CN216343804U

CN216343804U - Exoskeleton active power-assisted reduction gearbox

Info

Publication number: CN216343804U
Application number: CN202121831621.6U
Authority: CN
Inventors: 吴衍傧; 黄狄伟; 黄沿江; 高婷钰; 何滢政; 邢昕铨; 罗新龙
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2021-08-06
Filing date: 2021-08-06
Publication date: 2022-04-19
Anticipated expiration: 2031-08-06

Abstract

The utility model discloses an exoskeleton active power-assisted reduction gearbox, which relates to the technical field of reduction gearboxes and comprises a gearbox; the primary transmission assembly is arranged in the gear box and comprises a worm capable of rotating in a fixed shaft mode and a worm wheel in meshing transmission with the worm; and the secondary transmission component is arranged in the gear box and comprises a sun gear and a gear ring which are arranged inside and outside, the sun gear and the worm gear coaxially rotate, the gear ring is fixed in the gear box, the secondary transmission component comprises a plurality of planetary gears arranged between the sun gear and the gear ring and a planet carrier connected with each planetary gear, and the sun gear, the planetary gears and the gear ring are sequentially meshed so that the sun gear drives each planetary gear to rotate around the central axis of the sun gear and further drives the planet carrier to rotate around the central axis of the sun gear. The utility model can play a self-locking protection function and realize the transmission ratio of the small motor drive.

Description

Exoskeleton active power-assisted reduction gearbox

Technical Field

The utility model relates to the technical field of reduction boxes, in particular to an exoskeleton active power-assisted reduction box.

Background

With the continuous development of the field of human-computer interaction design, the research and design aiming at the power-assisted mechanism gradually draws more attention and becomes a popular field among the fields. Because most of the boosting mechanisms on the market are fixed boosting mechanisms, and most of the few movable boosting mechanisms are passive boosting mechanisms, the boosting mechanisms in an active boosting mode are lacked. For the object with extremely weak strength and difficulty in realizing assistance in a passive assistance mode, an assistance mechanism with an active assistance mode is extremely important. However, the small-sized motor often needs to be matched with a reduction box due to the problem that the rotating speed of the small-sized motor is too high when the small-sized motor runs. Therefore, it is necessary to design an appropriate reduction gear for the active assist mechanism. The reduction box is an independent part consisting of gear transmission, worm transmission and gear-worm transmission which are enclosed in a rigid shell and is commonly used as a reduction transmission device between a prime mover and a working machine; the reduction gearbox can be divided into a single-stage reduction gearbox and a multi-stage reduction gearbox according to different transmission stages; the reduction gearbox plays a role in matching rotating speed and transmitting torque between the prime mover and the working machine or the actuating mechanism, and is widely applied to modern machinery.

The existing reduction gearbox is too complex in structure and difficult to maintain for a small motor applied to an exoskeleton active power-assisted mechanism, so that the practicability is relatively low. In addition, although the gear transmission can obtain proper transmission efficiency, the gear transmission does not have a self-locking function, and the safety of a user of the power assisting mechanism cannot be guaranteed under the special condition of system failure. If the worm gear and worm transmission is adopted, the transmission ratio is large, the structure is compact, the movement is stable, and the self-locking function is realized. When the lead angle of the worm is smaller than the equivalent friction angle between the teeth of the meshing wheel, the mechanism has self-locking performance, and can realize reverse self-locking, namely, only the worm drives the worm wheel, but not the worm is driven by the worm wheel. For example, the self-locking worm mechanism used in hoisting machinery has the reverse self-locking property and can play a role in safety protection. But the transmission ratio of the first-level worm gear and the worm is often insufficient, and the transmission efficiency is low during multi-level transmission.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, the embodiment of the utility model provides an exoskeleton active power-assisted reduction box which can play a self-locking protection function and can realize a transmission ratio driven by a small motor.

The exoskeleton active power-assisted reduction box comprises a gear box; the primary transmission assembly is arranged in the gear box and comprises a worm capable of rotating in a fixed shaft mode and a worm wheel in meshing transmission with the worm; and the secondary transmission assembly is arranged in the gear box and comprises a sun gear and a gear ring which are arranged inside and outside, the sun gear and the worm gear coaxially rotate, the gear ring is fixed in the gear box, the secondary transmission assembly comprises a plurality of planetary gears arranged between the sun gear and the gear ring and a planet carrier connected with the planetary gears, the sun gear, the planetary gears and the gear ring are sequentially meshed, so that the sun gear drives each planetary gear to rotate around the central axis of the sun gear, and the planet carrier is driven to rotate around the central axis of the sun gear.

In an alternative or preferred embodiment, the gearbox comprises a casing housing and a housing cover which cooperate with each other.

In an alternative or preferred embodiment, a ring gear fixing plate is fixed to the case housing, and the ring gear is fixed to the ring gear fixing plate.

In an alternative or preferred embodiment, the housing cover is provided with an insertion hole for insertion mounting of the planet cover.

In an alternative or preferred embodiment, the gear box is provided with at least three oil filling holes, one of the oil filling holes is opposite to the meshing part of the worm wheel and the worm, one of the oil filling holes is opposite to the meshing part of the planet gear and the sun gear, and one of the oil filling holes is opposite to the meshing part of the planet gear and the gear ring.

In an alternative or preferred embodiment, the worm is driven by a motor, the motor output shaft being coupled to the worm by a coupling.

In an alternative or preferred embodiment, the gear box is provided with a first bearing on which the worm is mounted.

In an alternative or preferred embodiment, a transmission shaft is arranged in the gear box, and the worm wheel and the sun wheel are both mounted on the transmission shaft so as to realize coaxial rotation of the sun wheel and the worm wheel.

In an alternative or preferred embodiment, the gearbox is provided with a second bearing on which the drive shaft is mounted.

Based on the technical scheme, the embodiment of the utility model at least has the following beneficial effects: above-mentioned technical scheme, this embodiment ectoskeleton initiative helping hand reducing gear box combines together through worm gear transmission mode and planetary gear transmission mode, in the power transmission process, the first order transmission input mode of power transmission has adopted the worm wheel, the worm is mutually supported, the second level transmission mode then adopts the mode that sun gear and planet wheel gear mesh to carry out power transmission, finally realize planetary gear and the connection of ectoskeleton initiative assist drive device through the planet carrier as intermediate structure, thereby the output rotates, so, when the output takes place just reversing, the degree of wear that its inside produced is lower, the whole in service stability of reducing gear box is good, long service life is high. The utility model has the self-locking function of a worm gear transmission mode so as to ensure that the self-locking mechanism has enough transmission ratio and proper transmission efficiency on the premise of ensuring the safety of a user; meanwhile, the exoskeleton driving power assisting mechanism has the advantages of compact structure and stable motion, and is suitable for solving the problem of speed reduction of a small motor in the driving power assisting function of the wearable exoskeleton driving power assisting mechanism. When being applied to ectoskeleton initiative assist drive device, the gear box is installed on first elbow joint, and the planet lid is installed on the second elbow joint, can provide initiative helping hand for the second elbow joint, makes it also can accomplish when unable independently exerting oneself and lifts or transfer operations such as arm. After the speed of the reduction box is reduced, the specific rotating speed can be adjusted by controlling the rotating speed of the motor.

Drawings

The utility model is further described below with reference to the accompanying drawings and examples;

FIG. 1 is a perspective view of an embodiment of the present invention;

FIG. 2 is a schematic drive diagram of the two-stage transmission assembly in an embodiment of the present invention;

FIG. 3 is a schematic drive diagram of a primary drive assembly in accordance with an embodiment of the present invention;

FIG. 4 is a perspective view of the assembly of the primary and secondary drive assemblies in an embodiment of the present invention;

FIG. 5 is a sectional view of the assembly of the gearbox, primary drive assembly and secondary drive assembly in an embodiment of the utility model;

FIG. 6 is a perspective view of the first embodiment of the present invention installed on the exoskeleton active assist mechanism;

figure 7 is a second perspective view of the exoskeleton active assist mechanism of the present invention installed in an embodiment.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1 to 7, the exoskeleton active power reduction gearbox comprises a gear box 30, a primary transmission assembly 10 and a secondary transmission assembly 20. As shown in fig. 6 and 7, the exoskeleton active power reduction box is applied to an exoskeleton active power-assisted mechanism, specifically, a first elbow joint 100 and a second elbow joint 200 are hinged to each other, the first elbow joint 100 and the second elbow joint 200 are two connecting parts of the exoskeleton active power-assisted mechanism, and the exoskeleton active power reduction box performs speed reduction through the exoskeleton active power reduction box of the embodiment.

Referring to fig. 2-5, the primary drive assembly 10 is disposed within a gearbox 30, and in some embodiments, the gearbox 30 includes a housing shell 31 and a shell cover 32 that mate with each other. The primary transmission assembly 10 comprises a worm 11 capable of rotating in a fixed axis mode and a worm wheel 12 in meshed transmission with the worm 11, specifically, the worm 11 is driven by a motor 41, an output shaft of the motor 41 is connected with the worm 11 through a coupler 42, and the gear box 30 is provided with a first bearing 14 for mounting the worm 11, so that the motor 41 drives the worm 11 to rotate.

The secondary transmission assembly 20 is arranged in the gear box 30, the secondary transmission assembly 20 comprises a sun gear 21 and a gear ring 23 which are arranged inside and outside, the sun gear 21 and the worm wheel 12 rotate coaxially, the gear ring 23 is fixed in the gear box 30, the secondary transmission assembly 20 comprises a plurality of planetary gears 22 arranged between the sun gear 21 and the gear ring 23 and a planet carrier connected with each planetary gear 22, and the sun gear 21, the planetary gears 22 and the gear ring 23 are meshed in sequence, so that the sun gear 21 drives each planetary gear 22 to rotate around the central axis of the sun gear 21, and the planet carrier is driven to rotate around the central axis of the sun gear 21.

It can be understood that, in the embodiment, the worm gear and worm transmission mode is combined with the planetary gear transmission mode, in the power transmission process, the first-stage transmission input mode of power transmission adopts the mutual matching of the worm gear and the worm, the second-stage transmission mode adopts the mode of meshing the sun gear and the planetary gear to transmit power, and finally the planet carrier is used as an intermediate structure to realize the connection between the planetary gear and the second elbow joint, so that the output rotation is realized.

Therefore, when the output is positively and negatively rotated, the abrasion degree generated in the reduction gearbox is low, the stability of the whole actual use of the reduction gearbox is good, and the service life is long. The utility model has the self-locking function of a worm gear transmission mode so as to ensure that the self-locking mechanism has enough transmission ratio and proper transmission efficiency on the premise of ensuring the safety of a user; meanwhile, the device has the advantages of compact structure and stable movement.

In application, it is further preferable that the planet carrier includes a planet cover 25 and a plurality of fastening bolts 24 connected to the planet cover 25, the fastening bolts 24 are rotatably connected to the corresponding planet gears 22, the planet gears 22 are provided with third bearings 27 for the fastening bolts 24 to be installed, the planet gears 22 are meshed with the sun gear 21 for transmission, so as to realize circular rotation, and further, the fastening bolts 24 drive the planet cover 25 to rotate around the central axis of the sun gear 21. The gear box 30 is installed on the first elbow joint 100, the planet cover 25 is installed on the second elbow joint 200, active power assistance can be provided for the second elbow joint 200, the operation of lifting or lowering the arm can be completed when the second elbow joint cannot independently exert force, and after the reduction speed of the reduction gearbox is finished, the specific rotating speed can be adjusted by controlling the rotating speed of the motor. In use, the planet cover 25 may be mounted to the second elbow joint 200 by a bolt fastener.

In addition, the gear ring fixing plate 26 is fixed on the box shell 31, the gear ring 23 is fixed on the gear ring fixing plate 26, and four square positioning elements are arranged on the inner side of the box shell 31 and used for positioning and fixing the gear ring fixing plate 26. The housing cover 32 is provided with an insertion hole for inserting and mounting the planetary cover 25, so that the structure is more compact.

As shown in fig. 4 and 5, a transmission shaft 13 is provided in the gear box 30, the worm wheel 12 and the sun wheel 21 are both mounted on the transmission shaft 13 to realize coaxial rotation of the sun wheel 21 and the worm wheel 12, and further, the gear box 30 is provided with a second bearing 15 for mounting the transmission shaft 13.

The first bearing 14, the second bearing 15 and the third bearing 27 are all provided with bushings for positioning. The bushing of the first bearing 14 is used for positioning the worm 11, the bushing of the second bearing 15 is used for positioning the transmission shaft 13, and the bushing of the third bearing 27 is used for positioning the fastening bolt 24.

Preferably, the gear box 30 is provided with at least three oil filling holes, one of which is opposite to the meshing part of the worm wheel 12 and the worm 11, one of which is opposite to the meshing part of the planetary gear 22 and the sun gear 21, and one of which is opposite to the meshing part of the planetary gear 22 and the gear ring 23. Through this structure, can conveniently refuel the lubrication for each part.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims

1. Ectoskeleton initiative helping hand reducing gear box, its characterized in that: comprises that

A gear case (30);

the primary transmission assembly (10), the primary transmission assembly (10) is arranged in the gear box (30), and the primary transmission assembly (10) comprises a worm (11) capable of rotating in a fixed shaft mode and a worm wheel (12) in meshing transmission with the worm (11); and

a secondary drive assembly (20), the secondary drive assembly (20) being disposed within the gearbox (30), the secondary transmission component (20) comprises a sun gear (21) and a gear ring (23) which are arranged inside and outside, the sun gear (21) and the worm gear (12) rotate coaxially, the gear ring (23) is fixed in the gear box (30), the two-stage transmission assembly (20) comprises a plurality of planet gears (22) arranged between the sun gear (21) and the ring gear (23) and a planet carrier connected with each planet gear (22), the sun gear (21), the planetary gear (22) and the ring gear (23) are meshed in sequence, so that the sun gear (21) drives each planet gear (22) to rotate around the central axis of the sun gear (21), and the planet carrier is driven to rotate around the central axis of the sun gear (21).

2. The exoskeleton active power reduction gearbox of claim 1, wherein: the gear box (30) comprises a box body shell (31) and a shell cover (32) which are matched with each other.

3. The exoskeleton active power reduction gearbox of claim 2, wherein: the box body shell (31) is fixed with a gear ring fixing plate (26), and the gear ring (23) is fixed on the gear ring fixing plate (26).

4. The exoskeleton active power reduction gearbox of claim 2, wherein: the housing cover (32) is provided with an insertion hole for inserting and installing the planet cover (25).

5. The exoskeleton active power reduction gearbox as claimed in any one of claims 1 to 4, wherein: the gearbox (30) is provided with at least three oil filling holes, one of the oil filling holes is over against the meshing part of the worm wheel (12) and the worm (11), one of the oil filling holes is over against the meshing part of the planetary gear (22) and the sun gear (21), and the other oil filling hole is over against the meshing part of the planetary gear (22) and the gear ring (23).

6. The exoskeleton active power reduction gearbox as claimed in any one of claims 1 to 4, wherein: the worm (11) is driven by a motor (41), and an output shaft of the motor (41) is connected with the worm (11) through a coupler (42).

7. The exoskeleton active power reduction gearbox of claim 6, wherein: the gear box (30) is provided with a first bearing (14) for mounting the worm (11).

8. The exoskeleton active power reduction gearbox of claim 6, wherein: a transmission shaft (13) is arranged in the gear box (30), and the worm wheel (12) and the sun wheel (21) are both arranged on the transmission shaft (13) so as to realize that the sun wheel (21) and the worm wheel (12) rotate coaxially.

9. The exoskeleton active power reduction gearbox of claim 8, wherein: the gear box (30) is provided with a second bearing (15) for mounting the transmission shaft (13).