A bidirectional transmission flexible exoskeleton driving mechanism

Abstract

A flexible exoskeleton drive mechanism with bidirectional transmission belongs to the field of exoskeleton robot drive technology. In order to solve the problem that the drive module of the existing flexible exoskeleton equipment adopts a mode of driving a single line with a single drive unit, which brings extra burden to the wearer, and the existing drive unit does not have the ability to tighten the rope, and there will be a response delay due to relaxation during the power transmission process, thereby weakening the power-assisting effect, the present application provides a flexible exoskeleton drive mechanism with bidirectional transmission, the drive mechanism includes a housing, a gear motor assembly and a wire wheel mechanism, one end of the wire wheel mechanism is installed on the power output end of the gear motor assembly, the housing is sleeved on the wire wheel mechanism, and the end of the housing close to the gear motor assembly is detachably connected to the housing at the power output end of the gear motor assembly by bolts. The present application is mainly used for the drive mechanism of the flexible exoskeleton.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeleton robot driving, and in particular relates to a flexible exoskeleton driving mechanism with bidirectional transmission. Background Art

[0002] A flexible exoskeleton is a robotic system designed to assist limb movement. It works closely with the wearer in structure and function. It can sense the body's movement intentions and transmit torque to the joints through various forms of actuators, thereby amplifying muscle strength or assisting the body in completing specific movements.

[0003] The rope drive mechanism is a commonly used actuator form for wearable power-assist equipment. It is the initial mechanism for the system to generate and transmit auxiliary torque, and determines the size and direction of the output. A drive module with a reasonable retraction and extension form, fast response, and small transmission error can better improve the auxiliary efficiency and human-machine compatibility.

[0004] For the existing flexible exoskeleton equipment, the function mode of its driving module is relatively simple. The common method of a power unit driving a Bowden cable is easier to achieve motion control, but it will increase the mass and volume of the system and bring additional burden to the wearer. In addition, it basically does not have the ability to tension the rope, and there will be a response delay due to relaxation during the power transmission process, thereby weakening the power-assisting effect.

[0005] In response to the above problems, this patent specifically designs a rope drive unit with rope pre-tensioning and bidirectional transmission to achieve high transmission efficiency and lightweight of the flexible exoskeleton, which is in line with practical needs. Summary of the invention

[0006] The present invention aims to solve the problem that the driving module of the existing flexible exoskeleton equipment adopts a mode of driving a single line with a single driving unit, which brings extra burden to the wearer, and the existing driving unit does not have the ability to tighten the rope, which will cause response delay due to relaxation during the power transmission process, thereby weakening the power assistance effect, and thus provides a flexible exoskeleton driving mechanism with bidirectional transmission;

[0007] A bidirectional transmission flexible exoskeleton drive mechanism, the drive mechanism comprising a housing, a gear motor assembly and a wire wheel mechanism, one end of the wire wheel mechanism is mounted on the power output end of the gear motor assembly, the housing is sleeved on the wire wheel mechanism, and one end of the housing close to the gear motor assembly is detachably connected to the housing at the power output end of the gear motor assembly through bolts;

[0008] Furthermore, the gear motor assembly includes a housing, a FOC driver, a brushless motor and a reducer, wherein the FOC driver, the brushless motor and the reducer are all arranged in the housing, the FOC driver is installed on the control end of the brushless motor, the high-speed input end of the reducer is sleeved on the power output shaft of the brushless motor, and the low-speed output end of the reducer is installed on the bobbin mechanism;

[0009] Furthermore, the wire wheel mechanism comprises a locking bolt, a No. 1 elastic retaining ring, a forward one-way wire wheel, an intermediate wheel, a reverse one-way wire wheel, a No. 2 elastic retaining ring and a main shaft, one end of the main shaft is mounted on the low-speed output end of the reducer, a locking threaded hole is processed on the end face of the other end of the main shaft, the No. 1 elastic retaining ring, the intermediate wheel and the No. 2 elastic retaining ring are sequentially sleeved on the outer circumferential surface of the main shaft along the extension direction of the main shaft, and the No. 2 elastic retaining ring is arranged close to the gear motor assembly, the forward one-way wire wheel is sleeved on the forward output part in the intermediate wheel, and the reverse one-way wire wheel is sleeved on the reverse output part in the intermediate wheel, the locking bolt is arranged in the locking threaded hole at the other end of the main shaft, and the locking bolt is threadedly connected to the main shaft, the screwing part of the locking bolt is arranged on the outside of the No. 1 elastic retaining ring, and the screwing part of the locking bolt is used to lock and limit the No. 1 elastic retaining ring;

[0010] Furthermore, the forward one-way wire wheel comprises a wire wheel cover, a one-way bearing, a flat key and a wire wheel sleeve, the wire wheel sleeve is sleeved on the bearing outer ring of the one-way bearing, and a No. 1 keyway is processed on the inner ring wall of the wire wheel sleeve, a No. 2 keyway is processed on the bearing outer ring of the one-way bearing, and the No. 1 keyway and the No. 2 keyway are arranged correspondingly, the flat key is arranged in the cavity formed by the No. 1 keyway and the No. 2 keyway, and the one-way bearing is circumferentially fixed to the wire wheel sleeve by the flat key, the wire wheel cover is arranged on the end of the wire wheel sleeve away from the intermediate wheel, and the wire wheel cover is detachably connected to the wire wheel sleeve by bolts, and the bearing inner ring of the one-way bearing is sleeved on the forward output part of the intermediate wheel;

[0011] Furthermore, the intermediate wheel includes a No. 1 thin-walled deep groove ball bearing, a forward line wheel sleeve, a No. 2 thin-walled deep groove ball bearing, an outer wheel plate, a sleeve, a planetary carrier, a Z1 type expansion sleeve, a gear ring, a planetary gear set, a sun gear, a spring sleeve, a volute spring, a No. 3 thin-walled deep groove ball bearing, a reverse line wheel sleeve and a No. 4 thin-walled deep groove ball bearing. The forward line wheel sleeve, the outer wheel plate, the planetary carrier, the sun gear and the reverse line wheel sleeve are sequentially sleeved on the outer cylindrical surface of the main shaft, the No. 1 thin-walled deep groove ball bearing and the No. 2 thin-walled deep groove ball bearing are arranged between the forward line wheel sleeve and the main shaft, and the No. 1 thin-walled deep groove ball bearing and the No. 2 thin-walled deep groove ball bearing are respectively arranged near one end of the forward line wheel sleeve The outer ring of the first thin-walled deep groove ball bearing and the outer ring of the second thin-walled deep groove ball bearing are fixedly connected to the inner wall of the positive line wheel sleeve, the inner ring of the first thin-walled deep groove ball bearing and the inner ring of the second thin-walled deep groove ball bearing are fixedly connected to the outer cylindrical surface of the main shaft, the outer wheel plate is installed on one end of the positive line wheel sleeve, the outer wheel plate and the main shaft are provided with a sleeve, the inner ring wall of the outer wheel plate is fixedly connected to the outer cylindrical wall of the sleeve, the inner cylindrical wall of the sleeve is fixedly connected to the outer cylindrical surface of the main shaft, a gear ring is installed on the end of the outer wheel plate away from the positive line wheel sleeve, a planet carrier is arranged in the gear ring, the planet carrier is arranged close to the outer wheel plate, a Z1 type expansion sleeve is arranged between the planet carrier and the main shaft, and the Z1 type expansion sleeve is provided. The outer circular wall is fixedly connected to the inner circular wall of the planet carrier, the inner circular wall of the Z1 type expansion sleeve is fixedly connected to the outer circular wall of the main shaft, a planetary gear set is installed at one end of the planet carrier away from the outer wheel plate, the planetary gear set is arranged in the gear ring, and the planetary gear set is meshed with the gear ring teeth, the planetary gear set is sleeved on the outer circular surface of the sun gear, and the planetary gear set is meshed with the gear part of the sun gear, the sun gear is arranged in the gear ring, a spring sleeve is arranged between the sun gear and the main shaft, the outer circular surface of the spring sleeve is fixedly connected to the inner circular surface of the sun gear, the inner circular surface of the spring sleeve is fixedly connected to the outer circular surface of the main shaft, the volute spring is sleeved on the light rod part in the sun gear, and one end of the volute spring is connected to the light rod part of the sun gear The outer ring of the vortex spring is fixedly connected to the gear ring, the reverse line wheel sleeve is arranged at the end of the sun gear away from the outer wheel plate, and one end of the reverse line wheel sleeve is fixedly connected to the sun gear, a No. 3 thin-walled deep groove ball bearing and a No. 4 thin-walled deep groove ball bearing are arranged between the reverse line wheel sleeve and the main shaft, the No. 3 thin-walled deep groove ball bearing and the No. 4 thin-walled deep groove ball bearing are respectively arranged close to one end of the reverse line wheel sleeve, the outer ring of the No. 3 thin-walled deep groove ball bearing and the outer ring of the No. 4 thin-walled deep groove ball bearing are both fixedly connected to the inner wall of the reverse line wheel sleeve, and the inner ring of the No. 3 thin-walled deep groove ball bearing and the inner ring of the No. 4 thin-walled deep groove ball bearing are both fixedly connected to the outer cylindrical surface of the main shaft;

[0012] The beneficial effects of this application compared to the prior art are as follows:

[0013] The present invention provides a flexible exoskeleton drive mechanism with bidirectional transmission, wherein the flexible exoskeleton drive mechanism uses a flexible medium such as a Bowden cable to transmit power from a motor to a human joint, which can fit well with the human body, making the structure lightweight and compact, and not hindering limb movements. At the same time, the flexible exoskeleton drive mechanism provided by the present application also has a bidirectional rope pre-tightening function. Before the joint assistance is officially started, the forward one-way line wheel and the reverse one-way line wheel can be made to rotate asynchronously by controlling the output of the gear motor. After the process is completed, the Bowden cable connected between the limb anchor point and the one-way line wheel will be tightened. In addition, the flexible exoskeleton drive mechanism provided by the present application has an elastic element such as a volute spring, so that when the joint assistance is provided, the transmission will be smoother and have a good buffering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the bidirectional rope drive mechanism provided by the present invention during installation and use;

[0015] Figure 2 A three-dimensional cross-sectional view of the bidirectional rope drive mechanism provided by the present invention;

[0016] Figure 3 It is a structural explosion diagram of the centerline wheel mechanism of the present invention;

[0017] Figure 4 It is a structural explosion diagram of the one-way wire wheel in the present invention;

[0018] Figure 5 It is a structural exploded diagram of the intermediate wheel in the present invention;

[0019] Figure 6 This is a schematic diagram of the appearance of the bidirectional rope drive mechanism provided by the present invention.

[0020] In the figure: 1 locking bolt, 2 No. 1 circlip, 3 forward one-way wire wheel, 301 wire wheel cover, 302 one-way bearing, 303 flat key, 304 wire wheel sleeve, 4 intermediate wheel, 401 No. 1 thin-walled deep groove ball bearing, 402 forward wire wheel sleeve, 403 No. 2 thin-walled deep groove ball bearing, 404 outer wheel plate, 405 sleeve, 406 planetary carrier, 407 Z1 expansion sleeve, 408 gear ring, 409 planetary gear set, 4010 sun gear, 4011 spring sleeve, 4012 scroll spring, 4013 No. 3 thin-walled deep groove ball bearing, 4014 reverse wire wheel sleeve, 4015 No. 4 thin-walled deep groove ball bearing, 5 housing, 6 reverse one-way wire wheel, 7 No. 2 circlip, 8 main shaft and 9 gear motor assembly. DETAILED DESCRIPTION

[0021] Specific implementation method 1: Combination Figures 1 to 6To describe this embodiment, a bidirectional transmission flexible exoskeleton drive mechanism is provided, wherein the drive mechanism comprises a housing 5, a gear motor assembly 9 and a wire pulley mechanism, one end of the wire pulley mechanism is mounted on the power output end of the gear motor assembly 9, the housing 5 is sleeved on the wire pulley mechanism, and the end of the housing 5 close to the gear motor assembly 9 is detachably connected to the housing at the power output end of the gear motor assembly 9 by bolts.

[0022] In this embodiment, the shell 5 is used to protect the wire wheel mechanism. The shell 5 is a split structure, and the upper and lower parts are completely symmetrical. After being combined into one, the cylindrical surface of the wire wheel mechanism can be completely surrounded. A through hole is set at the position corresponding to the one-way wire wheel to facilitate the passage of the Bowden cable.

[0023] Specific implementation method 2: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the first embodiment is that the gear motor assembly 9 includes a housing, a FOC driver, a brushless motor and a reducer. The FOC driver, the brushless motor and the reducer are all arranged in the housing. The FOC driver is installed on the control end of the brushless motor. The high-speed input end of the reducer is mounted on the power output shaft of the brushless motor, and the low-speed output end of the reducer is installed on the wire wheel mechanism. Other components and connection methods are the same as those of the first embodiment.

[0024] In this embodiment, the gear motor assembly 9 is composed of a FOC driver, a brushless motor and a reducer, outputs and receives signals through CAN communication, and allows wide voltage input. It can be fixed on the mounting seat on the back of the human body by bolt connection.

[0025] Specific implementation method three: Combination Figures 1 to 6 The present embodiment is described. The present embodiment is different from the second embodiment in that the wire wheel mechanism includes a locking bolt 1, a No. 1 circlip 2, a forward one-way wire wheel 3, an intermediate wheel 4, a reverse one-way wire wheel 6, a No. 2 circlip 7 and a main shaft 8. One end of the main shaft 8 is mounted on the low-speed output end of the reducer, and a locking threaded hole is processed on the end face of the other end of the main shaft 8. The No. 1 circlip 2, the intermediate wheel 4 and the No. 2 circlip 7 are sequentially sleeved on the outer cylindrical surface of the main shaft 8 along the extension direction of the main shaft 8, and the No. 2 circlip 7 is arranged close to the gear motor assembly 9. The forward one-way wire wheel 3 is sleeved on the forward output part in the intermediate wheel 4, and the reverse one-way wire wheel 6 is sleeved on the reverse output part in the intermediate wheel 4. The locking bolt 1 is arranged in the locking threaded hole at the other end of the main shaft 8, and the locking bolt 1 is threadedly connected to the main shaft 8. The screwing portion of the locking bolt 1 is arranged on the outside of the No. 1 circlip 2, and the screwing portion of the locking bolt 1 is used to lock and limit the No. 1 circlip 2. Other components and connection methods are the same as those of the second specific implementation method.

[0026] In this embodiment, the wire wheel mechanism is fixed to the low-speed output end of the reducer by bolts, and is assembled by an intermediate wheel 4, a forward one-way wire wheel 3, a reverse one-way wire wheel 6, and a main shaft 8. The forward one-way wire wheel 3 and the reverse one-way wire wheel 6 are respectively installed on the wire wheel sleeves on both sides of the intermediate wheel, and then the whole is sleeved on the main shaft 8, wherein the first elastic retaining ring 2 and the second elastic retaining ring 7 play a protective role, and the locking bolt 1 plays a role in axial limiting the above-mentioned components. Two Bowden cables are respectively wound on the forward one-way wire wheel 3 and the reverse one-way wire wheel 6, pass through the corresponding through holes on the housing 5 and the corresponding wire sheaths, and finally connected to the anchor point set on the limb. The wire sheath is fixed along the surface of the human body, and its end is connected to the through hole of the housing, and finally forms the desired path.

[0027] Specific implementation method four: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the specific embodiment 3 is that a No. 1 connecting flange is provided on the connecting end of the main shaft 8 and the gear motor assembly 9, and the No. 1 connecting flange is integrally formed with the main shaft 8, and a No. 2 connecting flange is provided on the low-speed output end of the reducer, and the low-speed output end of the reducer is integrally formed with the No. 2 connecting flange, and the No. 1 connecting flange is coaxially arranged with the No. 2 connecting flange, and the No. 1 connecting flange and the No. 2 connecting flange are fastened and connected by bolts. Other components and connection methods are the same as those of the specific embodiment 3.

[0028] Specific implementation method five: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the fourth embodiment is that the positive one-way line wheel 3 includes a line wheel cover 301, a one-way bearing 302, a flat key 303 and a line wheel sleeve 304. The line wheel sleeve 304 is sleeved on the outer ring of the one-way bearing 302, and a No. 1 keyway is processed on the inner ring wall of the line wheel sleeve 304. A No. 2 keyway is processed on the outer ring of the one-way bearing 302, and the No. 1 keyway and the No. 2 keyway are correspondingly arranged. The flat key 303 is arranged in the cavity formed by the No. 1 keyway and the No. 2 keyway, and the one-way bearing 302 is circumferentially fixed to the line wheel sleeve 304 by the flat key 303. The line wheel cover 301 is arranged on the end of the line wheel sleeve 304 away from the intermediate wheel 4, and the line wheel cover 301 is detachably connected to the line wheel sleeve 304 by bolts, and the inner ring of the one-way bearing 302 is sleeved on the positive output part of the intermediate wheel 4. Other components and connection methods are the same as those of the fourth embodiment.

[0029] In this embodiment, the inside of the forward one-way line wheel 3 is embedded with a one-way bearing 302, and the outside is a line wheel 304 that can be wound with the Bowden line. This structure allows the forward one-way line wheel 3 to be locked with the forward line wheel shaft 402 and the reverse line wheel shaft 4014 in the rotation direction of tightening the Bowden line, so that the power can be transmitted from the gear motor assembly 9; and in the direction of releasing the Bowden line, they are disengaged from each other and rotate freely, and the Bowden line is released from the forward one-way line wheel 3 and the reverse one-way line wheel 6 without hindrance. The use of the one-way bearing 302 allows only one of the forward one-way line wheel 3 and the reverse one-way line wheel 6 to rotate with it when the main shaft 8 rotates clockwise or counterclockwise. This allows one side of the joint to reel in and assist while the other side will not be hindered.

[0030] Specific implementation method six: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the fifth embodiment is that the structure of the reverse one-way wire wheel 6 is the same as that of the forward one-way wire wheel 3. Other components and connection methods are the same as those of the fifth embodiment.

[0031] In this embodiment, the reverse one-way line wheel 6 has the same structure as the forward one-way line wheel 3 and the same working principle, but the one-way bearing in the reverse one-way line wheel 6 is installed differently from the one-way bearing 302 in the forward one-way line wheel 3. The one-way bearing 302 of the forward one-way line wheel 3 is locked with the forward line wheel shaft 402 in the clockwise direction, so that the entire forward one-way line wheel 3 can rotate clockwise with the forward line wheel shaft 402, thereby completing the line-retrieving process, but will be disengaged in the counterclockwise direction and will not rotate with it, so as to achieve the effect of not hindering the line-releasing process. However, the one-way bearing 302 of the reverse one-way line wheel 6 is locked with the reverse line wheel shaft 4014 in the counterclockwise direction and remains free in the clockwise direction.

[0032] Specific implementation method seven: Combination Figures 1 to 6The present embodiment is described. The present embodiment is different from the specific embodiment 6 in that the intermediate wheel 4 includes a first thin-walled deep groove ball bearing 401, a forward line wheel sleeve 402, a second thin-walled deep groove ball bearing 403, an outer wheel plate 404, a sleeve 405, a planetary carrier 406, a Z1 type expansion sleeve 407, a gear ring 408, a planetary gear set 409, a sun gear 4010, a spring sleeve 4011, a volute spring 4012, a third thin-walled deep groove ball bearing 4013, a reverse line wheel sleeve 4014 and a fourth thin-walled deep groove ball bearing 4015. The forward line wheel sleeve 402, the outer wheel plate 404, the planetary carrier 406, the sun gear 4010 and the reverse line wheel sleeve 4014 are sequentially sleeved on the outer circumferential surface of the main shaft 8. The first thin-walled deep groove ball bearing 401 No. 1 and No. 2 thin-walled deep groove ball bearings 403 are arranged between the forward line wheel sleeve 402 and the main shaft 8, and the No. 1 thin-walled deep groove ball bearing 401 and the No. 2 thin-walled deep groove ball bearing 403 are respectively arranged close to one end of the forward line wheel sleeve 402, the outer ring of the No. 1 thin-walled deep groove ball bearing 401 and the outer ring of the No. 2 thin-walled deep groove ball bearing 403 are both fixedly connected to the inner wall of the forward line wheel sleeve 402, the inner ring of the No. 1 thin-walled deep groove ball bearing 401 and the inner ring of the No. 2 thin-walled deep groove ball bearing 403 are both fixedly connected to the outer cylindrical surface of the main shaft 8, the outer wheel plate 404 is installed on one end of the forward line wheel sleeve 402, the outer wheel plate 404 and the main shaft 8 are provided with a sleeve 405, the inner ring wall of the outer wheel plate 404 is fixedly connected to the outer cylindrical wall of the sleeve 405, and the sleeve 405 The inner circular wall is fixedly connected to the outer circular surface of the main shaft 8, a gear ring 408 is installed on the end of the outer wheel plate 404 away from the positive line wheel sleeve 402, a planet carrier 406 is arranged in the gear ring 408, the planet carrier 406 is arranged close to the outer wheel plate 404, a Z1 type expansion sleeve 407 is arranged between the planet carrier 406 and the main shaft 8, the outer circular wall of the Z1 type expansion sleeve 407 is fixedly connected to the inner circular wall of the planet carrier 406, the inner circular wall of the Z1 type expansion sleeve 407 is fixedly connected to the outer circular wall of the main shaft 8, a planetary gear set 409 is installed on the end of the planetary gear set 406 away from the outer wheel plate 404, the planetary gear set 409 is arranged in the gear ring 408, and the planetary gear set 409 is meshed with the gear ring 408, the planetary gear set 409 is sleeved on the outer circular surface of the sun gear 4010, and the planetary gear set 40 9 is meshed with the gear teeth of the sun gear 4010, the sun gear 4010 is arranged in the gear ring 408, a spring sleeve 4011 is arranged between the sun gear 4010 and the main shaft 8, the outer cylindrical surface of the spring sleeve 4011 is fixedly connected to the inner cylindrical surface of the sun gear 4010, the inner cylindrical surface of the spring sleeve 4011 is fixedly connected to the outer cylindrical surface of the main shaft 8, a volute spring 4012 is sleeved on the light rod portion in the sun gear 4010, one end of the volute spring 4012 is fixedly connected to the light rod portion of the sun gear 4010, and the other end of the volute spring 4012 is fixedly connected to the gear ring 408, a reverse line wheel sleeve 4014 is arranged at one end of the sun gear 4010 away from the outer wheel plate 404, and one end of the reverse line wheel sleeve 4014 is fixedly connected to the sun gear 4010,A number 3 thin-walled deep groove ball bearing 4013 and a number 4 thin-walled deep groove ball bearing 4015 are provided between the reverse line wheel sleeve 4014 and the main shaft 8. The number 3 thin-walled deep groove ball bearing 4013 and the number 4 thin-walled deep groove ball bearing 4015 are respectively provided near one end of the reverse line wheel sleeve 4014. The outer ring of the number 3 thin-walled deep groove ball bearing 4013 and the outer ring of the number 4 thin-walled deep groove ball bearing 4015 are both fixedly connected to the inner wall of the reverse line wheel sleeve 4014. The inner ring of the number 3 thin-walled deep groove ball bearing 4013 and the inner ring of the number 4 thin-walled deep groove ball bearing 4015 are both fixedly connected to the outer cylindrical surface of the main shaft 8. Other components and connection methods are the same as those of the specific implementation method 6.

[0033] In this embodiment, the intermediate wheel 4 is a transmission structure composed of a planetary gear system, a volute spring, etc. The planet carrier 406 of the planetary gear system is fixedly connected to the main shaft 8 through a Z1-type expansion sleeve 407, the ring gear 408 is connected to the forward line wheel sleeve 402 through the outer wheel plate 404, the sun wheel 4010 is directly fixedly connected to the reverse line wheel sleeve 4014, and the outermost ring and the innermost ring of the volute spring 4012 are respectively connected to the ring gear 408 and the sun wheel 4010. This transmission structure can make the output of the motor produce different motion states on the two one-way line wheels, and the ring gear 408 and the sun wheel 4010 are connected by the volute spring 4012, thereby indirectly realizing the elastic transmission between the forward line wheel sleeve 402 and the reverse line wheel sleeve 4014 fixedly connected to these two components, so that the forward line wheel sleeve 402 and the reverse line wheel sleeve 4014 can rotate asynchronously, forming the structural basis for the forward one-way line wheel 3 and the reverse one-way line wheel 6 to asynchronously tighten the Bowden line;

[0034] The intermediate wheel 4 can realize the automatic pre-tightening of the two Bowden lines in sequence. When tightening the Bowden line wound on the forward one-way line wheel 3, the gear motor 9 rotates clockwise, and the power is transmitted to the forward one-way line wheel 3, so that it rotates in the same direction and performs the line-retrieving action, and stores energy in the spiral spring 4012. Then, the Bowden line wound on the reverse one-way line wheel 6 begins to be tightened, so that the gear motor 9 is disabled. Under the action of the spiral spring 4012, the reverse one-way line wheel 6 rotates counterclockwise and performs the line-retrieving action;

[0035] At the same time, the intermediate wheel 4 can realize bidirectional transmission. After the automatic pre-tightening process is completed, the clockwise rotation of the gear motor 9 will drive the forward one-way wire wheel 3 to rotate in the same direction, pull the Bowden wire on it and generate tension on one side of the joint; the counterclockwise rotation of the gear motor 9 will drive the reverse one-way wire wheel 6 to rotate in the same direction, pull the Bowden wire on it and generate tension on the other side of the joint.

[0036] Specific implementation method eight: Combination Figures 1 to 6To explain this embodiment, the difference between this embodiment and the specific embodiment seven is that the outer wheel plate 404 is equidistantly processed with a plurality of No. 1 positioning holes along the circumferential direction at one end close to the forward line wheel sleeve 402, and a No. 1 connecting bolt is provided in each No. 1 positioning hole, and a forward line wheel sleeve connecting flange is provided on the end of the forward line wheel sleeve 402 close to the outer wheel plate 404, and the forward line wheel sleeve connecting flange is fixedly connected to the outer wheel plate 404 by a plurality of No. 1 connecting bolts, and a plurality of No. 2 positioning holes are equidistantly processed along the circumferential direction at one end of the outer wheel plate 404 close to the gear ring 408, and a No. 2 connecting bolt is provided in each No. 2 positioning hole, and a plurality of gear ring connecting threaded holes are equidistantly provided on the end of the gear ring 408 close to the outer wheel plate 404, and the threaded portion of each No. 2 connecting bolt passes through a No. 2 positioning hole and is correspondingly arranged in a gear ring connecting threaded hole, and each No. 2 connecting bolt is threadedly connected to the gear ring connecting threaded hole where it is located, and the outer wheel plate 404 is fastened to the gear ring 408 by a plurality of No. 2 connecting bolts. The other components and connection methods are the same as those of the seventh embodiment.

[0037] Such an arrangement ensures the stability of the connection between the various components and also facilitates disassembly, so that components can be replaced when they are damaged.

[0038] Specific implementation method nine: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the eighth embodiment is that a reverse line wheel sleeve connecting flange is provided on the end of the reverse line wheel sleeve 4014 close to the sun gear 4010, and a plurality of connecting blind holes are processed equidistantly along the circumference on the end of the sun gear 4010 close to the reverse line wheel sleeve 4014. The reverse line wheel sleeve connecting flange is fixedly connected to the sun gear 4010 through a plurality of No. 3 connecting bolts, and the threaded portion of each No. 3 connecting bolt passes through the reverse line wheel sleeve connecting flange and is correspondingly arranged in a connecting blind hole, and each No. 3 connecting bolt is threadedly connected to the sun gear 4010. Other components and connection methods are the same as those of the eighth embodiment.

[0039] Specific implementation method ten: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the ninth embodiment is that one end of the spiral spring 4012 is fixedly connected to the light rod portion of the sun gear 4010 by bolts, and the other end of the spiral spring 4012 is fixedly connected to the ring gear 408 by bolts. Other components and connection methods are the same as those of the ninth embodiment.

[0040] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0041] How it works

[0042] The present invention discloses a bidirectional rope drive mechanism for wearable power-assist equipment, which can provide assistance for the active / antagonistic movements of human joints, and has the functions of rope tensioning and bidirectional transmission, so as to solve the problems of response hysteresis and low efficiency of the current flexible exoskeleton actuators based on rope drive. The output shaft of the gear motor is connected to the main shaft through bolts; the two one-way wire wheels are respectively inserted into the wire wheel shafts at both ends of the intermediate wheel, and are axially fixed with elastic retaining rings; the main shaft passes through the center hole of the wire wheel assembly, and is connected to the planetary frame of the intermediate wheel through a Z1-type expansion sleeve; the bolts are screwed into the end of the main shaft to fix the entire assembly axially. The two Bowden cables are respectively wound on the two one-way wire wheels in opposite directions, pass through the through holes on the shell and the wire sheaths arranged along a fixed path, and are finally connected to the limb anchor point. By reasonably controlling the output state of the motor, the two Bowden cables can be pre-tightened successively to achieve the purpose of weakening the transmission delay, and then the two Bowden cables are tightened and released according to the human body's intention, thereby pulling the joint to rotate;

[0043] When the present application is used, the various components are first assembled according to the connection relationship described in Specific Embodiments 1 to 10. First, the flexible exoskeleton drive mechanism is installed on the base on the back of the human body, and the end face of the gear motor 9 on one side cooperates with it. A Bowden cable is wound clockwise on the forward one-way wire wheel 3, and is led out from the corresponding through hole on the housing 5, passed through the wire sheath with a pre-set path, and finally connected to the anchor point on the rear side of the forearm; another Bowden cable is wound counterclockwise on the reverse one-way wire wheel 6, and a similar wiring method is used, and finally connected to the anchor point on the front side of the forearm;

[0044] After the drive mechanism is properly arranged on the human body surface, the Bowden cable tends to remain loose, and a pre-tightening operation is required to minimize the transmission hysteresis caused by the slack. First, the gear motor 9 is given a clockwise rotation instruction, and its output shaft drives the entire wire wheel mechanism except the reverse one-way wire wheel 6 to move clockwise, gradually tightening the Bowden cable on the forward one-way wire wheel 3. When it is tightened enough, the forward one-way wire wheel 3 no longer rotates and jams the forward wire wheel shaft 402, so that the gear ring 408 connected to it through the outer wheel plate 404 remains basically motionless, but under the drive of the gear motor 9, the power is transmitted to the sun wheel 4010 through the planetary frame 406 and the planetary wheel 409, so that the sun wheel 4010 continues to rotate clockwise, thereby tightening the spiral spring 4012. Finally, after the vortex spring 4012 is tightened to a certain extent, the gear motor 9 will be disabled and lose the driving force, and the vortex spring 4012 will drive the sun gear 4010, the reverse line wheel shaft 4014 and the reverse one-way line wheel 6 connected in sequence to rotate in the counterclockwise direction, thereby tightening the Bowden cable on the reverse one-way line wheel 6. At this point, both Bowden cables are pre-tightened;

[0045] After the Bowden cable is pre-tightened, the joint movement assistance is started. When the elbow joint needs to be assisted in extension, the output shaft of the gear motor 9 rotates clockwise, and the power is transmitted to the sun gear 4010 through the planetary frame 406 and the planetary gear 409, twisting the volute spring 4012, and providing a clockwise torque to the gear ring 408, the outer wheel plate 404, the forward line wheel shaft 402 and the forward one-way line wheel 3 connected in sequence, thereby tightening the Bowden cable wound on the forward one-way line wheel 3, generating tension on the anchor point on the rear side of the forearm, and driving the elbow joint to complete the extension movement. At the same time, during the extension, the reverse one-way line wheel 6 will passively rotate clockwise to release the Bowden cable wrapped on it to avoid obstruction to the joint movement.

Claims

1. A bidirectional transmission flexible exoskeleton drive mechanism, characterized in that: The driving mechanism comprises a housing (5), a gear motor assembly (9) and a wire wheel mechanism, one end of the wire wheel mechanism is mounted on the power output end of the gear motor assembly (9), and the housing (5) is sleeved on the wire wheel mechanism; The gear motor assembly (9) comprises a reducer; The wire wheel mechanism comprises a locking bolt (1), a first elastic retaining ring (2), a forward one-way wire wheel (3), an intermediate wheel (4), a reverse one-way wire wheel (6), a second elastic retaining ring (7) and a main shaft (8); one end of the main shaft (8) is mounted on the low-speed output end of the reducer; the first elastic retaining ring (2), the intermediate wheel (4) and the second elastic retaining ring (7) are sequentially sleeved on the outer circumferential surface of the main shaft (8) along the extension direction of the main shaft (8); the forward one-way wire wheel (3) is sleeved on the forward output part of the intermediate wheel (4); and the reverse one-way wire wheel (6) is sleeved on the reverse output part of the intermediate wheel (4); The forward one-way wire wheel (3) comprises a wire wheel cover (301), a one-way bearing (302), a flat key (303) and a wire wheel sleeve (304); the wire wheel sleeve (304) is sleeved on the bearing outer ring of the one-way bearing (302); the one-way bearing (302) is circumferentially fixed to the wire wheel sleeve (304) via the flat key (303); the wire wheel cover (301) is arranged on an end of the wire wheel sleeve (304) away from the intermediate wheel (4); the wire wheel cover (301) is detachably connected to the wire wheel sleeve (304) via bolts; and the bearing inner ring of the one-way bearing (302) is sleeved on the forward output portion of the intermediate wheel (4); The structure of the reverse one-way wire wheel (6) is the same as that of the forward one-way wire wheel (3); The intermediate wheel (4) comprises a first thin-walled deep groove ball bearing (401), a forward line wheel sleeve (402), a second thin-walled deep groove ball bearing (403), an outer wheel plate (404), a sleeve (405), a planet carrier (406), a Z1 type expansion sleeve (407), a gear ring (408), a planetary gear set (409), a sun wheel (4010), a spring sleeve (4011), a volute spring (4012), a third thin-walled deep groove ball bearing (4013), a reverse line wheel sleeve (4014) and a fourth thin-walled deep groove ball bearing (4015). The forward line wheel sleeve (402), the outer wheel plate (404), the planet carrier (406), the sun wheel (4010) and the reverse line wheel sleeve (4014) are sequentially sleeved on the main shaft (8 ), a first thin-walled deep groove ball bearing (401) and a second thin-walled deep groove ball bearing (403) are arranged on the outer cylindrical surface of the forward line wheel sleeve (402) and between the main shaft (8), and the first thin-walled deep groove ball bearing (401) and the second thin-walled deep groove ball bearing (403) are respectively arranged near one end of the forward line wheel sleeve (402), the outer ring of the first thin-walled deep groove ball bearing (401) and the outer ring of the second thin-walled deep groove ball bearing (403) are both fixedly connected to the inner wall of the forward line wheel sleeve (402), the inner ring of the first thin-walled deep groove ball bearing (401) and the inner ring of the second thin-walled deep groove ball bearing (403) are both fixedly connected to the outer cylindrical surface of the main shaft (8), and the outer wheel plate (404) is installed on one end of the forward line wheel sleeve (402). The outer wheel plate (404) and the main shaft (8) are provided with a shaft sleeve (405), the inner ring wall of the outer wheel plate (404) is fixedly connected to the outer circular wall of the shaft sleeve (405), the inner circular wall of the shaft sleeve (405) is fixedly connected to the outer circular surface of the main shaft (8), a gear ring (408) is installed on the end of the outer wheel plate (404) away from the positive line wheel shaft sleeve (402), a planetary carrier (406) is arranged in the gear ring (408), the planetary carrier (406) is arranged close to the outer wheel plate (404), a Z1 type expansion sleeve (407) is provided between the planetary carrier (406) and the main shaft (8), the outer circular wall of the Z1 type expansion sleeve (407) is fixedly connected to the inner circular wall of the planetary carrier (406), the inner circular wall of the Z1 type expansion sleeve (407) is fixedly connected to the outer circular wall of the main shaft (8), and the outer circular wall of the Z1 type expansion sleeve (407) is fixedly connected to the outer circular wall of the main shaft (8). A planetary gear set (409) is installed at one end of the star carrier (406) away from the outer wheel plate (404), the planetary gear set (409) is arranged in the gear ring (408), and the planetary gear set (409) and the gear ring (408) are meshed with each other, the planetary gear set (409) is sleeved on the outer circumferential surface of the sun gear (4010), and the planetary gear set (409) and the gear part of the sun gear (4010) are meshed with each other, the sun gear (4010) is arranged in the gear ring (408), a spring shaft sleeve (4011) is arranged between the sun gear (4010) and the main shaft (8), the outer circumferential surface of the spring shaft sleeve (4011) is fixedly connected to the inner circumferential surface of the sun gear (4010), and the inner circumferential surface of the spring shaft sleeve (4011) is fixedly connected to the outer circumferential surface of the main shaft (8),A volute spring (4012) is sleeved on the light rod portion of the sun gear (4010), one end of the volute spring (4012) is fixedly connected to the light rod portion of the sun gear (4010), the other end of the volute spring (4012) is fixedly connected to the gear ring (408), a reverse line wheel sleeve (4014) is arranged at one end of the sun gear (4010) away from the outer wheel plate (404), one end of the reverse line wheel sleeve (4014) is fixedly connected to the sun gear (4010), and a No. 3 thin-walled deep groove ball bearing (4014) is arranged between the reverse line wheel sleeve (4014) and the main shaft (8). 013) and a fourth thin-walled deep groove ball bearing (4015), the third thin-walled deep groove ball bearing (4013) and the fourth thin-walled deep groove ball bearing (4015) are respectively arranged near one end of the reverse line wheel sleeve (4014), the outer ring of the third thin-walled deep groove ball bearing (4013) and the outer ring of the fourth thin-walled deep groove ball bearing (4015) are both fixedly connected to the inner wall of the reverse line wheel sleeve (4014), and the inner ring of the third thin-walled deep groove ball bearing (4013) and the inner ring of the fourth thin-walled deep groove ball bearing (4015) are both fixedly connected to the outer cylindrical surface of the main shaft (8).

2. A bidirectional transmission flexible exoskeleton drive mechanism according to claim 1, characterized in that: The gear motor assembly (9) further comprises a housing, a FOC driver and a brushless motor, wherein the FOC driver, the brushless motor and the reducer are all arranged in the housing, the FOC driver is mounted on the control end of the brushless motor, the high-speed input end of the reducer is sleeved on the power output shaft of the brushless motor, and the low-speed output end of the reducer is mounted on the bobbin mechanism.

3. A bidirectional transmission flexible exoskeleton drive mechanism according to claim 2, characterized in that: A locking threaded hole is machined on the end surface of the other end of the main shaft (8), the second elastic retaining ring (7) is arranged close to the gear motor assembly (9), the locking bolt (1) is arranged in the locking threaded hole at the other end of the main shaft (8), and the locking bolt (1) is threadedly connected to the main shaft (8), the screwing portion of the locking bolt (1) is arranged outside the first elastic retaining ring (2), and the screwing portion of the locking bolt (1) is used to lock and limit the first elastic retaining ring (2).

4. A bidirectional transmission flexible exoskeleton drive mechanism according to claim 3, characterized in that: A first connecting flange is provided on the connecting end of the main shaft (8) and the gear motor assembly (9), and the first connecting flange is integrally formed with the main shaft (8). A second connecting flange is provided on the low-speed output end of the reducer, and the low-speed output end of the reducer is integrally formed with the second connecting flange. The first connecting flange is coaxially arranged with the second connecting flange, and the first connecting flange and the second connecting flange are fastened and connected by bolts.

5. A bidirectional transmission flexible exoskeleton drive mechanism according to claim 4, characterized in that: A first keyway is machined on the inner ring wall of the reel sleeve (304), a second keyway is machined on the outer ring of the one-way bearing (302), and the first keyway and the second keyway are arranged correspondingly, and a flat key (303) is arranged in a cavity formed by the first keyway and the second keyway.

6. A bidirectional transmission flexible exoskeleton drive mechanism according to claim 5, characterized in that: One end of the housing (5) close to the gear motor assembly (9) is detachably connected to the housing at the power output end of the gear motor assembly (9) by means of bolts.

7. A bidirectional transmission flexible exoskeleton drive mechanism according to claim 6, characterized in that: The outer wheel plate (404) is provided with a plurality of No. 1 positioning holes equidistantly along the circumferential direction at one end close to the positive line wheel sleeve (402), each No. 1 positioning hole is provided with a No. 1 connecting bolt, a positive line wheel sleeve connecting flange is provided on one end close to the outer wheel plate (404), and the positive line wheel sleeve connecting flange is fixedly connected to the outer wheel plate (404) by a plurality of No. 1 connecting bolts, and the outer wheel plate (404) is provided with a plurality of No. 1 positioning holes equidistantly along the circumferential direction at one end close to the gear ring (408). A plurality of No. 2 positioning holes are processed, each of which is provided with a No. 2 connecting bolt. A plurality of ring gear connecting threaded holes are equidistantly provided along the circumferential direction on one end of the ring gear (408) close to the outer wheel plate (404). The threaded portion of each No. 2 connecting bolt passes through a No. 2 positioning hole and is correspondingly arranged in a ring gear connecting threaded hole, and each No. 2 connecting bolt is threadedly connected to the ring gear connecting threaded hole where it is located. The outer wheel plate (404) is fastened to the ring gear (408) via the plurality of No. 2 connecting bolts.

8. The bidirectional transmission flexible exoskeleton drive mechanism according to claim 7, characterized in that: A reverse line wheel shaft sleeve connecting flange is provided on one end of the reverse line wheel shaft sleeve (4014) close to the sun gear (4010); a plurality of connecting blind holes are equidistantly processed along the circumferential direction on one end of the sun gear (4010) close to the reverse line wheel shaft sleeve (4014); the reverse line wheel shaft sleeve connecting flange is fixedly connected to the sun gear (4010) via a plurality of No. 3 connecting bolts; a threaded portion of each No. 3 connecting bolt passes through the reverse line wheel shaft sleeve connecting flange and is correspondingly arranged in a connecting blind hole; and each No. 3 connecting bolt is threadedly connected to the sun gear (4010).

9. A bidirectional transmission flexible exoskeleton drive mechanism according to claim 8, characterized in that: One end of the spiral spring (4012) is fixedly connected to the light rod portion of the sun gear (4010) via a bolt, and the other end of the spiral spring (4012) is fixedly connected to the ring gear (408) via a bolt.

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