An exoskeleton-assisted joint transmission device with active and passive functions

Abstract

The present invention relates to an exoskeleton power-assisted joint transmission device with active and passive co-action, which belongs to the field of exoskeleton power-assisted joint technology and solves the problem in the prior art that the pull wire cannot be stretched out or retracted when the driving element is stuck. The present invention includes a base, a driving element, a transmission assembly, an elastic energy storage assembly and a reel; wherein, 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 freely rotate relative to the outer ring in a first rotation direction and is locked in a second rotation direction; the driving element is transmission-connected to the outer ring of the one-way bearing; the reel 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. Through the combined action of the one-way bearing and the one-way clutch, the present invention can also smoothly and freely stretch out and retract the pull wire when the driving element is stuck.

Description

Technical Field

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

[0002] Power-assisted exoskeletons are a new type of modern wearable device that integrates multiple information, control, and sensor systems. This provides the wearer with control functions, helping them complete tasks (such as load-bearing and carrying) more efficiently. Currently, power-assisted exoskeletons are driven by hydraulic and motor-assisted methods, with motor-assisted technology being the most commonly used.

[0003] When carrying heavy objects, the 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 that works in both active and passive ways, which can reduce the operator's energy consumption and assist the operator in completing the task. Among them, it includes a ratchet elastic drive element and an exoskeleton. It uses the one-way transmission characteristics of the ratchet to make the drive element and the elastic energy storage mechanism work together to retract the pull wire when a large assist force is required. At the same time, the pull wire can also be retracted without overcoming the load of the drive element. However, due to the one-way transmission characteristics of the ratchet, when the operator pulls out the pull wire, he needs to overcome the load of the drive element, which makes the operator's action jammed. If the drive element is stuck, the operator cannot pull out the pull wire and cannot complete the subsequent task. Summary of the Invention

[0004] In view of the above analysis, the present invention aims to provide an exoskeleton power-assisted joint transmission device with active and passive functions, so as to solve the problem in the prior art that the pull wire cannot be extended or retracted when the driving element is stuck.

[0005] On the one hand, the present invention provides an exoskeleton power-assisted joint transmission device with active and passive functions, comprising a base, a driving element, a transmission assembly, an elastic energy storage assembly and a pulley; wherein the driving element and the transmission assembly are both arranged on the base; the transmission assembly comprises 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 transmission-connected to the outer ring of the one-way bearing; the pulley 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] Furthermore, 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 around 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 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 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 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] Furthermore, 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.

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

[0009] Furthermore, 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.

[0010] Furthermore, the driven unit is arranged on the base via two ball bearings.

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

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

[0013] Furthermore, the driving shaft and the driven unit are engaged and disconnected via an end gear disc.

[0014] Furthermore, the elastic energy storage component is a coil spring.

[0015] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0016] (1) The active and passive exoskeleton power-assisted joint transmission device proposed in the present invention realizes dynamic switching of the torque transmission path by combining the one-way free rotation and reverse locking characteristics of the one-way bearing with the engagement / disengagement function of the one-way clutch. The operator can pull out the cable with less force. If a heavier object needs to be pulled, the driving element can be activated to jointly retract the cable. When the driving element is stuck, the operator can also pull out and retract the cable smoothly and freely.

[0017] (2) The technical solution of the present invention realizes the dynamic switching and coordinated operation of the active and passive modes through the combination of a one-way bearing and a one-way clutch. The present invention has three working modes. In the free extension mode (passive): the elastic energy storage component is used to store energy, and the operator does not need to overcome the load of the drive element, and the cable extension can still be completed when the drive element is stuck; in the load recovery mode (active + passive): the drive element and the elastic energy storage component jointly provide torque, and the torque transmission is achieved through the locking characteristics of the one-way bearing, which significantly improves the power assist efficiency; in the free recovery mode (passive): only the elastic energy storage component is used to release energy, and the drive element does not participate in the work, realizing unpowered recovery and reducing energy consumption. The technical solution of the present invention breaks through the mode limitations of traditional devices and realizes multi-working condition adaptation;

[0018] (3) The active and passive exoskeleton power-assisted joint transmission device of the present invention drives the axial movement of the driven shaft through the axial force generated by the meshing transmission of the helical gears to achieve the connection or disconnection of the one-way clutch. There is no need to set up a separate clutch drive device. The structure is simple and compact, the cost is reduced, and the operation is simple.

[0019] (4) The active-passive collaborative working mode of the present invention significantly reduces the energy consumption of the driving components and prolongs the battery life.

[0020] In the present invention, the above-mentioned technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of the present invention will be described in the following description, and some advantages will become apparent from the description or be learned through practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. Throughout the drawings, the same reference symbols denote the same components.

[0022] Figure 1 This is a schematic diagram of the assembly structure of Example 1 of the active and passive co-acting exoskeleton power-assisted joint transmission device of the present invention;

[0023] Figure 2 for Figure 1 Exploded diagram;

[0024] Figure 3 This is a schematic diagram of the one-way clutch being disengaged when the cable is extended;

[0025] Figure 4 for Figure 3 A partial enlarged view of

[0026] Figure 5 This is a schematic diagram of the one-way clutch connection when retrieving the cable;

[0027] Figure 6 for Figure 5 A partial enlarged view of

[0028] Figure 7 Schematic diagram of the structure of the drive shaft of Example 1;

[0029] Figure 8 Schematic diagram of the structure of the driven unit of Example 1;

[0030] Figure 9 This is a schematic structural diagram of the active unit of Example 1;

[0031] Figure 10 is a cross-sectional view along the axis of the driving shaft of Example 1;

[0032] Figure 11 This is an exploded view of Example 2 of the active and passive co-acting exoskeleton power-assisted joint transmission device of the present invention;

[0033] Figure 12 This is a schematic structural diagram of the active unit of Example 2;

[0034] Figure 13 Schematic diagram of the structure of the limiting mechanism in Example 2;

[0035] Figure 14 Schematic diagram of the working principle of the limiting mechanism in Example 2, wherein (a) is the limit release state and (b) is the limit state;

[0036] Figure 15 This is a cross-sectional view of Example 2 along the axis of the driving shaft.

[0037] Reference numerals:

[0038] 1-driving element; 2-transmission assembly; 3-elastic energy storage assembly; 4-base; 5-limiting assembly;

[0039] 201-one-way clutch; 202-flange; 203-one-way bearing; 204-drive shaft; 205-ball bearing; 206-driven unit; 207-driving unit; 208-wire wheel; 209-first gear disc; 210-second gear disc; 211-driven shaft; 212-driven gear; 213-driving shaft; 214-driving gear; 215-pin hole; 216-opening groove; 217-keyway; 218-threading hole; 219-second spur gear; 41-base 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 latch; 503-limiting seat; 504-camshaft; 505-cam; 506-first spur gear. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with Example 1 of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0041] Example 1

[0042] A specific embodiment of the present invention, as Figure 1 、 Figure 2 As shown, an exoskeleton power-assisted joint transmission device with active and passive functions is disclosed, which provides power assistance to the human body in a wire-pulling manner, including a base 4, a driving element 1, a transmission component 2, an elastic energy storage component 3 and a wire pulley 208.

[0043] The drive element 1 and transmission assembly 2 are both disposed on a base 4. The transmission assembly 2 includes a one-way bearing 203 and a one-way clutch 201 in a 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 freely rotate relative to the outer ring in a first rotational direction and lock in a second rotational direction. When the input end of the one-way clutch 201 rotates in the first rotational 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 in the second rotational direction, the output end of the one-way clutch automatically engages with the inner ring of the one-way bearing 203. The drive element 1 is in transmission connection with the outer ring of the one-way bearing 203; the reel 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.

[0044] The active and passive co-acting exoskeleton power-assisted joint transmission device of this embodiment has three working modes: in the first working mode, the pulley 208 drives the input end of the one-way clutch 201 to rotate in a first direction, the elastic energy storage component 3 contracts to store energy, and the output end of the one-way clutch 201 is automatically disconnected from the inner ring of the one-way bearing 203; in the second working mode, the wire recovery drives the pulley 208 and the input end of the one-way clutch 201 to rotate in a 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 speed of the inner ring, providing 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 pulley 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.

[0045] See also 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 serves as a basic supporting component, bearing the weight of the entire transmission device and providing a mounting platform for other components.

[0046] The first mounting plate 43 is located at the left end portion of the bottom plate 41 (with Figure 1As a reference, the first mounting plate 43 extends vertically upward. A first through-hole 431 is provided in the center of the first mounting plate 43, and multiple mounting positioning holes 432 are provided around the first through-hole 431. The first mounting plate 43 is used to mount the driving element 1. Multiple mounting positioning holes are provided on the end surface of the driving element 1. By aligning the end surface of the driving element 1 with the first mounting plate 43, the driving element 1 can be fixed to the first mounting plate 43 of the base 4 using bolts. The driving element 1 is preferably a servo motor.

[0047] Two side panels 45 are located on the front and rear sides of the base plate 41, respectively. A second mounting plate 44 is located on the right end of the base plate 41. A protective cover 42 is fastened to the two side panels 45 and the top of the second mounting plate 44, together forming a transmission case. The transmission assembly 2 is at least partially disposed within the transmission case.

[0048] Preferably, there is a certain distance between the left edge of the two side panels 45 and the protective cover 42 and the first mounting plate 43, that is, Figure 1 As shown, the drive element 1, flange 202, one-way bearing 203 and drive shaft 204 are all located outside the transmission case. This arrangement facilitates the maintenance of the drive element 1. When the drive element 1 is damaged, the drive element 1 can be removed without removing the protective cover 42.

[0049] A second through-hole 441 is provided in the middle of the second mounting plate 44 for mounting the elastic energy storage assembly 3. Preferably, the thickness of the second mounting plate 44 is greater than or equal to the thickness of the elastic energy storage assembly 3, and the outer edge of the elastic energy storage assembly 3 is flush with the outer edge of the second mounting plate 44. This arrangement makes the device compact and ensures that the deformation movement of the elastic energy storage assembly 3 is not interfered with by other components.

[0050] The base 4 realizes a compact structure design by rationally arranging various components, reduces the volume and weight of the device, and improves portability.

[0051] The transmission assembly 2 further includes a flange 202 and a drive shaft 204 .

[0052] The drive element 1 is connected to the outer ring of the one-way bearing 203 via flange 202. Specifically, the output disc of the drive element 1 is fixedly connected to the flange 202 via screws and pins. The flange 202 passes through the first through-hole 431 of the first mounting plate 43 and extends toward 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 connected to the flange 202 via a key. The flange 202 serves as an intermediate connector, and the key connection ensures reliable transmission between the drive element 1 and the outer ring of the one-way bearing 203, while also simplifying the structural layout.

[0053] The structure of the drive shaft 204 is as follows Figure 7As shown, a keyway 217 is provided on the circumferential surface of the drive shaft 204, and a first gear disc 209 is provided at one end of the drive shaft 204. The drive shaft 204 is located within the inner ring of the one-way bearing 203, and the drive shaft 204 and the inner ring of the one-way bearing 203 are also connected by a key.

[0054] The one-way clutch 201 includes a driving unit 207 and a driven unit 206 , wherein the driving unit 207 is an input end and the driven unit 206 is an output end.

[0055] The structure of the driven unit 206 is as follows Figure 8 As shown, the driven unit 206 includes a driven shaft 211, a driven gear 212, and a second geared disc 210 located on the end surface of one end of the driven shaft 211. The driven unit 206 is mounted on the bottom plate 41 of the base 4 via two ball bearings 205. The second geared disc 210 of the driven unit 206 can engage or disengage with the first geared disc 209 of the drive shaft 204, thereby achieving a 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 connect or disconnect with the drive shaft 204 according to the direction of rotation.

[0056] The structure of the active unit 207 is as follows Figure 9 As shown. The active unit 207 includes a driving shaft 213, a driving gear 214, a pin hole 215 and an open slot 216. Among them, the driving shaft 213 is set on the bottom plate 41 of the base 4 through two ball bearings 205. The driving shaft 213 is parallel to the driven shaft 211, and the driving gear 214 is engaged with the driven gear 212. The pin hole 215 is used to achieve a fixed connection with the reel 208 through a pin. The open slot 216 is set at the end of the driving shaft 213 for connecting to one end of the elastic energy storage component 3.

[0057] The driven unit 206 can be driven by the driving unit 207 to rotate around its own axis and move in the axial direction. Specifically, the driving gear 214 and the driven gear 212 are both helical gears, and the thickness of the driven gear 212 is half the thickness of the driving gear 214.

[0058] Due to the axial force generated by the helical gear meshing transmission, the driven unit 206 can slide between the two ball bearings 205, and the two sides are limited by the shaft shoulders on the driven unit 206. The driven unit 206 can be connected and disconnected with the drive shaft 204 during the sliding process.

[0059] Preferably, the circumferential surface of the driven shaft 211 is rolled or shot peened to a roughness of Ra 0.2 μm or less. By adopting a physical strengthening process, the smoothness of the circumferential surface of the driven shaft 211 can be improved, and the friction resistance of the driven shaft 211 during rotation and axial movement can be reduced.

[0060] A pull wire is wound around the pulley 208 and is generally connected to the operator's hand or wrist to provide assistance to the operator's upper limbs.

[0061] Preferably, see Figure 9 The driving shaft 213 is also provided with a threading hole 218 for fixing the pulley 208. After the pulley passes through the threading hole 218, it is wound around the pulley 208.

[0062] For corresponding reference, see Figure 10 , two through holes are provided on the wire pulley 208, namely the third through hole and the fourth through hole, wherein the third through hole is aligned with the pin hole 215 on the driving shaft 213, and is used to fix the wire pulley 208 and the driving shaft 213 through the pin shaft. The fourth through hole is aligned with the threading hole 218 on the driving shaft 213, and is used for allowing the pull wire to pass through. The fourth through hole is a stepped hole, and a fixed terminal is provided at the end of the pull wire, which is stuck on the step surface in the stepped hole to achieve reliable and stable fixation of the pull wire. This fixing method does not require a large installation space, and avoids the overall uneven force caused by directly setting the fixed terminal on the wire pulley 208, ensuring that the pull wire can be stably stretched out or retracted.

[0063] Preferably, the elastic energy storage component 3 is a coil spring. The center end of the coil spring is connected to the open slot 216 of the active unit 207, and the outer ring hook is connected to the coil spring mounting slot in the second through hole 441 on the second mounting plate 44. The coil spring, as an elastic energy storage component, realizes a compact energy storage and release mechanism. In the third working mode, it can provide recovery torque and pre-tension to the cable, allowing the cable to be tightly wound around the reel without causing the cable to become stuck.

[0064] In this embodiment, the transmission assembly 2 mainly comprises a one-way bearing 203 and a one-way clutch 201 to achieve motion connection modes under different working conditions.

[0065] The elastic energy storage assembly 3 and the reel 208 are mounted on the active unit 207, and the driven unit 206 is meshed with the active unit 207 for transmission. The driven unit 206 can move axially and disconnect and connect with the drive shaft 204. The one-way bearing 203 is mounted between the flange 202 and the drive shaft 204, allowing free rotation in one direction and locking in the other direction for joint rotation.

[0066] Specifically, the first working mode is a free-stretching wire pulling mode.

[0067] When the operator pulls out the pulley 208, the pulley 208 rotates, driving the elastic energy storage component 3 to contract and store energy. At the same time, the active unit 207 rotates in the first direction, and the driven unit 206 is driven to rotate in the second direction and move axially, disconnecting from the drive shaft 204. Figure 3 、 Figure 4 At this time, the operator can pull out the cable without overcoming the load of the drive element 1, and can still pull out the cable even if the drive element 1 is accidentally stuck.

[0068] The second working mode is the load recovery mode.

[0069] When assistance is needed, the cable is retracted to drive the active unit 207 to rotate in the second direction, and the driven unit 206 to rotate in the first direction and move in the opposite direction along the axial direction until it is connected to the drive shaft 204. Figure 5 、 Figure 6 At this time, the driving element 1 rotates in 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 in the second direction relative to the driving element 1, and the inner and outer rings of the one-way bearing 203 are locked. In turn, the driven unit 206 and the driving element 1 are locked. Due to the characteristics of the one-way bearing 203, the torque of the driving element 1 will be transmitted to the pulley 208 and even the cable, providing the required power assistance.

[0070] The third working mode is the free recovery mode.

[0071] After the power-assisting operation is completed, the cable needs to be retracted, and the energy stored in the elastic energy storage assembly 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 opposite direction until it connects with the drive shaft 204. At this time, the drive element 1 does not provide torque, so the driven unit 206, the drive shaft 204, and the inner ring of the one-way bearing 203 rotate in the first rotation direction relative to the outer ring of the one-way bearing 203. The force direction of the drive shaft 204 is consistent with the movement direction allowed by the one-way bearing 203, so the outer ring of the one-way bearing 203 remains stationary, and the connection between the drive shaft 204 and the drive element 1 is disconnected; that is, the cable will be freely retracted under the action of the elastic energy storage assembly 3, without the need for additional power assistance.

[0072] Due to the pre-tightening force of the elastic energy storage component 3, the wire is tightly wound on the wheel 208 after being retracted, and the wire will not be stuck due to being pressed; and the wire can still be recovered even if the driving element 1 is accidentally stuck.

[0073] Compared with the existing technology, the active and passive exoskeleton assisted joint transmission device provided in this embodiment allows the operator to pull out the pull wire with less energy. If a larger load needs to be pulled, the drive element can be started to retract the wire together. After completing the work task, the pull wire can also be easily retracted through the elastic energy storage mechanism, and when the drive element is accidentally stuck, the extension and retraction of the pull wire can also be completed smoothly.

[0074] Example 2

[0075] In this embodiment 2, Figure 11 As shown, an exoskeleton power-assisted joint transmission device with active and passive functions is disclosed. On the basis of Example 1, a limit component 5 is added to limit the axial movement of the driven shaft when needed to avoid the one-way clutch 201 from being disconnected when power assistance is required.

[0076] Specifically, the limiting assembly 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 .

[0077] The bearing seat 501 is arranged in the base 4 and is located above the driving shaft 213 and the driven shaft 211. Figure 13 A camshaft 504 is provided on the bearing seat 501 via a bearing, and a cam 505 and a first spur gear 506 are provided on the camshaft 504 .

[0078] Correspondingly, if Figure 12 、 Figure 15 As shown, a second spur gear 219 is additionally provided on the driving shaft 213 , and the second spur gear 219 is engaged with the first spur gear 506 to drive the camshaft 504 and the cam 505 to rotate.

[0079] The limiting seat 503 is provided on the side of the bearing seat 501 and is located above the driven shaft 211. The limiting latch 502 is elastically supported on the limiting seat 503 so as to be movable up and down. Its upper end surface 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. Figure 14 As shown in (b), the driven shaft 211 is blocked from moving in a direction away from the driving shaft 204. At the same time, the limiting latch 502 can also be driven upward by the elastic force to reset to release the limit on the driven shaft 211, as shown in FIG. Figure 14 (a) shown.

[0080] In the first working mode, the limiting assembly 5 is in the released limiting state, the limiting tenon 502 is in the upper first position, and the driven shaft 211 can freely move in the direction away from the driving shaft 204 to disconnect from the driving shaft 204.

[0081] In the second working mode, after the driven shaft 211 is connected to the driving shaft 204, the limiting assembly 5 enters the limiting state, and the limiting tenon 502 is in the second position at the bottom, blocking the end of the driven shaft 211 and preventing the driven shaft 211 from moving in the direction away from the driving shaft 204.

[0082] In the third working mode, when the wire is retracted beyond a certain length, the cam 505 is in a position to lift the limit latch 502, so that the axial movement of the driven shaft 211 is not restricted. Even if the driving element 1 is accidentally stuck, the rope can still be stretched and retracted.

[0083] Compared to existing technologies, the active and passive combined exoskeleton power-assistance joint transmission device provided in Example 2 ensures stable power assistance when the operator requires it, preventing unexpected factors such as impact or collision that could cause the one-way clutch to disengage and thus cause power assistance to terminate unexpectedly. When the operator does not need power assistance, the cable can be pulled out with minimal energy. After completing the task, the cable can also be easily retracted via the elastic energy storage mechanism. Even if the drive element accidentally jams, the cable can be smoothly extended and retracted.

[0084] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. An exoskeleton power-assisted joint transmission device with 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 exoskeleton power-assisted 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 active and passive exoskeleton power-assisted joint transmission device according to claim 2, characterized in that: 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 active and passive exoskeleton power-assisted joint transmission device according to claim 3, characterized in that: The driven unit can be driven to rotate by the driving unit while moving in the axial direction.

5. The active and passive exoskeleton power-assisted joint transmission device according to claim 4, characterized in that: 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 active and passive exoskeleton power-assisted joint transmission device according to claim 5, characterized in that: The output unit is arranged on the base via two ball bearings.

7. The exoskeleton power-assisted joint transmission device according to any one of claims 1 to 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 exoskeleton power-assisted joint transmission device according to claim 7, characterized in that: 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 active and passive exoskeleton power-assisted joint transmission device 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 exoskeleton power-assisted joint transmission device according to claim 1, characterized in that: The elastic energy storage component is a coil spring.

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