Elastic linkage and robots

Abstract

The present invention discloses an elastic linkage device and a robot, wherein the elastic linkage device comprises: a first linkage component, wherein a driving component drives the first linkage component to move; a second linkage component, wherein a transmission component is fixedly connected to the second linkage component, wherein the second linkage component forms an installation space, wherein the first linkage component is installed and accommodated in the installation space; and an elastic member, wherein the elastic member is accommodated in the installation space, wherein one end of the elastic member abuts against the first linkage component to form a first abutment point, and the other end abuts against the second linkage component to form a second abutment point, wherein the length direction of the elastic member is consistent with the length direction formed by the line connecting the first abutment point and the second abutment point. The technical solution of the present invention aims to facilitate the control of its elastic deformation, thereby facilitating the adjustment of the stiffness of the rotating joint, so as to be applicable to different use occasions such as medical, industrial, and military, and facilitate the reverse driving of the joint, so as to make the power output more stable, improve the control accuracy, have high instantaneous output power, and have low output impedance, and at the same time have a certain buffering effect.

Description

Technical Field

[0001] The invention relates to the technical field of foot-type robots and exoskeleton robots, and in particular to an elastic linkage device and a robot using the elastic linkage 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 robots or exoskeleton joints are equipped with a rotary elastic structure for the rotation of the rotary joint. Since the rotary elastic structure is a non-uniformly deformed structure, it needs to be calibrated during the precise rotation process. The calibration of the non-uniformly deformed structure will bring certain errors. In this way, it is inconvenient to control its elastic deformation, which makes it difficult to adjust the stiffness of the rotary joint and is not conducive to reverse driving the joint. Summary of the invention

[0003] The main purpose of the present invention is to provide an elastic linkage device, which aims to facilitate the control of its elastic deformation, thereby facilitating the adjustment of the stiffness of the rotary joint and facilitating the reverse driving of the joint.

[0004] To achieve the above-mentioned purpose, the elastic linkage device provided by the present invention is applied to a power transmission mechanism, wherein the power transmission mechanism comprises a driving component, a transmission component and a joint component, wherein the driving component drives the elastic linkage device to move, the elastic linkage device drives the transmission component to move, and the transmission component drives the joint component to move, and the elastic linkage device comprises:

[0005] a first linkage assembly, wherein the driving assembly drives the first linkage assembly to move;

[0006] A second linkage assembly, the transmission assembly is fixedly connected to the second linkage assembly, the second linkage assembly forms an installation space, and the first linkage assembly is installed and accommodated in the installation space;

[0007] An elastic member is accommodated in the installation space, one end of the elastic member abuts the first linkage component to form a first abutment point, and the other end abuts the second linkage component to form a second abutment point, and the length direction of the elastic member is consistent with the length direction formed by the line connecting the first abutment point and the second abutment point.

[0008] Optionally, the first linkage assembly includes a first side surface and a second side surface that are oppositely disposed, the number of the elastic members is at least two, one end of the elastic member abuts against the first side surface, and the other end abuts against the second linkage assembly;

[0009] One end of the other elastic member abuts against the second side surface, and the other end abuts against the second linkage assembly.

[0010] Optionally, the first linkage assembly includes a first side surface and a second side surface that are oppositely disposed, the number of the elastic members is at least four, one end of two of the elastic members abuts against the first side surface, and the other ends of the two elastic members abut against the second linkage assembly;

[0011] One end of the two elastic members abuts against the second side surface, and the other end of the two elastic members abuts against the second linkage assembly;

[0012] And / or, the two elastic members located on the same side are centrally symmetrically arranged with respect to the midpoint of a line connecting the second abutment point formed by one elastic member and the second abutment point formed by the other elastic member;

[0013] And / or, the elastic member abutting against the first side surface and the elastic member abutting against the second side surface are arranged alternately.

[0014] Optionally, the second linkage assembly includes a first transmission plate, a second transmission plate, a third transmission plate and a fourth transmission plate, and the first transmission plate, the second transmission plate, the third transmission plate and the fourth transmission plate are sequentially connected to jointly enclose the installation space;

[0015] The first transmission plate is disposed adjacent to the first side surface, and the elastic member located on one side of the first side surface abuts against the first transmission plate;

[0016] The third transmission plate is disposed adjacent to the second side surface, and the elastic member located on one side of the second side surface abuts against the third transmission plate;

[0017] The second transmission plate and the fourth transmission plate are both fixedly connected to the transmission assembly.

[0018] Optionally, the first transmission plate and the third transmission plate are each provided with a plurality of penetrating first adjustment holes, and the plurality of first adjustment holes are each spaced apart and arranged on the first transmission plate and the third transmission plate;

[0019] The second transmission plate and the fourth transmission plate are both provided with a plurality of second adjustment holes, and one of the second adjustment holes is arranged opposite to one of the first adjustment holes;

[0020] The elastic linkage device further includes an adjustment assembly, the adjustment assembly includes a plurality of adjustment members, one of the adjustment members passes through a first adjustment hole and a second adjustment hole, and the relative position of the adjustment member to the first linkage assembly is adjusted to change the spacing between the first transmission plate and the third transmission plate relative to the first linkage assembly;

[0021] Alternatively, the second transmission plate and the fourth transmission plate are both provided with a plurality of adjustment posts, and one of the adjustment posts is plugged into one of the first adjustment holes;

[0022] The elastic linkage device also includes an adjustment component, which includes a plurality of locking adjustment members. The locking adjustment members are movably arranged on the portion of the adjustment column extending out of the first adjustment hole, and the relative position of the locking adjustment members and the first linkage component is adjusted to change the spacing between the first transmission plate and the third transmission plate relative to the first linkage component.

[0023] Optionally, the elastic linkage device further comprises a detection device, the detection device is fixed to the second transmission plate, and the detection device detects the distance between the first transmission plate or the third transmission plate and the first linkage assembly;

[0024] Alternatively, the detection device is fixed to the fourth transmission plate, and the detection device detects the distance between the first transmission plate or the third transmission plate and the first linkage assembly.

[0025] Optionally, the first linkage component further includes an insertion hole, the second linkage component protrudes toward the surface of the first linkage component to form a guide column, the elastic member is sleeved on the guide column, and the end of the guide column adjacent to the first linkage component is inserted into the insertion hole.

[0026] Optionally, the first linkage assembly includes a plurality of plug-in holes arranged at intervals, the second linkage assembly includes a plurality of guide posts, one of the elastic members is sleeved on one of the guide posts, one end of the guide post is detachably connected to the first transmission plate of the second linkage assembly, and one end of the guide post facing away from the first transmission plate is plugged into the plug-in hole;

[0027] Alternatively, one end of the guide column is detachably connected to the third transmission plate of the second linkage assembly, and one end of the guide column facing away from the third transmission plate is plugged into the plug hole.

[0028] Optionally, the driving assembly includes a motor and a lead screw, the lead screw is further sleeved with a lead screw nut, the motor drives the lead screw to rotate, and the lead screw drives the lead screw nut to move;

[0029] The first linkage assembly includes a sleeve member, and the sleeve member is sleeved and fixed to the lead screw nut;

[0030] The first transmission plate and the second transmission plate are both provided with through holes, and the lead screw can rotatably pass through the two through holes.

[0031] Optionally, the elastic linkage device further includes an upper fixed plate, and the first linkage assembly further includes a lower fixed plate, the upper fixed plate fixedly connects the second transmission plate and the fourth transmission plate, and the lower fixed plate fixedly connects the socket and the lead screw nut.

[0032] The present invention further provides a robot, comprising an elastic linkage device, a driving component, a transmission component and a joint component, wherein the driving component drives the elastic linkage device to move, the elastic linkage device drives the transmission component to move, the transmission component drives the joint component to move, and the elastic linkage device comprises:

[0033] a first linkage assembly, wherein the driving assembly drives the first linkage assembly to move;

[0034] A second linkage assembly, the transmission assembly is fixedly connected to the second linkage assembly, the second linkage assembly forms an installation space, and the first linkage assembly is installed and accommodated in the installation space;

[0035] An elastic member is accommodated in the installation space, one end of the elastic member abuts the first linkage component to form a first abutment point, and the other end abuts the second linkage component to form a second abutment point, and the length direction of the elastic member is consistent with the length direction formed by the line connecting the first abutment point and the second abutment point.

[0036] The technical solution of the present invention is to set an installation space in the second linkage component, then accommodate the first linkage component in the installation space, and accommodate the elastic member in the installation space, and make the two ends of the elastic member abut the first linkage component and the second linkage component respectively. Since the length direction of the elastic member is consistent with the length direction formed by the line connecting the first abutment point and the second abutment point, that is, the elastic member is arranged in a linear structure with uniform deformation at the abutment point, such an arrangement can make the deformation amount of the elastic member change uniformly, so as to facilitate the control and adjustment of the stiffness of the joint component.

[0037] When the driving assembly is required to drive the joint assembly (forward drive), the driving assembly drives the first linkage assembly to move, the first linkage assembly drives the elastic member to move, the elastic member drives the second linkage assembly to move, the second linkage assembly drives the transmission assembly to move, and the transmission assembly drives the joint assembly to move;

[0038] When the joint assembly needs to be contracted (reverse drive), the joint assembly drives the transmission assembly to move, the transmission assembly drives the second linkage assembly to move, and the second linkage assembly drives the elastic member to move. Since the elastic deformation of the elastic member is better controlled at this time, the joint assembly has better contraction stiffness, which is beneficial to the reverse drive of the joint assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] Figure 1 It is a structural schematic diagram of an embodiment of a power transmission mechanism of the present invention;

[0041] Figure 2 It is a structural schematic diagram of a partial mechanism of an embodiment of a power transmission mechanism of the present invention;

[0042] Figure 3 It is a structural schematic diagram of a partial mechanism of an embodiment of a power transmission mechanism of the present invention from another perspective;

[0043] Figure 4 for Figure 3 A partial view of the circuit board at A;

[0044] Figure 5 It is a structural schematic diagram of a rotating assembly and a secondary connecting rod of an embodiment of a power transmission mechanism of the present invention;

[0045] Figure 6 It is a structural schematic diagram of a linkage device of an embodiment of a power transmission mechanism of the present invention;

[0046] Figure 7 It is an exploded view of a linkage device of an embodiment of a power transmission mechanism of the present invention.

[0047] Description of Figure Numbers:

[0048]

[0049]

[0050] 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

[0051] 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.

[0052] 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.

[0053] 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.

[0054] The present invention proposes an elastic linkage device 20 .

[0055] Reference Figures 1 to 7 The elastic linkage device 20 proposed in the technical solution of the present invention is applied to a power transmission mechanism 100, wherein the power transmission mechanism 100 includes a driving component 10, a transmission component and a joint component 30, wherein the driving component 10 drives the elastic linkage device 20 to move, the elastic linkage device 20 drives the transmission component to move, and the transmission component drives the joint component 30 to move, and the elastic linkage device 20 includes:

[0056] A first linkage component 21, wherein the driving component 10 drives the first linkage component 21 to move;

[0057] A second linkage assembly 22, the transmission assembly is fixedly connected to the second linkage assembly 22, the second linkage assembly 22 is formed with an installation space 225, and the first linkage assembly 21 is installed and accommodated in the installation space 225;

[0058] An elastic member 23 is accommodated in the installation space 225, one end of the elastic member 23 abuts against the first linkage component 21 to form a first abutment point, and the other end abuts against the second linkage component 22 to form a second abutment point, and the length direction of the elastic member 23 is consistent with the length direction formed by the line connecting the first abutment point and the second abutment point.

[0059] The technical solution of the present invention is to set the installation space 225 in the second linkage assembly 22, then accommodate the first linkage assembly 21 in the installation space 225, and accommodate the elastic member 23 in the installation space 225, and make the two ends of the elastic member 23 respectively abut the first linkage assembly 21 and the second linkage assembly 22. Since the length direction of the elastic member 23 is consistent with the length direction formed by the line connecting the first abutment point and the second abutment point, that is, the elastic member 23 is arranged in a linear structure with uniform deformation at the abutment point, such an arrangement can make the deformation amount of the elastic member 23 change uniformly, so as to facilitate the control and adjustment of the stiffness of the joint assembly 30.

[0060] When the driving assembly 10 is required to drive the joint assembly 30 (positive drive), the driving assembly 10 drives the first linkage assembly 21 to move, the first linkage assembly 21 drives the elastic member 23 to move, the elastic member 23 drives the second linkage assembly 22 to move, the second linkage assembly 22 drives the transmission assembly to move, and the transmission assembly drives the joint assembly 30 to move;

[0061] When the joint assembly 30 needs to be contracted (reverse drive), the joint assembly 30 drives the transmission assembly to move, the transmission assembly drives the second linkage assembly 22 to move, and the second linkage assembly 22 drives the elastic member 23 to move. Since the elastic deformation of the elastic member 23 is better controlled at this time, the joint assembly 30 has better contraction stiffness, which is beneficial to the reverse drive of the joint assembly 30.

[0062] In one embodiment of the present application, the power transmission mechanism 100 also includes a first guide assembly, which is located on the side of the elastic linkage device 20 away from the joint assembly 30. The joint assembly 30 also includes a joint line wheel, which is located on one side of the elastic linkage device 20. The transmission assembly can be a transmission line group 50. Specifically, the transmission line group 50 includes at least one transmission line, at least a portion of which is fixedly connected to the second linkage assembly 22, and respectively passes around the joint line wheel and the first guide assembly.

[0063] Reference Figure 1In one embodiment of the present application, the driving assembly 10 may include an output motor 11, and the elastic linkage device 20 is connected to the output motor 11, and the elastic linkage device 20 is driven to move by the output motor 11. It can be understood that in order to better drive the elastic linkage device 20, the output motor 11 can be through a rack or a worm or a lead screw 12 and other devices, so that the power transmission effect between the elastic linkage device 20 and the output device is better, and a reducer can also be set at the output end of the motor 11, so that the power output is more convenient. In this embodiment, the lead screw 12 transmission method is adopted, specifically, the ball screw 12 transmission is adopted. The ball screw 12 can convert rotational motion into linear motion, or convert torque into axial repeated force, and has the characteristics of high precision, reversibility and high efficiency. In this way, it is convenient to make the power transmission effect between the elastic linkage device 20 and the output device better.

[0064] It can be understood that the first guide assembly is to prevent the transmission line group 50 on the side away from the joint assembly 30 from being locked when the transmission line group 50 moves along the elastic linkage device 20 toward the first guide assembly. In one embodiment of the present application, the first guide assembly can be a guide groove (not shown), and part of the transmission line group 50 can be slidably accommodated in the guide groove, so that when the linkage assembly moves, the transmission line group 50 slides in the guide groove, driving the joint line wheel 33 to rotate, and, in order to facilitate guidance, the guide groove can be set in a certain arc, thereby reducing sliding friction and facilitating transmission.

[0065] In another embodiment of the present application, the first guide assembly can be a guide rod (not shown), and the transmission line group 50 can movably bypass the side of the guide rod, so that when the transmission line group 50 moves along the elastic linkage device 20 toward the first guide assembly, it is not locked, which is convenient for transmission. The guide rod can also have the function of rotation, and the rotation reversal reduces the drive force loss and facilitates transmission. It can be understood that the first guide assembly of the present application is not limited to the implementation of the guide groove and the guide rod above. As long as the transmission line group 50 can be guided well, it is within the protection scope of the present application.

[0066] The transmission line group 50 is used to drive the joint line wheel 33 to rotate by the force of the driving device. It is understandable that the driving rotation can be driven by friction, traction, or a combination of the two, so that the joint line wheel 33 rotates. And, it is understandable that since the transmission line group 50 bypasses the first guide assembly and the joint line wheel, the transmission line group 50 is roughly arranged in a ring shape, and the linkage assembly can be arranged on the outside of the ring or the inside of the ring, as long as it is convenient to drive. In this embodiment, the elastic linkage device 20 is arranged on the inside of the ring, and such an arrangement can make the structure of the power transmission mechanism 100 more compact and save installation space 225.

[0067] In one embodiment of the present application, the installation space 225 formed by the second linkage component 22 is roughly cube-shaped, and the outer contour of the first linkage component 21 is roughly close to the installation space 225. Such a setting can make the structure of the elastic drive device compact, thereby saving the installation space 225.

[0068] It should be noted that the first abutment point of the present application can be understood as the projection area formed by the elastic member 23 projected on the first linkage component 21, or the position where the elastic member 23 abuts the first linkage component 21, or a combination of the above two; the second abutment point of the present application can be understood as the projection area formed by the elastic member 23 projected on the second linkage component 22, or the position where the elastic member 23 abuts the second linkage component 22, or a combination of the above two.

[0069] Preferably, the length direction formed by the line connecting the first abutment point and the second abutment point is consistent with the movement direction of the first linkage assembly 21 driven by the driving assembly 10. In this way, the elastic force generated by the elastic member 23 drives the second linkage assembly 22 to move.

[0070] In this embodiment, the power transmission mechanism 100 further includes a bracket 80, the bracket 80 includes a first direction (X-axis direction), a second direction (Y-axis direction) and a third direction (Z-axis direction) which are perpendicular to each other, the first guide assembly 40 is fixed to the bracket 80, the first guide wheel 41 is rotatably connected to the bracket 80, and the axial direction of the first guide wheel 41 coincides with the third direction. And, in order to facilitate the transmission of the transmission line group 50, the first guide assembly 40 further includes a first side transmission wheel group 42, the side transmission wheel group includes a first side transmission wheel 421 and a second side transmission wheel 422 which are adjacently arranged, the first side transmission wheel 421 and the second side transmission wheel 422 can be rotatably fixed to the bracket 80, and the axial directions of the first side transmission wheel 421 and the second side transmission wheel 422 coincide with the first direction; the transmission assembly includes a lower surface and an upper surface which are arranged oppositely along the third direction, the transmission assembly bypasses the first side transmission wheel group 42, the lower surface is in contact with the outer edge of the first side transmission wheel 421, and the upper surface is in contact with the outer edge of the second side transmission wheel 422. The provision of the side transmission wheel set can make the coordination between the fixed position of the transmission line set 50 and the transmission steering more convenient on the one hand, and make the transmission of the transmission line set 50 more stable on the other hand.

[0071] It can be understood that the first side transmission wheel 421 is arranged closer to the first guide wheel 41 than the second side transmission wheel 422, and the axis of the transmission line group 50 coincides with the axis of the side edge of the first guide wheel 41 at the upper edge of the first side transmission wheel 421. Such an arrangement can best realize the reversing from the first side transmission wheel 421 to the first guide wheel 41 (reversing from the second direction to the first direction) to facilitate transmission.

[0072] Further, the side of the joint line wheel 33 is formed with a wire groove 331 along its circumference, and the transmission line group 50 bypasses the wire groove 331 and fits the joint line wheel 33. The wire groove 331 is provided to facilitate the transmission line group 50 to bypass the joint line wheel 33, thereby driving the joint line wheel 33 to rotate. It can be understood that the wire groove 331 can be arranged in an arc shape around the side of the joint line wheel 33, as long as the transmission line group 50 can bypass the joint line wheel 33.

[0073] Furthermore, the joint wire wheel 33 is provided with two wire grooves 331 at intervals along its axial direction;

[0074] The power transmission mechanism 100 includes at least two transmission line groups 50, and the linkage device 20 includes a first side 21 and a second side 22 that are arranged opposite to each other, a portion of one transmission line group 50 is fixedly connected to the first side 21, and a portion of the other transmission line group 50 is fixedly connected to the second side 22;

[0075] One of the transmission line groups 50 passes through the line groove 331 and fits the joint line wheel 33 . Another of the transmission line groups 50 is cross-arranged adjacent to one side of the joint line wheel 33 , passes through the line groove 331 and fits the joint line wheel 33 .

[0076] In one embodiment of the present application, two sets of transmission line groups 50 are provided, and two spaced wire grooves 331 are provided on a joint line wheel 33, so as to enable a transmission line group 50 to bypass the wire groove 331 of a joint line wheel 33. In this embodiment, the linkage device 20 moves along the second direction, and each set of transmission line groups 50 is fixed to the side of the linkage device 20 opposite to the first direction. With such a configuration, the forces on both sides of the linkage device 20 can be balanced, thereby reducing the overturning moment and enabling the transmission line group 50 to better drive the joint line wheel 33 to rotate. Moreover, multiple sets of transmission line groups 50 can better drive the rotation of the joint line wheel 33, thereby facilitating user use. It should be noted that when two sets of wire groups are used, the winding method on the opposite sides needs to be considered. In order to enable the transmission line groups 50 whose fixed ends are located on both sides of the linkage device 20 to drive the joint line wheel 33 to rotate with the same direction, a set of transmission line groups 50 must cross each other before bypassing the joint line wheel 33 (see for details). Figure 4 ), such an arrangement can enable the transmission wire groups 50 fixed on different sides of the linkage device 20 to achieve the effect of linkage transmission. It can be understood that the power transmission mechanism 100 can use multiple sets of transmission wire groups 50, and the winding method of the transmission wire groups 50 fixed on the same side of the linkage device 20 is the same, so as to achieve better transmission of the power transmission mechanism 100.

[0077] Reference Figure 2 , Figure 3 , Figure 5, in one embodiment of the present application, the joint assembly 30 includes two coaxially arranged joint line wheels 33;

[0078] The power transmission mechanism 100 includes at least two transmission line groups 50, and the linkage device 20 includes a first side 21 and a second side 22 that are arranged opposite to each other, a portion of one transmission line group 50 is fixedly connected to the first side 21, and a portion of the other transmission line group 50 is fixedly connected to the second side 22;

[0079] One of the transmission line groups 50 passes through the line groove 331 and fits the joint line wheel 33 . Another of the transmission line groups 50 is cross-arranged adjacent to one side of the joint line wheel 33 , passes through the line groove 331 and fits the joint line wheel 33 .

[0080] In one embodiment of the present application, two sets of transmission line groups 50 are provided, and two coaxial joint line wheels 33 are provided, so that one transmission line group 50 can bypass the line groove 331 of one joint line wheel 33, so that the transmission effect of the transmission line group 50 is better. It can be understood that the two joint line wheels 33 rotate synchronously, thereby driving the joint assembly 30 to rotate at the same time. And, when two sets of transmission line groups 50 are used, two first guide assemblies 40 can be used accordingly, and the two first guide assemblies 40 are centrally symmetrically arranged relative to the bracket 80, so that the arrangement is convenient for transmission.

[0081] Reference Figures 1 to 3 In one embodiment of the present application, the power transmission mechanism 100 includes a second guide assembly 60, the second guide assembly 60 is located between the linkage device 20 and the joint line wheel 33, the second guide assembly 60 includes at least two second guide wheels 61 arranged at intervals, and the transmission line group 50 passes around the two second guide wheels 61 and is arranged to cross each other. In this embodiment, the transmission line groups 50 are crossed by setting the second guide assembly 60. Specifically, the second guide assembly 60 includes at least two second guide wheels 61, each of which is rotatably fixed to the bracket 80, and the axial direction of the second guide wheel 61 coincides with the third direction. It should be noted that when the distance between the two second guide wheels 61 is large (located on the extension line of the tangent of the joint line wheel 33 along the second direction or on its outside), the installation heights of the two second guide wheels 61 in the third direction can be consistent. When the distance between the two second guide wheels 61 is small (located on the inside of the extension line of the tangent of the joint line wheel 33 along the second direction parallel to the second direction), it is necessary to make the installation height of one second guide wheel 61 in the third direction higher than the installation height of the other second guide wheel 61 in the third direction, so that the transmission line group 50 can be better crossed and the transmission is convenient.

[0082] In one embodiment of the present application, the second guide assembly 60 also includes a slide groove assembly (not shown) located between the two second guide wheels 61, and the slide groove assembly has slide grooves on different planes. A portion of the transmission line group 50 passes through a slide groove, and the other opposite portion passes through another slide groove. The transmission line group 50 can be better guided by the slide groove assembly so that they cross each other before bypassing the joint line wheel 33.

[0083] In another embodiment of the present application, the second guide assembly 60 also includes a rotating column (not shown) between the two second guide wheels 61 and rotatably connected to the bracket 80. The rotating column has two guide grooves spaced apart along its axial direction. A portion of the transmission line group 50 is accommodated in the guide groove and bypasses the rotating column, and the other opposite portion is accommodated in another guide groove. The transmission line group 50 can be better guided by the rotating column, so that they cross each other before bypassing the joint line wheel 33.

[0084] In another embodiment of the present application, the second guide assembly 60 also includes two third guide wheels 62 between the two second guide wheels 61, and the two third guide wheels 62 are both rotatably fixed to the bracket 80, and the axial direction of the third guide wheel 62 coincides with the third direction, and the transmission line group 50 includes an inner surface and an outer surface opposite to each other along the first direction, and the transmission line group 50 bypasses the second guide wheel 61 and the third guide wheel 62, and the inner surface fits the outer edge of the second guide wheel 61, and the outer surface fits the outer edge of the third guide wheel 62. The third guide wheel 62 is provided to increase the contact area between the transmission line group 50 and the joint line wheel 33, so that the transmission line group 50 can better drive the joint line wheel 33 to rotate. It can be understood that the installation heights of the two third guide wheels 62 are inconsistent, and such a configuration facilitates the transmission line groups 50 to cross each other.

[0085] In one embodiment of the present application, the power transmission mechanism 100 further includes a second side transmission wheel set 63, the second side transmission wheel set 63 includes a third side transmission wheel 631 and a fourth side transmission wheel 632 arranged adjacent to each other, the third side transmission wheel 631 and the fourth side transmission wheel 632 are both rotatably fixed to the bracket 80, the axial directions of the third side transmission wheel 631 and the fourth side transmission wheel 632 coincide with the first direction, the transmission assembly includes a lower surface and an upper surface arranged relatively along the third direction, the transmission assembly bypasses the second side transmission wheel set 63, the lower surface is attached to the outer edge of the third side transmission wheel 631, and the upper surface is attached to the outer edge of the fourth side transmission wheel 632. The provision of the side transmission wheel set can make the fixed position of the transmission line set 50 and the transmission steering coordination more convenient on the one hand, and make the transmission of the transmission line set 50 more stable on the other hand.

[0086] Reference Figure 7In one embodiment of the present application, the first linkage component 21 includes a first side surface 211 and a second side surface 212 that are arranged opposite to each other, the number of the elastic members 23 is at least two, one end of the elastic member 23 abuts against the first side surface 211, and the other end abuts against the second linkage component 22;

[0087] One end of the other elastic member 23 abuts against the second side surface 212 , and the other end abuts against the second linkage assembly 22 .

[0088] Preferably, the length direction formed by the line between the first side surface 211 and the second side surface 212 is consistent with the direction in which the driving assembly 10 drives the first linkage assembly 21, and the elastic member 23 abuts the first side surface 211 and the second side surface 212 respectively. Such a configuration enables the elastic linkage device 20 to have good elastic stiffness in both forward and reverse driving, and balances the overall force of the elastic linkage device 20, making it convenient to use. Such a configuration facilitates the power transmission mechanism 100 to adopt a transmission method of a group of transmission lines to transmit, so that its force is more balanced.

[0089] It can be understood that the two elastic members 23 can be arranged opposite to each other, or can be arranged symmetrically with respect to each other, as long as they are convenient for abutment and transmission.

[0090] Reference Figure 7 In one embodiment of the present application, the first linkage component 21 includes a first side surface 211 and a second side surface 212 that are oppositely disposed, the number of the elastic members 23 is at least four, one end of each of the two elastic members 23 abuts against the first side surface 211, and the other ends of each of the two elastic members 23 abut against the second linkage component 22;

[0091] One ends of the two elastic members 23 abut against the second side surface 212 , and the other ends of the two elastic members 23 abut against the second linkage assembly 22 ;

[0092] And / or, the two elastic members 23 located on the same side are centrally symmetrically arranged with respect to the midpoint of a line connecting the second abutment point formed by one elastic member 23 and the second abutment point formed by the other elastic member 23;

[0093] And / or, the elastic members 23 abutting against the first side surface 211 and the elastic members 23 abutting against the second side surface 212 are arranged alternately.

[0094] In this embodiment, two elastic members 23 are provided, which are respectively located on the first side surface 211 and the second side surface 212, so that the power transmission mechanism 100 can be driven by two sets of transmission lines, so that the force is more balanced. Preferably, the length direction formed by the line between the first side surface 211 and the second side surface 212 is consistent with the direction in which the driving component 10 drives the first linkage component 21, and the elastic member 23 abuts the first side surface 211 and the second side surface 212 respectively. Such a setting enables the elastic linkage device 20 to have better elastic stiffness in both forward driving and reverse driving, and makes the overall force of the elastic linkage device 20 balanced, which is convenient for use. In this embodiment, since the transmission line is fixed to the second transmission plate 222 and the fourth transmission plate 224 of the second linkage assembly 22, and their fixed positions are symmetrical to each other, the two elastic members 23 located on the same side are centrally symmetrically arranged relative to the midpoint of the line connecting the second abutment point formed by one elastic member 23 and the second abutment point formed by the other elastic member 23, and the elastic member 23 abutting against the first side surface 211 and the elastic member 23 abutting against the second side surface 212 are arranged alternately. So that one elastic member 23 is arranged adjacent to the fixed position of one transmission line, such an arrangement makes the transmission effect of the elastic member 23 the best.

[0095] Reference Figure 6 , Figure 7 In one embodiment of the present application, the second linkage assembly 22 includes a first transmission plate 221, a second transmission plate 222, a third transmission plate 223 and a fourth transmission plate 224, and the first transmission plate 221, the second transmission plate 222, the third transmission plate 223 and the fourth transmission plate 224 are sequentially connected to jointly enclose the installation space 225;

[0096] The first transmission plate 221 is disposed adjacent to the first side surface 211 , and the elastic member 23 located at one side of the first side surface 211 abuts against the first transmission plate 221 ;

[0097] The third transmission plate 223 is disposed adjacent to the second side surface 212 , and the elastic member 23 located at one side of the second side surface 212 abuts against the third transmission plate 223 ;

[0098] The second transmission plate 222 and the fourth transmission plate 224 are both fixedly connected to the transmission assembly.

[0099] In this embodiment, the second linkage assembly 22 is formed by four plates that are detachably connected to each other, and the first transmission plate 221, the second transmission plate 222, the third transmission plate 223 and the fourth transmission plate 224 are respectively provided with connection holes, and the power transmission mechanism 100 also includes a connecting member, which passes through the connection hole to detachably connect the first transmission plate 221, the second transmission plate 222, the third transmission plate 223 and the fourth transmission plate 224. Specifically, the connecting member can be a screw connection member, and the connection hole can be a screw connection hole.

[0100] In this embodiment, the second transmission plate 222 is further formed with at least two guide locking grooves 2222, the end of one guide locking groove 2222 penetrates one side surface of the fixed body, and the end of the other guide locking groove 2222 penetrates the other opposite side surface of the fixed body;

[0101] Parts of the transmission line extend into the guide locking groove 2222 respectively;

[0102] At least two locking members 2223 are provided, and one of the locking members 2223 is movably received in one of the guide locking grooves 2222 to lock and fix a portion of the transmission line assembly 50 .

[0103] Furthermore, the fourth transmission plate 224 is also formed with at least two guide locking grooves 2222, the end of one guide locking groove 2222 penetrates one side surface of the fixed body, and the end of the other guide locking groove 2222 penetrates the other opposite side surface of the fixed body;

[0104] Parts of the transmission line extend into the guide locking groove 2222 respectively;

[0105] At least two locking members 2223 are provided, and one of the locking members 2223 is movably received in one of the guide locking grooves 2222 to lock and fix a portion of the transmission line assembly 50 .

[0106] In this embodiment, the second transmission plate 222 further includes a movable adjusting member 2224 , and the movable adjusting member 2224 abuts against the locking member 2223 , so that the locking member 2223 locks the transmission line.

[0107] In one embodiment of the present application, the elastic linkage device 20, the transmission line and the joint line wheel can be provided by setting a fixed column (not shown) on the elastic linkage device 20 or the joint, passing the transmission line around the fixed column, and tying the transmission line to the fixed column, or setting a fixed hole (not shown) on the elastic linkage device 20 or the joint, passing the transmission line through the fixed hole, and tying the transmission line to the edge of the fixed hole. The fixed column and the fixed hole can both be arranged in a fixed groove, one end of the fixed column is fixed to the groove wall of the fixed groove, and the other end is fixed to the groove wall on the other side of the fixed groove; the joint line wheel also includes a surrounding wire groove, and a fixed plate (not shown) connected to the groove wall of the fixed groove can also be arranged in the wire groove, and a through hole is formed in the middle of the fixed plate, so that the fixing of the transmission line is convenient.

[0108] Reference Figure 7 In one embodiment of the present application, the first transmission plate 221 and the third transmission plate 223 are both provided with a plurality of first adjustment holes (not shown) penetrating therethrough, and the plurality of first adjustment holes are spaced apart from each other on the first transmission plate 221 and the third transmission plate 223;

[0109] The second transmission plate 222 and the fourth transmission plate 224 are both provided with a plurality of second adjustment holes 2221, and a second adjustment hole 2221 is arranged opposite to a first adjustment hole;

[0110] The elastic linkage device 20 further includes an adjustment assembly 24, wherein the adjustment assembly 24 includes a plurality of adjustment members 241, wherein one of the adjustment members 241 passes through one of the first adjustment holes and one of the second adjustment holes 2221, and the relative position of the adjustment member 241 to the first linkage assembly 21 is adjusted so that the spacing between the first transmission plate 221 and the third transmission plate 223 relative to the first linkage assembly 21 is changed;

[0111] In this embodiment, the adjustment member 241 can be a screw connection member, and the second adjustment hole 2221 can be a screw connection hole. By changing the depth of the screw connection member extending into the screw connection hole, the distance between the first transmission plate 221 and the third transmission plate 223 relative to the first linkage assembly 21 can be changed.

[0112] Preferably, the adjusting members 241 located on the same side are accommodated in the second adjusting hole 2221 at the same depth. Such an arrangement allows the first transmission plate 221 and the third transmission plate 223 to be vertically arranged relative to the second transmission plate 222 and the fourth transmission plate 224. Such an arrangement can make the transmission smoother and facilitate power output.

[0113] Alternatively, the second transmission plate 222 and the fourth transmission plate 224 are both provided with a plurality of adjustment posts, and one of the adjustment posts is plugged into one of the first adjustment holes;

[0114] The adjustment assembly 24 includes a plurality of locking adjustment members, which are movably arranged on the portion of the adjustment column extending out of the first adjustment hole, and the relative position of the locking adjustment member and the first linkage assembly 21 is adjusted to change the spacing between the first transmission plate 221 and the third transmission plate 223 relative to the first linkage assembly 21.

[0115] In one embodiment of the present application, the adjustment column may be a stud, and the locking adjustment member may be a bolt. By adjusting the depth of the bolt sleeved on the stud, the distance between the first transmission plate 221 and the third transmission plate 223 relative to the first linkage assembly 21 is changed.

[0116] In one embodiment of the present application, the adjustment column can be a column with multiple snap-in grooves, and the locking adjustment member can be a snap-in block with a snap-in fixing function, which extends into the snap-in groove through the snap-in block to change the distance between the first transmission plate 221 and the third transmission plate 223 relative to the first linkage assembly 21.

[0117] In one embodiment of the present application, the elastic linkage device 20 further includes a detection device, which is fixed to the second transmission plate 222, and detects the distance between the first transmission plate 221 or the third transmission plate 223 and the first linkage assembly 21;

[0118] Alternatively, the detection device is fixed to the fourth transmission plate 224 , and the detection device detects the distance between the first transmission plate 221 or the third transmission plate 223 and the first linkage assembly 21 .

[0119] The detection device may be a linear displacement sensor, which detects the length of the elastic member 23, thereby determining the value of the preload, and thereby detecting the spacing between the first transmission plate 221 or the third transmission plate 223 and the first linkage assembly 21. The number of the direct displacement sensors may be multiple, thereby making the measurement result more accurate.

[0120] In one embodiment of the present application, the first linkage component 21 further includes a plug hole 2131, the second linkage component 22 protrudes toward the surface of the first linkage component 21 to form a guide column 226, the elastic member 23 is sleeved on the guide column 226, and the end of the guide column 226 adjacent to the first linkage component 21 is plugged into the plug hole 2131. In this embodiment, the elastic member 23 can be a spring, and the guide column 226 is plugged into the middle of the spring, so as to guide and fix the spring, so that the spring can abut against the first linkage component 21 and the second linkage component 22. It can be understood that the guide column 226 can be set as an integral part with the second linkage component 22, or as a separate part. The integral molding structure can save the subsequent assembly process on the one hand, and ensure the accuracy of the relative dimensions between the various parts of the guide column 226 on the other hand. The separate setting can facilitate the replacement of the guide column 226 and is convenient for use.

[0121] In one embodiment of the present application, the first linkage assembly 21 includes a plurality of plug holes 2131 arranged at intervals, the second linkage assembly 22 includes a plurality of guide posts 226, one of the elastic members 23 is sleeved on one of the guide posts 226, one end of the guide post 226 is detachably connected to the first transmission plate 221 of the second linkage assembly 22, and one end of the guide post 226 facing away from the first transmission plate 221 is plugged into the plug hole 2131;

[0122] Alternatively, one end of the guide column 226 is detachably connected to the third transmission plate 223 of the second linkage assembly 22 , and one end of the guide column 226 facing away from the third transmission plate 223 is plugged into the plug hole 2131 .

[0123] It is understandable that one guide post 226 is provided corresponding to one elastic member 23, so that multiple elastic members 23 can better abut the first linkage assembly 21 and the second linkage assembly 22. In this embodiment, the guide post 226 is detachably connected to the first transmission plate 221 or the third transmission plate 223, so as to facilitate its replacement.

[0124] In this embodiment, the guide column 226 includes a column portion 2261 and a fixing portion 2262 connected to one end of the column portion 2261. The fixing portion 2262 is arranged away from the first linkage assembly 21. A plurality of connecting holes are arranged on the fixing portion 2262. The corresponding first transmission plate 221 and the third transmission plate 223 are also provided with connecting holes. The power transmission mechanism 100 also includes a connecting member, through which the connecting member passes through the connecting hole, so that the two can be detachably connected. Specifically, the connecting hole can be a screw hole, and the connecting member can be a screw member. Alternatively, a buckle can be arranged on the first transmission plate 221 and the third transmission plate 223, and the fixing portion 2262 is buckled and fixed by the buckle, so that the two can be detachably connected.

[0125] In one embodiment of the present application, the driving assembly 10 includes a motor 11 and a lead screw 12, the lead screw 12 is further sleeved with a lead screw nut 121, the motor 11 drives the lead screw 12 to rotate, and the lead screw 12 drives the lead screw nut 121 to move;

[0126] The first linkage assembly 21 includes a sleeve member 213, and the sleeve member 213 is sleeved and fixed to the lead screw nut 121;

[0127] The first transmission plate 221 and the second transmission plate 222 are both provided with through holes 2211, and the lead screw 12 can rotatably pass through the two through holes 2211. Such an arrangement can make the structure of the power transmission mechanism 100 more compact, thereby saving installation space 225.

[0128] Reference Figure 6 , Figure 7 In one embodiment of the application, the elastic linkage device 20 further includes an upper fixing plate 26, and the first linkage assembly 21 further includes a lower fixing plate 27. The upper fixing plate 26 fixedly connects the second transmission plate 222 and the fourth transmission plate 224, and the lower fixing plate 27 fixedly connects the sleeve 213 and the lead screw nut 121. The upper fixing plate 26 enables the transmission lines fixed to the second transmission plate 222 and the fourth transmission plate 224 to be better synchronously transmitted, thereby improving the transmission effect. The lower fixing plate 27 makes the fixing of the sleeve 213 and the lead screw nut 121 more stable, which facilitates the transmission of the elastic linkage device 20.

[0129] Furthermore, in order to reduce the mass of the elastic linkage device 20, under the premise of ensuring the strength of each component, weight-reducing holes 25 can be appropriately provided, thereby improving the mechanical efficiency.

[0130] In one embodiment of the present application, the joint assembly 30 includes:

[0131] A primary connecting rod 31, wherein the primary connecting rod 31 is provided with a first transfer shaft hole (not shown);

[0132] A secondary connecting rod 32, wherein the secondary connecting rod 32 is arranged opposite to the primary connecting rod 31, and a second transfer shaft hole (not shown) is provided at one end of the secondary connecting rod 32 adjacent to the primary connecting rod 31;

[0133] A first transfer shaft 34, wherein the first transfer shaft 34 is inserted into the first transfer shaft hole and is inserted into the joint line wheel 33;

[0134] A second transfer shaft 35, wherein the second transfer shaft 35 is inserted into the second transfer shaft hole;

[0135] The rotating assembly 70 is disposed between the primary connecting rod 31 and the secondary connecting rod 32 , and rotatably connects the primary connecting rod 31 and the secondary connecting rod 32 .

[0136] By setting up the rotating component 70, the primary connecting rod 31 can rotate around the first connecting shaft 34, and the secondary connecting rod 32 can drive the second connecting shaft 35 to rotate relative to the primary connecting rod 31, so that the secondary connecting rod 32 fixedly connected to the second connecting shaft 35 can realize variable axial movement, thereby being able to well simulate the transportation form of human joints, so that the bionic robot can fully simulate the characteristics of the organism itself.

[0137] Among them, the first-level connecting rod 31 can be a frame, a mechanical arm or an output end of the previous joint, etc., and the second-level connecting rod 32 can be an end effector, a lower limb load end, an output end of the next joint, etc.

[0138] It can be understood that the joint line wheel 33 drives the first connecting shaft 34 to rotate, thereby driving the secondary connecting rod 32 to move through the rotating component 70, or the joint line wheel 33 drives the rotating component 70, thereby driving the secondary connecting rod 32 to move. The specific installation transmission method is set according to actual needs.

[0139] In one embodiment of the present application, the rotating assembly 70 includes a first gear 71 fixedly connected to the primary connecting rod 31, and a second gear 72 fixedly connected to the secondary connecting rod 32, and the first gear 71 and the second gear 72 are meshed with each other. When the primary connecting rod 31 is fixed and the secondary connecting rod 32 is rotated by an external force, the secondary connecting rod 32 drives the second gear 72 and the second transfer shaft 35 to rotate. Since the second gear 72 is meshed with the first gear 71, the second gear 72 drives the first gear 71 to rotate during the rotation process. However, since the first gear 71 is fixedly connected to the primary connecting rod 31 and the position of the primary connecting rod 31 is fixed, the secondary connecting rod 32 drives the primary connecting rod 31 to rotate around the first transfer shaft 34, that is, the first gear 71 and the second gear 72 form a planetary gear mechanism, and the variable axis rotation of the second gear 72 realizes anthropomorphic joint transmission and improves the comfort of the joint assembly 30 when worn.

[0140] Since the rotation angle of the primary connecting rod 31 and the secondary connecting rod 32 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 first gear 71 and the second gear 72 structure can be a straight tooth shape or a helical tooth shape.

[0141] The first gear 71 and the primary connecting rod 31 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.

[0142] In one embodiment of the present application, the rotating assembly 70 further includes a first rotating wheel 73 fixedly connected to the primary connecting rod 31, and a second rotating wheel 74 fixedly connected to the secondary connecting rod 32;

[0143] 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, and the rotation direction of the second rotating wheel 74 is opposite to the rotation direction of the first rotating wheel 73.

[0144] When the primary connecting rod 31 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 31, 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 improving 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 .

[0145] Further, the fourth transmission line 751 includes a fifth end (not shown) and a sixth end (not shown);

[0146] The fixing block assembly 752 includes a first fixing block (not shown), a second fixing block (not shown), a third fixing block 7521 and a fourth 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;

[0147] The third fixing block 7521 and the fourth fixing block 7522 are spaced apart from each other on the side wall of the second rotating wheel 74;

[0148] Alternatively, the third fixing block 7521 and the fourth fixing block 7522 are arranged at intervals on the secondary connecting rod 32 .

[0149] It is understandable that both the first rotating wheel 73 and the second rotating wheel 74 include a winding groove 331 to facilitate the winding of the fourth transmission wire 751 , and the winding groove 331 is arranged around the side of the first rotating wheel 73 or the second rotating wheel 74 .

[0150] In one embodiment of the present application, the fixing block 332 is provided with a fixing hole through which the fourth transmission line 751 passes along the length direction, and the side wall of the fixing block 332 is provided with a fixing part for fixing the fourth transmission line 751. For example, the first end of a fourth transmission line 751 passes through the fixing hole of the first fixing block, and the second end passes through the fixing hole of the fourth fixing block 7522, and the fixing part fixes the first end and the second end respectively. In order to prevent the fastener from falling off and causing the end of the fourth transmission line 751 to fall off without pre-tightening, the first end and the second end of the fourth transmission line 751 are both knotted, or a sleeve (not shown) is provided at the end of the fourth transmission line 751, and then knotted, the sleeve is provided with two through holes 2441 arranged in parallel, the end of the fourth transmission line 751 passes through the two through holes 2441 in sequence, and then the sleeve is pressed to deform the sleeve to clamp the fourth transmission line 751, and the sleeve material can be aluminum or iron. The fixing part is a set screw provided on the fixing block 332, which is used to fix the position of the fourth transmission line 751 in the fixing hole.

[0151] In another embodiment of the present application, the third fixing block 7521 and the fourth fixing block 7522 are arranged on the secondary connecting rod 32, so that the fourth transmission line 751 can be arranged on the second rotating wheel 74 to increase the contact distance of the fourth transmission line 751 and facilitate transmission. In addition, a guide wheel 321 can be arranged to make the arrangement of the fourth transmission line 751 more reasonable.

[0152] It can be understood that the joint assembly 30 can adopt gear transmission alone, or pulley transmission alone, or a combination of the two. In the present application, both gears and pulleys are used. This arrangement allows the joint assembly 30 to better fit the rotation of the human joint and is convenient for users to use.

[0153] 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;

[0154] 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;

[0155] 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.

[0156] 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.

[0157] The present invention further provides a robot, the robot comprising an elastic linkage device 20, the elastic linkage device 20 comprising:

[0158] A first linkage component 21, wherein the driving component 10 drives the first linkage component 21 to move;

[0159] A second linkage assembly 22, the transmission assembly is fixedly connected to the second linkage assembly 22, the second linkage assembly 22 is formed with an installation space 225, and the first linkage assembly 21 is installed and accommodated in the installation space 225;

[0160] The elastic member 23 is accommodated in the installation space 225, one end of the elastic member 23 abuts against the first linkage component 21 to form a first abutment point, and the other end abuts against the second linkage component 22 to form a second abutment point, and the length direction of the elastic member 23 is consistent with the length direction formed by the line connecting the first abutment point and the second abutment point. 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 one by one.

[0161] 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. An elastic linkage device, applied to a power transmission mechanism, the power transmission mechanism comprising a driving assembly, a transmission assembly and a joint assembly, the driving assembly drives the elastic linkage device to move, the elastic linkage device drives the transmission assembly to move, the transmission assembly drives the joint assembly to move, characterized in that: The elastic linkage device comprises: A first linkage assembly, wherein the driving assembly drives the first linkage assembly to move, and the first linkage assembly includes a first side surface and a second side surface that are arranged opposite to each other; a second linkage assembly, the transmission assembly is fixedly connected to the second linkage assembly, the second linkage assembly comprises a first transmission plate, a second transmission plate, a third transmission plate and a fourth transmission plate, the first transmission plate, the second transmission plate, the third transmission plate and the fourth transmission plate are sequentially connected to form an installation space, the first linkage assembly is installed and accommodated in the installation space, the first transmission plate is arranged adjacent to the first side surface, the third transmission plate is arranged adjacent to the second side surface, and the second transmission plate and the fourth transmission plate are both fixedly connected to the transmission assembly; An elastic member, the number of the elastic members is at least two, the elastic members are accommodated in the installation space, one end of the elastic member abuts against the first linkage component to form a first abutment point, the other end abuts against the second linkage component to form a second abutment point, and the length direction of the elastic member is consistent with the length direction formed by the line connecting the first abutment point and the second abutment point; One end of the elastic member located on one side of the first side abuts against the first side, and the other end abuts against the first transmission plate; one end of the elastic member located on one side of the second side abuts against the second side, and the other end abuts against the third transmission plate; The first transmission plate and the third transmission plate are both provided with a plurality of first adjustment holes penetrating therethrough, and the plurality of first adjustment holes are arranged at intervals on the first transmission plate and the third transmission plate; The second transmission plate and the fourth transmission plate are both provided with a plurality of second adjustment holes, and one of the second adjustment holes is arranged opposite to one of the first adjustment holes; The elastic linkage device further includes an adjustment assembly, the adjustment assembly includes a plurality of adjustment members, one of the adjustment members passes through a first adjustment hole and a second adjustment hole, and the relative position of the adjustment member to the first linkage assembly is adjusted to change the spacing between the first transmission plate and the third transmission plate relative to the first linkage assembly; The elastic linkage device further comprises a detection device, the detection device is fixed to one of the second transmission plate and the fourth transmission plate, and the detection device detects the distance between the first transmission plate or the third transmission plate and the first linkage assembly; The driving assembly includes a motor and a lead screw, and the lead screw is also sleeved with a lead screw nut. The motor drives the lead screw to rotate, and the lead screw drives the lead screw nut to move. The first linkage assembly includes a socket, and the socket is sleeved and fixed on the lead screw nut. The first transmission plate and the second transmission plate are both provided with through holes, and the lead screw can rotatably pass through the two through holes.

2. The elastic linkage device according to claim 1, characterized in that: The number of the elastic members is at least four, wherein one end of two of the elastic members abuts against the first side surface, and the other ends of the two elastic members abut against the first transmission plate; One ends of the other two elastic members abut against the second side surface, and the other ends of the two elastic members abut against the third transmission plate.

3. The elastic linkage device according to claim 2, characterized in that: The two elastic members located on the same side are centrally symmetrically arranged relative to the midpoint of a line connecting a second abutment point formed by one elastic member and a second abutment point formed by the other elastic member.

4. The elastic linkage device according to claim 2, characterized in that: The elastic members abutting against the first side surface and the elastic members abutting against the second side surface are arranged alternately.

5. The elastic linkage device according to any one of claims 1 to 4, characterized in that: The first linkage component also includes an insertion hole, the second linkage component protrudes toward the surface of the first linkage component to form a guide column, the elastic member is sleeved on the guide column, and the end of the guide column adjacent to the first linkage component is inserted into the insertion hole.

6. The elastic linkage device according to claim 5, characterized in that: The first linkage assembly includes a plurality of plug-in holes arranged at intervals, the second linkage assembly includes a plurality of guide posts, one of the elastic members is sleeved on one of the guide posts, one end of the guide post is detachably connected to the first transmission plate of the second linkage assembly, and one end of the guide post facing away from the first transmission plate is plugged into the plug-in hole; Alternatively, one end of the guide column is detachably connected to the third transmission plate of the second linkage assembly, and one end of the guide column facing away from the third transmission plate is plugged into the plug hole.

7. The elastic linkage device according to claim 1, characterized in that: The elastic linkage device also includes an upper fixed plate, and the first linkage assembly also includes a lower fixed plate. The upper fixed plate fixedly connects the second transmission plate and the fourth transmission plate, and the lower fixed plate fixedly connects the sleeve and the lead screw nut.

8. A robot, characterized in that: It comprises an elastic linkage device, which comprises the elastic linkage device as claimed in any one of claims 1 to 7.

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