Active and passive combined exoskeleton power-assisted joint transmission device

Abstract

The invention relates to an active and passive combined exoskeleton power-assisted joint transmission device, belongs to the technical field of exoskeleton power-assisted joints, and solves the problem that a stay wire cannot be stretched out or withdrawn when a driving element is stuck in the prior art. The device comprises a base, a driving element, a transmission assembly, an elastic energy storage assembly and a wire wheel, the transmission assembly comprises a one-way bearing and a one-way clutch. The inner ring of the one-way bearing is selectively connected with the output end of the one-way clutch; an inner ring of the one-way bearing can freely rotate in a first rotating direction relative to an outer ring and is locked in a second rotating direction; the driving element is in transmission connection with the outer ring of the one-way bearing; the wire wheel is fixedly connected with the input end of the one-way clutch; one end of the elastic energy storage assembly is fixedly connected with the input end of the one-way clutch, and the other end is fixedly connected with the base. Through the combined action of the one-way bearing and the one-way clutch, when the driving element is stuck, the stay wire can be smoothly and freely stretched out and retracted.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton joint transmission devices, and particularly to an exoskeleton-assisted joint transmission device with combined active and passive functions. Background Art

[0002] The powered exoskeleton is a new type of modern wearable device that integrates multiple information, control, and sensing systems, providing corresponding control functions for the wearer of the powered exoskeleton and enabling the wearer to complete various tasks more efficiently (e.g., load-bearing, handling, etc.). Currently, the driving methods of powered exoskeletons include hydraulic assistance and motor assistance, etc. Among them, the motor assistance technology is the most commonly used driving method at present.

[0003] When handling heavy objects, an operator needs to consume a lot of energy to lift the load to the target height. In the prior art, there is an exoskeleton-assisted joint transmission device with combined active and passive functions, which can reduce the energy consumption of the operator and assist the operator in completing the operation task. Among them, it includes a ratchet elastic driving element and an exoskeleton. By utilizing the one-way transmission characteristic of the ratchet, when a large amount of assistance is required, the driving element and the elastic energy storage mechanism can act together to retract the wire rope, and at the same time, the wire rope can also be retracted without overcoming the load of the driving element. However, due to the one-way transmission characteristic of the ratchet, when the operator stretches out the wire rope, the operator needs to overcome the load of the driving element, resulting in a jerky movement of the operator. If the driving element gets stuck, the operator cannot stretch out the wire rope and cannot complete the subsequent operation task. Summary of the Invention

[0004] In view of the above analysis, the present invention aims to provide an exoskeleton-assisted joint transmission device with combined active and passive functions to solve the problem that the wire rope cannot be stretched out or retracted when the driving element gets stuck in the prior art.

[0005] On the one hand, the present invention provides an exoskeleton assist joint transmission device with combined active and passive functions, including a base, a driving element, a transmission assembly, an elastic energy storage assembly, and a wire wheel; wherein, the driving element and the transmission assembly are both arranged on the base; the transmission assembly includes a one-way bearing and a one-way clutch; the inner ring of the one-way bearing is selectively connected to the output end of the one-way clutch; the inner ring of the one-way bearing can rotate freely relative to the outer ring in a first rotation direction and is locked in a second rotation direction; when the input end of the one-way clutch rotates around the first rotation direction, the output end of the one-way clutch automatically disconnects from the inner ring of the one-way bearing, and when the input end of the one-way clutch rotates around the second rotation direction, the output end of the one-way clutch automatically engages with the inner ring of the one-way bearing; the driving element is in transmission connection with the outer ring of the one-way bearing; the wire wheel is fixedly connected to the input end of the one-way clutch; one end of the elastic energy storage assembly is fixedly connected to the input end of the one-way clutch, and the other end is fixedly connected to the base.

[0006] Further, the exoskeleton assist joint transmission device has three working modes: in the first working mode, the wire wheel drives the input end of the one-way clutch to rotate around a first direction, the elastic energy storage assembly contracts to store energy, and the output end of the one-way clutch automatically disconnects from the inner ring of the one-way bearing; in the second working mode, the recovery of the pull wire drives the wire wheel and the input end of the one-way clutch to rotate around a second rotation direction, the output end of the one-way clutch automatically engages with the inner ring of the one-way bearing, and the driving element drives the outer ring of the one-way bearing to rotate around the first rotation direction at a speed greater than the rotation speed of the inner ring to provide torque to the one-way clutch; in the third working mode, the energy stored in the elastic energy storage assembly is released to provide torque, driving the input end of the one-way clutch and the wire wheel to rotate around a second direction, the output end of the one-way clutch automatically engages with the inner ring of the one-way bearing, and the inner ring rotates freely relative to the outer ring around the first rotation direction.

[0007] Further, the one-way clutch includes an active unit and a driven unit; the active unit is the input end, and the driven unit is the output end; the active gear on the active unit meshes with the driven gear on the driven unit.

[0008] Further, the driven unit can be driven to rotate by the active unit and move in the axial direction at the same time.

[0009] Further, both the active gear and the driven gear are helical gears, and the thickness of the driven gear is half of the thickness of the active gear.

[0010] Further, the driven unit is arranged on the base through two ball bearings.

[0011] Further, the driving element is connected to the outer ring of the one-way bearing through a flange.

[0012] Further, the inner ring of the one-way bearing is connected to the driven unit of the one-way clutch through a driving shaft.

[0013] Further, the driving shaft and the driven unit are engaged and disengaged through an end gear disc.

[0014] Further, the elastic energy storage component is a spiral spring.

[0015] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects: (1) The exoskeleton assist joint transmission device with combined active and passive actions proposed by the present invention realizes the dynamic switching of the torque transmission path through the one-way free rotation and reverse locking characteristics of the one-way bearing in combination with the meshing / disengaging function of the one-way clutch. The operator can pull out the wire rope with a relatively small force. If a heavier object needs to be pulled, the driving element can be started to jointly retract the wire rope; when the driving element is stuck, the operator can also smoothly and freely pull out and retract the wire rope; (2) The technical solution of the present invention realizes the dynamic switching and cooperative work of the active and passive modes through the combination of the one-way bearing and the one-way clutch. The present invention has three working modes. In the free pulling-out mode (passive): the elastic energy storage component is used to store energy, and the operator does not need to overcome the load of the driving element, and the wire rope can still be pulled out when the driving element is stuck; in the load-bearing recovery mode (active + passive): the driving element and the elastic energy storage component jointly provide torque, and the torque transmission is realized through the locking characteristic of the one-way bearing, significantly improving the assistance efficiency; in the free recovery mode (passive): only the elastic energy storage component releases energy, and the driving element does not participate in the work, realizing power-free recovery and reducing energy consumption. The technical solution of the present invention breaks through the mode limitation of the traditional device and realizes multi-condition adaptability; (3) The exoskeleton assist joint transmission device with combined active and passive actions of the present invention drives the axial movement of the driven shaft through the axial force generated during the meshing transmission of the helical gears to realize the connection or disconnection of the one-way clutch, without additionally arranging a clutch driving device, with a simple and compact structure, reduced cost, and simple operation; (4) The active and passive cooperative working mode of the present invention significantly reduces the energy consumption of the driving element and prolongs the endurance time.

[0016] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combined solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can be made obvious from the description, or can be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained from the content specifically pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are only for the purpose of showing specific embodiments, and are not considered as a limitation to the present invention. Throughout the drawings, the same reference signs denote the same components. Figure 1 FIG. is a schematic assembly structure diagram of Embodiment 1 of the exoskeleton assist joint transmission device with combined active and passive actions of the present invention; Figure 2 is Figure 1 exploded view of; Figure 3 FIG. is a schematic diagram of the one-way clutch being disengaged when the draw wire is extended; Figure 4 is Figure 3 partial enlarged view of; Figure 5 FIG. is a schematic diagram of the one-way clutch being connected when the draw wire is retracted; Figure 6 is Figure 5 partial enlarged view of; Figure 7 FIG. is a schematic structure diagram of the drive shaft of Embodiment 1; Figure 8 FIG. is a schematic structure diagram of the driven unit of Embodiment 1; Figure 9 FIG. is a schematic structure diagram of the active unit of Embodiment 1; Figure 10 FIG. is a sectional view along the axis of the active shaft of Embodiment 1; Figure 11 FIG. is an exploded view of Embodiment 2 of the exoskeleton assist joint transmission device with combined active and passive actions of the present invention; Figure 12 FIG. is a schematic structure diagram of the active unit of Embodiment 2; Figure 13 FIG. is a schematic structure diagram of the limiting mechanism in Embodiment 2; Figure 14 FIG. is a schematic diagram of the working principle of the limiting mechanism in Embodiment 2, where (a) is the state of releasing the limit and (b) is the state of limiting; Figure 15 FIG. is a sectional view along the axis of the active shaft of Embodiment 2.

[0018] Reference Signs: 1 - Driving element; 2 - Transmission assembly; 3 - Elastic energy storage assembly; 4 - Base; 5 - Limiting assembly; 201 - One - way clutch; 202 - Flange; 203 - One - way bearing; 204 - Driving shaft; 205 - Ball bearing; 206 - Driven unit; 207 - Driving unit; 208 - Threading wheel; 209 - First toothed disc; 210 - Second toothed disc; 211 - Driven shaft; 212 - Driven gear; 213 - Driving shaft; 214 - Driving gear; 215 - Pin hole; 216 - Open slot; 217 - Keyway; 218 - Threading hole; 219 - Second spur gear; 41 - Bottom plate; 42 - Protective cover; 43 - First mounting plate; 431 - First through - hole; 432 - Mounting positioning hole; 44 - Second mounting plate; 441 - Second through - hole; 45 - Side plate; 501 - Bearing seat; 502 - Limiting tenon; 503 - Limiting seat; 504 - Camshaft; 505 - Cam; 506 - First spur gear. Detailed implementation mode

[0019] The following combines the drawings to specifically describe the preferred embodiments of the present invention. Among them, the drawings form a part of the present invention and are used together with Embodiment 1 of the present invention to explain the principle of the present invention, rather than to limit the scope of the present invention.

[0020] Embodiment 1 A specific embodiment of the present invention is as Figure 1 、 Figure 2 shown, which discloses an exoskeleton assist joint transmission device with combined action of the driving and driven parts, providing assistance to the human body in a wire - pulling manner as a whole, including a base 4, a driving element 1, a transmission assembly 2, an elastic energy storage assembly 3 and a threading wheel 208.

[0021] Among them, the driving element 1 and the transmission assembly 2 are both arranged on the base 4. The transmission assembly 2 includes a one - way bearing 203 and a one - way clutch 201 that are in transmission connection. The inner ring of the one - way bearing 203 is selectively connected to the output end of the one - way clutch 201. The inner ring of the one - way bearing 203 can rotate freely relative to the outer ring in the first rotation direction and is locked in the second rotation direction. When the input end of the one - way clutch 201 rotates around the first rotation direction, the output end of the one - way clutch automatically disconnects from the inner ring of the one - way bearing 203. When the input end of the one - way clutch 201 rotates around the second rotation direction, the output end of the one - way clutch automatically engages with the inner ring of the one - way bearing 203; the driving element 1 is in transmission connection with the outer ring of the one - way bearing 203; the threading wheel 208 is fixedly connected to the input end of the one - way clutch 201; one end of the elastic energy storage assembly 3 is fixedly connected to the input end of the one - way clutch 201, and the other end is fixedly connected to the base 4.

[0022] The exoskeleton assist joint transmission device with combined active and passive functions in this embodiment has three working modes: In the first working mode, the wire wheel 208 drives the input end of the one-way clutch 201 to rotate in the first direction, the elastic energy storage component 3 contracts to store energy, and the output end of the one-way clutch 201 automatically disconnects from the inner ring of the one-way bearing 203; In the second working mode, the wire drawing recovery drives the wire wheel 208 and the input end of the one-way clutch 201 to rotate in the second rotation direction, the output end of the one-way clutch 201 automatically engages with the inner ring of the one-way bearing 203, and the driving element 1 drives the outer ring of the one-way bearing 203 to rotate in the second rotation direction at a speed greater than the inner ring speed to provide torque to the one-way clutch 201; In the third working mode, the energy stored in the elastic energy storage component 3 is released to provide torque, driving the input end of the one-way clutch 201 and the wire wheel 208 to rotate in the second direction, the output end of the one-way clutch 201 automatically engages with the inner ring of the one-way bearing 203, and the inner ring rotates freely relative to the outer ring in the second rotation direction.

[0023] See Figure 1 - Figure 2 , the base 4 includes a bottom plate 41, a first mounting plate 43, two side plates 45, a second mounting plate 44, and a protective cover 42. The base 4, as a basic support component, bears the weight of the entire transmission device and provides an installation platform for other components.

[0024] The first mounting plate 43 is located at the left end of the bottom plate 41 (taking Figure 1 as a reference) and extends vertically upward. A first through hole 431 is provided in the middle of the first mounting plate 43, and a plurality of mounting positioning holes 432 are arranged around the first through hole 431. The first mounting plate 43 is used to mount the driving element 1. A plurality of mounting positioning holes are correspondingly provided on the end face of the driving element 1. Align the end face of the driving element 1 with the first mounting plate 43, and the driving element 1 can be fixedly arranged on the first mounting plate 43 of the base 4 through bolts. The driving element 1 is preferably a servo motor.

[0025] The two side plates 45 are respectively located on the front and back sides of the bottom plate 41, the second mounting plate 44 is located at the right end of the bottom plate 41, and the protective cover 42 is buckled on the tops of the two side plates 45 and the second mounting plate 44 to jointly enclose a transmission box. At least part of the transmission assembly 2 is arranged in the transmission box.

[0026] Preferably, there is a certain gap between the left edges of the two side plates 45 and the protective cover 42 and the first mounting plate 43, that is, as Figure 1 shown, the driving element 1, the flange 202, the one-way bearing 203, and the drive shaft 204 are all located outside the transmission box. This setting facilitates the maintenance of the driving element 1. When the driving element 1 is damaged, the driving element 1 can be removed without removing the protective cover 42.

[0027] A second through hole 441 is provided in the middle of the second mounting plate 44 for mounting the elastic energy storage component 3. Preferably, the thickness of the second mounting plate 44 is greater than or equal to the thickness of the elastic energy storage component 3, and the outer edge of the elastic energy storage component 3 is flush with the outer edge of the second mounting plate 44. With this setting method, the device is small in size, and it can ensure that the deformation movement of the elastic energy storage component 3 is not interfered by other components.

[0028] By reasonably arranging each component, the base 4 realizes a compact design of the structure, reduces the volume and weight of the device, and improves the portability.

[0029] The transmission component 2 further includes a flange 202 and a drive shaft 204.

[0030] The driving element 1 is connected to the outer ring of the one-way bearing 203 through the flange 202. Specifically, the output disc of the driving element 1 is fixedly connected to the flange 202 by means of screws and pins. The flange 202 passes through the first through hole 431 of the first mounting plate 43 and extends towards the second mounting plate 44. The one-way bearing 203 is located inside the flange 202, and the outer ring of the one-way bearing 203 is key-connected to the flange 202. As an intermediate connecting member, the flange 202 realizes reliable transmission between the driving element 1 and the outer ring of the one-way bearing 203 through key connection, and at the same time simplifies the structural layout.

[0031] The structure of the drive shaft 204 is as Figure 7 shown. A keyway 217 is provided on the circumferential surface of the drive shaft 204, and a first tooth disc 209 is provided at one end of the drive shaft 204. The drive shaft 204 is located inside the inner ring of the one-way bearing 203, and the drive shaft 204 is also key-connected to the inner ring of the one-way bearing 203.

[0032] The one-way clutch 201 includes a driving unit 207 and a driven unit 206, where the driving unit 207 is the input end and the driven unit 206 is the output end.

[0033] The structure of the driven unit 206 is as Figure 8 shown, including a driven shaft 211, a driven gear 212, and a second tooth disc 210 located at one end face of the driven shaft 211. The driven unit 206 is arranged on the bottom plate 41 of the base 4 through two ball bearings 205. The second tooth disc 210 of the driven unit 206 can be engaged or disengaged with the first tooth disc 209 of the drive shaft 204, so as to realize the transmission connection or disconnection with the inner ring of the one-way bearing 203. The axial sliding and helical gear meshing design of the driven unit 206 enables the driven unit 206 to automatically complete the connection or disconnection with the drive shaft 204 according to the rotation direction.

[0034] The structure of the driving unit 207 is as Figure 9As shown. The active unit 207 includes an active shaft 213, an active gear 214, a pin hole 215, and an opening groove 216. Among them, the active shaft 213 is arranged on the bottom plate 41 of the base 4 through two ball bearings 205. The active shaft 213 is parallel to the driven shaft 211, and the active gear 214 meshes with the driven gear 212. The pin hole 215 is used for fixed connection with the wire wheel 208 through a pin. The opening groove 216 is arranged at the end of the active shaft 213 and is used for connecting with one end of the elastic energy storage component 3.

[0035] The driven unit 206 can be driven by the active unit 207 to rotate around its own axis and move in the axial direction at the same time. Specifically, both the active gear 214 and the driven gear 212 are helical gears, and the thickness of the driven gear 212 is half of the thickness of the active gear 214.

[0036] Due to the axial force generated by the meshing transmission of the helical gears, the driven unit 206 can slide between the two ball bearings 205, and both sides are limited by the shoulders on the driven unit 206. The driven unit 206 can complete the connection and disconnection with the drive shaft 204 during the sliding process.

[0037] Preferably, the circumferential surface of the driven shaft 211 is processed by rolling or shot peening, and the roughness is below Ra 0.2μm. By adopting the physical strengthening process, the smoothness of the circumferential surface of the driven shaft 211 can be improved, and the frictional resistance of the rotation and axial movement of the driven shaft 211 can be reduced.

[0038] A pull wire is wound around the wire wheel 208, and this pull wire is generally connected to the hand or wrist of the operator and is used to provide assistance to the upper limb of the operator.

[0039] Preferably, referring to Figure 9 , a wire passing hole 218 is further arranged on the active shaft 213 for fixing the pull wire wound around the wire wheel 208. After the pull wire passes through the wire passing hole 218, it is wound around the wire wheel 208.

[0040] Correspondingly, referring to Figure 10 , two through holes are arranged on the wire wheel 208, namely the third through hole and the fourth through hole. Among them, the third through hole is aligned with the pin hole 215 on the active shaft 213 for fixing the wire wheel 208 and the active shaft 213 through a pin shaft. The fourth through hole is aligned with the wire passing hole 218 on the active shaft 213 for the pull wire to pass through. The fourth through hole is a stepped hole, and a fixing terminal is arranged at the end of the pull wire. This fixing terminal is stuck at the step surface in the stepped hole to realize reliable and stable fixing of the pull wire. This fixing method does not require a large installation space and avoids the uneven overall force caused by directly arranging the fixing terminal on the wire wheel 208, ensuring that the pull wire can be stably extended or retracted.

[0041] Preferably, the elastic energy storage component 3 is a coil spring. The central end of the coil spring is connected to the opening groove 216 of the active unit 207, and the outer ring hook is connected to the coil spring installation groove in the second through hole 441 on the second mounting plate 44. As an elastic energy storage component, the coil spring realizes a compact energy storage and release mechanism. In the third working mode, it can provide the recovery torque and pre-tension for the wire rope, so that the wire rope can be tightly wound on the wire reel and the state of the wire rope being jammed by the wire will not occur.

[0042] In this embodiment, the transmission component 2 mainly completes the motion connection mode under different working conditions by the one-way bearing 203 and the one-way clutch 201 together.

[0043] Among them, the elastic energy storage component 3 and the wire reel 208 are installed on the active unit 207, and the driven unit 206 is in meshing transmission with the active unit 207. The driven unit 206 can move axially and complete the disconnection and connection with the drive shaft 204; the one-way bearing 203 is installed between the flange 202 and the drive shaft 204 and can rotate freely in one direction and be locked to rotate together in the other direction.

[0044] Specifically, the first working mode is the free stretching wire rope mode.

[0045] When the operator stretches out the wire rope on the wire reel 208, the wire reel 208 rotates, driving the elastic energy storage component 3 to contract and store energy. At the same time, the active unit 207 rotates around the first direction, and the driven unit 206 is driven to rotate around the second rotation direction and move axially, disconnecting the connection with the drive shaft 204, as shown in Figure 3 、 Figure 4 As shown. At this time, the operator can stretch out the wire rope without overcoming the load of the driving element 1, and can still complete the stretching out of the wire rope in the case of accidental jamming of the driving element 1.

[0046] The second working mode is the load-bearing recovery mode.

[0047] When assistance is needed, the wire rope recovery drives the active unit 207 to rotate around the second direction, and the driven unit 206 rotates around the first direction, and at the same time moves axially in the reverse direction until it is connected to the drive shaft 204, as shown in Figure 5 、 Figure 6 As shown. At this time, the driving element 1 rotates around the first direction and provides torque at a speed greater than that of the driven unit 206. At this time, the driven unit 206 rotates around the second direction relative to the driving element 1, and the inner ring and the outer ring of the one-way bearing 203 are locked, and then the driven unit 206 is locked with the driving element 1. Due to the characteristics of the one-way bearing 203, the torque of the driving element 1 will be transmitted to the wire reel 208 and even the wire rope to provide the required assistance.

[0048] The third working mode is the free recovery mode.

[0049] When the boosting operation is completed, the pulling wire needs to be retracted. The energy stored in the elastic energy storage component 3 is released to provide torque, driving the active unit 207 to rotate in the second direction. At this time, the driven unit 206 rotates in the first direction and simultaneously moves axially in the reverse direction until it is connected to the drive shaft 204. At this time, the driving element 1 does not provide torque, so the inner ring of the driven unit 206, the drive shaft 204, and the one-way bearing 203 rotates relative to the outer ring of the one-way bearing 203 in the first rotation direction. The force direction of the drive shaft 204 is consistent with the allowed movement direction of the one-way bearing 203. Therefore, the outer ring of the one-way bearing 203 remains stationary, and the connection between the drive shaft 204 and the driving element 1 is disconnected; that is, the pull rope will be freely retracted under the action of the elastic energy storage component 3 without additional boosting.

[0050] Due to the pre-tightening force of the elastic energy storage component 3, the pulling wire is tightly wound around the wire wheel 208 after being retracted, and there will be no situation of wire jamming or pressing; and the pulling wire can still be retracted even when the driving element 1 is accidentally jammed.

[0051] Compared with the prior art, the exoskeleton boosting joint transmission device with combined active and passive actions provided in this embodiment allows the operator to pull out the pulling wire with less energy. If a larger load needs to be pulled, the driving element can be started to wind the wire together; after the operation task is completed, the pulling wire can also be easily retracted through the elastic energy storage mechanism, and when the driving element is accidentally jammed, the extension and retraction of the pulling wire can also be smoothly completed.

[0052] Embodiment 2 This Embodiment 2 is as Figure 11 shown, and discloses an exoskeleton boosting joint transmission device with combined active and passive actions. On the basis of Embodiment 1, a limiting component 5 is added to limit the axial movement of the driven shaft when needed to prevent the one-way clutch 201 from disconnecting the connection when boosting is required.

[0053] Specifically, the limiting component 5 includes a bearing seat 501, a limiting tenon 502, a limiting seat 503, a camshaft 504, a cam 505, and a first spur gear 506.

[0054] The bearing seat 501 is arranged in the base 4 and is located above the active shaft 213 and the driven shaft 211, as Figure 13 shown. The camshaft 504 is arranged on the bearing seat 501 through a bearing, and the cam 505 and the first spur gear 506 are arranged on the camshaft 504.

[0055] Correspondingly, as Figure 12 、 Figure 15 shown, a second spur gear 219 is added to the active shaft 213, and the second spur gear 219 meshes with the first spur gear 506 to drive the camshaft 504 and the cam 505 to rotate.

[0056] The limit seat 503 is arranged on the side of the bearing seat 501 and above the driven shaft 211. The limit tenon 502 is elastically supported on the limit seat 503 so as to be movable up and down. The upper end surface of the limit tenon abuts against the outer peripheral surface of the cam 505 and can move downward under the action of the cam 505 to block the end of the driven shaft 211, as shown in Figure 14 Figure (b), preventing the driven shaft 211 from moving away from the driving shaft 204. At the same time, the limit tenon 502 can also be driven by the elastic force to reset upward to release the limit on the driven shaft 211, as shown in Figure 14 Figure (a).

[0057] In the first working mode, the limit component 5 is in the limit release state, the limit tenon 502 is in the upper first position, and the driven shaft 211 can freely move away from the driving shaft 204 to disconnect from the driving shaft 204.

[0058] In the second working mode, after the driven shaft 211 is connected to the driving shaft 204, the limit component 5 enters the limit state, the limit tenon 502 is in the lower second position, blocking the end of the driven shaft 211 and preventing the driven shaft 211 from moving away from the driving shaft 204.

[0059] In the third working mode, when the draw wire is retracted by more than a certain length, at this time the cam 505 is in the position to lift the limit tenon 502, so that the axial movement of the driven shaft 211 is not restricted, and the draw wire can still be extended and retracted when the driving element 1 is accidentally jammed.

[0060] Compared with the prior art, the master-slave co-acting exoskeleton assist joint transmission device provided in Embodiment 2 can ensure that stable assistance can be provided when the operator needs assistance, and the one-way clutch will not be disengaged due to accidental factors such as impact and collision, resulting in accidental termination of assistance. When the operator does not need assistance, the draw wire can be pulled out with less energy. After completing the operation task, the draw wire can also be easily retracted through the elastic energy storage mechanism, and when the driving element is accidentally jammed, the draw wire can also be smoothly extended and retracted.

[0061] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An exoskeleton-assisted joint drive device with combined active and passive functions, characterized in that The clutch is connected to the outer ring of the one-way bearing and the clutch is fixedly connected to the clutch seat.

2. The active and passive co-acting exoskeleton assist joint transmission device according to claim 1, characterized in that The exoskeleton-assisted joint transmission device has three working modes: in the first working mode, the pulley drives the input end of the one-way clutch to rotate in a first direction, the elastic energy storage component contracts to store energy, and the output end of the one-way clutch automatically disconnects from the inner ring of the one-way bearing; in the second working mode, the wire recovery drives the pulley and the input end of the one-way clutch to rotate in a second rotation direction, the output end of the one-way clutch automatically engages with the inner ring of the one-way bearing, and the driving element drives the outer ring of the one-way bearing to rotate in the first rotation direction at a speed greater than the speed of the inner ring, providing torque to the one-way clutch; in the third working mode, the energy stored in the elastic energy storage component is released to provide torque, driving the input end of the one-way clutch and the pulley to rotate in the second direction, the output end of the one-way clutch automatically engages with the inner ring of the one-way bearing, and the inner ring rotates freely relative to the outer ring in the first rotation direction.

3. The master-slave co-acting exoskeleton assistive joint transmission device according to claim 2, wherein The one-way clutch includes a driving unit and a driven unit; the driving unit is the input end, and the driven unit is the output end; the driving gear on the driving unit is meshed with the driven gear on the driven unit.

4. The master-slave co-acting exoskeleton assistive joint transmission device according to claim 3, wherein The driven unit can be driven to rotate by the driving unit while moving in the axial direction.

5. The active and passive co-acting exoskeleton assist joint transmission device according to claim 4, wherein The driving gear and the driven gear are both helical gears, and the thickness of the driven gear is half of the thickness of the driving gear.

6. The exoskeleton assist joint transmission device with combined active and passive actions according to claim 5, characterized in that, The output unit is arranged on the base via two ball bearings.

7. The exoskeleton assist joint transmission device with combined active and passive actions according to any one of claims 1-6, characterized in that, The driving element is connected to the outer ring of the one-way bearing through a flange.

8. The active and passive co-acting exoskeleton assist joint transmission device according to claim 7, wherein The inner ring of the one-way bearing is connected to the driven unit of the one-way clutch through a drive shaft.

9. The exoskeleton assist joint transmission device with combined active and passive actions according to claim 8, characterized in that, The driving shaft and the driven unit are engaged and disconnected via end gear discs.

10. The active and passive co-acting exoskeleton assist joint transmission device according to claim 1, characterized in that, The elastic energy storage component is a coil spring.

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