Exoskeleton joint drive device

Abstract

The present invention belongs to the technical field of exoskeletons, specifically an exoskeleton joint driving device. The lower joint thereof has a driving disk, and a circle of driving teeth are evenly distributed on the circumference of the driving disk. The entire lower joint is connected to the upper joint through a mounting shaft coaxial with the driving disk. The joint driving device further includes an arm-type driving assembly. The upper end of the arm-type driving assembly has a deflection assembly, the lower end is movably sleeved and connected to the mounting shaft, and a ratchet finger assembly is arranged in the middle and lower part. The ratchet finger assembly has a ratchet finger part that cooperates with the driving teeth on the driving disk. In the present invention, the lower end of the arm-type driving assembly is movably connected to the mounting shaft, and the deflection assembly is arranged at the upper end. Driven by the deflection assembly, the entire arm-type driving assembly will rotate around the axis of the mounting shaft. At the same time, the ratchet finger assembly arranged in the middle and lower part will push the driving disk to deflect, thereby driving the lower arm to rotate. Since the entire arm-type driving assembly is equivalent to a labor-saving lever, the lower arm can be driven to rotate with a relatively small driving force.

Description

Technical Field

[0001] The present invention relates to exoskeleton driving technology, specifically an exoskeleton joint driving device. Background Art

[0002] As a human-machine collaboration device, the exoskeleton can simulate human joint movements and plays an important role in rehabilitation, occupational health protection, etc.

[0003] Regarding the joint driving structure of the exoskeleton, the currently commonly used ones are large motor driving and worm and worm gear structure driving. For the structure directly driven by a large motor, firstly, it has a large demand for battery voltage, and secondly, the price of the large motor is high, which will increase the cost of the exoskeleton device. At the same time, the large motor is generally coaxially installed at the joint, which will make the joint bulge and have a certain impact on the wearing of the entire exoskeleton; for the driving method using a worm and worm gear mechanism, although it can reduce the demand for battery voltage, the worm and worm gear occupy a long and wide space, which will bring the problem of too large exoskeleton size. And due to the large size, the above driving structure can only be set outside the exoskeleton, resulting in many exposed structures of the exoskeleton device.

[0004] The invention patent application with the publication number CN 115781652 A proposes a rope traction joint rotation structure, which is a new driving structure different from the above two driving structures, but it still does not solve the problem of the large driving structure and is not conducive to the simplification and lightweight design of the exoskeleton device. Summary of the Invention

[0005] The purpose of the present invention is to provide an exoskeleton joint driving device. By expanding the driving force arm, the driving device is arranged outside the joint and replaces the original large-size driving device to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An exoskeleton joint driving device includes a large arm and a small arm, which are connected by a joint component. The joint component includes an upper joint connected to the lower end of the large arm and a lower joint connected to the upper end of the small arm. The lower joint has a driving disk, and a circle of driving teeth is equally spaced on the circumference of the driving disk; the lower joint is connected to the upper joint through a mounting shaft coaxial with the driving disk, and the entire lower joint can rotate around the axis of the mounting shaft relative to the upper joint; the joint driving device further includes an arm-type driving component. The upper end of the arm-type driving component has a deflection component, the lower end is movably sleeved and connected to the mounting shaft, and a ratchet finger component is arranged in the middle and lower part. The ratchet finger component has a ratchet finger part that cooperates with the driving teeth on the driving disk; the deflection component can control the entire arm-type driving component to reciprocally deflect around the mounting shaft and push the driving disk to rotate through the ratchet finger part.

[0007] In the above technical solution, the lower end of the arm-type driving component is movably connected to the mounting shaft, and the deflection component is arranged at the upper end. That is, under the drive of the deflection component, the entire arm-type driving component will rotate around the axis of the mounting shaft. Along with the deflection of the arm-type driving component, the ratchet finger component arranged in the middle and lower part thereof will push the driving disc to deflect, thereby driving the lower arm to rotate. Since the entire arm-type driving component is equivalent to a labor-saving lever, the lower arm can be driven to rotate with a relatively small driving force.

[0008] Preferably, the arm-type driving component includes a rocker arm, and the mounting shaft is connected through the rocker arm; the ratchet finger component includes a ratchet finger part and an adjusting part. The ratchet finger part includes two ratchet fingers symmetrically distributed relative to the rocker arm, specifically ratchet finger I and ratchet finger II. The upper ends of both are fixedly connected to the rotating sleeve and are distributed in a "V" shape, and the rotating sleeve is installed on the fixed shaft parallel to the axis of the mounting shaft. The adjusting part is arranged above the ratchet finger part and can control the deflection of the ratchet finger part around the fixed shaft to control the contact between ratchet finger I or ratchet finger II and the driving disc. The ratchet fingers on both sides of the rocker arm are used to push the driving disc to rotate in different directions. Under the control of the adjusting part, the ratchet fingers participating in the driving work can be freely switched. Therefore, the same arm-type driving component can be used to control the forward or backward deflection of the lower arm.

[0009] Preferably, the adjusting part includes an electromagnet component, and the electromagnet component has two electromagnets; a deflection table is arranged at the upper part of the rotating sleeve, and magnetic metal parts are arranged at both ends of the deflection table. When one of the electromagnets is energized, the electromagnet adsorbs the corresponding magnetic metal part and makes the deflection table deflect towards the electromagnet, so that the ratchet finger on the same side contacts the driving disc, and the ratchet finger on the other side leaves the driving disc. Two electromagnets are used to control the deflection of the deflection table. When one electromagnet is energized, the deflection table will deflect due to unbalanced force, and the on-off and power-off of the electromagnet can be controlled at high frequency in a short time, that is, the rapid adjustment of the ratchet finger can be realized, so as to meet the rapid rotation requirement of the lower arm. In addition, the electromagnet component also positions the deflection table, that is, when the electromagnet adsorbs the deflection table, it will also position the deflection table at the same time, neither making it deflect insufficiently nor making it deflect excessively, so as to realize the precise control of the ratchet finger part.

[0010] Preferably, the adjusting part further includes a balance spring, and the balance spring is arranged between the electromagnet component and the deflection table. When the electromagnet component is in the power-off state, the balance spring makes the deflection table return to the middle position. At this time, neither ratchet finger I nor ratchet finger II contacts the driving disc. In this state, when the arm-type driving component deflects in the direction opposite to the movement direction of the driving disc, the ratchet fingers do not contact the driving disc, so no sound of collision between the ratchet fingers and the driving disc will be generated, which can play a role in eliminating noise.

[0011] Preferably, the exoskeleton joint driving device has two sets of arm-type driving components. The two sets of arm-type driving components are located on both sides of the driving disk and can both push the driving disk through the ratchet finger components. The two arm-type driving components work in a staggered and alternating manner, which can reduce the pause gap. Moreover, for the joint components whose forearms will automatically deflect towards the vertical direction under the influence of gravity, the two sets of arm-type driving components can work in coordination and alternately serve as braking components, so as to better control the reverse reset deflection process of the driving disk and eliminate the influence of gravity on the reverse deflection of the joint components.

[0012] Preferably, the deflection component is composed of a motor component and a rack component. The motor component includes a motor and a meshing gear driven by the motor, and the meshing gear is parallel to the axis of the mounting shaft; the rack component is arc-shaped as a whole, is mounted on the upper arm, and the center of the arc is located on the axis of the mounting shaft, and the meshing gear meshes with the rack component. When the motor rotates, the meshing gear moves along the rack component, thereby driving the entire arm-type driving component to deflect. And as the motor rotates in the reverse direction, the arm-type driving component will deflect in the reverse direction to the original position, and the rapid deflection of the arm-type driving component can be realized; and due to the adoption of the lever structure, a small-power motor component can be used to provide the driving force, which can effectively reduce the volume and weight of the driving component and also reduce the cost.

[0013] Preferably, the lower joint further includes movable joint disks symmetrically arranged on the left and right. The lower part of the movable joint disk extends downward to form a lower assembly part, and the whole lower joint is connected to the forearm through this lower assembly part; the driving disk is arranged between the two movable joint disks, and the three rotate synchronously with the mounting shaft. The movable joint disks are located on both sides, which can ensure the structural stability of the lower joint. The driving disk arranged in the middle transfers the force evenly to the movable joint disks on both sides through the mounting shaft after being stressed, so that the three rotate synchronously, which is beneficial to ensuring the force balance of each component and can also provide a more suitable installation space for the arm-type driving component.

[0014] Preferably, the upper joint includes an upper assembly part. Two fixed joint disks are symmetrically arranged below the upper assembly part, and two joint bearings are coaxially arranged on the two fixed joint disks; the upper part of the lower joint is located between the two fixed joint disks, and both ends of the mounting shaft are mounted in the corresponding joint bearings. Setting the upper part of the lower joint in the middle of the fixed joint disks is first convenient for the structural assembly of the lower joint and the arm-type driving component. At the same time, the external fixed joint disks will play a protective role for the lower joint to ensure a stable working space for the driving structure.

[0015] Preferably, the joint assembly further includes a covering member, which includes an arc-shaped covering strip and end mounting strips at both ends of the arc-shaped covering strip. The arc-shaped covering strip is coaxially arranged with the movable joint disc, located in the middle of the movable joint disc and completely covering the driving disc, and the end mounting strips are mounted on the upper joint. The covering member can cover the driving disc, so that the internal structure of the entire joint assembly is not exposed, which can not only provide a good working environment for the components, but also avoid accidents.

[0016] Preferably, the upper arm is hollow, the arm-type driving assembly is located inside the upper arm, a driving motor chamber is arranged in the area where the motor assembly is located, the rack assembly is arranged in the driving motor chamber, and a cover plate that can be opened is arranged on the side of the driving motor chamber. Placing the arm-type driving assembly inside the upper arm can not only effectively utilize the internal space, but also provide good protection for the arm-type driving assembly, and the motor assembly can be regularly maintained through the driving motor chamber during daily use.

[0017] Preferably, the exoskeleton joint driving device further includes a heat dissipation system, which includes a heat dissipation fan arranged in the upper arm, and air holes are arranged on the upper arm. The air holes are located below the motor assembly, and an air flow channel is formed in the upper arm from the air holes upward through the motor assembly and then discharged from the upper arm through the heat dissipation fan. To ensure that the rotation of the driving disc can meet the swing speed requirements of the lower arm, the motor assembly needs to move back and forth quickly, and the motor assembly itself will generate more heat. The heat dissipation fan can accelerate the air circulation inside the upper arm and timely disperse the heat of the motor through the air flow, so as to ensure that the motor assembly can meet the conventional movement requirements of the exoskeleton joint driving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0019] Figure 1 is a schematic plan view of the exoskeleton joint driving device according to the embodiment provided by the present invention;

[0020] Figure 2 is Figure 1 a schematic three-dimensional view of the exoskeleton joint driving device shown;

[0021] Figure 3 is Figure 2 a schematic exploded view of the upper joint of the exoskeleton joint driving device shown;

[0022] Figure 4 is Figure 2 a schematic view of the lower joint of the exoskeleton joint driving device shown;

[0023] Figure 5 Schematic diagram of the split structure of the lower joint shown Figure 4

[0024] Figure 6 Schematic diagram of the structure after the upper joint and the lower joint are assembled

[0025] Figure 7 Schematic diagram of the structure of the covering member in Figure 6

[0026] Figure 8 Schematic diagram of the connection structure between the arm - type drive assembly and the lower joint

[0027] Figure 9 Schematic diagram of the positional structure between the arm - type drive assembly and the drive disk

[0028] Figure 10 Schematic diagram of the three - dimensional state of the structure shown in Figure 9

[0029] Figure 11 Schematic diagram of the structure of the motor assembly

[0030] Figure 12 Schematic diagram of the installation structure of the rack assembly in the drive motor compartment

[0031] Figure 13 Schematic diagram of the pre - installation structure of the rack assembly

[0032] Figure 14 Schematic diagram of the structure of the ratchet finger assembly in Figure 10

[0033] Figure 15 Schematic diagram of the installation structure of the cooling fan in the large arm

[0034] Figure 16 Schematic diagram of the state of a single arm - type drive assembly in the left - most position and ready to push the drive disk to rotate clockwise

[0035] Figure 17 Schematic diagram of the state after rotating from the state shown in Figure 16 to the right - most position

[0036] Figure 18 Schematic diagram of the state of the arm - type drive assembly after adjusting the ratchet finger state in the right - most position

[0037] Figure 19 Schematic diagram of the state of two arm - type drive assemblies cooperating to push the drive disk

[0038] Figure 20 Schematic diagram of the structure when the front arm - type drive assembly starts to deflect in the direction in the state shown in Figure 19 ​​​​​

[0039] Figure 21 In order to Figure 20 show the structural schematic diagram of the front and rear arm - type drive components exchanging working states in the shown state.

[0040] In the figure, the boom 1, the forearm 2, the upper joint 3, the lower joint 4, the drive motor compartment 5, the air hole 6, the rack assembly 7, the covering member 8, the arm - type drive component 9, the radiator fan 10, the arc - shaped covering strip 81, the end - mounted strip 82, the cover plate 51, the connection hole 52, the limit strip 53, the rack 71, the mounting arm 72, the exhaust pipe 101, the upper assembly part 301, the fixed joint disk 302, the end cover 303, the avoidance hole 304, the joint bearing 305, the joint assembly position 306, the movable joint disk 401, the lower assembly part 402, the drive disk 403, the mounting shaft 404, the inner bearing 405, the rocker arm 901, the motor assembly 902, the ratchet finger assembly 903, the motor mounting seat 904, the motor 905, the meshing gear 906, the ratchet finger I907, the ratchet finger II908, the rotating sleeve 909, the fixed shaft 910, the deflection table 911, the adsorption block 912, the mounting bracket 913, the electromagnet I914, the electromagnet II915, and the balance spring 916. Specific embodiments

[0041] The following will, in conjunction with the drawings and embodiments, elaborate in detail on the implementation manners of the present application, so as to fully understand how the present application uses technical means to solve technical problems and achieve the realization process of technical effects and implement accordingly.

[0042] Figure 1 And Figure 2 As an embodiment of the present invention, an exoskeleton joint drive device includes a boom 1 and a forearm 2. The boom 1 has an inner cavity, and an arm - type drive component 9 is installed inside. The lower end of the boom 1 is bolt - mounted with an upper joint 3, and the upper end of the forearm 2 is bolt - mounted with a lower joint 4. The upper joint 3 and the lower joint 4 form a joint assembly connecting the boom 1 and the forearm 2.

[0043] Specifically, the top of the upper joint 3 is two upper assembly parts 301 symmetrically arranged left and right. Below the upper assembly parts 301, two circular fixed joint disks 302 are symmetrically arranged. Two joint bearings 305 are coaxially arranged on the two fixed joint disks 302, and an end cover 303 covering the joint bearing 305 is arranged on the outer side surface of the fixed joint disk 302; as Figure 3 shown, between the two fixed joint disks 302 is a joint assembly position 306 for installing the lower joint 4, and there is an avoidance hole 304 communicating the joint assembly position 306 and the inner cavity of the boom 1 between the two upper assembly parts 301.

[0044] As Figure 4 And Figure 5As shown in the figure, the lower joint 4 includes circular movable joint discs 401 symmetrically arranged on the left and right. A drive disc 403 is arranged between the two movable joint discs 401. The lower part of the movable joint disc 401 extends downward to form a lower assembly part 402. The entire lower joint 4 is connected to the forearm 2 through the lower assembly part 402. A circle of drive teeth is evenly distributed on the circumference of the drive disc 403. The movable joint disc 401 and the drive disc 403 are coaxially arranged and are installed together through a coaxial installation shaft 404. There are two inner bearings 405 installed on the installation shaft 404 between the two movable joint discs 401 and the drive disc 403, enabling the movable joint disc 401 and the drive disc 403 to rotate synchronously with the installation shaft 404, while the inner bearings 405 rotate independently. After installing the lower joint 4 at the joint assembly position 306, both ends of the installation shaft 404 are installed in the joint bearings 305, so that the entire lower joint 4 can rotate relative to the upper joint 3 around the axis of the installation shaft 404. In the above joint structure, the movable joint discs 401 are located on both sides, which can ensure the structural stability of the lower joint 4. The drive disc 403 arranged in the middle transmits force evenly to the movable joint discs 401 on both sides through the installation shaft 404 under the push of the arm-type drive assembly 9, so that the three rotate synchronously. This is beneficial to ensuring the balanced force of each component and can also provide a more suitable installation space for the arm-type drive assembly 9.

[0045] At the same time, to ensure a safe operating space for the drive disc 403 and the arm-type drive assembly 9, as Figure 6 shown, a covering member 8 is provided on the upper joint 3, and as Figure 7 shown, the covering member 8 includes an arc-shaped covering strip 81 independently arranged between the movable joint discs 401. The diameter of the arc-shaped covering strip 81 is larger than the diameter of the drive disc 403 and completely covers the drive disc 403. The covering member 8 also includes end mounting strips 82 at both ends of the arc-shaped covering strip 81. The end mounting strips 82 are attached to the side wall of the upper joint 3 and are fixedly installed by bolts. Since the arc-shaped covering strip 81 is located between the movable joint discs 401, it neither interferes with the rotation of the lower joint 4 nor can always protect the drive disc 403.

[0046] As Figure 8 shown, this exoskeleton joint drive device relies on two sets of arm-type drive assemblies 9 to drive the lower joint to rotate, as Figure 9 and Figure 10As shown, two sets of arm-type drive components 9 are respectively arranged on both sides of the drive disk 403. Specifically, the arm-type drive component 9 includes a rocker arm 901. The upper end of the rocker arm 901 extends into the inner cavity of the boom 1, and the lower end is fixedly connected to the inner bearing 405. The upper end thereof is provided with a motor assembly 902, and a ratchet finger assembly 903 is arranged in the middle and lower part. And the ratchet finger assembly 903 has a ratchet finger part that cooperates with the drive teeth on the drive disk 403. The motor assembly 902 at the top can push the rocker arm 901 to deflect left and right. In this process, the ratchet finger part pushes the drive disk 403 to rotate, so as to drive the deflection of the forearm.

[0047] Regarding the motor assembly 902, as Figure 11 shown, it includes a motor 905 and a motor mounting seat 904 installed at the top end of the rocker arm 901. It also includes a meshing gear 906 driven by the motor 905. In addition, a rack assembly 7 meshing with the meshing gear 906 is arranged in the inner cavity of the boom 1. The rack assembly 7 is integrally arc-shaped, and the center of the arc is located on the axis of the mounting shaft 404. For the convenience of later maintenance, a drive motor compartment 5 communicating with the inner cavity is constructed on the boom 1. As Figure 12 shown, the drive motor compartment 5 has a detachable cover plate 51, and limiting strips 53 are symmetrically arranged on the inner side wall of the compartment. As Figure 13 shown, the middle part of the above-mentioned rack assembly 7 is a rack 71, and both ends are mounting arms 72 that are parallel and cooperate with the limiting strips 53. The whole rack assembly 7 is inserted into the compartment along the limiting strips 53, and then fixed by bolts on the side wall of the drive motor compartment 5.

[0048] Regarding the ratchet finger assembly 903, it includes a ratchet finger part and an adjusting part. As Figure 14 shown, the ratchet finger part includes two ratchet fingers I907 and ratchet fingers II908 that are symmetrically distributed relative to the rocker arm 901. The upper ends of both are fixedly connected to a rotating sleeve 909 and are distributed in a "V" shape. A fixed shaft 910 parallel to the axis of the mounting shaft 404 is arranged on the rocker arm 901, and the aforementioned rotating sleeve 909 is movably sleeved on the fixed shaft 910. In addition, a deflection table 911 is arranged on the upper part of the rotating sleeve 909. Both ends of the deflection table 911 symmetrically extend towards both sides of the rocker arm 901, and magnetic metal parts are symmetrically arranged on the front sides of both ends.

[0049] The adjusting part used realizes the adjustment of the ratchet fingers by magnetically adsorbing the magnetic metal parts on the deflection table 911. Specifically, it includes an electromagnet I 914 and an electromagnet II 915 that are symmetrically distributed relative to the rocker arm 901. Both are installed on the rocker arm 901 through a mounting bracket 913. When one of the electromagnets is energized, the electromagnet adsorbs the corresponding magnetic metal part and causes the deflection table 911 to deflect towards the electromagnet, so that the ratchet fingers on the opposite side contact the driving disc 403, and the ratchet fingers on the same side leave the driving disc 403. The above adjusting part can control the deflection of the ratchet finger part around the fixed shaft 910 to control the contact between the ratchet finger I 907 or the ratchet finger II 908 and the driving disc 403, and the on-off and power-off of the electromagnet can achieve short-time high-frequency control, that is, it can achieve rapid switching adjustment of the ratchet fingers.

[0050] In addition, the adjusting part also includes two balance springs 916. As Figure 14 shown, the two balance springs 916 are arranged between the mounting bracket 913 and the deflection table 911. When both electromagnets are in the power-off state, the balance springs 916 make the deflection table 911 return to the middle position. At this time, neither the ratchet finger I 907 nor the ratchet finger II 908 contacts the driving disc 403. In this state, when the arm-type driving assembly 9 deflects in the direction opposite to the moving direction of the driving disc 403, the ratchet fingers do not contact the driving disc 403, so the sound of the ratchet fingers colliding with the driving disc 403 will not be generated, which can achieve the effect of eliminating noise.

[0051] In order not to make the size of the upper arm too large, in this embodiment, the existing-sized bone is reasonably utilized. In addition to arranging the arm-type driving assembly 9 in the inner cavity of the upper arm 1, it is also set that the one-way deflection of the arm-type driving assembly 9 can only make the driving disc 403 deflect about the distance of one driving tooth. Therefore, the arm-type driving assembly 9 needs to deflect quickly and repeatedly to meet the movement requirements of the lower arm. Of course, this will cause the motor assembly 902 to generate more heat. For the heat generation problem of the motor assembly, as Figure 15 shown, in this embodiment, a cooling fan 10 is arranged in the upper arm 1, and air holes 6 are arranged on the upper arm 1 (as Figure 2 ), and the air holes 6 are located below the motor assembly 902; after the cooling fan 10 is started, the air flow enters from the air holes 6, passes upward through the motor assembly 902 and the connection hole 52 at the top of the drive motor compartment 5 ( Figure 12 ), and finally is discharged from the upper arm through the cooling fan 10. This way of accelerating the air circulation inside the upper arm 1 can timely dissipate the heat of the motor, so as to ensure that the motor assembly is in a normal working state.

[0052] For the arm-type driving assembly 9 with the above structure, in this embodiment, taking the example of pushing the driving disc 403 to deflect clockwise (the lower arm swings backward relative to the upper arm) to illustrate its working mode. As Figure 16As shown, the rocker arm 901 is currently in the leftmost position. At this time, the electromagnet I914 is energized and adsorbs the left side of the deflection table 911 to deflect upward, so that the ratchet finger II908 contacts the driving gear. At this time, the motor assembly 902 will drive the entire arm-type driving assembly 9 to deflect to Figure 17 the state shown (the rightmost position). During this process, the driving disk 403 rotates; then, the electromagnet I914 is de-energized, and under the action of the balance spring 916, the ratchet finger I907 and the ratchet finger II908 deflect to Figure 18 the position shown. At this time, neither of them contacts the driving disk 403. Therefore, when the motor assembly 902 controls the arm-type driving assembly 9 to deflect to the leftmost position, the ratchet fingers will not make a sound due to touching the driving disk 403, and at the same time, the wear of the components can be reduced.

[0053] During the actual working process, the two sets of arm-type driving assemblies 9 will work alternately. Specifically, as Figure 19 shown, when the arm-type driving assembly 9 on the back of the driving disk 403 (marked as the rear arm-type driving assembly 9) is in Figure 16 the working state shown, the arm-type driving assembly 9 in front of the driving disk 403 (marked as the front arm-type driving assembly 9) is located in Figure 17 the working state shown, and its next step will change to Figure 18 the state shown. As Figure 20 shown, when the front arm-type driving assembly 9 is in Figure 18 the state shown, the rear arm-type driving assembly 9 and the front arm-type driving assembly 9 are driven by the motor assembly 902 to deflect to Figure 20 the direction indicated by Figure 21 the state shown. This process is a propulsion process. After that, the rear arm-type driving assembly 9 and the front arm-type driving assembly 9 will alternately repeat the above process, so as to continuously drive the driving disk 403 to rotate. The mode of the two arm-type driving assemblies 9 working in a staggered and alternating manner can reduce the pause gap during the rotation of the driving disk 403. And for the joint assembly whose small arm will automatically deflect in the vertical direction under the influence of gravity, the two sets of arm-type driving assemblies 9 can work in coordination to prevent the driving disk 403 from deflecting suddenly out of control, so as to better control the reverse reset deflection process of the driving disk 403 and eliminate the influence of gravity on the reverse deflection of the joint assembly.

[0054] As used in the specification and claims, certain terms are used to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in names as a way to distinguish components, but rather use the difference in the functions of components as the criterion for distinction. As used throughout the specification and claims, the term "comprising" is an open-ended term and should be interpreted as "comprising but not limited to". "Substantially" means within an acceptable error range. Those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0055] It should be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a commodity or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such commodity or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the commodity or system including said element.

[0056] The above description shows and describes several preferred embodiments of the present invention. However, as mentioned above, it should be understood that the present invention is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the inventive concept described herein through the above teachings or the techniques or knowledge in the relevant field. And any changes and modifications made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.

Claims

1. Exoskeleton joint drive device, including a large arm and a small arm, which are connected by a joint assembly, characterized in that: The joint assembly includes an upper joint connecting the lower end of the upper arm and a lower joint connecting the upper end of the lower arm. The lower joint has a drive disk, and a circle of drive teeth is evenly distributed on the circumference of the drive disk. The lower joint is connected to the upper joint through a mounting shaft coaxial with the drive disk, and the entire lower joint can rotate around the axis of the mounting shaft relative to the upper joint. The joint driving device further includes an arm-type driving assembly. The upper end of the arm-type driving assembly has a deflection assembly, the lower end is movably sleeved and connected to the mounting shaft, and a ratchet finger assembly is arranged in the middle and lower part. The ratchet finger assembly has a ratchet finger part that cooperates with the drive teeth on the drive disk. The deflection assembly can control the entire arm-type driving assembly to reciprocally deflect around the mounting shaft and push the drive disk to rotate through the ratchet finger part.

2. The exoskeleton joint drive device according to claim 1, characterized in that: The arm-type driving assembly includes a rocker arm and is connected to the mounting shaft through the rocker arm. The ratchet finger assembly includes a ratchet finger part and an adjusting part. The ratchet finger part includes two ratchet fingers symmetrically distributed relative to the rocker arm, specifically ratchet finger I and ratchet finger II. The upper ends of the two are fixedly connected to a rotating sleeve and are distributed in an "eight" shape. The rotating sleeve is installed on a fixed shaft parallel to the axis of the mounting shaft. The adjusting part is arranged above the ratchet finger part and can control the ratchet finger part to deflect around the fixed shaft to control ratchet finger I or ratchet finger II to contact the drive disk.

3. The exoskeleton joint driving device according to claim 2, characterized in that: The adjusting part includes an electromagnet assembly, and the electromagnet assembly has two electromagnets. A deflection platform is arranged on the upper part of the rotating sleeve. The two ends of the deflection platform have magnetic metal parts. When one of the electromagnets is energized, the electromagnet adsorbs the corresponding magnetic metal part and makes the deflection platform deflect towards the electromagnet, so that the ratchet finger on the same side contacts the drive disk and the ratchet finger on the other side leaves the drive disk.

4. The exoskeleton joint driving device according to claim 3, characterized in that: The adjusting part further includes a balance spring. The balance spring is arranged between the electromagnet assembly and the deflection platform. When the electromagnet assembly is in a power-off state, the balance spring makes the deflection platform return to the middle position, and at this time, neither ratchet finger I nor ratchet finger II contacts the drive disk.

5. The exoskeleton joint driving device according to claim 4, wherein: This exoskeleton joint driving device has two sets of arm-type driving assemblies. The two sets of arm-type driving assemblies are located on both sides of the drive disk and can both push the drive disk through the ratchet finger assemblies.

6. The exoskeleton joint drive device according to claim 1, wherein: The deflection assembly is composed of a motor assembly and a rack assembly. The motor assembly includes a motor and a meshing gear driven by the motor, and the meshing gear is parallel to the axis of the mounting shaft. The rack assembly is integrally arc-shaped, is installed on the upper arm, and the center of the arc is located on the axis of the mounting shaft. The meshing gear meshes with the rack assembly.

7. The exoskeleton joint driving device according to any one of claims 1-6, characterized in that: The lower joint further includes movable joint disks symmetrically arranged on the left and right. The lower part of the movable joint disk extends downward to form a lower assembly part. The entire lower joint is connected to the lower arm through the lower assembly part. The drive disk is arranged between the two movable joint disks, and the three rotate synchronously with the mounting shaft.

8. The exoskeleton joint drive device according to claim 7, wherein: The upper joint includes an upper assembly part. Two fixed joint disks are symmetrically arranged below the upper assembly part, and two joint bearings are coaxially arranged on the two fixed joint disks. The upper part of the lower joint is located between the two fixed joint disks, and the two ends of the mounting shaft are installed in the corresponding joint bearings.

9. The exoskeleton joint drive device according to claim 8, wherein: The joint assembly further includes a covering member, which includes an arc-shaped covering strip and end mounting strips at both ends of the arc-shaped covering strip. The arc-shaped covering strip is coaxially arranged with the movable joint disc, is located in the middle of the movable joint disc and completely covers the driving disc, and the end mounting strips are mounted on the upper joint.

10. The exoskeleton joint drive device according to claim 6, characterized in that: The upper arm is hollow, the arm-type driving assembly is located inside the upper arm, a driving motor chamber is arranged in the area where the motor assembly is located, the rack assembly is arranged in the driving motor chamber, and a cover plate that can be opened is arranged on the side of the driving motor chamber.

11. The exoskeleton joint drive device according to claim 10, wherein: The exoskeleton joint driving device further includes a heat dissipation system. The heat dissipation system includes a heat dissipation fan arranged in the upper arm, and air holes are arranged on the upper arm. The air holes are located below the motor assembly, and an air flow channel is formed in the upper arm that goes upward from the air holes through the motor assembly and then is discharged from the upper arm through the heat dissipation fan; and a connection hole is arranged at the top of the driving motor chamber.

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