CN110385700A - Transmission device and exoskeleton robot - Google Patents
Transmission device and exoskeleton robot Download PDFInfo
- Publication number
- CN110385700A CN110385700A CN201910745864.9A CN201910745864A CN110385700A CN 110385700 A CN110385700 A CN 110385700A CN 201910745864 A CN201910745864 A CN 201910745864A CN 110385700 A CN110385700 A CN 110385700A
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- Prior art keywords
- bearing
- shaft
- transmission device
- engaging section
- rotating mechanism
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application discloses transmission device and exoskeleton robot, which includes shaft, active rotation mechanism, driven rotating mechanism and driving mechanism；Active rotation mechanism is nested on shaft, and for receiving external force so that active rotation mechanism opposite shaft rotates, the end of active rotation mechanism includes the first engaging section for active rotation mechanism；Driven rotating mechanism is nested on shaft, and is located at the side of active rotation mechanism, and the end of driven rotating mechanism includes the second engaging section, and the second engaging section is opposite with the first engaging section interval；Driving mechanism is connect with driven rotating mechanism, and driving mechanism is for driving driven rotating mechanism to move back and forth on shaft, so that the first engaging section and the engagement of the second engaging section or separation.Above structure simplifies stabilization, and control process is simple, enables to the clutch process reaction of transmission device sensitiveer, promotes transmission efficiency.
Description
Technical field
This application involves robotic technology fields, in particular to transmission device and exoskeleton robot.
Background technique
Exoskeleton robot be by applying torque to joint, to provide auxiliary to human body action, with technology into
Step, exoskeleton robot is in fields such as industrial manufacture, army, medical rehabilitations using more and more.The main body of the performance of ectoskeleton
The part of its present joint assistance, and exoskeleton robot as wearable device to joint assistance when must accomplish it is light, fast
Speed response has the features such as enough torques.
Present inventor has found under study for action, some ectoskeletons select on the drive means answer it is hydraulic, air pressure etc. into
Row driving, due to being equipped with more than a set of drive system on exoskeleton robot, such design is easy to increase exoskeleton robot
Volume and weight, influence will also result on the comfort of wearing, and be easy to cause the upper of corresponding manufacture and maintenance cost
It rises.On the other hand, the driving response time of some exoskeleton robots is long, and reaction sensitivity is be easy to cause to decline, and is not easy to wear
Wearer flexibly controls, and is easy to make troubles to wearer.
Summary of the invention
The application provides a kind of transmission device and exoskeleton robot, is asked at least solving the above-mentioned part being previously mentioned
Topic.
In order to solve the above technical problems, the technical solution that the application uses is: providing a kind of transmission device, comprising:
Shaft；
Active rotation mechanism, is nested on shaft, and active rotation mechanism is for receiving external force so that active rotation machine
The rotation of structure opposite shaft, the end of active rotation mechanism include the first engaging section；
Driven rotating mechanism, is nested on shaft, and is located at the side of active rotation mechanism, the end of driven rotating mechanism
Including the second engaging section, the second engaging section is opposite with the first engaging section interval；
Driving mechanism is connect with driven rotating mechanism, and driving mechanism is for driving driven rotating mechanism reciprocal on shaft
Movement, so that the first engaging section and the engagement of the second engaging section or separation.
In order to solve the above technical problems, another technical solution that the application uses is: a kind of exoskeleton robot is provided,
The exoskeleton robot includes above-mentioned transmission device provided by the present application.
The beneficial effect of the application is: by the way that driven rotating mechanism is arranged in the side of active rotation mechanism, so that driven
Rotating mechanism can move on shaft along close to or far from the direction of active rotation mechanism, to realize the first engaging section and the
The engagement or separation of two engaging sections.Above structure simplifies stabilization, and control process is simple, enables to the clutch of transmission device
Cheng Fanying is sensitiveer, promotes transmission efficiency.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, in which:
Fig. 1 is the structural schematic diagram of one embodiment of the application transmission device；
Fig. 2 is configuration schematic diagram in Fig. 1；
Fig. 3 is in Fig. 1 using E-E as the schematic cross-sectional view of cutting line；
Fig. 4 is the partial enlargement structural representation of region M in Fig. 3；
Fig. 5 is the structural schematic diagram of the first revolving part of one embodiment of the application transmission device；
Fig. 6 is the structural schematic diagram of the bearing mounts of one embodiment of the application transmission device；
Fig. 7 is the structural schematic diagram of the second revolving part of one embodiment of the application transmission device；
Fig. 8 is the structural schematic diagram of the bottom plate of one embodiment of the application transmission device；
Fig. 9 is the structural schematic diagram of one embodiment of the application exoskeleton robot.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment belongs to the range of the application protection.
Referring to Fig. 1, the embodiment of the present application provides a kind of transmission device 100, which includes shaft 10, active
Rotating mechanism 20, driven rotating mechanism 30, driving mechanism 40 and connecting plate 50.
Shaft 10 is used to support other components, such as active rotation mechanism 20 and driven rotating mechanism 30 etc..Shaft 10 can
To be optical axis or other axis with enabling capabilities etc..Active rotation mechanism 20 is nested on shaft 10, active rotation mechanism
20 for receiving external force so that 20 opposite shaft 10 of active rotation mechanism rotates.It is appreciated that active rotation mechanism 20 needs
Want external influence power drive, such as extraneous motor etc. that can transfer power to active rotation mechanism 20 to drive its rotation.It is main
The end of dynamic rotating mechanism 20 includes the first engaging section 223.20 opposite shaft 10 of active rotation mechanism, which only makes rotating motion, not to be done
Along the axial movement of shaft 10.
Driven rotating mechanism 30 is nested on shaft 10, and is located at the side of active rotation mechanism 20.Driven rotating mechanism
30 quantity can be one group or two groups.It should be noted that active here and it is driven be in contrast, to indicate actively to revolve
Rotation mechanism 20 can drive driven rotating mechanism 30 to rotate, and not representing active rotation mechanism 20 itself will rotate, main
Dynamic rotating mechanism 20 is to need just rotate under the driving of extraneous driving mechanism.Driven rotating mechanism 30 is for connecting other portions
Part (such as Bowden cable etc.).The end of driven rotating mechanism 30 includes the second engaging section 323, and the second engaging section 323 is nibbled with first
Conjunction portion 223 is spaced relatively.It is appreciated that the direction of the first engaging section 223 and the second engaging section 323 is opposite.
Driving mechanism 40 is connect with driven rotating mechanism 30, and connection type can be using fixing piece or clamping etc., only
It wants the two fixation can be connected together.The quantity of driving mechanism can be one group or two groups.Driving mechanism 40 is used for
Drive driven rotating mechanism 30 to move back and forth on shaft 10 so that the first engaging section 223 and the second engaging section 323 engagement or
Person's separation.Driven rotating mechanism 30 can opposite shaft 10 make rotating motion and can sliding axially along shaft 10.First engagement
The shape in portion 223 and 323 shape of the second engaging section are mutually matched to form engagement, such as the shape and the of the first engaging section 223
The shape of two engaging sections 323 can be triangle or rectangle or arc etc., as long as can satisfy meshing relation.
It is appreciated that driving mechanism 40 drives driven rotating mechanism 30 on shaft 10 along close to active rotation mechanism 20
Direction is mobile, and when being moved to the first engaging section 223 and the second engaging section 323 engages, active rotation mechanism 20 is in external force
Under rotate, so as to drive driven rotating mechanism 20 to rotate synchronously.Driving mechanism 40 drives driven rotating mechanism 30 to exist
It is moved on shaft 10 along far from the direction of active rotation mechanism 20, when being moved to the first engaging section 223 and the second engaging section 323 divides
From when, active rotation mechanism 20 no longer drives driven rotating mechanism 30 to rotate, to realize nibbling for flexible control transmission device 100
It closes and separates.In certain above process, active rotation mechanism 20 can also be constantly in rotation status.
By the way that driven rotating mechanism 30 is arranged in the side of active rotation mechanism 20, so that driven rotating mechanism 30 can be in axis
It is moved on bar 10 along the direction close to or far from active rotation mechanism 20, to realize the first engaging section 223 and the second engagement
The engagement or separation in portion 323.Above structure simplifies stabilization, and control process is simple, enables to the clutch of transmission device 100
Cheng Fanying is sensitiveer, promotes transmission efficiency.
In some embodiments, with continued reference to Fig. 2, active rotation mechanism 20 can be one group, and active rotation mechanism 20 can wrap
Include two the first engaging sections 223 being disposed opposite to each other.Driven rotating mechanism 30 can be two groups, and two groups of driven rotating mechanisms 30 are distinguished
Positioned at the two sides of active rotation mechanism 20.It is appreciated that active rotation mechanism 20 is located between two driven rotating mechanisms 30.It drives
Motivation structure 40 can be two groups, and two groups of driving mechanisms 40 are connect with driven rotating mechanism 30 respectively, and driving mechanism 40 is for driving
Driven rotating mechanism 30 moves back and forth on shaft 10 so that every one first engaging section 223 and every one second engaging section 323 are nibbled
It closes or separates.
By the way that driven rotating mechanism is arranged in the two sides of active rotation mechanism 20, an active rotation mechanism 20 may be implemented
It is engaged with two driven rotating mechanisms 30, so as to realize that an active rotation mechanism 20 drives two driven rotating mechanisms 30
It rotates simultaneously, the torque output driving of two driven rotating mechanisms 30 also can be thus achieved, and then can be with lifting gear 100
Delivery efficiency.
Certainly in some embodiments, driving mechanism 40 is also possible to one, passes through 40 liang of a driving mechanism opposite sides
The synchronously control to two driven rotating mechanisms 30 is realized to setting output shaft, so as to further promote the effect of control clutch
Rate.
Optionally, with continued reference to 1 and Fig. 2, transmission device 100 may also include connecting plate 50, and connecting plate 50 is threaded through shaft
On 10.50 one end of connecting plate is connect with driving mechanism 40, and the other end of connecting plate 50 is connect with driven rotating mechanism 30.Pass through company
Fishplate bar 50 realizes the connection of driving mechanism 40 and driven rotating mechanism 30, so as to drive driven rotation by driving mechanism 40
Mechanism 30 moves, and can promote the structural stability of entire transmission device 100.
In some embodiments, it may also include toothed disc 21, first with Fig. 2, active rotation mechanism 20 refering to fig. 1 together and revolve
Turn part 22, first bearing 23 and axle sleeve 24.The periphery of toothed disc 21 is equipped with gear, such as can be bevel gear system or cylinder
Gear etc. may be implemented that toothed disc 21 is vertical or slanting arrangement when for bevel gear system, and toothed disc 21 can be made to receive
External force is more convenient.Toothed disc 21 can be one, and the first revolving part 22 can be one or two.When driven rotating mechanism
30 when being one group, and the first revolving part 22 is one, and when driven rotating mechanism is two groups, the second revolving part 22 is two, and two
A second revolving part 22 is disposed opposite to each other in the two sides of toothed disc 21.
Toothed disc 21 can be used for other extraneous cooperations such as gear or synchronous belt to receive external force.Axle sleeve 24 and
One bearing 23 can be set on shaft 10.It is appreciated that first bearing 23 can be rolling bearing, such as it can be deep-groove ball axis
It holds or needle bearing etc., concrete type model is not limited thereto, as long as can satisfy support rotating.First bearing 23
Quantity can be one or two etc..
It combines together refering to Fig. 3, the inner ring of first bearing 23 is sleeved and fixed on shaft 10, axle sleeve 24 and first bearing 23
Inner ring abut, the quantity of axle sleeve 24 can be two, be symmetrically arranged at the both ends of first bearing 23, realize to first axle
Hold 23 fixation.Toothed disc 21 is set in first bearing 23, and the first revolving part 22 is connect with toothed disc 21, for example, it may be
Toothed disc 21 is worn using fixing pieces such as bolt or screws and the first revolving part 22 fixes the two.Therefore, when toothed disc 21
When rotating under external force, the first revolving part 22 keeps synchronous rotary dynamic.It is appreciated that can also be equipped at least one on axle sleeve 24
A threaded hole (not shown go out), wears threaded hole by jackscrew, the fixation to first bearing 23 may be implemented, so as to avoid
First bearing 23 moves on shaft 10, and then can be to avoid toothed disc 21 along the axial movement of shaft 10.So as to be promoted
Stability when toothed disc 21 and the first revolving part 22 rotate.
In conjunction with refering to Fig. 5, the first revolving part 22 may also include fixed disk 221 and first sleeve 222.First sleeve 222 with
Fixed disk 221 connects, the vertical fixed disk 221 of first sleeve 222.It is appreciated that fixed disk 221 and first sleeve 222 can be
It is integrally formed part or seperated part is combined into.Fixed disk 221 can be disk or other shapes of disk, not make herein specifically
It limits.The length L1 of the outer wall of first sleeve 222 is gradually increased or is reduced along the circumferential direction of fixed disk 221 in first sleeve
222 end forms the first engaging section 223, such as the length L1 of outer wall can be the counter clockwise direction circumferential along fixed disk 221
It is gradually increased, or is gradually reduced clockwise to form the arc notch of coiled coil (i.e. the first engaging section 223).It is fixed
Disk 221 is fixedly connected with toothed disc 21, such as can be using fixing pieces such as bolt or screw etc..Toothed disc 21 is for receiving
External force is to drive 221 opposite shaft 10 of fixed disk to rotate.
By the above-mentioned means, may insure that toothed disc 21 drives fixed disk 221 and first sleeve 222 to rotate indirectly, and
Axial movement can occur on shaft 10 to avoid toothed disc 21.
In some embodiments, refering to fig. 1, Fig. 2, Fig. 3 and Fig. 4, driven rotating mechanism 30 may also include bearing mounts
31, the second revolving part 32, linear bearing 33, second bearing 34, bearing holder (housing, cover) 35 and shrouding disc 36.Second bearing 34 can be rolling
Bearing, such as can be deep groove ball bearing or needle bearing etc., concrete type model is not limited thereto, as long as can satisfy
Support rotating.Linear bearing 33 can be set on shaft 10 and can be along the axially reciprocating of shaft 10.Bearing mounts
31 can be set on linear bearing 33, and bearing holder (housing, cover) 35 and second bearing 34 are set in bearing mounts 31, so as to realize
The movement of the entire driven rotating mechanism 30 of the mobile drive of linear bearing 33.Inner ring, the straight line of bearing holder (housing, cover) 35 and second bearing 34
One end of bearing 33 abuts, it will be understood that the outer end face of bearing holder (housing, cover) 35 abuts 34 1 inner ring of second bearing, the inner end of bearing holder (housing, cover) 35
One end face of face abutting linear bearing 33.
Wherein, the second revolving part 32 may also include drum 321 and second sleeve 322, and second sleeve 322 and drum 321 connect
It connects, the vertical drum 321 of second sleeve 322, second sleeve 322 can be with drum 321 and be integrally formed in conjunction with part or seperated part
It forms.Drum 321 can be circular discs etc..
Optionally, it combines together refering to Fig. 7, the periphery wall of drum 321 can also be equipped with the first groove 324 and the second groove
325, it will be understood that circumferentially the circumferential of wall is arranged the first groove 324, and the second groove 325 can be the base in the first groove 324
The groove for being further recessed towards the bottom wall of the second groove 325 on plinth and being formed.First groove 324 and the second groove 325 can be used for
Accommodate coiling, such as Bowden cable etc. can coil coiling well through the above way, so as to be effectively reduced around
Drum can promote the outlet or inlet wire efficiency of drum 321 when rotated around excessively mixed and disorderly probability.
In some embodiments, with continued reference to Fig. 7, the length L2 of the outer wall of second sleeve 322 can along drum 321 it is circumferential by
Cumulative big or reduction is to form the second engaging section 323 in the end of second sleeve 322, for example, the length L2 of outer wall can be
Week along drum 321 is gradually increased counterclockwise, or is gradually reduced clockwise to form the arc of coiled coil
Notch (i.e. the second engaging section 323), it will be understood that just constitute one after the first engaging section 223 and the engagement of the second engaging section 323
Complete tubular.
Optionally, it can be set in second bearing 34 with Fig. 6, drum 321 with reference to Fig. 4, the outer ring of second bearing 34
One end abutted with the inner wall of drum 321.Shrouding disc 36 is fixedly connected with drum 321, such as can be using fixing pieces such as bolts
It is fixedly connected.Wherein, the one side of shrouding disc 36 is abutted with the other end of the outer ring of second bearing 34.Pass through shrouding disc 36 and drum
321 are connected to the outer ring both ends of the surface of second bearing 34 jointly, so as to realize the fixation to second bearing 34, can effectively keep away
Exempt from second bearing 34 to shake in drum 321.
In some embodiments, it may also include fixing seat 41 with Fig. 2, driving mechanism 40 refering to fig. 1, driving motor 42, join
Axis device 43, screw rod 44 and feed screw nut 45.Screw rod 44 in Fig. 2 is rough schematic view, eliminates the knot such as screw thread of screw rod 44
Structure.Driving motor 42 can be small machine, such as have small volume and power.Screw rod 44 can be T-type screw rod or ball
Screw rod etc. moves in a straight line on screw rod 44 as long as can satisfy feed screw nut 45, and concrete type is not construed as limiting.Driving electricity
Machine 42 is fixedly connected in fixing seat 41, the output axis connection of 43 one end of shaft coupling and driving motor 42, shaft coupling 43 it is another
End is connect with screw rod 44.Feed screw nut 45 is set on screw rod 44, and 50 one end of connecting plate is connect with feed screw nut 45, connecting plate 50
The other end is connect with drum 321.
It is appreciated that the output shaft of driving motor 42 rotates movement, screw rod 44 is driven to rotate by shaft coupling 43, because
This feed screw nut 45 being located on screw rod 44 moves in a straight line on screw rod 44, so as to drive connecting plate 50 on shaft 10
It moves in a straight line, namely drives screw rod 44 to make rotating motion by driving motor 42, to convert screw rod spiral shell for rotary motion
The linear motion of the opposite screw rod 44 of mother 45, and then bearing mounts 31 can be driven to exist using linear bearing 33 by connecting plate 50
It is moved in a straight line on shaft 10.
By the above-mentioned means, the output shaft that driving motor 42 may be implemented drives 44 rotary motion of screw rod, then by screw rod spiral shell
Mother 45 is converted into linear motion, and then can make entire connecting plate 50 that driven rotating mechanism 30 be driven to do straight line on shaft 10
Movement.Due to using drivers such as the complexity such as hydraulic or air pressure, not being effectively simplified driver, reducing transmission device
Light-weighted design may be implemented in 100 weight, and required power consumption can be made less.In addition, passing through above-mentioned drive
Flowing mode can reduce the frequency of start-stop and the positive and negative rotation of driver, so that the clutch of transmission device 100 is sensitiveer.
Optionally, in conjunction with refering to Fig. 6, bearing mounts 31 may also include substrate 311, the first pillar buoy 312 and second
Pillar buoy 313.Substrate 311, the first pillar buoy 312 and the second pillar buoy 313 can be integrated molding or seperated part combines
It forms.First pillar buoy 312 connect with substrate 311 and extends along the direction of vertical substrate 311, the second pillar buoy 313 and first
Pillar buoy 312 connects and the extending direction of the second pillar buoy 313 is identical as the extending direction of the first pillar buoy 312.It is appreciated that
Substrate 311, the first pillar buoy 312 and the second pillar buoy 313 form the setting of lamination shape.
Wherein, the diameter of the first pillar buoy 312 can be greater than the diameter of the second pillar buoy 313, bearing holder (housing, cover) 35 and second bearing
34 are set on the second pillar buoy 313.And one end of the inner ring of second bearing 34 is abutted with an end face of bearing holder (housing, cover) 35, the second axis
The end face of the other end and the first pillar buoy 312 that hold 34 inner ring (i.e. connects between the first pillar buoy 312 and the second pillar buoy 313
Connect the high spot to be formed) it abuts.The end face of second pillar buoy 313 is abutted with the inner wall of bearing holder (housing, cover) 35.By the above-mentioned means, can be with
So that second bearing 34 is firmly secured on the second pillar buoy 313, it is possible to prevente effectively from second bearing 34 is shaken, and
The inner ring and the second pillar buoy 313 for abutting second bearing 34 simultaneously using bearing holder (housing, cover) 35, can promote integrally-built stability,
So as to effectively avoid linear motion and the rotary motion of driven rotating mechanism 30 from interfering with each other.
Optionally, refering to Fig. 4, shrouding disc 36 is equipped with central through hole, during the first pillar buoy 312 and the second pillar buoy 313 are worn
Heart through-hole, and the diameter of central through hole is greater than the diameter of the second pillar buoy 313, so as to effectively avoid shrouding disc 36 from supporting when rotating
It is connected to bearing mounts 31.Bearing holder (housing, cover) 35 and drum 321, second sleeve 322 inner wall between there is gap, so as to effective
Drum 321 and second sleeve 322 is avoided to abut bearing holder (housing, cover) 35 when rotating.In application scenes, the first engaging section 223 and
After the engagement of two engaging sections 323, if toothed disc 21 rotates, drum 321 also rotates, since drum 321 is fixedly connected with shrouding disc 36,
Therefore the also corresponding rotation of shrouding disc 36, and drum 321 and shrouding disc 36 need opposite shaft 10 to move in a straight line.Aforesaid way can be with
So that not interfereing with each other between each component, the flexible transformation that linear motion and rotary motion may be implemented is interfered with each other without generating.
In addition, being easy to produce heat in rotary motion and linear motion, therefore, can also effectively carry out through the above way scattered
Heat can be effectively reduced heat and excessively concentrate the probability that can not shed and cause parts damages.
In some embodiments, refering to fig. 1, Fig. 2 and Fig. 3, transmission device 100 may also include two support plates 11 and fastening
Part 12.Shaft 10 wears two support plates 11, and active rotation mechanism 20 and driven rotating mechanism 30 are between support plate 11, fastening
Part 12, which is arranged on shaft 10, is used for fixed axostyle 10.Fastener 12 can be elastic circlip etc..Shaft 10 and two support plates 11
Play the role of stablizing support, and 10 relative support plate 11 of shaft hair can be reduced by the way that fastener 12 is arranged on shaft 10
Raw mobile probability, can also play stable straight line while in addition aforesaid way can make shaft 10 play a supporting role
The effect of guide rail.
Optionally, refering to fig. 1, Fig. 2 and Fig. 7, fixing seat 41 and support plate 11 can be L shape.Transmission device 100 can be with
Including bottom plate 70, bottom plate 70 is equipped with elongated fixation hole 71.Fixing seat 41 and support plate 11 are correspondingly provided with fixation hole, use fixation
Part, which wears each fixation hole, may be implemented fixation to fixing seat 41 and support plate 11.Due to fixation hole 71 be it is elongated, can be with
Between flexible modulation fixing seat 41, between support plate 11, the distance between fixing seat 41 and support plate 11.So as to according to need
Flexibly to change engagement or isolated distance, and then can be with the flexibility of 100 clutch of lifting gear.In addition aforesaid way
Can also be conducive to the installation of transmission device 100 perhaps disassembly and then can promote the efficiency of assembly or later maintenance.
It is the structural schematic diagram of one embodiment of the application exoskeleton robot, the exoskeleton robot 200 refering to Fig. 9, Fig. 9
Including transmission device 100, which is the transmission device as described in above-mentioned any embodiment, related content it is detailed
Illustrate to refer to above-mentioned Fig. 1 to Fig. 8 and corresponding explanatory note, details are not described herein.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of transmission device characterized by comprising
Shaft；
Active rotation mechanism is nested on the shaft, and the active rotation mechanism is for receiving external force so that the master
Dynamic rotating mechanism is rotated relative to the shaft, and the end of the active rotation mechanism includes the first engaging section；
Driven rotating mechanism is nested on the shaft, and is located at the side of the active rotation mechanism, the driven whirler
The end of structure includes the second engaging section, and second engaging section is opposite with first engaging section interval；
Driving mechanism is connect with the driven rotating mechanism, and the driving mechanism is for driving the driven rotating mechanism in institute
It states and is moved back and forth on shaft, so that first engaging section and second engaging section engagement or separation.
2. transmission device according to claim 1, which is characterized in that the active rotation mechanism is one group, the active
Rotating mechanism includes two first engaging sections being disposed opposite to each other, and the driven rotating mechanism is two groups, and described in two groups from
Dynamic rotating mechanism is located at the two sides of the active rotation mechanism, and the driving mechanism is two groups, driving mechanism described in two groups
It is connect respectively with the driven rotating mechanism, the driving mechanism is for driving the driven rotating mechanism so that each described
First engaging section and each second engaging section engagement or separation.
3. transmission device according to claim 2, which is characterized in that the transmission device further includes connecting plate, the company
Fishplate bar is threaded through on the shaft, and the one end of the connection board is connect with the driving mechanism, the other end of the connecting plate and institute
State driven rotating mechanism connection.
4. transmission device according to claim 3, which is characterized in that the active rotation mechanism further includes toothed disc,
One revolving part, first bearing and axle sleeve, the axle sleeve and the first bearing are set on the shaft, the axle sleeve and institute
The inner ring for stating first bearing abuts, and the toothed disc is set in the first bearing, first revolving part and the gear
Disk connection,
Wherein, first revolving part further includes fixed disk and first sleeve, and the first sleeve is connect with the fixed disk, institute
The first sleeve vertically fixed disk is stated, and the length of the outer wall of the first sleeve is gradually increased along the circumferential direction of the fixed disk
Or reduces and first engaging section, the fixed disk and the fixed company of the toothed disc are formed with the end in the first sleeve
It connects, the toothed disc is for receiving external force to drive the fixed disk to rotate relative to the shaft.
5. transmission device according to claim 4, which is characterized in that the driven rotating mechanism further includes bearing installation
Part, the second revolving part, linear bearing, second bearing, bearing holder (housing, cover) and shrouding disc, the linear bearing be set on the shaft and
It can be set on the linear bearing along the axially reciprocating of the shaft, the bearing mounts, the bearing holder (housing, cover) and institute
It states second bearing to be set in the bearing mounts, inner ring, the linear bearing of the bearing holder (housing, cover) and the second bearing
One end abut,
Wherein, second revolving part further includes drum and second sleeve, and the second sleeve is connect with the drum, and described
The vertical drum of two sleeves, and the length of the outer wall of the second sleeve be circumferentially gradually increased along the drum or reduce with
Second engaging section is formed in the end of the second sleeve, the drum is set in the second bearing, and described second
One end of the outer ring of bearing is abutted with the inner wall of the drum, and the shrouding disc is fixedly connected with the drum, and the shrouding disc
One side is abutted with the other end of the second bearing outer ring.
6. transmission device according to claim 5, which is characterized in that the driving mechanism further includes fixing seat, driving electricity
Machine, shaft coupling, screw rod and feed screw nut, the driving motor are fixedly connected on the fixing seat, described shaft coupling one end
With the output axis connection of the driving motor, the shaft coupling other end is connect with the screw rod, and the feed screw nut is set in
On the screw rod, the one end of the connection board is connect with the feed screw nut, and the connecting plate other end is connect with the drum.
7. transmission device according to claim 5, which is characterized in that the bearing mounts further includes substrate, the first column
Shape cylinder and the second pillar buoy, first pillar buoy connect with the substrate and extend along the direction of the vertical substrate, institute
The second pillar buoy is stated to connect with first pillar buoy and the extending direction of second pillar buoy and first pillar buoy
Extending direction is identical,
Wherein, the diameter of first pillar buoy is greater than the diameter of second pillar buoy, the bearing holder (housing, cover) and second axis
Bearing sleeve is located on second pillar buoy, and one end of the inner ring of the second bearing is abutted with an end face of the bearing holder (housing, cover),
The other end of the inner ring of the second bearing is abutted with the end face of first pillar buoy, the end face of second pillar buoy and institute
The inner wall for stating bearing holder (housing, cover) abuts.
8. transmission device according to claim 7, which is characterized in that the shrouding disc is equipped with central through hole, first column
Shape cylinder and second pillar buoy wear the central through hole, and the diameter of the central through hole is greater than second pillar buoy
Diameter, the bearing holder (housing, cover) and the drum, the second sleeve inner wall between have gap.
9. transmission device according to claim 1, which is characterized in that the transmission device further includes two support plates and tight
Firmware, the shaft wear two support plates, and the active rotation mechanism and the driven rotating mechanism are located at the support
Between plate, the fastener is arranged on the shaft, and the fastener is for fixing the shaft.
10. a kind of exoskeleton robot, which is characterized in that including transmission device as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910745864.9A CN110385700A (en) | 2019-08-13 | 2019-08-13 | Transmission device and exoskeleton robot |
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| CN111037537A (en) * | 2019-12-14 | 2020-04-21 | 深圳先进技术研究院 | Mechanical clutch transmission device and exoskeleton robot |
| CN113319824A (en) * | 2021-06-01 | 2021-08-31 | 西安航空学院 | Flexible exoskeleton with energy clutch management device |
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