Flexible exoskeleton robot and its flexible split-type drive package

Abstract

This invention discloses a flexible exoskeleton robot and its flexible split-type drive package. The flexible split-type drive package includes a drive mechanism and a winding quick-release mechanism. The drive mechanism includes an integrated first housing assembly, a power element, a winding drive assembly, and a detection assembly. The power element is disposed outside the first housing assembly. The winding drive assembly includes a drive shaft that rotates under the drive of the power element, with its first end extending outside the first housing assembly. The detection assembly detects the rotation angle of the drive shaft. The winding quick-release mechanism includes an integrated second housing assembly, a winding wheel, and a pull wire. The pull wire is disposed on the winding wheel and extends from a second mounting space outside the second housing assembly. The winding wheel has mounting holes, through which it is detachably connected to the drive shaft. This invention solves the problems of large size, heavy weight, and difficult maintenance of existing exoskeleton robots.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a flexible exoskeleton robot and its flexible split-drive package. Background Technology

[0002] Currently, the main driving method for flexible exoskeleton robots is cable-driven, requiring the drive unit to integrate the motor, reduction transmission mechanism, and load-bearing mechanism into a single design, making the entire flexible exoskeleton robot lightweight and compact. If the integration of the drive unit is not high, the exoskeleton becomes very bulky, reducing human-machine compatibility and wearing comfort, and severely limiting the assistive effect of the flexible exoskeleton robot. Furthermore, considering that the Bowden cable is a consumable during operation, the maintainability of the entire flexible exoskeleton robot also becomes a very important issue.

[0003] In other words, the current flexible exoskeleton robots have low integration of drive mechanisms, resulting in shortcomings such as large size and heavy weight. When these flexible exoskeleton robots are worn on the human body, they increase the additional load on the human body, affecting the comfort and walking flexibility of the wearer, reducing the performance and assistive efficiency of the exoskeleton robot, and also increasing the production cost of the exoskeleton robot, which greatly limits the practical development of flexible exoskeleton robots. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible exoskeleton robot and its flexible split drive package to solve the problems of large size, heavy weight and difficult maintenance of existing exoskeleton robots.

[0005] To achieve the above objectives, according to one aspect of this application, a flexible split-type driver package is provided, comprising:

[0006] A drive mechanism includes an integrated first housing assembly, a power element, a winding drive assembly, and a detection assembly. The first housing assembly encloses a first mounting space. The power element is disposed outside the first housing assembly. The winding drive assembly includes a drive shaft disposed in the first mounting space and rotates under the drive of the power element. A first end of the drive shaft extends outside the first housing assembly. The detection assembly is disposed on the first housing assembly to detect the rotation angle of the drive shaft.

[0007] A winding quick-release mechanism includes an integrated second housing assembly, a winding wheel, and a pull wire. The second housing assembly encloses a second mounting space. The winding wheel is rotatably mounted within the second mounting space. The pull wire is disposed on the winding wheel and extends out of the second housing assembly from the second mounting space. The winding wheel is provided with a mounting hole, and the winding wheel is detachably connected to the drive shaft through the mounting hole.

[0008] Furthermore, the power element includes a motor, the output shaft of which extends into the first mounting space, a motor gear is provided on the output shaft of the motor, and a wound gear is fixedly provided on the drive shaft;

[0009] The drive mechanism further includes a transmission gear assembly, which is disposed within the first mounting space, and the motor gear and the wound gear are connected through the transmission gear assembly.

[0010] Furthermore, the transmission gear assembly includes:

[0011] A first rotating shaft is rotatably mounted in the first mounting space. The first rotating shaft is parallel to the drive shaft and perpendicular to the output shaft of the motor.

[0012] A first gear, the first gear being fixedly mounted on the first rotating shaft and meshing with the motor gear; and

[0013] The second gear is fixedly mounted on the first rotating shaft and meshes with the winding gear.

[0014] Furthermore, the detection component includes:

[0015] Magnet, the magnet being fixedly mounted on the drive shaft; and

[0016] A non-contact magnetic encoder is disposed on the first housing assembly to cooperate with the magnet for detecting the rotation angle of the drive shaft.

[0017] Furthermore, the end of the drive shaft extending out of the first housing assembly is a non-cylindrical section, and the mounting hole is a non-circular hole adapted to the non-cylindrical section.

[0018] Furthermore, the first end of the pull wire is provided with a rigid end, the winding wheel is provided with a countersunk hole, the rigid end is disposed in the countersunk hole and is limited in the countersunk hole by a limiting cover plate.

[0019] Further, the second housing assembly includes:

[0020] The outer casing surrounds and forms the second mounting space, and the winding wheel is rotatably mounted in the second mounting space;

[0021] A winding retainer ring includes an annular body and an annular flange. The annular body forms a clearance hole corresponding to the mounting hole. The inner diameter of the clearance hole is smaller than the outer diameter of the winding wheel. The annular flange is disposed on the outer periphery of the annular body and embedded in the second mounting space. The winding wheel is located on the inner side of the annular flange.

[0022] Furthermore, the winding quick-release mechanism also includes a conduit, which is fixedly mounted on the second housing assembly, and the pull wire passes through the conduit and exits the exterior of the second housing assembly.

[0023] Furthermore, the flexible split-type drive package also includes:

[0024] Mounting base, wherein the mounting base is provided with a mounting groove;

[0025] The control board and the drive mechanism are both disposed in the mounting groove, and the control board is communicatively connected to the power element and the detection component;

[0026] A cover plate is provided on the mounting groove, and a positioning groove is provided on the cover plate. The winding quick-release mechanism is detachably disposed in the positioning groove.

[0027] According to another aspect of the present invention, a flexible exoskeleton robot is provided, the flexible exoskeleton robot including the above-described flexible split drive package.

[0028] By applying the technical solution of this invention, the volume and weight of the flexible split drive package can be effectively reduced because the drive mechanism and the winding quick-release mechanism are set as an integrated structure. When this flexible split drive package is installed on a flexible exoskeleton robot, the load on the flexible exoskeleton robot can be reduced, the comfort and flexibility during use of the flexible exoskeleton robot can be improved, the performance and assistive effect of the flexible split drive package can be improved to a certain extent, and the production cost of the flexible exoskeleton robot can be reduced.

[0029] Meanwhile, the winding quick-release mechanism and the drive mechanism in this invention are detachably connected together through mounting holes and drive shafts. In actual use, the winding quick-release mechanism can be easily removed from the drive mechanism for maintenance. Attached Figure Description

[0030] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0031] Figure 1 This is an exploded view of the flexible split-type driver package disclosed in the embodiments of this application;

[0032] Figure 2 This is a front view of the drive mechanism disclosed in the embodiments of this application;

[0033] Figure 3 yes Figure 2 BB section view in the middle;

[0034] Figure 4 This is a front view of the winding quick-release mechanism disclosed in the embodiments of this application;

[0035] Figure 5 yes Figure 4 AA section view in the image.

[0036] Explanation of reference numerals in the attached figures:

[0037] 10. Drive mechanism; 11. First housing assembly; 111. First housing portion; 112. Second housing portion; 1101. First mounting space; 1102. Recess; 12. Power element; 121. Motor gear; 13. Winded drive assembly; 131. Drive shaft; 132. Winded gear; 14. Detection assembly; 141. Magnet; 142. Non-contact magnetic encoder; 15. Transmission gear assembly; 151. First rotating shaft; 152. First gear; 153. Second gear; 16. First bearing; 17. Second... 20. Bearing; 21. Quick-release winding mechanism; 22. Second housing assembly; 211. Outer housing; 212. Winding retaining ring; 2121. Clearance hole; 2122. Annular body; 2123. Annular flange; 2101. Second mounting space; 2102. Protrusion; 22. Winding wheel; 221. Mounting hole; 222. Countersunk hole; 223. Limiting cover plate; 23. Pull wire; 231. Rigid end; 24. Conduit; 30. Mounting base; 31. Mounting groove; 40. Control board; 50. Cover plate; 51. Positioning groove; 60. Screw. Detailed Implementation

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and are not to a precise scale, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0039] It should be noted that, in order to clearly illustrate the content of this invention, several embodiments are provided to further explain different implementations of the invention. These embodiments are enumerated rather than exhaustive. Furthermore, for the sake of brevity, content mentioned in the preceding embodiments is often omitted in the following embodiments. Therefore, content not mentioned in the later embodiments can be referred to in the preceding embodiments.

[0040] like Figures 1 to 5 As shown, according to an embodiment of this application, a flexible split-type drive package is provided. The flexible split-type drive package includes a drive mechanism 10 and a winding quick-release mechanism 20.

[0041] The drive mechanism 10 includes an integrated first housing assembly 11, a power element 12, a winding drive assembly 13, and a detection assembly 14. The first housing assembly 11 encloses a first mounting space 1101 to facilitate the installation of the winding drive assembly 13 and the detection assembly 14. The power element 12 is disposed outside the first housing assembly 11. The winding drive assembly 13 includes a drive shaft 131, which is disposed within the first mounting space 1101 and rotates under the drive of the power element 12. The first end of the drive shaft 131 extends outside the first housing assembly 11. The detection assembly 14 is disposed on the first housing assembly 11 to detect the rotation angle of the drive shaft 131.

[0042] The winding quick-release mechanism 20 includes an integrated second housing assembly 21, a winding wheel 22, and a pull wire 23. The second housing assembly 21 encloses a second mounting space 2101. The winding wheel 22 is rotatably mounted in the second mounting space 2101. The pull wire 23 is disposed on the winding wheel 22 and extends out of the second housing assembly 21 from the second mounting space 2101. The winding wheel 22 is provided with a mounting hole 221, through which the winding wheel 22 is detachably connected to the first end of the drive shaft 131.

[0043] In actual operation, the power element 12 drives the drive shaft 131 to rotate, which in turn drives the winding wheel 22 connected to the drive shaft 131 to rotate. When the winding wheel 22 rotates, it can drive the pull wire 23 to extend or retract to adjust the length of the pull wire 23 extending out of the second housing assembly 21.

[0044] Because the drive mechanism 10 and the winding quick-release mechanism 20 are integrated in this embodiment, the volume and weight of the flexible split drive package can be effectively reduced. When the flexible split drive package is installed on the flexible exoskeleton robot, the load on the flexible exoskeleton robot can be reduced, the comfort and flexibility during use of the flexible exoskeleton robot can be improved, the performance and assistive effect of the flexible split drive package can be improved to a certain extent, and the production cost of the flexible exoskeleton robot can be reduced.

[0045] Meanwhile, in this embodiment, the winding quick-release mechanism 20 and the drive mechanism 10 are detachably connected together through the mounting hole 221 and the drive shaft 131. In actual use, the winding quick-release mechanism 20 can be easily removed from the drive mechanism 10 for maintenance.

[0046] Specifically, in this embodiment, the first housing assembly 11 includes a first housing portion 111 and a second housing portion 112, which are fastened together to form the aforementioned first mounting space 1101. During actual assembly, the first housing portion 111 and the second housing portion 112 can be connected together using bolts, screws, clips, or other structures, resulting in a simple and easy-to-implement structure.

[0047] To further improve the integration of the flexible split drive package in this embodiment, a recess 1102 is provided on the first housing assembly 11. Correspondingly, a protrusion 2102 is provided on the second housing assembly 21. During actual assembly, the protrusion 2102 is installed in the recess 1102. Through the cooperation of the two, reliable guidance and positioning can be provided.

[0048] The power element 12 includes a motor, the output shaft of which extends into the first mounting space 1101. A motor gear 121 is mounted on the output shaft of the motor, and a wound gear 132 is fixedly mounted on the drive shaft 131. In actual design, the drive mechanism 10 also includes a transmission gear assembly 15, which is disposed in the first mounting space 1101 to realize the transmission connection between the motor gear 121 and the wound gear 132, so as to facilitate the transmission of the motor's power to the drive shaft 131 to drive the wound wheel 22 to rotate.

[0049] Furthermore, the transmission gear assembly 15 includes a first rotating shaft 151, a first gear 152, and a second gear 153. The first rotating shaft 151 is rotatably mounted within the first mounting space 1101 via a first bearing 16. The first rotating shaft 151 is parallel to the drive shaft 131 and perpendicular to the motor's output shaft. The first gear 152 is fixedly mounted on the first rotating shaft 151 and meshes with the motor gear 121. The second gear 153 is fixedly mounted on the first rotating shaft 151 and meshes with the wound gear 132. In practical design, the rotation angle of the drive shaft 131 can be adjusted by selecting and designing the transmission ratio of the first gear 152 and the second gear 153.

[0050] Optionally, in this embodiment, both the motor gear 121 and the first gear 152 are bevel gears. Through the action of the bevel gear, the integration of the drive mechanism 10 can be improved, and the volume and weight of the drive mechanism 10 in this embodiment can be further reduced.

[0051] Combination Figure 2 and Figure 3 As shown, in this embodiment, the drive shaft 131 is rotatably mounted in the first mounting space 1101 via the second bearing 17. One end of the drive shaft 131 extending out of the first housing assembly 11 is a non-cylindrical section, and the mounting hole 221 is a non-circular hole adapted to the non-cylindrical section. The combination of the cylindrical section and the non-circular hole prevents relative rotation between the drive shaft 131 and the winding wheel 22, facilitating the assembly and disassembly of the winding wheel 22 and the drive shaft 131. The structure is simple and easy to implement. Optionally, the non-cylindrical section can be a prism section or an elliptical cylinder section, and the non-circular hole can be a prism-shaped hole or an elliptical hole, etc.

[0052] Furthermore, the detection component 14 in this embodiment includes a magnet 141 and a non-contact magnetic encoder 142. The magnet 141 is fixedly mounted on the drive shaft 131; the non-contact magnetic encoder 142 is mounted on the first housing assembly 11 to cooperate with the magnet 141 for detecting the rotation angle of the drive shaft 131 as system feedback.

[0053] The working process of the drive mechanism 10 is as follows: After the drive mechanism 10 is powered on, the power element 12, i.e., the motor, works. The motor gear 121 serves as the input gear, driving the first gear 152 and the second gear 153 to rotate, which in turn drives the winding gear 132 and the winding wheel 22 to rotate. The power of the power element 12 is transmitted through the first gear 152, the second gear 153, and the winding gear 132, achieving the purpose of deceleration and torque increase. The pull wire 23 is fixed on the winding wheel 22, outputting appropriate displacement, speed, and tension, which acts on the human leg joint. The rotation angle of the drive shaft 131 is linearly related to the displacement of the pull wire 23, indirectly reflecting the movement position of the pull wire 23.

[0054] See Figure 4 and Figure 5 As shown, the second housing assembly 21 in this embodiment includes an outer housing portion 211 and a winding retaining ring 212. The outer housing portion 211 encloses a second mounting space 2101, and the winding wheel 22 is rotatably mounted in the second mounting space 2101 via a deep groove bearing. The winding retaining ring 212 includes an annular body 2122 and an annular flange 2123. The annular body 2122 encloses a clearance hole 2121 corresponding to the mounting hole 221, suitable for the drive shaft 131 to pass through the clearance hole 2121 and connect with the mounting hole 221. The inner diameter of the clearance hole 2121 is smaller than the outer diameter of the winding wheel 22, which can prevent the pull wire 23 wound on the winding wheel 22 from falling off from the clearance hole 2121. The annular flange 2123 is provided on the outer periphery of the annular body 2122 and embedded in the second mounting space 2101. The winding wheel 22 is located inside the annular flange 2123. That is to say, the winding wheel 22 can be effectively installed and positioned by the action of the outer shell 211 and the winding retaining ring 212.

[0055] During actual assembly, the winding retaining ring 212 and the outer shell 211 can be connected by means of interference fit, snap fastener, bolt, etc., which is simple in structure and easy to disassemble and assemble.

[0056] In this embodiment, the first end of the pull wire 23 is provided with a rigid end 231, and the winding reel 22 is provided with a countersunk hole 222. The rigid end 231 is disposed in the countersunk hole 222 and is limited within the countersunk hole 222 by a limiting cover plate 223. In actual installation, the limiting cover plate 223 can be detachably fixed to the winding reel 22 by screws 60. The structure is simple and convenient for maintenance of the pull wire 23. Of course, in other embodiments of this application, the rigid end 231 can also be fixed to the winding reel 22 by welding, snap-fitting, riveting, etc. Any other modifications under the concept of this application are within the protection scope of this application. Optionally, the pull wire 23 in this embodiment is a Bowden wire. The pull wire 23 does not interfere with its winding path in the guide reel while moving. After the pull wire 23 is led out from the winding reel 22, it is fixed to the thigh tension sensor to form a force feedback closed-loop control, while providing assistance for human movement.

[0057] Furthermore, the quick-release winding mechanism 20 also includes a conduit 24, which is fixedly mounted on the second housing assembly 21. The pull wire 23 passes through the conduit 24 and exits the exterior of the second housing assembly 21. The conduit 24 facilitates the protection of the pull wire 23. In actual installation, the end of the conduit 24 can be fixed to the second housing assembly 21 by welding, snap-fitting, screwing, etc., and no specific limitation is made in this application.

[0058] In this embodiment, the winding quick-release mechanism 20 transmits power through the mounting hole 221 on the winding wheel 22 and the non-cylindrical section on the drive shaft 131. The shoulder and deep groove ball bearing on the non-cylindrical section provide positioning for the winding wheel 22. The inner wall of the outer shell 211 is relatively rough and has an interference fit with the edge of the winding retaining ring 212. The two are pressed together during assembly, enclosing the winding wheel 22 inside the structure. The entire winding quick-release mechanism 20 is a closed and solid whole, with only the winding wheel 22 connected to the drive shaft 131 through the square hole to transmit torque.

[0059] Combined again Figures 1 to 5 As shown, the flexible split drive package in this embodiment also includes a mounting base 30, a control board 40, a cover plate 50, and a communication interface. The mounting base 30 has a mounting groove 31; the control board 40 and the drive mechanism 10 are both disposed in the mounting groove 31, and the control board 40 is communicatively connected to the power element 12 and the detection component 14. The cover plate 50 covers the mounting groove 31 and has a positioning groove 51, within which the winding quick-release mechanism 20 is fixedly disposed.

[0060] In practical use, the flexible split drive packages are symmetrically installed behind the waist belt of the flexible exoskeleton robot. Externally, the winding wheel 22 drives the pull cable 23 to wind, providing assistance to the human body. The mounting base 30 encloses the control board 40, drive mechanism 10, communication interface, etc., with the electrical circuitry entirely located inside the flexible split drive package, which improves system reliability. The winding retaining ring 212, made of nylon, wraps around the winding wheel 22, with pre-drilled holes in the tangential direction for pulling the pull cable 23, and is pressed tightly onto the outer shell 211. A conduit 24 is inserted into the second shell assembly 21 and secured by a fixing structure, ensuring the entire pull cable 23 is protected by the synthetic material during operation. Simultaneously, the position of the conduit 24 is adjusted to prevent overlapping and tangling of the pull cable 23 during operation, extending its service life. In practical use, multiple sets of the winding quick-release mechanism 20 can be prepared. When the pull cable 23 needs to be replaced, simply pull out the entire winding quick-release mechanism 20 and replace it with a new one.

[0061] Based on the above structure, it can be seen that the flexible split drive package in this embodiment uses a combination of bevel gears and spur gears to reduce the volume of the drive mechanism 10. The design of the winding quick-release mechanism 20 greatly shortens the maintenance time and improves the installation adaptability and system maintainability.

[0062] The flexible split-type drive package of this invention includes an execution structure with a quick-release interface. Internally, a motor drives a gear transmission mechanism. After deceleration, the driven winding gear 132 drives the pull cable 23 to provide joint assistance. A non-contact magnetic encoder 142 measures the rotation angle of the drive shaft 131 as feedback, calculating the displacement and velocity of the pull cable 23 to form a closed-loop circuit. This provides a suitable joint torque for the human body during movement, enabling the extension / flexion movement of the leg exoskeleton and achieving compliant joint assistance. The drive mechanism 10, control board 40, cables, etc., are integrated into a closed, independent space by the mounting base 30 and cover plate 50, with only two communication interfaces and the pull cable 23 exposed to drive hip joint movement. Simultaneously, the execution structure transmits power through a nylon-metal mating mechanism and achieves quick-release functionality, significantly reducing maintenance time.

[0063] The integrated drive device of this invention largely solves the above-mentioned problems. It integrates the motor, reduction mechanism, drive circuit, control circuit, battery, Bowden wire, etc., into a closed and independent servo drive package. All electrical cables are enclosed inside the flexible split drive package. Special limiting and guiding structures are designed at the Bowden wire winding and exit ends to protect the Bowden wire and improve the stability and reliability of the drive mechanism and circuit. At the same time, the drive mechanism 10 and the winding quick-release mechanism 20 can reliably transmit power through the cooperation of non-cylindrical sections and non-circular holes, allowing for quick insertion and removal. The recess 1102 on the first housing assembly 11 and the nylon protrusion 2102 on the second housing assembly 21 can provide reliable guidance and positioning. The entire flexible split drive package is lightweight and compact, reducing the number of parts and saving costs. At the same time, the integrated design improves installation adaptability and system reliability and maintainability.

[0064] According to another aspect of the present invention, a flexible exoskeleton robot is provided, which includes the aforementioned flexible split drive package. Therefore, the flexible exoskeleton robot includes all the technical effects of the flexible split drive package in the above embodiments. Since the technical effects of the flexible split drive package have been described in detail above, they will not be repeated here.

[0065] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0066] 1. The flexible drive package of the present invention has a compact structure, a high degree of integration, and good installation adaptability;

[0067] 2. The winding wheel actuator of the flexible drive package of the present invention transmits power through a non-cylindrical section and a non-circular hole, which can realize quick insertion and removal, quick and simple replacement, and good maintainability;

[0068] 3. The flexible drive package of the present invention has a small volume and weight, fast response speed, and improves the efficiency of human assistance;

[0069] 4. The flexible drive package of the present invention can be separately installed on both sides of the waist belt of the flexible exoskeleton robot, which has good adaptability.

[0070] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0071] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0072] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A flexible split-type drive package, characterized in that, include: A drive mechanism (10) includes an integrated first housing assembly (11), a power element (12), a winding drive assembly (13), and a detection assembly (14). The first housing assembly (11) encloses a first mounting space (1101). The power element (12) is disposed outside the first housing assembly (11). The winding drive assembly (13) includes a drive shaft (131). The drive shaft (131) is disposed in the first mounting space (1101) and rotates under the drive of the power element (12). The first end of the drive shaft (131) extends outside the first housing assembly (11). The detection assembly (14) is disposed on the first housing assembly (11) to detect the rotation angle of the drive shaft (131). as well as The winding quick-release mechanism (20) includes an integrated second housing assembly (21), a winding wheel (22), and a pull wire (23). The second housing assembly (21) encloses a second mounting space (2101). The winding wheel (22) is rotatably mounted in the second mounting space (2101). The pull wire (23) is provided on the winding wheel (22) and extends out of the second housing assembly (21) from the second mounting space (2101). The winding wheel (22) is provided with a mounting hole (221). The winding wheel (22) is detachably connected to the drive shaft (131) through the mounting hole (221). The power element (12) includes a motor, the output shaft of which extends into the first mounting space (1101), a motor gear (121) is provided on the output shaft of the motor, and a wound gear (132) is fixedly provided on the drive shaft (131); The drive mechanism (10) further includes a transmission gear assembly (15), which is disposed in the first mounting space (1101), and the motor gear (121) and the wound gear (132) are connected through the transmission gear assembly (15). The transmission gear assembly (15) includes: A first rotating shaft (151) is rotatably mounted in the first mounting space (1101). The first rotating shaft (151) is parallel to the drive shaft (131) and perpendicular to the output shaft of the motor. The first gear (152) is fixedly mounted on the first rotating shaft (151) and meshes with the motor gear (121); as well as The second gear (153) is fixedly mounted on the first rotating shaft (151) and meshes with the winding gear (132).

2. The flexible split-type drive package according to claim 1, characterized in that, The detection component (14) includes: A magnet (141), said magnet (141) being fixedly mounted on the drive shaft (131); and A non-contact magnetic encoder (142) is disposed on the first housing assembly (11) to cooperate with the magnet (141) for detecting the rotation angle of the drive shaft (131).

3. The flexible split-type drive package according to claim 1, characterized in that, The drive shaft (131) extends out of the first housing assembly (11) at one end and is a non-cylindrical section. The mounting hole (221) is a non-circular hole adapted to the non-cylindrical section.

4. The flexible split-type drive package according to claim 1, characterized in that, The first end of the pull wire (23) is provided with a rigid end (231), and the winding wheel (22) is provided with a countersunk hole (222). The rigid end (231) is disposed in the countersunk hole (222) and is limited in the countersunk hole (222) by a limiting cover plate (223).

5. The flexible split-type drive package according to claim 1, characterized in that, The second housing assembly (21) includes: The outer casing (211) surrounds and forms the second mounting space (2101); A winding retaining ring (212) is provided, comprising an annular body (2122) and an annular flange (2123). The annular body (2122) surrounds and forms a clearance hole (2121) corresponding to the mounting hole (221). The inner diameter of the clearance hole (2121) is smaller than the outer diameter of the winding wheel (22). The annular flange (2123) is disposed on the outer periphery of the annular body (2122) and embedded in the second mounting space (2101). The winding wheel (22) is located on the inner side of the annular flange (2123).

6. The flexible split-type drive package according to any one of claims 1 to 5, characterized in that, The winding quick-release mechanism (20) also includes a wire tube (24), which is fixedly mounted on the second housing assembly (21), and the pull wire (23) passes through the wire tube (24) and exits the outside of the second housing assembly (21).

7. The flexible split-type drive package according to any one of claims 1 to 5, characterized in that, The flexible split-type drive package also includes: Mounting base (30), wherein the mounting base (30) is provided with mounting groove (31); The control board (40) and the drive mechanism (10) are both disposed in the mounting groove (31), and the control board (40) is communicatively connected to the power element (12) and the detection component (14); A cover plate (50) is provided on the mounting groove (31), and a positioning groove (51) is provided on the cover plate (50). The winding quick release mechanism (20) is detachably disposed in the positioning groove (51).

8. A flexible exoskeleton robot, characterized in that, The flexible exoskeleton robot includes the flexible split drive package as described in any one of claims 1 to 7.

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