CN211103978U - Drive unit of flexible exoskeleton robot and flexible exoskeleton robot - Google Patents
Drive unit of flexible exoskeleton robot and flexible exoskeleton robot Download PDFInfo
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- CN211103978U CN211103978U CN201922178135.8U CN201922178135U CN211103978U CN 211103978 U CN211103978 U CN 211103978U CN 201922178135 U CN201922178135 U CN 201922178135U CN 211103978 U CN211103978 U CN 211103978U
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Abstract
The utility model discloses a drive unit and flexible ectoskeleton robot of flexible ectoskeleton robot. The driving unit comprises a power assembly and a driving assembly, wherein the power assembly comprises a power shell and a motor arranged in the power shell. The driving assembly comprises a driving shell, a main shaft, a power electromagnet, a driving electromagnet and a wire wheel, wherein the driving shell is connected with the power shell, a plurality of wire outlet holes are formed in the driving shell, the main shaft is arranged in the driving shell and matched with a motor, the motor can drive the main shaft to rotate, the power electromagnet is connected to the main shaft, a plurality of driving electromagnets are arranged, and the plurality of driving electromagnets are sequentially sleeved; every drive electromagnet all has operating condition and rest state, and the line wheel is a plurality of, and a plurality of lines wheels set up with a plurality of drive electromagnets one-to-one, and every line wheel is connected on a drive electromagnet. The driving unit is small in size and simple in structure, and can realize multi-driving-path output by adopting one motor.
Description
Technical Field
The utility model relates to a flexible ectoskeleton robot technical field especially relates to a drive unit and flexible ectoskeleton robot of flexible ectoskeleton.
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 joints, the complexity of the driving system is inevitably increased due to the improvement of the number of the driving paths, the portability of the system and the human body wearing experience are affected, the fixed driving path cannot adapt to the driving requirements of different joints, and the design cost of the driving system is increased.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a drive unit of flexible ectoskeleton robot, this drive unit's volume is less, simple structure, and can adopt a motor to realize many drive paths output.
Another object of the utility model is to provide a flexible ectoskeleton robot, this flexible ectoskeleton robot's structure meets single, and the quality is less, convenient and practical.
For realizing the above technical effect, the technical scheme of the utility model as follows:
a drive unit for a flexible exoskeleton robot, 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 connected with the power shell, and a plurality of wire outlet holes are formed in the driving shell; 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 power electromagnet is connected to the main shaft; the driving electromagnets are arranged in a sleeved mode in sequence; each driving electromagnet has a working state and a rest state, and in the working state, the driving electromagnet is attracted with the power electromagnet; in the rest state, the driving electromagnets are separated from the power electromagnets, and the working states of the driving electromagnets are mutually independent; the line wheel, the line wheel is a plurality of, and is a plurality of line wheel and a plurality of drive electromagnet one-to-one sets up, every line wheel is connected one on the drive electromagnet, the drive wire can pass the wire hole winding on the line wheel.
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, a driving bearing is arranged between two adjacent driving electromagnets, and the driving bearing is also arranged between the innermost driving electromagnet and the main shaft.
In some embodiments, a wire wheel bearing is arranged between two adjacent wire wheels, and the wire wheel bearing is also arranged between the innermost wire wheel and the main shaft.
In some embodiments, one of the plurality of the wire wheels is a wire wheel, the wire wheel is connected to the driving electromagnet located on the outermost side, the other wire wheels are step wire wheels, each step wire wheel is provided with a step part and a wire winding part, the diameter of the wire winding part is larger than that of the step part, and in two adjacent step wire wheels, one step wire wheel is sleeved on the step part of the other step wire wheel.
In some embodiments, a shaft retaining ring sleeved on the step portion is arranged between every two adjacent wire wheels.
In some embodiments, the drive unit of the flexible exoskeleton robot further comprises: the end cover is buckled at one end, far away from the driving shell, of the power shell: and the base is arranged at the lower parts of the driving shell, the power shell and the end cover.
In some embodiments, the number of the driving assemblies is multiple, the multiple 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 pin.
A flexible exoskeleton robot comprising: the binding band is bound on the waist of the human body; the drive unit of the flexible exoskeletal robot as described above, the drive unit of the flexible exoskeletal robot being coupled 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 flexible ectoskeleton robot's drive unit because contain a plurality of drive electromagnets that can independent control among the drive assembly, all is connected with a line wheel on every drive electromagnet, and every takes turns to and is connected with a drive wire. The function of outputting a plurality of driving paths by adopting the same motor is realized, the structure of the driving unit of the whole flexible exoskeleton robot is greatly simplified, and the weight of the flexible exoskeleton robot is reduced, so that experimenters can use the flexible exoskeleton robot conveniently.
The utility model discloses flexible ectoskeleton robot because contain a plurality of drive electromagnets that can independent control among the drive assembly of drive unit, all be connected with a line wheel on every drive electromagnet, every takes turns to and is connected with a drive wire. The function of outputting a plurality of driving paths by adopting the same motor is realized, the structure of the whole flexible exoskeleton robot is greatly simplified, and the weight of the flexible exoskeleton robot is reduced, so that experimenters can conveniently use the flexible exoskeleton robot.
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 driving unit of a flexible exoskeleton robot according to an embodiment of the present invention.
Fig. 2 is a sectional view of a driving unit of the flexible exoskeleton robot according to the embodiment of the present invention.
Fig. 3 is a schematic view of the flexible exoskeleton robot provided by the embodiment of the present invention fitted on a human body.
Reference numerals:
100. a drive unit of the flexible exoskeleton robot;
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 powered electromagnet; 24. driving an electromagnet; 25. a wire wheel; 251. a loop wheel; 252. step wire wheels; 2521. a step portion; 2522. a winding part;
3. a drive bearing; 4. a wire wheel bearing; 5. a retaining ring for the shaft; 6. an end cap; 7. a base;
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, distinctively descriptive, not sequential, not light and heavy. 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 driving unit 100 of the flexible exoskeleton robot according to the embodiment of the present invention is described below with reference to fig. 1 to 3.
As shown in fig. 1 to 3, the driving unit 100 of the flexible exoskeleton robot of the present embodiment includes a power assembly 1 and a driving assembly 2, wherein the power assembly 1 includes a power housing 11 and a motor 12 disposed in the power housing 11.
As shown in fig. 1, the driving assembly 2 includes a driving housing 21, a main shaft 22, a power electromagnet 23, a driving electromagnet 24 and a reel 25, the driving housing 21 is connected to the power housing 11, a plurality of wire outlets 211 are provided on the driving housing 21, the main shaft 22 is provided in the driving housing 21, the main shaft 22 is matched with the motor 12, the motor 12 can drive the main shaft 22 to rotate, the power electromagnet 23 is connected to the main shaft 22, a plurality of driving electromagnets 24 are provided, and the plurality of driving electromagnets 24 are sequentially sleeved; each driving electromagnet 24 has a working state and a rest state, and in the working state, the driving electromagnet 24 is attracted with the power electromagnet 23; in a rest state, the driving electromagnets 24 are separated from the power electromagnets 23, the number of the wire wheels 25 is multiple, the plurality of the wire wheels 25 and the plurality of the driving electromagnets 24 are arranged in a one-to-one correspondence mode, each wire wheel 25 is connected to one driving electromagnet 24, and the driving wire 400 can penetrate through the wire outlet hole 211 to be wound on the wire wheel 25.
It can be understood that, in the actual use process, when the motor 12 drives the spindle 22 and the power electromagnet 23 to rotate, if the driving electromagnet 24 is in the working state, the driving electromagnet 24 is attracted to the power electromagnet 23. At this time, the motor 12 rotates the pulley 25 connected to the driving electromagnet 24, thus outputting a driving path. Because the working states of the plurality of driving electromagnets 24 are independent of each other, that is, in the experimental process, one or more driving paths can be output only by adjusting the matching relationship between the driving electromagnets 24 and the power electromagnets 23. In the present invention, the driving electromagnet 24 and the power electromagnet 23 are both electromagnets, and the interaction between the power electromagnet 23 and the driving electromagnet 24 can be controlled by adjusting the power electromagnet 23 or the current direction of the driving electromagnet 24. Specifically, the power electromagnet 23 and the driving electromagnet 24 can be attracted to each other or the power electromagnet 23 and the driving electromagnet 24 can be repelled to each other by adjusting the current direction of the power electromagnet 23 or the driving electromagnet 24, so that the driving electromagnet 24 can be switched between the working state and the rest state.
Because the driving assembly 2 comprises a plurality of driving electromagnets 24 which can be independently controlled, each driving electromagnet 24 is connected with a wire wheel 25, and each wire wheel 25 is connected with a driving wire 400. Therefore, in the actual use process, the flexible exoskeleton robot of the present embodiment realizes the function of outputting a plurality of driving paths by using the same motor 12, greatly simplifies the structure of the driving unit 100 of the whole flexible exoskeleton robot, and reduces the weight of the flexible exoskeleton robot, thereby facilitating the experimenters to use the flexible exoskeleton robot.
The utility model discloses flexible ectoskeleton robot's drive unit 100 because contain a plurality of drive electromagnets 24 that can independently control in the drive assembly 2, all is connected with a line wheel 25 on every drive electromagnet 24, is connected with a drive wire 400 on every line wheel 25. The function of outputting a plurality of driving paths by adopting the same motor 12 is realized, the structure of the driving unit of the whole flexible exoskeleton robot is greatly simplified, and the weight of the flexible exoskeleton robot is reduced, so that experimenters can use the flexible exoskeleton robot conveniently.
In some embodiments, as shown in fig. 2, 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 can be understood that the output rotation speed of the motor 12 is relatively large, but the rotation speed of the wire wheel 25 is relatively slow when the flexible exoskeleton robot is used for experiments. 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 25 is relatively slow, and thus better adapting to the experimental requirements.
Preferably, the reducer 13 is a harmonic reducer 13. 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 13 of the present embodiment.
In some specific embodiments, as shown in fig. 2, 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. 2, a drive bearing 3 is disposed between two adjacent driving electromagnets 24, and a drive bearing 3 is also disposed between the innermost driving electromagnet 24 and the main shaft 22. It can be understood that the arrangement of the driving bearing 3 can reduce the friction between two adjacent driving electromagnets 24 and the friction between the driving electromagnets 24 and the main shaft 22, on one hand, the driving electromagnets 24 can rotate smoothly, so that the wire wheel 25 can rotate smoothly, on the other hand, the driving electromagnets 24 are prevented from being worn, and the service life of the driving electromagnets 24 is prolonged. It should be additionally noted that the type and size of the drive bearing 3 may be selected according to practical use, and the type and size of the drive bearing 3 are not specifically limited herein.
In some embodiments, as shown in fig. 2, a pulley bearing 4 is provided between two adjacent pulleys 25, and a pulley bearing 4 is also provided between the innermost pulley 25 and the main shaft 22. It can be understood that the line bearing 4 can reduce the friction between two adjacent line wheels 25 and the friction between the line wheels 25 and the main shaft 22, and ensure that the line wheels 25 can smoothly rotate, thereby ensuring the stable operation of the driving unit 100 of the flexible bone robot. It should be additionally noted that the type and size of the line bearing 4 may be selected according to practical use, and the type and size of the line bearing 4 are not specifically limited herein.
In some embodiments, as shown in fig. 2, one of the plurality of pulley wheels 25 is a ring pulley 251, the ring pulley 251 is connected to the outermost driving electromagnet 24, the remaining pulley wheels 25 are stepped pulley wheels 252, each stepped pulley wheel 252 has a stepped portion 2521 and a winding portion 2522, the diameter of the winding portion 2522 is larger than that of the stepped portion 2521, and one of the adjacent two stepped pulley wheels 252 is fitted on the stepped portion 2521 of the other stepped pulley wheel 252. Therefore, the wire wheel 25 is formed into the stepped wire wheel 252, which not only can ensure that each wire wheel 25 is connected with one driving electromagnet 24, but also can reduce the size of the plurality of wire wheels 25 after being matched, thereby reducing the volume of the driving unit 100 of the whole flexible bone robot. Of course, in other embodiments of the present invention, the specific shape of the wire wheel 25 may be arranged according to actual needs, and is not limited to the description mode of the embodiment.
In some embodiments, as shown in fig. 2, a shaft retaining ring 5 is disposed between two adjacent pulley 25 and is sleeved on the step portion 2521. It can be understood that the shaft baffle ring 5 can limit the axial movement of the wire wheels 25, avoid the friction between two adjacent wire wheels 25 and ensure that the wire wheels 25 can stably rotate.
In some embodiments, as shown in fig. 2, the driving unit 100 of the flexible exoskeleton robot further comprises an end cover 6 and a base 7, wherein the end cover 6 is fastened to one end of the power housing 11 far away from the driving housing 21, and the base 7 is disposed at the lower parts of the driving housing 21, the power housing 11 and the end cover 6. It can be understood that the end cover 6 can close the power housing 11, so as to prevent impurities from entering the interior of the power housing 11 and affecting the normal operation of the components such as the motor 12, the power electromagnet 23 and the driving electromagnet 24. 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, the number of the driving assemblies 2 is multiple, the multiple 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 pin. Therefore, the experimenter can select the number of the driving assemblies 2 according to actual needs to realize the function of multi-driving-path output, and the use satisfaction degree of the driving unit 100 of the flexible bone robot is improved.
Example (b):
the specific structure of the flexible exoskeleton robot according to one embodiment of the present invention is described below with reference to fig. 1 to 2.
As shown in fig. 1-2, the driving unit 100 of the flexible exoskeleton robot of the present embodiment includes a power assembly 1, a driving assembly 2, a driving bearing 3, a line bearing 4, a shaft retainer 5, an end cover 6 and a base 7.
The power assembly 1 includes a power housing 11, a motor 12, a reducer 13, a torque measuring member 14, and a flange 15. Motor 12, reduction gear 13, torque measurement spare 14 and ring flange 15 are established in power shell 11, and the input of reduction gear 13 links to each other with the motor shaft of motor 12, and the output torque measurement spare 14 of reduction gear 13 links to each other, and ring flange 15 is connected in one side of keeping away from the output of torque measurement spare 14.
The driving assembly 2 comprises a driving shell 21, a main shaft 22, three driving electromagnets 23, three driving electromagnets 24 and a wire wheel 25, wherein the driving shell 21 is connected with the power shell 11, a plurality of wire outlet holes 211 are formed in the driving shell 21, the main shaft 22 is arranged in the driving shell 21, the main shaft 22 is connected with the flange plate 15, the motor 12 can drive the main shaft 22 to rotate, the three driving electromagnets 23 are connected to the main shaft 22, and the three driving electromagnets 24 are sequentially sleeved; each driving electromagnet 24 has a working state and a rest state, and in the working state, the driving electromagnet 24 is attracted with the power electromagnet 23; in a rest state, the driving electromagnets 24 are separated from the power electromagnets 23, the number of the wire wheels 25 is three, the three wire wheels 25 and the three driving electromagnets 24 are arranged in a one-to-one correspondence mode, each wire wheel 25 is connected to one driving electromagnet 24, and the driving wire 400 can penetrate through the wire outlet hole 211 to be wound on the wire wheel 25. One of the three pulley wheels 25 is a ring pulley 251, the two pulley wheels 25 are stepped pulley wheels 252, the ring pulley 251 is connected to the outermost driving electromagnet 24, each stepped pulley wheel 252 has a stepped portion 2521 and a winding portion 2522, the diameter of the winding portion 2522 is greater than that of the stepped portion 2521, and one of the two adjacent stepped pulley wheels 252 is sleeved on the stepped portion 2521 of the other stepped pulley wheel 252. The drive bearing 3 is arranged between two adjacent drive electromagnets 24, and the drive bearing 3 is also arranged between the innermost drive electromagnet 24 and the main shaft 22. A wire wheel bearing 4 is arranged between two adjacent wire wheels 25, and a wire wheel bearing 4 is also arranged between the innermost wire wheel 25 and the main shaft 22. A shaft retaining ring 5 sleeved on the step portion 2521 is arranged between the two adjacent wire wheels 25. 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.
A flexible exoskeleton robot according to one embodiment of the present invention is described below with reference to fig. 3.
As shown in fig. 3, the flexible exoskeleton robot according to the embodiment of the present invention includes a strap 200, the driving unit 100 of the flexible exoskeleton robot, an anchor attachment strap 300, and a driving wire 400. Bandage 200 is tied up at human waist, and anchor point adheres to area 300 and is a plurality of, and every anchor point adheres to area 300 and all ties up in human joint department, and the one end winding of drive wire 400 takes turns to 25 on the line, and the other end is connected and is adhered to taking 300 at the anchor point.
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 flexible ectoskeleton robot because contain a plurality of drive electromagnet 24 that can independently control in drive unit's drive assembly 2, all be connected with a line wheel 25 on every drive electromagnet 24, be connected with a drive wire 400 on every line wheel 25. The function of outputting a plurality of driving paths by adopting the same motor 12 is realized, the structure of the whole flexible exoskeleton robot is greatly simplified, and the weight of the flexible exoskeleton robot is reduced, so that experimenters can conveniently use the flexible exoskeleton robot.
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 drive unit for a flexible exoskeleton robot, 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 shell (21), the driving shell (21) is connected with the power shell (11), and a plurality of wire outlet holes (211) are 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;
a power electromagnet (23), the power electromagnet (23) being connected to the main shaft (22);
the driving electromagnets (24) are multiple, and the driving electromagnets (24) are sequentially sleeved; each driving electromagnet (24) has a working state and a rest state, and in the working state, the driving electromagnet (24) is attracted with the power electromagnet (23); in the rest state, the driving electromagnets (24) are separated from the power electromagnets (23), and the working states of the driving electromagnets (24) are independent of each other;
the wire wheel (25), the wire wheel (25) are a plurality of, and are a plurality of wire wheel (25) and a plurality of drive electromagnet (24) one-to-one sets up, every wire wheel (25) are connected one on drive electromagnet (24), and drive wire (400) can pass wire hole (211) winding is in on wire wheel (25).
2. A drive unit for a flexible exoskeleton robot as claimed in claim 1, wherein the power assembly (1) further comprises a speed reducer (13), the input of the speed reducer (13) is connected to the motor shaft of the motor (12), and the output of the speed reducer (13) is engaged with the main shaft (22).
3. A drive unit for a flexible exoskeleton robot as claimed in claim 2 wherein the power assembly (1) further comprises;
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.
4. A drive unit for a flexible exoskeleton robot as claimed in claim 1, wherein a drive bearing (3) is provided between two adjacent drive electromagnets (24), and the drive bearing (3) is also provided between the innermost drive electromagnet (24) and the main shaft (22).
5. The drive unit of a flexible exoskeleton robot as claimed in claim 1, wherein a wire wheel bearing (4) is arranged between two adjacent wire wheels (25), and the wire wheel bearing (4) is also arranged between the innermost wire wheel (25) and the main shaft (22).
6. The driving unit of the flexible exoskeleton robot as claimed in claim 1, wherein one of the plurality of the pulley wheels (25) is a ring pulley (251), the ring pulley (251) is connected to the driving electromagnet (24) located at the outermost side, the remaining pulley wheels (25) are stepped pulley wheels (252), each of the stepped pulley wheels (252) has a step portion (2521) and a winding portion (2522), the diameter of the winding portion (2522) is larger than that of the step portion (2521), and one of the two adjacent stepped pulley wheels (252) is sleeved on the step portion (2521) of the other stepped pulley wheel (252).
7. The drive unit of the flexible exoskeleton robot as claimed in claim 6, wherein a shaft retaining ring (5) sleeved on the step portion (2521) is arranged between two adjacent wire wheels (25).
8. The drive unit for a flexible exoskeletal robot of 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), establish base (7) drive casing (21), power casing (11) and the lower part of end cover (6).
9. The drive unit of a flexible exoskeleton robot as claimed in claim 1, wherein said drive assemblies (2) are plural, and said plural drive assemblies (2) are arranged along the axial direction of said main shaft (22), and the main shafts (22) of two adjacent drive assemblies (2) are connected by a connecting pin.
10. A flexible exoskeleton robot, comprising:
the bandage (200), the bandage (200) is tied on the waist of the human body;
the drive unit (100) of the flexible exoskeletal robot of any of claims 1 to 9, said drive unit (100) of the flexible exoskeletal robot being connected to said harness (200);
a plurality of anchor attachment bands (300), each of the anchor attachment bands (300) being tied to a joint of a human body;
the driving wire (400), one end of driving wire (400) twines on line wheel (25), and the other end is connected in anchor point adheres to taking (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922178135.8U CN211103978U (en) | 2019-12-06 | 2019-12-06 | Drive unit of flexible exoskeleton robot and flexible exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922178135.8U CN211103978U (en) | 2019-12-06 | 2019-12-06 | Drive unit of flexible exoskeleton robot and flexible exoskeleton robot |
Publications (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110733029A (en) * | 2019-12-06 | 2020-01-31 | 南方科技大学 | drive unit of flexible exoskeleton robot and flexible exoskeleton robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110733029A (en) * | 2019-12-06 | 2020-01-31 | 南方科技大学 | drive unit of flexible exoskeleton robot and flexible exoskeleton robot |
| CN110733029B (en) * | 2019-12-06 | 2024-06-07 | 南方科技大学 | Driving unit of flexible exoskeleton robot and flexible exoskeleton robot |
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