CN211073588U - Modular reconfigurable drive unit and flexible exoskeleton robot - Google Patents

Abstract

The utility model discloses a modularization restructural drive unit and flexible ectoskeleton robot, this modularization restructural drive unit includes power component and drive assembly, power component includes power shell and establishes the motor in power shell, drive assembly includes drive shell, the main shaft, clutch and line wheel, the last wire hole that is equipped with of drive shell, the main shaft is established in drive shell, main shaft and motor cooperation, the motor can drive the main shaft and rotate, the clutch is established in the shell, the clutch includes fixed part and separation and reunion portion, the fixed part is connected on the main shaft, line wheel cover is established on the main shaft, and line wheel links to each other with separation and reunion portion. The modular reconfigurable driving unit can realize the function of outputting a plurality of driving paths by a single motor, can also generate the output forms of a plurality of driving paths simultaneously, and meets the use requirements of the multi-joint freedom degree of the human body. In addition, the holding electromagnet can realize the braking of the reel when the clutch part and the fixing part are disengaged.

Description

Modular reconfigurable drive unit and flexible exoskeleton robot

Technical Field

The utility model relates to a flexible ectoskeleton technical field especially relates to a drive unit and flexible ectoskeleton robot are restructured to modularization.

Background

The flexible exoskeleton is a novel mechanical and electrical integrated device developed by simulating biological exoskeleton, has high bionic characteristics, and provides functions of body support, exercise assistance, information fusion and the like for a wearer. The driving system is an important component of the exoskeleton, and the design of the driving system and the optimization of a driving path are key links for ensuring the human-computer synergistic effect. The motor driving is an important driving mode of the exoskeleton, generally, one motor corresponds to a specific human body joint, and a rope, a transmission mechanism and the like are adopted to drive the human body joint to complete a specific action.

The driving path of the existing flexible exoskeleton system is single and can not be reconstructed, the fixed single driving path is usually adopted for motion control of human body joints, the complexity of the driving system is inevitably increased due to the increase of the number of the driving paths, and the portability of the system and the human body wearing experience are influenced. In addition, the number of drive paths is generally fixed after the existing flexible exoskeleton system is produced, and when the drive paths need to be increased, additional systems need to be equipped, so that the flexible exoskeleton system is very inconvenient to use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a modularization reconfigurable drive unit, this modularization reconfigurable drive unit can realize the function of a plurality of drive paths of single motor output, and this module reconfiguration drive unit can also increase or reduce driven unit, convenient and practical according to actual need.

Another object of the utility model is to provide a flexible ectoskeleton robot with this modularization reconfigurable drive unit, this flexible ectoskeleton robot's structure meets the order, and the quality is less, convenient and practical.

For realizing the technical effect, the embodiment of the utility model provides a technical scheme as follows:

a modular reconfigurable drive unit, comprising: the power assembly comprises a power shell and a motor arranged in the power shell; a drive assembly, the drive assembly comprising: the driving shell is provided with a wire outlet hole; the main shaft is arranged in the driving shell and matched with the motor, and the motor can drive the main shaft to rotate; the clutch is arranged in the driving shell and comprises a fixing part and a clutch part, the fixing part is connected to the main shaft, and the clutch part can be connected with or separated from the fixing part; the wire wheel is sleeved on the main shaft and connected with the clutch part, and a driving wire can penetrate through the wire outlet hole and is wound on the wire wheel; wherein: the driving assemblies are arranged along the axial direction of the main shaft, and the main shafts of two adjacent driving assemblies are connected through a connecting piece; the holding electromagnets are arranged in one-to-one correspondence with the driving assemblies, and each holding electromagnet is used for holding the reel to prevent the reel from rotating when the clutch part and the fixing part are disengaged.

In some embodiments, the clutch is an electromagnetic clutch, the stationary portion includes a stator coil connected to the drive housing and a rotor connected to the main shaft, and the clutch portion is an armature.

In some embodiments, the power assembly further comprises a speed reducer, an input end of the speed reducer is connected with a motor shaft of the motor, and an output end of the speed reducer is matched with the spindle.

In some specific embodiments, the power assembly further comprises; a torque measuring member connected to the output end of the speed reducer; the flange plate is connected to one side, far away from the output end, of the torque measuring part, and the flange plate is connected with the main shaft.

In some embodiments, the modular reconfigurable drive unit further includes two main shaft bearings, and the two main shaft bearings are sleeved at two ends of the main shaft.

In some embodiments, the modular reconfigurable drive unit further comprises a clutch bearing, the clutch bearing is sleeved on the main shaft, and the clutch part is sleeved on the clutch bearing.

In some embodiments, the connecting member is a connecting pin, and the modular reconfigurable drive unit further includes a spindle spacer, the spindle spacer is sleeved on the connecting pin and is clamped between the drive housings of two adjacent drive assemblies.

In some embodiments, the modular reconfigurable drive unit further comprises: the end cover is buckled at one end of the power shell far away from the driving shell; the base is arranged on the lower portions of the driving shell and the power shell.

In some embodiments, the modular reconfigurable drive unit further comprises: the sealing cover is connected to the driving shell of the driving assembly on the outermost side of the driving assemblies, a matching hole is formed in the sealing cover, a plug is arranged in the matching hole and connected with the main shaft of the driving assembly, and a plug bearing is arranged between the plug and the inner wall of the matching hole.

A flexible exoskeleton robot comprising: the binding band is bound on the waist of the human body; the modular reconfigurable drive unit as described hereinbefore, the modular reconfigurable drive unit being connected to the strap; the device comprises a plurality of anchor point attachment belts, a plurality of fixing belts and a plurality of fixing belts, wherein each anchor point attachment belt is tied at a human body joint; and one end of the driving wire is wound on the wire wheel, and the other end of the driving wire is connected to the anchor point attachment belt.

The utility model discloses a modularization reconfigurable drive unit because a power drive assembly can drive a plurality of drive assembly and rotate, has realized adopting the function of a plurality of drive paths of motor output, has simplified modularization reconfigurable drive unit's structure. Because every drive assembly all includes the clutch, realized that the motor can drive one or several line wheels according to actual need and rotate, satisfied the function of actual diversified drive path output better. In addition, the main shafts of two adjacent driving assemblies are connected by adopting a connecting piece, so that the number of the driving assemblies of the modular reconfigurable driving unit can be increased or reduced according to actual needs, and the actual use requirements can be better met. Further, the holding electromagnet can hold the reel at a fixed position by attracting it when the clutch portion and the fixing portion are disengaged, thus achieving state holding corresponding to the drive path.

The utility model discloses a flexible ectoskeleton robot, because including the foregoing modularization reconfigurable drive unit, can change drive path quantity through increase and decrease drive unit interior drive assembly's quantity to operating condition control drive path through changing the clutch switches, and it is comparatively convenient to operate, and the structure is comparatively simple, and the quality is lighter, convenient and practical, thereby in addition, thereby can also select modularization reconfigurable drive unit's number according to actual need to increase drive path quantity, makes its better satisfied experiment needs.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a schematic structural diagram of a modular reconfigurable drive unit according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a power assembly of a modular reconfigurable drive unit according to an embodiment of the present invention.

Figure 3 is a cross-sectional view of the power assembly of the modular reconfigurable drive unit provided by an embodiment of the present invention.

Fig. 4 is a schematic diagram of a driving assembly of a modular reconfigurable driving unit according to an embodiment of the present invention.

Fig. 5 is a cross-sectional view of two drive assemblies of a modular reconfigurable drive unit according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a flexible bone robot according to an embodiment of the present invention.

Reference numerals:

100. a modular reconfigurable drive unit; 1. a power assembly; 11. a power housing; 12. a motor; 13. a speed reducer; 14. a torque measuring member; 15. a flange plate; 2. a drive assembly; 21. a drive housing; 22. a main shaft; 23. a clutch; 231. a fixed part; 232. a clutch section; 24. a wire wheel; 3. a main shaft bearing; 4. a clutch bearing; 5. a spindle washer; 6. an end cap; 7. a base; 8. sealing the cover; 9. a plug; 10. a bulkhead bearing; 101. a connecting member; 102. a holding electromagnet; 200. binding bands; 300. an anchor point attachment strap; 400. driving the line.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A specific structure of the modular reconfigurable drive unit 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 5.

As shown in fig. 1-5, the utility model discloses modular reconfigurable drive unit 100 of embodiment includes power component 1, drive component 2 and holding electromagnet 102, power component 1 includes power housing 11 and establishes motor 12 in power housing 11, drive component 2 includes drive housing 21, main shaft 22, clutch 23 and wire wheel 24, be equipped with wire hole 211 on drive housing 21, main shaft 22 establishes in drive housing 21, main shaft 22 cooperates with motor 12, motor 12 can drive main shaft 22 and rotate, clutch 23 establishes in drive housing 21, clutch 23 includes fixed part 231 and clutch 232, fixed part 231 is connected on main shaft 22, clutch 232 can link to each other or break away from with fixed part 231, wire wheel 24 cover is established on main shaft 22, and wire wheel 24 links to each other with clutch 232, drive wire 400 can pass wire hole 211 and twine on wire wheel 24. The number of the driving assemblies 2 is multiple, the driving assemblies 2 are arranged along the axial direction of the main shaft 22, and the main shafts 22 of two adjacent driving assemblies 2 are connected through a connecting piece 101. The holding electromagnets 102 are plural, the plural holding electromagnets 102 are provided in one-to-one correspondence with the plural drive assemblies 2, and each holding electromagnet 102 is used for holding the reel 24 to prevent the reel 24 from rotating when the clutch portion 232 and the fixing portion 231 are disengaged.

It can be understood that, in the actual use process, when the clutch portion 232 of the clutch 23 is attracted to the fixing portion 231, the motor 12 can drive the main shaft 22 to rotate, and when the main shaft 22 rotates, the main shaft 22 can drive the pulley 24 to rotate, so as to realize the output of one driving path. Because the utility model discloses modularization reconfigurable drive unit 100 includes a plurality of drive assembly 2, the main shaft 22 of a plurality of drive assembly 2 passes through connecting piece 101 and links to each other, like this in the in-service use process, operating personnel can select drive assembly 2's number according to actual need, and a plurality of drive assembly 2's equipment mode is very simple, only need adopt connecting piece 101 to couple together two adjacent drive assembly 2's main shaft 22 with connecting piece 101 can, the assembly operation is very simple, the operating personnel operation has been made things convenient for. In addition, since the number of the driving assemblies 2 is reconfigurable and only one power assembly 1 is provided, the modular reconfigurable driving unit 100 of the present embodiment realizes a function of outputting a plurality of driving paths by using one motor 12, and simplifies the structure of the modular reconfigurable driving unit 100.

In addition, when the clutch part 232 is connected with the fixing part 231, the electromagnet 102 is kept powered off, and at this time, the electromagnet 102 cannot attract the wire wheel 24, so that the wire wheel 24 can rotate under the driving action of the driving component 2 to realize the output of the driving path. When the clutch part 232 and the fixing part 231 are disengaged, if the electromagnet 102 is kept powered off, the driving path can move freely. If the electromagnet 102 is kept electrified, the electromagnet 102 is kept to attract the wire reel 24. At this time, the pulley 24 cannot rotate due to the restriction of the holding electromagnet 102. That is, the driving wire 400 connected to the pulley 24 can be maintained at a relatively fixed length, so that the driven joint connected to the driving wire 400 is in a stable stationary state. This facilitates braking of the reel 24 when the clutch portion 232 and the fixing portion 231 are disengaged, thereby ensuring the state of the corresponding drive path.

The utility model discloses a modularization reconfigurable drive unit 100 because a power drive assembly 2 can drive a plurality of drive assembly 2 and rotate, has realized adopting a plurality of drive path's of motor 12 output function, has simplified modularization reconfigurable drive unit 100's structure. Because each driving component 2 comprises the clutch 23, the motor 12 can drive one or more wire wheels 24 to rotate according to actual requirements, and the function of outputting various actual driving paths is better met. In addition, the main shafts 22 of two adjacent driving assemblies 2 are connected by the connecting piece 101, so that the number of the driving assemblies 2 of the modular reconfigurable driving unit 100 can be increased or decreased according to actual needs, and actual use requirements can be better met. Further, the holding electromagnet 102 can hold the reel 24 at a fixed position by attracting it when the clutch portion 232 and the fixing portion 231 are disengaged, thus achieving the state holding corresponding to the driving path.

In some embodiments, the clutch 23 is an electromagnetic clutch, the fixing portion 231 includes a stator coil connected to the drive housing 21 and a rotor connected to the main shaft 22, and the clutch portion 232 is an armature. It can be understood that the switching of the driving path can be realized only by changing the power-on state of the electromagnetic clutch in use. Specifically, in practical use, if a new driving path needs to be opened, only the electromagnetic clutch corresponding to the driving path needs to be energized, the stator coil is energized, and the rotor rotating synchronously with the main shaft 22 generates magnetism to attract the armature to realize rotation of the wire wheel 24. If a driving path needs to be closed, the electromagnetic clutch corresponding to the driving path is only needed to be powered off, and the rotor rotating synchronously with the main shaft 22 is separated from the wire wheel 24, so that the wire wheel 24 cannot rotate even if the main shaft 22 of the driving assembly 2 still rotates. Therefore, the electromagnetic clutch can simplify the control logic for switching the driving circuit, and the experimenter can conveniently switch the driving circuit in the actual use process.

It should be noted here that, in the embodiment of the present invention, the modular reconfigurable drive unit 100 may design customized loads for different functions, and has an overload protection function. Specifically, the clutch 23 is an electromagnetic clutch. That is, the fixing portion 231 and the clutch portion 232 of the clutch 23 are attracted by an electromagnetic force, a current-carrying voltage of the clutch 23 is changed to change the maximum electromagnetic force that the fixing portion 231 can generate, and when an external load of the output driving path exceeds the maximum electromagnetic force, the fixing portion 231 and the clutch portion 232 slip to generate a relative motion. Thus, when the external load is excessive, the fixed connection between the fixing portion 231 and the clutch portion 232 is lost, thereby performing an overload protection function on the driven joint portion.

It should be added here that there are various output path ways of the modular reconfigurable drive unit 100 of the present embodiment. Specifically, when the number of the motors 12 is 1 and the number of the driving assemblies 2 is 3, the motor can generate

The way of outputting the path can be greatly realizedThe application range of the modular reconfigurable drive unit 100 is increased, and therefore the use satisfaction of the modular reconfigurable drive unit 100 is increased. In addition, there is always an upper limit to the number of drive assemblies 2 that can be driven by one motor 12 during actual use. While in actual use, a large number of driving paths may be required, and the number of driving paths cannot meet the actual requirement through one modular reconfigurable driving unit 100. Two or more modular reconfigurable drive units 100 are required. When there are a plurality of modular reconfigurable drive units 100, the number of drive paths output by the plurality of modular reconfigurable drive units 100 is larger, and specifically, when there are two modular reconfigurable drive units 100, each modular reconfigurable drive unit 100 includes three drive assemblies 2, which may result in that

And a way of outputting the path. From this, it is understood that when the number of the modular reconfigurable drive units 100 is large, the number of types of the output drive paths is increased, and thus the control of the multiple degrees of freedom of the joints of the human body can be satisfied more favorably.

In some embodiments, as shown in fig. 3, the power assembly 1 further comprises a reducer 13, an input end of the reducer 13 is connected to a motor shaft of the motor 12, and an output end of the reducer 13 is engaged with the main shaft 22. It will be appreciated that the output speed of the motor 12 is relatively high, but the speed of the reel 24 is relatively slow when the flexible exoskeleton robot is experimented with. In this embodiment, the reducer 13 is disposed between the main shaft 22 and the motor shaft of the motor 12, so as to reduce the rotation speed of the main shaft 22, thereby ensuring that the rotation speed of the pulley 24 is relatively slow, and thus better adapting to the experimental requirements.

Preferably, the reducer 13 is a harmonic reducer. Of course, in other embodiments of the present invention, the reducer 13 may be selected according to actual needs, and is not limited to the harmonic reducer of this embodiment.

In some specific embodiments, as shown in fig. 3, the power module 1 further includes a torque measuring member 14 and a flange 15, the torque measuring member 14 is connected to the output end of the reducer 13, the flange 15 is connected to a side of the torque measuring member 14 away from the output end, and the flange 15 is connected to the main shaft 22. It can be understood that the additional torque measuring part 14 can detect the output torque of the driving assembly 2, so as to avoid the phenomenon that the output torque of the driving assembly 2 is too large. In addition, the torque measuring part 14 can be electrically connected to the electric motor 12, and the electric motor 12 can adjust its own rotation speed according to the measurement result of the torque measuring part 14. The additional flange 15 can ensure that the torque measuring part 14 is stably supported and the connection stability of the driving assembly 2 and the main shaft 22 is ensured. It should be noted that, in the present embodiment, the torque measuring part 14 may be any structure capable of measuring torque, and the torque measuring part 14 is not specifically limited herein, and the type, accuracy and measurement range of the torque measuring part 14 may be selected according to actual needs. In addition, the flange 15 only plays a role in connection, and the size and the type of the flange 15 can be selected according to actual needs.

In some embodiments, as shown in fig. 5, the modular reconfigurable drive unit 100 further includes two main shaft bearings 3, and the two main shaft bearings 3 are sleeved on two ends of the main shaft 22. It can be understood that the main shaft bearing 3, on one hand, plays a role of supporting the main shaft 22, so that the power assembly 1 can stably drive the main shaft 22 to rotate, and on the other hand, the main shaft bearing 3 can reduce friction between the main shaft bearing 3 and the driving housing 21, thereby avoiding the phenomenon of excessive wear or overheating of the main shaft 22 and ensuring the working stability of the modular reconfigurable driving unit 100. It should be added here that the type, size and precision of the main shaft bearing 3 can be selected according to actual needs, and the main shaft bearing 3 is not specifically limited herein.

In some embodiments, as shown in fig. 5, the modular reconfigurable drive unit 100 further includes a clutch bearing 4, the clutch bearing 4 is sleeved on the main shaft 22, and the clutch part 232 is sleeved on the clutch bearing 4. It can be understood that, in the actual use process, some clutch portions 232 are in a state of rotating synchronously with the main shaft 22, but some clutch portions 232 are in a relatively static state, and if no bearing is arranged between the clutch portions 232 and the main shaft 22, when the clutch portions 232 are in the relatively static state, severe friction is generated between the clutch portions 232 and the main shaft 22, so that excessive wear and excessive heat generation of the clutch portions 232 and the main shaft 22 are caused. It should be added here that the type, size and schedule of the clutch bearing 4 can be selected according to actual needs, and the clutch bearing 4 is not specifically limited herein.

In some embodiments, the connecting member 101 is a connecting pin, and the modular reconfigurable drive unit 100 further includes a spindle washer 5, wherein the spindle washer 5 is sleeved on the connecting pin and is sandwiched between the drive housings 21 of two adjacent drive assemblies 2. The spacer can play a role of separating the two driving units 100, and the spacer can realize the positioning of the main shaft bearing 3, thereby avoiding the axial movement of the main shaft bearing 3.

In some embodiments, as shown in fig. 1, the modular reconfigurable drive unit 100 further includes an end cap 6 and a base 7, the end cap 6 is snap-fitted to an end of the power housing 11 remote from the drive housing 21, and the base 7 is provided at a lower portion of the drive housing 21 and the power housing 11. It can be understood that the end cover 6 can close the power housing 11, so as to prevent impurities from entering the power housing 11 to affect the normal operation of the motor 12, the power electromagnet, the driving electromagnet and other parts. In addition, the power shell 11 and the driving shell 21 are generally cylindrical, which is not beneficial to installation, and the additional base 7 can ensure that the installation surface of the driving unit 100 of the whole flexible bone robot is a plane, thereby facilitating the installation of the driving unit 100 of the flexible bone robot.

In some embodiments, as shown in fig. 1 and 5, the modular reconfigurable drive unit 100 further includes a cover 8, the cover 8 is connected to the drive housing 21 of the outermost drive component 2 of the plurality of drive components 2, a fitting hole is formed in the cover 8, a plug 9 is disposed in the fitting hole, the plug 9 is connected to the main shaft 22 of the drive component 2, and a plug bearing 10 is disposed between the plug 9 and an inner wall of the fitting hole.

It will be understood that the outermost drive assembly 2 refers to the drive assembly 2 having the power assembly 1 furthest away. One end of the main shaft 22 of the driving assembly 2 is connected with the main shaft 22 of the adjacent driving assembly 2 through the connecting piece 101, and the other end of the main shaft 22 is connected with the plug 9, so that the stability of the main shaft 22 is ensured, and the stable operation of the driving assembly 2 is ensured. The added plug bearing 10 can reduce the friction between the main shaft 22 and the plug 9, thereby ensuring that the main shaft 22 can stably rotate.

Example (b):

a specific structure of the modular reconfigurable drive unit 100 according to a specific embodiment of the present invention is described below with reference to fig. 1 to 5.

As shown in fig. 1-5, the modular reconfigurable drive unit 100 of the present invention includes a power assembly 1, a drive assembly 2, a spindle bearing 3, a clutch bearing 4, a spindle washer 5, an end cap 6, a base 7, a cover cap 8, a plug 9, a plug bearing 10, a connector 101, and a holding electromagnet 102.

The power assembly 1 comprises a power shell 11, a motor 12, a speed reducer 13, a torque measuring part 14 and a flange 15, wherein the motor 12 is arranged in the shell, the input end of the speed reducer 13 is connected with a motor shaft of the motor 12, and the output end of the speed reducer 13 is matched with a main shaft 22. The torque measuring element 14 is connected to the output of the gear unit 13, and the flange 15 is connected to the torque measuring element 14 on the side remote from the output.

The driving assembly 2 comprises a driving shell 21, a main shaft 22, a clutch 23 and a wire wheel 24, wherein a wire outlet hole 211 is formed in the driving shell 21, and one end of the driving shell 21 is open and the other end is closed. A main shaft 22 is provided within the drive housing 21, the main shaft 22 engaging the flange 15. The two ends of the main shaft 22 are respectively sleeved with the main shaft bearings 3, wherein the outer ring of one main shaft bearing 3 is abutted against the driving shell 21, and the outer ring of the other main shaft bearing 3 is abutted against the inner wall of the central hole of the wire wheel 24. The clutch 23 is arranged in the housing, the clutch 23 comprises a fixing portion 231 and a clutch portion 232, the clutch 23 is an electromagnetic clutch, the fixing portion 231 is connected with a stator coil on the driving housing 21 and a rotor connected on the main shaft 22, the clutch portion 232 is an armature sleeved on the main shaft 22, and a clutch bearing 4 is arranged between the clutch portion 232 and the main shaft 22. The wire wheel 24 is sleeved on the main shaft 22, the wire wheel 24 is connected with the clutch part 232, and the driving wire 400 can penetrate through the wire outlet hole 211 to be wound on the wire wheel 24.

The number of the driving assemblies 2 is three, the three driving assemblies 2 are arranged along the axial direction of the main shaft 22, the main shafts 22 of the two adjacent driving assemblies 2 are connected through connecting pins, and the main shaft gasket 5 is sleeved on the connecting pins. In adjacent drive assemblies 2, the open end of one drive housing 21 is disposed opposite the closed end of the other drive housing 21. The holding electromagnets 102 are three in number, one holding electromagnet 102 being attached to the cover 8, and the other two holding electromagnets 102 being attached to the closed ends of the drive housings 21 of the two drive assemblies 2 which are not directly connected to the power assembly 1. The end cover 6 is fastened to one end of the power housing 11 far from the driving housing 21, and the base 7 is arranged at the lower parts of the driving housing 21, the power housing 11 and the end cover 6. The sealing cover 8 is connected to a driving shell 21 of the driving assembly 2 on the outermost side of the three driving assemblies 2, a matching hole is formed in the sealing cover 8, a plug 9 is arranged in the matching hole, the plug 9 is connected with a main shaft 22 of the driving assembly 2, and a plug bearing 10 is arranged between the plug 9 and the inner wall of the matching hole.

The modular reconfigurable drive unit 100 of the present embodiment has in actual use

And a driving path output mode. In the modular reconfigurable drive unit 100 of the present embodiment, since one power drive assembly 2 can drive a plurality of drive assemblies 2 to rotate, a function of outputting a plurality of drive paths by using one motor 12 is realized, and the structure of the modular reconfigurable drive unit 100 is simplified. Because each driving component 2 comprises the clutch 23, the motor 12 can drive one or more wire wheels 24 to rotate according to actual requirements, and the function of outputting various actual driving paths is better met. In addition, the main shafts 22 of two adjacent driving assemblies 2 are connected by the connecting piece 101, so that the number of the driving assemblies 2 of the modular reconfigurable driving unit 100 can be increased or decreased according to actual needs, and actual use requirements can be better met.

A flexible exoskeleton robot according to one embodiment of the present invention is described below with reference to fig. 6.

As shown in fig. 6, the flexible exoskeleton robot according to the embodiment of the present invention comprises a strap 200, the modular reconfigurable drive unit 100, an anchor point attachment belt 300 and a drive belt, wherein the strap 200 is tied to the waist of a human body; in the foregoing modular reconfigurable drive unit 100, the modular reconfigurable drive unit 100 is connected to the binding band 200, the plurality of anchor point attachment bands 300 are provided, each anchor point attachment band 300 is bound to a human body joint, one end of the drive wire 400 is wound around the reel 24, and the other end is connected to the anchor point attachment band 300.

It can be understood that, because the utility model discloses a flexible ectoskeleton robot has the preceding drive unit 100 of flexible ectoskeleton robot has realized the function of a plurality of drive paths of motor 12 output for in-service use, can enough be used for the upper limbs joint, also can be used for the low limbs joint, can be used for the recovered field, also can be used for the field of daily transport.

The utility model discloses a flexible ectoskeleton robot, owing to including the foregoing modularization reconfigurable drive unit 100, can change drive path quantity through the quantity of increase and decrease drive unit 100 interior drive assembly 2 to operating condition control drive path through changing clutch 23 switches, and it is comparatively convenient to operate, and the structure is comparatively simple, and the quality is lighter, convenient and practical.

It should be additionally noted that in actual use, the flexible exoskeletal robot of the present embodiment may include a plurality of modular reconfigurable drive units 100, which may greatly increase the number of drive paths that the flexible exoskeletal robot may output. In particular, when there are two modular reconfigurable drive units 100, each modular reconfigurable drive unit 100 comprises three drive assemblies 2, then this may result

And a way of outputting the path. From this, it is understood that when the number of the modular reconfigurable drive units 100 is large, the number of types of output drive paths increases greatly. Thus, can be betterThe control of multiple degrees of freedom of human joints is well met.

In the description herein, references to the description of "some embodiments," "other embodiments," etc., mean 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 description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims (10)

1. A modular reconfigurable drive unit, comprising:

the power assembly (1), the power assembly (1) includes a power shell (11) and a motor (12) arranged in the power shell (11);

a drive assembly (2), the drive assembly (2) comprising:

the driving device comprises a driving shell (21), wherein a wire outlet hole (211) is formed in the driving shell (21);

the main shaft (22), the main shaft (22) is arranged in the driving shell (21), the main shaft (22) is matched with the motor (12), and the motor (12) can drive the main shaft (22) to rotate;

the clutch (23), the said clutch (23) is set up in the said driving body (21), the said clutch (23) includes fixed portion (231) and engaging and disengaging part (232), the said fixed portion (231) is connected to the said main axis (22), the said engaging and disengaging part (232) can link with the said fixed portion (231) or disengage;

the wire wheel (24), the wire wheel (24) is sleeved on the main shaft (22), the wire wheel (24) is connected with the clutch part (232), and the driving wire (400) can penetrate through the wire outlet hole (211) and is wound on the wire wheel (24); wherein: the number of the driving assemblies (2) is multiple, the driving assemblies (2) are arranged along the axial direction of the main shaft (22), and the main shafts (22) of two adjacent driving assemblies (2) are connected through a connecting piece (101);

the number of the holding electromagnets (102) is multiple, the holding electromagnets (102) are arranged in one-to-one correspondence with the drive assemblies (2), and each holding electromagnet (102) is used for holding the reel (24) to prevent the reel (24) from rotating when the clutch part (232) and the fixing part (231) are disengaged.

2. The modular reconfigurable drive unit according to claim 1, wherein the clutch (23) is an electromagnetic clutch, the stationary part (231) includes a stator coil connected to the drive housing (21) and a rotor connected to the main shaft (22), and the clutch part (232) is an armature.

3. The modular reconfigurable drive unit according to claim 1, characterized in that the power assembly (1) further comprises a reducer (13), an input end of the reducer (13) being connected to a motor shaft of the motor (12), an output end of the reducer (13) being engaged with the main shaft (22).

4. The modular reconfigurable drive unit according to claim 3, characterized in that the power assembly (1) further includes;

a torque measuring element (14), said torque measuring element (14) being connected to the output of the retarder (13);

the flange plate (15), the flange plate (15) is connected in the torque measurement piece (14) keep away from one side of output, the flange plate (15) with main shaft (22) link to each other.

5. The modular reconfigurable drive unit according to claim 1, further comprising two main shaft bearings (3), wherein the two main shaft bearings (3) are sleeved on two ends of the main shaft (22).

6. The modular reconfigurable drive unit according to claim 1, further comprising a clutch bearing (4), wherein the clutch bearing (4) is sleeved on the main shaft (22), and the clutch part (232) is sleeved on the clutch bearing (4).

7. The modular reconfigurable drive unit according to claim 1, wherein the connection member (101) is a connection pin, the modular reconfigurable drive unit further comprising a spindle spacer (5), the spindle spacer (5) being fitted over the connection pin and being sandwiched between the drive housings (21) of two adjacent drive assemblies (2).

8. The modular reconfigurable drive unit according to claim 1, further comprising:

the end cover (6), the end cover (6) is buckled at one end of the power shell (11) far away from the driving shell (21);

the base (7), base (7) are established drive casing (21) and the lower part of power casing (11).

9. The modular reconfigurable drive unit according to claim 1, further comprising:

the sealing cover (8), sealing cover (8) are connected and are in a plurality of drive assembly (2) the outside on drive assembly's (2) drive casing (21), be equipped with the mating holes on sealing cover (8), be equipped with end cap (9) in the mating holes, end cap (9) with drive assembly (2) main shaft (22) link to each other, end cap (9) with be equipped with end cap bearing (10) between the inner wall of mating holes.

10. A flexible exoskeleton robot, comprising:

the bandage (200), the bandage (200) is tied on the waist of the human body;

the modular reconfigurable drive unit according to any of claims 1-9, connected to the straps (200);

a plurality of anchor attachment bands (300), each of the anchor attachment bands (300) being tied to a joint of a human body;

one end of the driving wire (400) is wound on the wire wheel (24), and the other end of the driving wire (400) is connected to the anchor point attaching belt (300).

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