Joint drives and robots

Abstract

This invention discloses a joint transmission device and a robot. The joint transmission device includes: a drive component, the drive component including a first output shaft; a harmonic reducer, the harmonic reducer including an input shaft and a second output shaft; a transmission component, the transmission component bypassing the first output shaft and the input shaft, so that the drive component drives the harmonic reducer; and a joint assembly, the second output shaft being connected to the joint assembly and driving the joint assembly to move. The technical solution of this invention aims to reduce the overall weight of the exoskeleton, achieve a compact installation space, and realize a reasonable transmission ratio configuration to meet the output requirements of high speed, high torque, and high precision, while being convenient to use.

Description

Technical Field

[0001] The invention relates to the technical field of foot-type robots and exoskeleton robots, and in particular to a joint transmission device. Background Art

[0002] With the development of science and technology, legged robots are widely used in industry and service industries; robots are widely used in military and industrial load-bearing assistance, as well as medical and rehabilitation assistance for the elderly and the disabled. Existing legged robots or wearable exoskeleton robots have high output requirements for each active joint, which need to meet the use effect of high speed and high output, and support the wearer's own weight, so as to assist the wearer to complete normal assistance or rehabilitation activities. At the same time, in order to achieve good assistance and following effects, exoskeleton robots often use force sensors for force control or impedance control in the control of each joint.

[0003] In order to meet the requirements of high speed and high torque output, electric motors are often used in combination with large-volume reduction mechanisms such as gears and pulleys, or hydraulic drives are used in combination with hydraulic pump stations, which have a larger overall mass. Under limited space or mass constraints, it is difficult to meet the requirements of reasonable transmission ratios, and it is impossible to meet the requirements of output and speed at the same time, which is not conducive to use, causing inconvenience to the human body and inflexible movement. Summary of the invention

[0004] The main purpose of the present invention is to provide a joint transmission device, which aims to reduce the overall mass of the exoskeleton, compact the installation space, and achieve a reasonable transmission ratio configuration to meet the output requirements of high speed and high torque, and is easy to use.

[0005] To achieve the above object, the present invention provides a joint transmission device, comprising:

[0006] A driving member, the driving member comprising a first output shaft;

[0007] A harmonic reducer, the harmonic reducer comprising an input rotating shaft and a second output rotating shaft;

[0008] a transmission member, the transmission member bypassing the first output shaft and the input shaft so that the driving member drives the harmonic reducer;

[0009] The second output shaft is connected to the joint assembly and drives the joint assembly to move.

[0010] Optionally, the transmission member is a synchronous belt, and the synchronous belt wraps around the first output shaft and the input shaft.

[0011] Optionally, the first output shaft is further sleeved with a first pulley, the input shaft is further sleeved with a second pulley, and the synchronous belt passes around the first pulley and the second pulley.

[0012] Optionally, the transmission member is a chain, the first output shaft is further sleeved with a first sprocket, the second input shaft is further sleeved with a second sprocket, and the chain passes around the first sprocket and the second sprocket.

[0013] Optionally, the joint transmission device further comprises a mounting plate, and the driving member and the harmonic reducer are both fixedly connected to the mounting plate;

[0014] And / or, the mounting plate is further provided with weight-reducing holes.

[0015] Optionally, the mounting plate includes a first mounting hole and a second mounting hole that are adjacently arranged, and the driving member further includes a driving body connected to the first output shaft, the driving body is fixedly connected to the mounting plate, and the first output shaft extends out of the first mounting hole;

[0016] The harmonic reducer also includes a reducer body connected to the input shaft, the reducer body and the driving member are located on the same side of the mounting plate, the reducer body is fixedly connected to the mounting plate, and the input shaft extends out of the second mounting hole;

[0017] The first output rotating shaft and the input rotating shaft are located on the same side of the mounting plate.

[0018] Optionally, the rotation speed of the first output shaft is 10 rpm-10000 rpm.

[0019] Optionally, the rotation speed of the first output shaft is 10rpm-5000rpm;

[0020] And / or, the joint transmission device further comprises a heat dissipation component, and the heat dissipation component is attached to a surface of the reducer body;

[0021] And / or, the joint transmission device further comprises a power supply component, and the power supply component is electrically connected to the driving member;

[0022] And / or, the driving member is a motor.

[0023] Optionally, the joint assembly comprises:

[0024] A first rotating wheel, wherein the first rotating wheel is sleeved and fixed to the second output rotating shaft, and the second output rotating shaft drives the first rotating wheel to rotate;

[0025] A first gear, the first gear is sleeved and fixed to the second output shaft, and the second output shaft drives the first gear to rotate;

[0026] A secondary linkage component, the secondary linkage component comprising:

[0027] The second wheel;

[0028] A traction assembly is connected between the first rotating wheel and the second rotating wheel. When the first rotating wheel rotates, the first rotating wheel drives the traction assembly to move, and the traction assembly drives the second rotating wheel to rotate, and the rotation direction of the second rotating wheel is opposite to the rotation direction of the first rotating wheel;

[0029] The second gear is coaxially arranged with the second rotating wheel, and the first gear and the second gear are meshed with each other.

[0030] The present invention further provides a robot, comprising a joint transmission device, wherein the joint transmission device comprises:

[0031] A driving member, the driving member comprising a first output shaft;

[0032] A harmonic reducer, the harmonic reducer comprising an input rotating shaft and a second output rotating shaft;

[0033] a transmission member, the transmission member bypassing the first output shaft and the input shaft so that the driving member drives the harmonic reducer;

[0034] The second output shaft is connected to the joint assembly and drives the joint assembly to move.

[0035] The technical solution of the present invention is to set a driving member and a harmonic reducer, and make the transmission member bypass the first output shaft and the input shaft of the driving member, so that the driving member drives the harmonic reducer to move, and connect the second output shaft of the harmonic reducer to the joint assembly, so that the second output shaft drives the joint assembly to move. Since the harmonic reducer has the characteristics of large transmission speed ratio, high load-bearing capacity, high transmission accuracy, high transmission efficiency, smooth movement, small size and light weight, and by setting a transmission member bypassing the first output shaft and the input shaft, the driving member and the harmonic reducer have a large output torque, and the overall size of the joint transmission device is reduced. In this way, the technical solution of the present invention can reduce the overall mass of the exoskeleton, the installation space is compact, and a reasonable transmission ratio configuration is achieved to meet the output requirements of high speed and large torque, and it is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0037] Figure 1It is a structural schematic diagram of an embodiment of a joint transmission device of the present invention;

[0038] Figure 2 It is a schematic cross-sectional structure diagram of an embodiment of a joint transmission device of the present invention;

[0039] Figure 3 It is a structural schematic diagram of an embodiment of a joint component of a joint transmission device of the present invention.

[0040] Description of Figure Numbers:

[0041] Label name Label name 100 Joint transmission device 36 Articulated connecting rod 10 Drive parts 40 Transmission parts 11 First output shaft 50 Mounting Plate 111 First pulley 51 Weight reduction hole 12 Drive body 60 Transmission rod 20 Harmonic reducer 71 First Gear 21 Input shaft 72 Second gear 211 Second pulley 73 First wheel 22 Second output shaft 74 Second wheel 23 Reducer body 75 Traction components 30 Joint components 751 Fourth drive line 32 Secondary connecting rod 752 Fixed block assembly 321 Guide wheel 7521 The third fixed block 33 Joint wire reel 7522 Fourth fixed block 34 First transfer shaft 80 Connectors 35 Second transfer shaft

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0045] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0046] The present invention provides a joint transmission device 100 .

[0047] Reference Figures 1 to 3 The joint transmission device 100 proposed in the technical solution of the present invention comprises:

[0048] A driving member 10, wherein the driving member 10 comprises a first output shaft 11;

[0049] A harmonic reducer 20, wherein the harmonic reducer 20 comprises an input rotating shaft 21 and a second output rotating shaft 22;

[0050] a transmission member 40, the transmission member 40 bypassing the first output shaft 11 and the input shaft 21, so that the driving member 10 drives the harmonic reducer 20;

[0051] The joint assembly 30 , the second output shaft 22 is connected to the joint assembly 30 , and drives the joint assembly 30 to move.

[0052] The technical solution of the present invention is to set a driving member 10 and a harmonic reducer 20, and make the transmission member 40 bypass the first output shaft 11 and the input shaft 21 of the driving member 10, so that the driving member 10 drives the harmonic reducer 20 to move, and connect the second output shaft 22 of the harmonic reducer 20 with the joint assembly 30, so that the second output shaft 22 drives the joint assembly 30 to move. Since the harmonic reducer 20 has the characteristics of large transmission speed ratio, high load-bearing capacity, high transmission accuracy, high transmission efficiency, smooth movement, small size and light weight, and by setting the transmission member 40 bypassing the first output shaft 11 and the input shaft 21, the driving member 10 and the harmonic reducer 20 have a large output torque, and the overall size of the joint transmission device 100 is reduced. In this way, the technical solution of the present invention can reduce the overall mass of the exoskeleton, compact the installation space, and realize a reasonable transmission ratio configuration, meet the output requirements of high speed and large torque, and be convenient to use.

[0053] In one embodiment of the present application, the driving member 10 may be a motor, specifically, a servo motor or a driving motor, as long as it can drive the harmonic reducer 20 well and enable the harmonic reducer 20 to drive the joint assembly 30 to move. In addition, the second output shaft 22 may be connected to a transmission rod 60, so that the power of the harmonic reducer 20 is transmitted through the transmission rod 60.

[0054] Preferably, the distance between the driving member 10 and the harmonic reducer 20 is 80mm-600mm. The distance between the driving member 10 and the harmonic reducer 20 specifically refers to the horizontal distance between the surfaces of the driving member 10 and the harmonic reducer 20 facing each other. If the distance between the driving member 10 and the harmonic reducer 20 is designed to be too small, it is easy to cause heat concentration, and the motor and the harmonic reducer 20 are both devices that are easy to generate heat, which is not conducive to use; and if the distance between the driving member 10 and the harmonic reducer 20 is designed to be too large, it will cause the volume of the joint transmission device 100 to be larger, which is not conducive to use. Here, setting the distance between the driving member 10 and the harmonic reducer 20 to 80mm-600mm is beneficial to preventing the heat concentration of the driving member 10 and the harmonic reducer 20, and can also control the volume of the joint transmission device 100 within a reasonable range, and its comprehensiveness is better. Of course, the specific installation distance can be set according to actual conditions. The distance between the drive member 10 and the harmonic reducer 20 can also be 100mm, 120mm, 150mm, 180mm, 200mm, 300mm, 360mm, 400mm, 450mm, 500mm, 550mm, etc.

[0055] Reference Figure 1 , Figure 2 In one embodiment of the present application, the transmission member 40 is a synchronous belt, and the synchronous belt is wound around the first output shaft 11 and the input shaft 21. In this embodiment, the transmission is performed through a primary synchronous belt. Since the synchronous belt is elastic, it can mitigate impact and vibration, so the operation is stable and the noise is low during operation. In addition, the belt transmission has a simple structure, low manufacturing cost, and convenient installation and maintenance.

[0056] In this embodiment, an extrusion wheel can also be provided on the outer side of the belt (the side away from the first output shaft 11 and the input shaft 21), and the extrusion wheel abuts against the synchronous belt located between the first output shaft 11 and the input shaft 21, thereby increasing the tension between the synchronous belt and the first output shaft 11 and the input shaft 21, preventing the synchronous belt from slipping, and further improving the reliability of the joint transmission device 100.

[0057] Furthermore, the first output shaft 11 is also sleeved with a first pulley 111, the input shaft 21 is also sleeved with a second pulley 211, and the synchronous belt passes around the first pulley 111 and the second pulley 211. The first pulley 111 and the second pulley 211 are provided to make the power transmission of the synchronous belt more stable, and facilitate the installation, disassembly and replacement of the synchronous belt, which is convenient for users.

[0058] In one embodiment of the present application, the transmission member 40 is a chain, the first output shaft 11 is also sleeved with a first toothed disc, the input shaft 21 is also sleeved with a second toothed disc, and the chain passes around the first toothed disc and the second toothed disc. Chain transmission has the advantages of no elastic sliding and slipping, accurate average transmission ratio, reliable operation, high efficiency, large transmission power, strong overload capacity, small transmission size under the same working conditions, and small required tension force, so that the joint transmission device 100 works better.

[0059] In one embodiment of the present application, the joint transmission device 100 further includes a mounting plate 50, and the driving member 10 and the harmonic reducer 20 are both fixedly connected to the mounting plate 50;

[0060] And / or, the mounting plate 50 is further provided with a weight-reducing hole 51 .

[0061] The mounting plate 50 is used to fix the driver 10 and the harmonic reducer 20. In this embodiment, the thickness of the mounting plate 50 is 1mm-20mm. If the thickness of the mounting plate 50 is designed to be too thin, it is easy to cause the joint transmission device 100 to be deformed or damaged during use; if the thickness of the mounting plate 50 is set too large, it will cause the mounting plate 50 to be larger in size, heavier in weight, and increase in material cost. Here, the wall thickness of the mounting plate 50 is set at 1mm-20mm, which is conducive to ensuring the strength of the mounting plate 50, and can control the size, weight, and material cost of the mounting plate 50 within a reasonable range, and its comprehensiveness is better. Of course, its specific thickness can be set according to the material of the mounting plate 50, and its material can be steel, plastic or aluminum, etc., and its thickness can be 3mm, 5mm, 7mm, 8mm, 10mm, 11mm, 13mm, 15mm, 18mm, 19mm, etc.

[0062] Preferably, the thickness of the mounting plate 50 is 3mm-8mm. Setting the wall thickness of the mounting plate 50 to 3mm-8mm is very beneficial to ensuring the strength of the mounting plate 50, and can control the size, weight and material cost of the mounting plate 50 within a reasonable range, and has the best comprehensiveness.

[0063] And in this embodiment, under the premise of not affecting the strength of the mounting plate 50 , a weight-reducing hole 51 is provided on the mounting plate 50 , thereby reducing the mass of the mounting plate 50 and further reducing the mass of the joint transmission device 100 .

[0064] In one embodiment of the present application, the mounting plate 50 includes a first mounting hole and a second mounting hole that are adjacent to each other, and the driving member 10 also includes a driving body 12 connected to the first output shaft 11, the driving body 12 is fixedly connected to the mounting plate 50, and the first output shaft 11 extends out of the first mounting hole; in this embodiment, a plurality of first connecting holes surrounding the first mounting hole are arranged on the mounting plate 50, the joint transmission device 100 also includes a plurality of connecting members 80, and the driving body 12 is also provided with a plurality of second connecting holes, a connecting member 80 passes through a first connecting hole and a second connecting hole to fix the driving body 12 and the mounting plate 50. Of course, a clamping member can also be arranged on the mounting plate 50, and a slot can be arranged on the driving body 12, and the fixing of the driving body 12 and the mounting plate 50 can be achieved by engaging the clamping member in the slot, or the driving body 12 can be directly welded and fixed to the mounting plate 50, as long as the two can be well connected.

[0065] Reference Figure 2 The harmonic reducer 20 further includes a reducer body 23 connected to the input shaft 21, the reducer body 23 and the driving member 10 are located on the same side of the mounting plate 50, the reducer body 23 is fixedly connected to the mounting plate 50, and the input shaft 21 extends out of the second mounting hole;

[0066] The first output shaft 11 and the input shaft 21 are located on the same side of the mounting plate 50 .

[0067] It can be understood that the drive body 12 is the stator of the motor, the first output shaft 11 is connected to the rotor of the motor, and the installation method of extending the first output shaft 11 out of the first mounting hole can better save the installation space of the power transmission device and facilitate use; the reducer body 23 is the stator of the harmonic reducer 20, the input shaft 21 is connected to the rotor of the harmonic reducer 20, and the installation method of extending the input shaft 21 out of the second mounting hole can further save the installation space of the power transmission device and facilitate use. The spacing between the first mounting hole and the second mounting hole can be set according to the installation spacing of the motor and the harmonic reducer 20, as long as it is convenient to use.

[0068] Furthermore, the rotation speed of the first output shaft 11 is 10rpm-10000rpm. Setting the rotation speed of the first output shaft 11 at 10rpm-10000rpm can meet the requirements of most motors to drive the joint assembly 30 to rotate, which is conducive to ensuring the applicable scope of the power transmission structure. The rotation speed of the first output shaft 11 can be 100rpm, 500rpm, 1000rpm, 1500rpm, 20000rpm, 3000rpm, 4000rpm, 7000rpm, 8000rpm, 9000rpm, etc.

[0069] Optionally, the rotation speed of the first output shaft 11 is 10rpm-5000rpm; here, setting the rotation speed of the first output shaft 11 to 10rpm-5000rpm can meet the requirement of the motor running to drive the joint assembly 30 to rotate, and can well realize the power output of the power transmission mechanism during use, and is highly practical.

[0070] And / or, the joint transmission device 100 further includes a heat dissipation component (not shown), which is attached to a surface of the reducer body 23; the heat dissipation component can be a heat conducting plate, and the contact area between the heat conducting plate and the reducer body 23 is increased by attaching, thereby increasing the heat dissipation efficiency of the heat dissipation component. Specifically, the heat conducting plate can be an aluminum plate or a copper plate. Aluminum and copper have good thermal conductivity and fast heat transfer rate, which is beneficial to the heat exchange between the harmonic reducer 20 body and the external environment, thereby accelerating the thermal cycle process of the harmonic reducer 20 body.

[0071] Of course, the heat dissipation component can also include a heat sink and at least one vacuum heat dissipation tube, the heat sink is fixedly connected to the harmonic reducer 20 body, the vacuum heat dissipation tube is fixedly connected to the heat sink, and the vacuum heat dissipation tube is provided with a capillary tube and a heat-conducting liquid. By arranging the heat sink and the vacuum heat dissipation tube on the harmonic reducer 20 body, since the inside of the vacuum heat dissipation tube is vacuum, the vacuum environment can reduce the boiling point of the heat-conducting liquid. When the vacuum heat dissipation tube is heated, the heat-conducting liquid evaporates when heated, and since the evaporation absorbs heat, the temperature of the vacuum heat dissipation tube decreases, and then the temperature of the heat sink attached to the vacuum heat dissipation tube decreases; the evaporated gaseous heat-conducting liquid flows along the capillary tube, and since the external environment temperature is low, the gaseous heat-conducting liquid is cooled and liquefied, and the liquefied heat-conducting liquid falls back to the original position under the action of gravity and capillary force, and the heat can be taken away through the continuous circulation of the heat-conducting liquid.

[0072] And / or, the joint transmission device 100 also includes a power supply component, which is electrically connected to the driving member 10; the power supply component is a power supply with a power supply function, which can be a mobile power supply as long as it can drive the driving member 10 to work well.

[0073] Referring to the drawings, in one embodiment of the present application, the joint assembly 30 includes:

[0074] A first rotating wheel 73, wherein the first rotating wheel 73 is sleeved and fixed to the second output rotating shaft 22, and the second output rotating shaft 22 drives the first rotating wheel 73 to rotate;

[0075] A first gear 71, wherein the first gear 71 is sleeved and fixed to the second output shaft 22, and the second output shaft 22 drives the first gear 71 to rotate;

[0076] A secondary linkage component, the secondary linkage component comprising:

[0077] A second rotating wheel 74;

[0078] A traction assembly 75 is connected between the first rotating wheel 73 and the second rotating wheel 74. When the first rotating wheel 73 rotates, the first rotating wheel 73 drives the traction assembly 75 to move, and the traction assembly 75 drives the second rotating wheel 74 to rotate. The rotation direction of the second rotating wheel 74 is opposite to that of the first rotating wheel 73.

[0079] The second gear 72 is coaxially arranged with the second rotating wheel 74 , and the first gear 71 and the second gear 72 are meshed with each other.

[0080] In this embodiment, since the rotation angle of the secondary linkage assembly relative to the first rotating wheel 73 and the first gear 71 is limited, the first gear 71 and the second gear 72 can adopt a complete gear structure or an incomplete gear structure. When the first gear 71 and the second gear 72 adopt an incomplete gear structure, the weight of the gear can be reduced, thereby reducing the weight of the joint assembly 30, reducing the weight of the user, and reducing the amount of raw materials used, thereby reducing the cost of the joint assembly 30. The tooth shape used in the structure of the first gear 71 and the second gear 72 can be a straight tooth shape or a helical tooth shape.

[0081] Alternatively, a primary connecting rod is provided, wherein the primary connecting rod is provided with a first transfer shaft 34 hole; at this time, the transmission rod 60 is fixedly connected to the primary connecting rod, so that the primary connecting rod is driven by the transmission rod 60.

[0082] A secondary connecting rod 32, the secondary connecting rod 32 is arranged opposite to the primary connecting rod, and a second transfer shaft 35 hole is provided at one end of the secondary connecting rod 32 adjacent to the primary connecting rod;

[0083] The first transfer shaft 34 is inserted into the first transfer shaft 34 hole and is also inserted into the joint line wheel 33 ; at this time, the first transfer shaft 34 is driven to rotate by the second output shaft 22 .

[0084] The second transfer shaft 35 is inserted into the hole of the second transfer shaft 35. The second rotating wheel 74 and the second gear 72 are sleeved on the second transfer shaft 35 to realize power transmission. Such an arrangement is convenient for transmission.

[0085] The first gear 71 and the primary connecting rod can be set as an integral structure, and the second gear 72 and the secondary connecting rod 32 can be set as an integral structure to shorten the overall width of the joint assembly 30 and reduce the assembled parts, thereby facilitating the carrying and assembly of the joint assembly 30.

[0086] When the primary connecting rod is fixed and the secondary connecting rod 32 is rotated by external force, the secondary connecting rod 32 can drive the second rotating wheel 74 and the second transfer shaft 35 to rotate. Since the second rotating wheel 74 is connected to the first rotating wheel 73 through the traction assembly 75, and the traction assembly 75 makes the second rotating wheel 74 turn in the opposite direction to the first rotating wheel 73, since the first rotating wheel 73 is fixedly connected to the primary connecting rod, the second rotating wheel 74 is fixedly connected to the secondary connecting rod 32, and the first rotating wheel 73 is rotationally connected to the first transfer shaft 34, and the second rotating wheel 74 is fixedly connected to the second transfer shaft 35, therefore, the secondary connecting rod 32 drives the articulated connecting rod 36 to rotate around the first transfer shaft 34, that is, the second rotating wheel 74 rotates around the first rotating wheel 73 while rotating on itself, and the second rotating wheel 74 drives the secondary connecting rod 32 to form a variable axis rotation, thereby realizing the anthropomorphic joint rotation, thereby enhancing the simulation characteristics of the joint assembly 30. The rotation direction of the first rotating wheel 73 is the rotation direction of the first rotating wheel 73 around the first transfer shaft 34 , and the rotation direction of the second rotating wheel 74 is the direction in which the second rotating wheel 74 drives the second transfer shaft 35 to rotate around the axis of the second transfer shaft 35 .

[0087] The gear and the wire wheel are used at the same time, so that the joint assembly 30 can better fit the rotation of the human joint, which is convenient for users to use.

[0088] Furthermore, the joint assembly 30 further comprises a hinge connecting rod 36, and the hinge connecting rod 36 is provided with a third rotating shaft hole and a fourth rotating shaft hole spaced apart along the length direction thereof;

[0089] The first transfer shaft 34 extends out of the rotating assembly 70 to form a first extending end, and the first extending end is rotatably connected to the third rotating shaft hole;

[0090] The second transfer shaft 35 extends out of the rotating assembly 70 to form a second extending end, and the second extending end is rotatably connected to the fourth rotating shaft hole.

[0091] The hinged connecting rod 36 is provided to improve the power transmission between the primary connecting rod 31 and the secondary connecting rod 32. It can be understood that two hinged connecting rods 36 are provided at both ends of the joint assembly 30 to prevent the joint assembly 30 from lateral displacement during movement, thereby improving the biological motion simulation characteristics of the joint assembly 30. If used for human exercise rehabilitation, it can prevent the human body from being injured by lateral displacement.

[0092] Further, the first transmission line 751 includes a fifth end (not shown) and a sixth end (not shown);

[0093] The fixing block assembly 752 includes a first fixing block (not shown), a second fixing block (not shown), a first fixing block 7521 and a second fixing block 7522, wherein the first fixing block and the second fixing block are spaced apart from each other on the side wall of the first rotating wheel 73;

[0094] The first fixing block 7521 and the second fixing block 7522 are spaced apart from each other on the side wall of the second rotating wheel 74;

[0095] Alternatively, the first fixing block 7521 and the second fixing block 7522 are arranged at intervals on the secondary connecting rod 32 .

[0096] It is understandable that both the first rotating wheel 73 and the second rotating wheel 74 include a winding groove (not shown) to facilitate the winding of the first transmission wire 751 . The winding groove 331 is arranged around the side of the first rotating wheel 73 or the second rotating wheel 74 .

[0097] In one embodiment of the present application, the fixing block 332 is provided with a fixing hole through which the first transmission line 751 passes along the length direction, and the side wall of the fixing block 332 is provided with a fixing portion for fixing the first transmission line 751. For example, the first end of a first transmission line 751 passes through the fixing hole of the first fixing block, and the second end passes through the fixing hole of the second fixing block 7522, and the fixing portion fixes the first end and the second end respectively. In order to prevent the fastener from falling off and causing the end of the first transmission line 751 to fall off without pre-tightening, the first end and the second end of the first transmission line 751 are both knotted, or a sleeve (not shown) is provided at the end of the first transmission line 751, and then knotting is performed, the sleeve is provided with two through holes arranged in parallel, the end of the first transmission line 751 passes through the two through holes in turn, and then the sleeve is pressed to deform the sleeve to clamp the first transmission line 751, and the sleeve material can be aluminum or iron. The fixing portion is a set screw provided on the fixing block 332, which is used to fix the position of the first transmission line 751 in the fixing hole.

[0098] In another embodiment of the present application, the first fixing block 7521 and the second fixing block 7522 are arranged on the secondary connecting rod 32, so that the contact distance of the first transmission line 751 on the second rotating wheel 74 can be increased to facilitate transmission. In addition, a guide wheel 321 can be arranged to make the arrangement of the first transmission line 751 more reasonable.

[0099] The present invention further provides a robot, the robot comprising a joint transmission device 100, the joint transmission device 100 comprising:

[0100] A driving member 10, wherein the driving member 10 comprises a first output shaft 11;

[0101] A harmonic reducer 20, wherein the harmonic reducer 20 comprises an input rotating shaft 21 and a second output rotating shaft 22;

[0102] a transmission member 40, the transmission member 40 bypassing the first output shaft 11 and the input shaft 21, so that the driving member 10 drives the harmonic reducer 20;

[0103] The joint assembly 30, the second output shaft 22 is connected to the joint assembly 30, and drives the joint assembly 30 to move. Since the robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0104] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A joint transmission device, characterized in that: Joint transmission used in exoskeleton robots, including: A driving member, the driving member comprising a first output shaft; A harmonic reducer, the harmonic reducer comprising an input rotating shaft and a second output rotating shaft; a transmission member, the transmission member bypassing the first output shaft and the input shaft so that the driving member drives the harmonic reducer; A joint assembly, wherein the second output shaft is connected to the joint assembly and drives the joint assembly to move, the joint assembly comprises a first rotating wheel, a second rotating wheel, a first gear and a second gear, the first rotating wheel is sleeved and fixed to the second output rotating shaft, the second output rotating shaft drives the first rotating wheel to rotate, the first gear is sleeved and fixed to the second output rotating shaft, the second output rotating shaft drives the first gear to rotate, a traction assembly is connected between the first rotating wheel and the second rotating wheel, when the first rotating wheel rotates, the first rotating wheel drives the traction assembly to move, the traction assembly drives the second rotating wheel to rotate, and the rotation direction of the second rotating wheel is opposite to the rotation direction of the first rotating wheel, the second gear is coaxially arranged with the second rotating wheel, and the first gear and the second gear are meshed with each other; a transmission rod connected to the second output shaft; A primary connecting rod, one end of which is fixedly connected to the transmission rod, and the other end of which is connected to the first gear; A secondary connecting rod is arranged opposite to the primary connecting rod, and the secondary connecting rod is connected to the second gear.

2. The joint transmission device according to claim 1, characterized in that: The transmission member is a synchronous belt, and the synchronous belt passes around the first output rotating shaft and the input rotating shaft.

3. The joint transmission device according to claim 2, characterized in that: The first output shaft is also sleeved with a first pulley, the input shaft is also sleeved with a second pulley, and the synchronous belt passes around the first pulley and the second pulley.

4. The joint transmission device according to claim 1, characterized in that: The transmission member is a chain, the first output shaft is also sleeved with a first sprocket, the input shaft is also sleeved with a second sprocket, and the chain passes around the first sprocket and the second sprocket.

5. The joint transmission device according to any one of claims 1 to 4, characterized in that: The joint transmission device also includes a mounting plate, and the driving member and the harmonic reducer are both fixedly connected to the mounting plate; And / or, the mounting plate is further provided with weight-reducing holes.

6. The joint transmission device according to claim 5, characterized in that: The mounting plate includes a first mounting hole and a second mounting hole that are adjacently arranged, and the driving member also includes a driving body connected to the first output shaft, the driving body is fixedly connected to the mounting plate, and the first output shaft extends out of the first mounting hole; The harmonic reducer also includes a reducer body connected to the input shaft, the reducer body and the driving member are located on the same side of the mounting plate, the reducer body is fixedly connected to the mounting plate, and the input shaft extends out of the second mounting hole; The first output rotating shaft and the input rotating shaft are located on the same side of the mounting plate.

7. The joint transmission device according to claim 6, characterized in that: The rotation speed of the first output shaft is 10 rpm-10000 rpm.

8. The joint transmission device according to claim 7, characterized in that: The rotation speed of the first output shaft is 10rpm-5000rpm; And / or, the joint transmission device further comprises a heat dissipation component, and the heat dissipation component is attached to a surface of the reducer body; And / or, the joint transmission device further comprises a power supply component, and the power supply component is electrically connected to the driving member; And / or, the driving member is a motor.

9. A robot, characterized in that: It comprises a joint transmission device, which comprises the joint transmission device according to any one of claims 1 to 8.

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