing unit, and the outer edge end of the curling component is clamped in the clamping groove of the energy storage shell; the power input end of the first transmission part is connected with the output end of the first speed reducing unit; the power input end of the second speed reducing unit is connected with the power output end of the first transmission component, and the power output end of the second speed reducing unit is connected with the second transmission component. The energy storage driver can simultaneously store the elastic potential energy of the energy storage unit and output the driving force when the driving unit works, and can reduce the work of the driving unit when the elastic potential energy of the energy storage unit is released, thereby reducing the power supply of the driving unit and saving energy.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to an energy storage driver.
Background
The driving module is a power element commonly used in a mechanical system, the driving module is used for providing a power source for the system and outputting driving force, the driving module works by depending on power supply current, so that the driving of the system is realized, and the system needs to depend on the power supply current of the driving module, so that the power supply battery of the system is consumed very fast, and therefore, the application of the driving module can bring a large amount of electric energy consumption and is not economical.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an energy storage driver, which can store the elastic potential energy of an energy storage unit and output the driving force when a driving unit works, and can reduce the work of the driving unit when the elastic potential energy of the energy storage unit is released, thereby reducing the power supply of the driving unit and saving energy.
In view of this, an embodiment of the present invention provides an energy storage driver, including a driving unit, a first speed reducing unit, an energy storage unit, a first transmission component, a second speed reducing unit, and a second transmission component;
the power output end of the driving unit is connected with the power input end of the first speed reducing unit;
the energy storage unit comprises a curling component and an energy storage shell, the inner edge end of the curling component is clamped in a first clamping groove of the power output end of the first speed reducing unit, and the outer edge end of the curling component is clamped in a second clamping groove of the energy storage shell;
the power input end of the first transmission part is connected with the power output end of the first speed reducing unit;
the power input end of the second speed reducing unit is connected with the power output end of the first transmission part, and the power output end of the second speed reducing unit is connected with the second transmission part;
the driving unit receives a first control signal sent by an upper computer and drives the first speed reducing unit to rotate in the forward direction, the first speed reducing unit generates a first driving force to drive the curling part to curl around the power output end of the first speed reducing unit in the forward direction so as to store a first elastic potential energy and drive the first transmission part to rotate in the forward direction at the same time, and the first transmission part drives the second transmission part to rotate in the forward direction through the second speed reducing unit so as to generate a first terminal driving force; or,
the driving unit receives a second control signal sent by an upper computer and drives the first speed reducing unit to rotate reversely, the first speed reducing unit generates a second driving force to drive the first transmission part to rotate reversely, the curling part reversely releases around the power output end of the first speed reducing unit, and therefore the stored first elastic potential energy is released to generate a third driving force, and under the action of the second driving force and the third driving force, the second transmission part is driven to rotate reversely through the second speed reducing unit, and therefore a second terminal driving force is generated.
Preferably, the energy storage driver further comprises a base, and the fixed end of the driving unit is fixed on the base.
Preferably, the energy storage driver further comprises a driving shell having a first accommodating area and a second accommodating area, the first accommodating area is used for fixing the driving unit and the base, and the second accommodating area is used for accommodating the power output end of the driving unit.
Preferably, the first reduction unit includes a first sun gear, a plurality of first driven wheels, a first reduction housing, and a first drive disk;
the central shaft of the first central gear is connected with the power output end of the driving unit, and the first central gear is respectively meshed with a plurality of first driven wheels;
the inner wall of the first speed reduction shell is of a toothed structure, the first central gear and the first driven wheels are contained in the first speed reduction shell, and the first driven wheels are meshed with the inner wall of the first speed reduction shell; one end of the first speed reduction shell is fixedly connected with the driving shell, and the other end of the first speed reduction shell is fixedly connected with one end of the energy storage shell;
one end of the first driving disc is provided with a plurality of first connecting parts which are respectively connected with the central shafts of the first driven wheels; the center of the first transmission disc is provided with a first hollow hole which is used for being inserted with the power input end of the first transmission part;
when the driving unit rotates, the first central gear is driven to rotate, so that a plurality of first driven wheels are driven to rotate around the first central gear in the first speed reduction shell, the first transmission disk is driven to rotate through the first connecting portions, the first transmission part is driven to rotate, and therefore primary speed reduction is completed.
Further preferably, the second reduction unit includes a second sun gear, a plurality of second driven wheels, a second reduction housing, and a second transmission disc;
the central shaft of the second central gear is connected with the power output end of the first transmission part, and the second central gear is respectively meshed with a plurality of second driven wheels;
the inner wall of the second speed reduction shell is of a toothed structure, the second central gear and the plurality of second driven wheels are contained in the second speed reduction shell, and the plurality of second driven wheels are meshed with the inner wall of the second speed reduction shell; one end of the second speed reduction shell is fixedly connected with the other end of the energy storage shell;
one end of the second transmission disc is provided with a plurality of second connecting parts which are respectively connected with central shafts of the second driven wheels; the center of the second transmission disc is provided with a second hollow hole for inserting the power input end of the second transmission part;
when the first transmission part rotates, the second central gear is driven to rotate, so that the plurality of second driven wheels are driven to rotate around the second central gear in the second speed reduction shell, the second transmission disc is driven to rotate through the plurality of second connecting parts, the second transmission part is driven to rotate, and secondary speed reduction is finished.
Preferably, the energy storage driver further comprises a cover plate and a connecting shell, one end of the cover plate is fixedly connected with the other end of the second speed reduction shell, and the second transmission component penetrates through the cover plate and is connected with the cover plate through a bearing;
the connecting shell is sleeved on the outer side of the energy storage shell, and two sides of the connecting shell are fixedly connected with the first speed reduction shell and the second speed reduction shell respectively.
Preferably, the curling member is a flat spiral spring.
Preferably, the central axes of the driving unit, the first speed reducing unit, the first transmission component, the energy storage unit, the second speed reducing unit and the second transmission component are located on the same straight line.
Preferably, the driving unit does not work, when the energy storage shell is positively rotated by a first external force, the energy storage shell drives the curling component to positively curl around the power output end of the first speed reduction unit, and second elastic potential energy is stored; when the energy storage shell rotates reversely under the action of a second external force, the curling component reversely releases around the power output end of the first speed reducing unit, the stored second elastic potential energy is released, and the energy storage shell is driven to rotate reversely.
Preferably, the driving unit does not work, when the energy storage shell rotates positively under the action of a first external force, the energy storage shell drives the curling component to curl positively around the power output end of the first speed reduction unit, and second elastic potential energy is stored;
when the driving unit works, the curling part releases the stored second elastic potential energy around the power output end of the first speed reducing unit.
According to the energy storage driver provided by the embodiment of the invention, when the driving unit works, the elastic potential energy of the energy storage unit can be stored and the driving force can be output at the same time, and when the elastic potential energy of the energy storage unit is released, the work of the driving unit can be reduced, so that the power supply of the driving unit is reduced for saving energy.
Drawings
Fig. 1 is a schematic structural diagram of an energy storage driver according to an embodiment of the present invention;
fig. 2 is an exploded view of an energy storage driver according to an embodiment of the present invention;
fig. 3 is an exploded view of a first reduction gear unit according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an energy storage unit according to an embodiment of the present invention;
fig. 5 is an exploded view of a second reduction gear unit according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an exoskeleton according to an embodiment of the present invention;
fig. 7 is an exploded view of an exoskeleton according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
According to the energy storage driver provided by the embodiment of the invention, when the driving unit works, the elastic potential energy of the energy storage unit can be stored and the driving force can be output at the same time, and when the elastic potential energy of the energy storage unit is released, the work of the driving unit can be reduced, so that the power supply of the driving unit is reduced, and the energy conservation is realized.
Fig. 1 is a schematic structural diagram of an energy storage driver according to an embodiment of the present invention, and fig. 2 is a schematic explosion diagram of an energy storage driver according to an embodiment of the present invention, which is shown in combination with fig. 1 and fig. 2, where the energy storage driver includes a driving unit 1, a first speed reduction unit 2, a first transmission component 3, an energy storage unit 4, a second speed reduction unit 5, and a second transmission component 6.
The driving unit 1 is a power element capable of providing power, the driving unit 1 has a fixed end and a power output end, and the power output end of the driving unit 1 is connected with the power input end of the first speed reducing unit 2. In this case, the driving unit 1 is preferably a motor, and an output shaft of the motor is a power output end of the driving unit 1.
In order to ensure the stability of the driving unit 1 during operation, the energy storage driver further includes a base (not shown in the figure), and the fixed end of the driving unit 1 is fixed on the base, and may be fixed by a bolt.
Further, the energy storage driver further comprises a driving shell 11, the driving shell 11 is a shell arranged outside the driving unit 1, the driving shell 11 is preferably in a roller shape, a first accommodating area and a second accommodating area are arranged in the driving shell, the first accommodating area and the second accommodating area are communicated with each other, the first accommodating area is used for fixing and accommodating the driving unit 1 and the base, the second accommodating area is used for accommodating a power output end of the driving unit 1, one end of the motor shaft is packaged in the second accommodating area, the other end of the motor shaft is exposed out of the second accommodating area, a bearing is arranged between the motor shaft and the second accommodating area, and the driving unit 1 is fixed through the base and the driving shell 11 so that the stability of the driving unit 1 in the working process can be guaranteed.
The first speed reducing unit 2 is a one-stage speed reducer, a power input end of the first speed reducing unit 2 is connected with a power output end of the driving unit 1, a power output end of the first speed reducing unit 2 is connected with a power input end of the first transmission component 3, and the first speed reducing unit 2 is used for reducing the rotating speed and increasing the torque, namely, the driving force with high rotating speed output by the driving unit 1 is converted into the driving force with low rotating speed and large torque. It should be noted that the structure and parameters of the first reduction unit 2 can be designed and selected by those skilled in the art according to the specific actual reduction needs.
Fig. 3 is an exploded schematic view of a first reduction gear unit according to an embodiment of the present invention, and the structure of the first reduction gear unit 2 will be described in detail below, as shown in fig. 3, the first reduction gear unit 2 includes a first sun gear 21, a plurality of first driven wheels 22, a first reduction housing 23, and a first transmission disk 24.
As shown in fig. 2 and 3, the central axis of the first sun gear 21 is connected to the power output end of the drive unit 1, and the first sun gear 21 is engaged with a plurality of first driven wheels 22, preferably, the plurality of first driven wheels 22 are the same size in this example. It should be noted that those skilled in the art can select the gear ratio parameters of the first sun gear 21 and the plurality of first driven wheels 22 according to the speed reduction requirement.
The first speed reduction housing 23 is a housing of the first speed reduction unit 2, an inner wall of the first speed reduction housing is a toothed structure and is matched with the plurality of first driven wheels 22, the first central gear 21 and the plurality of first driven wheels 22 are accommodated in the first speed reduction housing 23, and the plurality of first driven wheels 22 are all meshed with the inner wall of the first speed reduction housing 23; one end of the first decelerating casing 23 is fixedly connected with the driving casing 11, and the other end of the first decelerating casing 23 is fixedly connected with one end of the energy storing casing 42.
One end of the first driving disk 24 is provided with a plurality of first connecting parts, the number of the first connecting parts is the same as that of the first driven wheels 22, and the plurality of first connecting parts are respectively connected with the central shafts of the plurality of first driven wheels 22; the center of one side of the first transmission disk 24 has a transmission connection portion 240, where the transmission connection portion 240 may refer to a power output end of the first speed reduction unit 2, the transmission connection portion 240 has a first slot for engaging with the energy storage unit 4, and the center of the transmission connection portion 240 has a first hollow hole for inserting a power input end of the first transmission component 3, so that the first speed reduction unit 2 simultaneously outputs power to the energy storage unit 4 and the first transmission component 3.
When the drive unit 1 rotates, drive first sun gear 21 and rotate, thereby it rotates around first sun gear 21 to drive a plurality of first follow driving wheels 22 on the dentate structure of first speed reduction casing 23 inner wall, a plurality of first rotation direction from driving wheels 22 is the same with first sun gear 21's rotation direction, a plurality of first rotation from driving wheels 22 drives first drive disk 24 through a plurality of first connecting portions and rotates, and then drive first drive disk 3 and rotate, accomplish the one-level speed reduction from this, turn into low rotational speed with the high rotational speed of drive unit 1 output.
Fig. 4 is a schematic structural diagram of an energy storage unit according to an embodiment of the present invention, and as shown in fig. 2 to fig. 4, the energy storage unit 4 includes a curling component 41 and an energy storage housing 42, the energy storage housing 42 is a housing of the energy storage unit 4, and is preferably cylindrical, and a second slot is formed on an inner side of the energy storage housing 42; the curling element 41 is a component having a curling function and capable of generating and releasing elastic potential energy, and a person skilled in the art can select the elastic curling element 41 with different parameters according to the storage capacity requirement of the energy storage unit 4, in this example, the curling element 41 is preferably a flat spiral spring, an inner edge end of the curling element 41 is clamped on a first clamping groove of the power output end of the first speed reduction unit 2, and an outer edge end of the curling element 41 is clamped in a second clamping groove of the energy storage housing 42, so that two ends of the curling element 41 are fixed. In order to limit the curling and releasing process of the curling element 41, two baffles are preferably arranged at two ends of the energy storage shell 42, so that the curling element 41 is packaged in the energy storage shell 42, and a through hole is arranged at the center of the two baffles in order to ensure the transmission of the first transmission component 3.
When first reduction unit 2 forward rotation, can drive curling part 41 and curl around the power take off end forward of first reduction unit 2 to produce and store elastic potential energy, after this, when first reduction unit 2 counter-rotation, curling part 41 releases around the power take off end of first reduction unit 2 is reverse, thereby releases the elastic potential energy who stores, realizes storage and release of energy from this.
The first transmission part 3 is used for transmitting the driving force output by the first speed reduction unit 2 to the second speed reduction unit 5, and can be realized by a transmission shaft, the first transmission part 3 can comprise a power input end and a power output end, the input end of the first transmission part 3 is connected with the power output end of the first speed reduction unit 2 through a key slot, and the power output end of the first transmission part 3 is connected with the power input end of the second speed reduction unit 5, so that the power input of the first transmission part 3 is provided by the first speed reduction unit 2, and the first transmission part 3 outputs power to the second speed reduction unit 5.
The second speed reducing unit 5 is a two-stage speed reducer, the power input end of the second speed reducing unit 5 is connected with the power output end of the first transmission component 3, and the power output end of the second speed reducing unit 5 is connected with the power input end of the second transmission component 6; the second reduction gear unit 5 performs a secondary reduction of the rotation speed and an increase of the torque.
Fig. 5 is an exploded schematic view of a second deceleration unit 5 according to an embodiment of the present invention, in this example, the structure of the second deceleration unit 5 is similar to that of the first deceleration unit 2, and it should be noted that a person skilled in the art can design and select the structure and parameters of the second deceleration unit 5 according to specific actual deceleration needs. The structure of the second reduction unit 5 will be described in detail, and as shown in fig. 5, the second reduction unit 5 includes a second sun gear 51, a plurality of second driven wheels 52, a second reduction housing 53, and a second transmission disc 54.
As shown in fig. 2 and 5, the central axis of the second sun gear 51 is connected to the power output end of the first transmission member 3, and the second sun gear 51 is engaged with a plurality of second driven wheels 52, respectively. Preferably, the plurality of second driven wheels 52 are the same size in this example. It should be noted that those skilled in the art can select the gear ratio parameters of the second sun gear 51 and the plurality of second driven wheels 52 according to the speed reduction requirement.
The second speed reduction housing 53 is a housing of the second speed reduction unit 5, an inner wall of the second speed reduction housing is a toothed structure and is matched with the plurality of second driven wheels 52, the second sun gear 51 and the plurality of second driven wheels 52 are accommodated in the second speed reduction housing 53, and the plurality of second driven wheels 52 are all meshed with the inner wall of the second speed reduction housing 53; one end of the second decelerating housing 53 is fixedly connected with the other end of the energy storing housing 42.
One end of the second transmission disc 54 is provided with a plurality of second connecting parts, the number of the second connecting parts is the same as that of the second driven wheels, and the plurality of second connecting parts are respectively connected with the central shafts of the plurality of second driven wheels 52; the second transmission disc 54 has a second hollow hole in the center for inserting the power input end of the second transmission element 6.
When first drive disk 3 rotates, drive second sun gear 51 and rotate, thereby drive a plurality of second from driving wheel 52 and rotate around second sun gear 51 in the dentate structure of second speed reduction casing 53 inner wall, a plurality of second are driven the direction of rotation of driving wheel 52 and the direction of rotation of second sun gear 51 the same, a plurality of second are driven the rotation of driving wheel 52 and are driven second driving disk 54 through a plurality of second connecting portion and rotate, and then drive second drive disk 6 and rotate, thereby reduce the rotational speed of first drive disk 3 output, accomplish the second grade and slow down from this.
The second transmission part 6 is used for terminal output, a power input end of the second transmission part 6 is connected with a power output end of the second speed reduction unit 5, namely, the second hollow hole, and a person skilled in the art can connect other parts at a power input end and a power output end of the second transmission part 6 according to needs.
In order to ensure the efficient transmission and stability of the energy storage driver, the central axes of the driving unit 1, the first speed reducing unit 2, the first transmission component 3, the energy storage unit 4, the second speed reducing unit 5 and the second transmission component 6 are positioned on the same straight line.
Preferably, the energy storage driver further comprises a cover plate 60, one end of the cover plate 60 is fixedly connected with the other end of the second reduction housing 53, and the second transmission member 6 penetrates the cover plate 60 and is connected with the cover plate 60 through a bearing.
In a preferred embodiment, in order to ensure the stability and the service life of the energy storage housing, the energy storage driver further includes a connection housing 400, specifically as shown in fig. 2, the connection housing 400 is sleeved outside the energy storage housing 42 and is fixedly connected to the energy storage housing 42, and further, two sides of the connection housing 400 are respectively fixedly connected to the first speed reduction housing 23 and the second speed reduction housing 53.
After the structure of the energy storage driver provided by the embodiment of the present invention is described in detail, the following details are provided for the operation mode and the operation process of the energy storage driver of the present invention, and the operation mode of the energy storage driver of the present invention may include the following three types:
first, the drive unit 1 works both when elastic potential energy is stored and released.
(1) Storage of elastic potential energy
(2) Release of elastic potential energy
The driving unit 1 receives a second control signal sent by an upper computer, drives the first speed reducing unit 2 to rotate reversely, the first speed reducing unit 2 generates a second driving force to drive the first transmission part 3 to rotate reversely, and the curling part 41 is released reversely around the power output end of the first speed reducing unit 2, so as to release the stored first elastic potential energy to generate a third driving force, specifically, the driving unit 1 rotates reversely under the action of the second control signal to output a high rotating speed, thereby driving the first central gear 21 to rotate reversely, so as to drive the plurality of first driven wheels 22 to rotate reversely around the first central gear 21 on the tooth-shaped structure of the inner wall of the first speed reducing shell 23, the forward rotation of the plurality of first driven wheels 22 drives the first transmission disc 24 to rotate reversely through the plurality of first connecting parts, the second driving force is output to drive the first transmission part 3 to rotate reversely, and the curling part 41 is released reversely around the power output end of the first speed reducing unit 2, thereby releasing the stored first elastic potential energy to generate a third driving force, and under the action of the second driving force and the third driving force, the second transmission member 6 is driven to rotate in the reverse direction by the second reduction unit 5, thereby generating a second terminal driving force, specifically, under the action of the second driving force and the third driving force, the second central gear 51 rotates reversely, so as to drive the plurality of second driven wheels 52 to rotate reversely around the second central gear 51 in the tooth-shaped structure of the inner wall of the second reduction housing 53, the rotation of the plurality of second driven wheels 52 drives the second transmission disc 54 to rotate reversely through the plurality of second connecting parts, and thus the second transmission member 6 is driven to rotate reversely, the force applied to the second transmission member 6 is doubled, that is, in the process of releasing the elastic potential energy, the current of the driving unit 1 can be reduced due to the existence of the elastic potential energy, so that the energy-saving effect is achieved.
It should be understood that the forward rotation and the reverse rotation are only used for illustrating the opposite rotation directions, and those skilled in the art can set specific forward and reverse directions according to specific unit structures.
It should be noted that, a person skilled in the art can set the power supply current of the driving unit 1 according to actual needs and performance parameters of the driving unit 1, the curling element 41, the first speed reducing unit 2 and the second speed reducing unit 5, so as to adjust the terminal driving force output by the second transmission member 6 by adjusting the power supply current according to actual needs.
Secondly, the drive unit 1 does not work when the elastic potential energy is stored and released.
(1) Storage of elastic potential energy
The driving unit 1 does not work, when the energy storage shell 42 is positively rotated by the first external force, the energy storage shell 42 drives the curling component 41 to positively curl around the power output end of the first speed reducing unit 2, so as to generate and store second elastic potential energy.
(2) Release of elastic potential energy
When the energy storage housing 42 is reversely rotated by the second external force, the curling member 41 reversely releases around the power output end of the first speed reducing unit 2, and releases the stored second elastic potential energy to drive the energy storage housing 42 to reversely rotate.
Thirdly, when the elastic potential energy is stored, the driving unit 1 does not work, and when the elastic potential energy is released, the driving unit 1 does work reversely.
(1) Storage of elastic potential energy
First drive disk assembly 3 is the immobility, and when energy storage casing 42 received first external force forward rotation, energy storage casing 42 drove curling part 41 and curls around the power take off forward of first speed reduction unit 2 to produce and store the second elastic potential energy.
(2) Release of elastic potential energy
When the first transmission member 3 is driven by the driving unit 1 and the first speed reduction unit 2 to rotate in the forward direction, the curling member 41 releases the stored second elastic potential energy around the power output end of the first speed reduction unit 2, and the driving force generated by the elastic potential energy and the driving force generated by the first speed reduction unit 2 are offset.
It should be noted that the storage process of the elastic potential energy and the release process of the elastic potential energy in the three working modes can be combined in a cross manner, and a user can select any one of the storage process of the elastic potential energy and the release process of the elastic potential energy to combine according to needs.
The energy storage driver provided by the embodiment of the invention can be applied to an exoskeleton system, the exoskeleton system is used for assisting a wearer to bend and straighten waist, and is particularly suitable for logistics carrying personnel.
Fig. 6 and 7 are a schematic structural diagram and an exploded schematic diagram of an exoskeleton system according to an embodiment of the present invention, which is shown in fig. 6 and 7, and includes a back fixing frame 7, two energy-storing drivers 100, two leg blocks 8, and a housing 9.
The back fixing frame 7 is provided with an electric control element (not shown) and a battery (not shown), the electric control element (electrically connected with the driving unit 1 of the energy storage driver 100 for controlling the driving unit 1), and the battery is used for supplying power to the driving unit 1.
The back fixing frame 7 is further provided with shoulder fixing straps (not shown) for wearing by a user.
The two leg blocks 8 are respectively connected with the output ends of the second transmission parts 6 of the two energy storage drivers 100, and the leg blocks 8 swing back and forth along with the rotation of the second transmission parts 6. When the exoskeleton system is worn by a wearer, the two leg guards 8 are respectively attached to the left thigh and the right thigh of the wearer.
The housing 9 is used for fixing and accommodating the energy storage driver 100, and the housing 9 is fixedly connected with the bottom of the back fixing frame 7.
The specific processes of bending and straightening the waist of the wearer while wearing the exoskeleton system are described in detail below, and the modes of operation of the exoskeleton system can be varied based on the mode of operation of stored energy driver 100.
First, the drive unit 1 does work during both bending and straightening.
When a wearer bends, the driving unit 1 receives a first control signal sent by the electric control element and starts to do work, the first speed reducing unit 2 is driven to rotate in the forward direction to generate a first driving force, the curling part 41 is driven to store elastic potential energy, meanwhile, the first transmission part 3 is driven to rotate, the first driving force is transmitted to the leg block 8 through the first transmission part 3 (the leg block 8 is transmitted through the second speed reducing unit 5 and the second transmission part 6), because the legs of the wearer are tightly pressed by the two leg blocks 8, the leg block 8 and the second transmission part 6 are kept still, the back fixing frame 7 is driven to move relatively through the shell 9, namely, the back fixing frame 7 is driven by the shell 9 to rotate a certain angle in the direction close to the leg block 8, and the back of the wearer is driven to bend forwards by the shoulder bandage, so as to assist the bending action of the wearer. When stooping, the driving unit 1 overcomes the elastic resistance of the energy storage unit 4 to do work, so that the buffer can be increased, and the discomfort of a wearer is avoided.
When a wearer straightens the waist, the driving unit 1 receives a second control signal sent by the upper computer and starts to do work, the first speed reducing unit 2 is driven to rotate reversely to generate a second driving force, the second driving force is transmitted to the second transmission part 6 through the first transmission part 3, the curling part 41 releases stored elastic potential energy to generate a third driving force, the third driving force is transmitted to the second speed reducing unit 5 through the first transmission part 3, the second transmission part 6 and the leg baffles 8, the legs of the wearer are pressed by the two leg baffles 8, the second transmission part 6 is kept still, the back fixing frame 7 is driven to move relatively through the shell 9, namely the back fixing frame 7 is driven by the shell 9 to rotate for a certain angle in the direction far away from the leg baffles 8, the shoulder bandage drives the back of the wearer to move upwards, and the waist straightening action of the wearer is assisted. During the process of straightening the waist of the wearer, the work of the driving unit 1 can be reduced due to the release of the elastic potential of the energy storage unit 4, thereby reducing the power consumption. It should be noted that, a person skilled in the art can set the power supply current of the driving unit 1 according to actual needs and performance parameters of the driving unit 1, the curling part 41, the first decelerating unit 2 and the second decelerating unit 5, so as to adjust the power assisting force and angle of the wearer during the process of straightening and bending according to actual needs, and in addition, the wearer can also select the required power assisting force and angle through an external control device.
Secondly, the drive unit 1 does not work during bending and straightening.
When a wearer bends down, the two leg baffles 8 press the thighs of the wearer, the back of the wearer is forward, the shoulder binding bands drive the back fixing frame 7 and the shell 9 to bend forward, the wearer overcomes the resistance of the curling part 41 to do work, and the curling part 41 curls forward to store elastic potential energy.
When the wearer straightens the waist, curled part 41 releases the stored elastic potential energy, because two leg blocks 8 compress the thighs of the wearer, leg block 8 and second transmission part 6 are kept still, so that back fixing frame 7 is driven by shell 9 to move relatively, namely, shell 9 drives back fixing frame 7 to rotate a certain angle in the direction far away from leg block 8, and the shoulder bandage drives the back of the wearer to move upwards, thereby assisting the straight waist action of the wearer. In the process of straightening the waist of the wearer, the wearer is assisted to straighten the waist by releasing the elastic potential energy of the energy storage unit 4 without the work of the driving unit 1, so that the electric energy consumption is reduced.
Thirdly, when the patient bends over, the driving unit 1 does not work, when the patient bends over, the driving unit 1 does work reversely, and elastic potential energy released by the energy storage unit 4 is offset.
When a wearer bends down, the two leg baffles 8 press the thighs of the wearer, the back of the wearer is forward, the shoulder binding bands drive the back fixing frame 7 and the shell 9 to bend forward, the wearer overcomes the resistance of the curling part 41 to do work, and the curling part 41 curls forward to store elastic potential energy.
When the wearer straightens the waist, the driving unit 1 applies work in the reverse direction, that is, the driving unit 1 and the first speed reducing unit 2 rotate in the forward direction to output the driving force, the curling part 41 of the energy storage unit 4 releases the stored elastic potential energy to output the driving force, the direction of the driving force output by the first speed reducing unit 2 is opposite to the direction of the driving force output by the energy storage unit 4, so that the driving force generated by the elastic potential energy and the driving force generated by the first speed reducing unit 2 are mutually offset, and at the moment, no assistance exists, that is, the wearer can need assistance according to the selection.
It should be noted that the bending process and the straightening process in the three working modes can be combined in an intersecting manner, and a user can select any bending process and any straightening process in the three working modes to be combined according to needs.
According to the energy storage driver provided by the embodiment of the invention, when the driving unit works, the elastic potential energy of the energy storage unit can be stored and the driving force can be output at the same time, and when the elastic potential energy of the energy storage unit is released, the work of the driving unit can be reduced, so that the power supply of the driving unit is reduced, and the energy conservation is realized.
In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "a particular embodiment," "some embodiments," "an embodiment," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. An energy storage driver is characterized by comprising a driving unit, a first speed reducing unit, an energy storage unit, a first transmission component, a second speed reducing unit and a second transmission component;
the power output end of the driving unit is connected with the power input end of the first speed reducing unit;
the energy storage unit comprises a curling component and an energy storage shell, the inner edge end of the curling component is clamped in a first clamping groove of the power output end of the first speed reducing unit, and the outer edge end of the curling component is clamped in a second clamping groove of the energy storage shell;
the power input end of the first transmission part is connected with the power output end of the first speed reducing unit;
the power input end of the second speed reducing unit is connected with the power output end of the first transmission part, and the power output end of the second speed reducing unit is connected with the second transmission part;
the driving unit receives a first control signal sent by an upper computer and drives the first speed reducing unit to rotate in the forward direction, the first speed reducing unit generates a first driving force to drive the curling part to curl around the power output end of the first speed reducing unit in the forward direction so as to store a first elastic potential energy and drive the first transmission part to rotate in the forward direction at the same time, and the first transmission part drives the second transmission part to rotate in the forward direction through the second speed reducing unit so as to generate a first terminal driving force; or,
the driving unit receives a second control signal sent by an upper computer and drives the first speed reducing unit to rotate reversely, the first speed reducing unit generates a second driving force to drive the first transmission part to rotate reversely, the curling part is reversely released around the power output end of the first speed reducing unit, and the stored first elastic potential energy is released to generate a third driving force, so that the second transmission part is driven to rotate reversely through the second speed reducing unit under the action of the second driving force and the third driving force, and a second terminal driving force is generated;
the energy storage driver also comprises a base, and the fixed end of the driving unit is fixed on the base;
the energy storage driver also comprises a driving shell, a driving shell and a driving shell, wherein the driving shell is provided with a first accommodating area and a second accommodating area, the first accommodating area is used for fixing the driving unit and the base, and the second accommodating area is used for accommodating the power output end of the driving unit;
the first speed reduction unit comprises a first central gear, a plurality of first driven wheels, a first speed reduction shell and a first transmission disc;
the central shaft of the first central gear is connected with the power output end of the driving unit, and the first central gear is respectively meshed with a plurality of first driven wheels;
the inner wall of the first speed reduction shell is of a toothed structure, the first central gear and the first driven wheels are contained in the first speed reduction shell, and the first driven wheels are meshed with the inner wall of the first speed reduction shell; one end of the first speed reduction shell is fixedly connected with the driving shell, and the other end of the first speed reduction shell is fixedly connected with one end of the energy storage shell;
one end of the first driving disc is provided with a plurality of first connecting parts which are respectively connected with the central shafts of the first driven wheels; the center of the first transmission disc is provided with a first hollow hole which is used for being inserted with the power input end of the first transmission part;
when the driving unit rotates, the first central gear is driven to rotate, so that a plurality of first driven wheels are driven to rotate around the first central gear in the first speed reduction shell, the first transmission disk is driven to rotate through the first connecting portions, the first transmission part is driven to rotate, and therefore primary speed reduction is completed.
2. The stored energy drive of claim 1 wherein the second reduction unit includes a second sun gear, a plurality of second driven wheels, a second reduction housing, and a second drive plate;
the central shaft of the second central gear is connected with the power output end of the first transmission part, and the second central gear is respectively meshed with a plurality of second driven wheels;
the inner wall of the second speed reduction shell is of a toothed structure, the second central gear and the plurality of second driven wheels are contained in the second speed reduction shell, and the plurality of second driven wheels are meshed with the inner wall of the second speed reduction shell; one end of the second speed reduction shell is fixedly connected with the other end of the energy storage shell;
one end of the second transmission disc is provided with a plurality of second connecting parts which are respectively connected with central shafts of the second driven wheels; the center of the second transmission disc is provided with a second hollow hole for inserting the power input end of the second transmission part;
when the first transmission part rotates, the second central gear is driven to rotate, so that the plurality of second driven wheels are driven to rotate around the second central gear in the second speed reduction shell, the second transmission disc is driven to rotate through the plurality of second connecting parts, the second transmission part is driven to rotate, and secondary speed reduction is finished.
3. The energy storage driver as claimed in claim 2, wherein the energy storage driver further comprises a cover plate and a connecting shell, one end of the cover plate is fixedly connected with the other end of the second speed reduction shell, and the second transmission part penetrates through the cover plate and is connected with the cover plate through a bearing;
the connecting shell is sleeved on the outer side of the energy storage shell, and two sides of the connecting shell are fixedly connected with the first speed reduction shell and the second speed reduction shell respectively.
4. The energy storage drive of claim 1 wherein the coiled member is a flat spiral spring.
5. The energy storage driver of claim 1, wherein the central axes of the drive unit, the first reduction unit, the first transmission member, the energy storage unit, the second reduction unit and the second transmission member are located on a same straight line.
6. The energy storage driver of claim 1,
the driving unit does not work, when the energy storage shell is positively rotated by a first external force, the energy storage shell drives the curling component to positively curl around the power output end of the first speed reducing unit, and second elastic potential energy is stored; when the energy storage shell rotates reversely under the action of a second external force, the curling component reversely releases around the power output end of the first speed reducing unit, the stored second elastic potential energy is released, and the energy storage shell is driven to rotate reversely.
7. The energy storage driver of claim 1,
the driving unit does not work, when the energy storage shell rotates positively under the action of a first external force, the energy storage shell drives the curling component to curl positively around the power output end of the first speed reducing unit, and second elastic potential energy is stored;
when the driving unit works, the curling part releases the stored second elastic potential energy around the power output end of the first speed reducing unit.
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| CN201910400011.1A CN110173550B (en) | 2019-05-14 | 2019-05-14 | Energy storage driver |
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| CN201910400011.1A CN110173550B (en) | 2019-05-14 | 2019-05-14 | Energy storage driver |
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| CN110173550B true CN110173550B (en) | 2020-10-16 |
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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 |
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| CN110173550A (en) | 2019-08-27 |
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