An exoskeleton joint driving device capable of quickly switching transmission modes

Abstract

The application discloses an exoskeleton joint driving device capable of quickly switching transmission modes. The device comprises a driving assembly, a winding wheel assembly connected with the driving assembly, a first direction control assembly having a first direction locking state and a first direction free state, a second direction control assembly having a second direction locking state and a second direction free state, and a switching assembly for controlling the first direction control assembly to switch between the first direction locking state and the first direction free state and controlling the second direction control assembly to switch between the second direction locking state and the second direction free state. Through cooperation of the first direction control assembly, the second direction control assembly and the switching assembly, the device realizes two transmission modes of torque output and tensile force output in the same driving device, and improves the function multiplexing capability and the application scene coverage range of the device.

Description

Technical Field

[0001] This application relates to the field of biomimetic robot technology, specifically to an exoskeleton joint drive device capable of rapidly switching transmission modes. Background Technology

[0002] Most existing joint-driven and exoskeleton-driven solutions employ a single output form, typically focusing on either joint torque output or axial tensile force output. Common technical approaches include direct motor drive, reducer transmission, and remote cable transmission. While these solutions can achieve stable operation under a single task, their ability to rapidly switch between two output modes within the same drive unit is insufficient. To meet the needs of multiple scenarios, existing technologies often employ multi-device combinations or manual disassembly and switching to achieve different functions, resulting in complex system structures, increased size and weight, inconvenient assembly and maintenance, long switching times, and insufficient consistency and repeatability in switching. Furthermore, existing technologies rely heavily on complex debugging or additional sensing methods for confirming the status after mode switching, leading to high engineering implementation costs. For cable-driven systems, there are also issues such as difficulty in quantifying and adjusting preload, the risk of cable slack, and decreased force transmission stability. Therefore, existing technologies still have significant shortcomings in terms of rapid switching, dual-mode reuse, preload adjustment, and status discriminability. Summary of the Invention

[0003] The purpose of this invention is to provide an exoskeleton joint drive device that can quickly switch transmission modes to solve at least one of the above-mentioned technical problems.

[0004] In one aspect, the present invention provides an exoskeleton joint drive device capable of rapidly switching transmission modes. The exoskeleton joint includes a drive rope one and a drive rope two. The exoskeleton joint drive device capable of rapidly switching transmission modes includes:

[0005] Driver components;

[0006] A winding wheel assembly, the winding wheel assembly being connected to the drive assembly, with one end of drive rope one and one end of drive rope two disposed on the winding wheel assembly;

[0007] A first direction control component, the first direction control component having a first direction locked state and a first direction free state;

[0008] A second direction control component, the second direction control component having a second direction locked state and a second direction free state;

[0009] A switching component is provided, which controls the first direction control component to switch between a first direction locked state and a first direction free state, and controls the second direction control component to switch between a second direction locked state and a second direction free state; wherein...

[0010] The drive device can drive the winding wheel assembly to rotate in a first direction or a second direction, thereby causing the winding wheel assembly to drive the first drive rope and the second drive rope to rotate.

[0011] When the first direction control component is in the first direction locking state, the first locking end prevents the winding wheel assembly from rotating in the first direction;

[0012] When the second direction control component is in the second direction locking state, the second locking end prevents the winding wheel assembly from rotating in the second direction.

[0013] Optionally, the driving component includes:

[0014] Motor bracket;

[0015] The motor, wherein the hollow rotor of the motor is connected to the winding wheel assembly via a connecting shaft.

[0016] Optionally, the exoskeleton joint drive device capable of rapidly switching transmission modes further includes:

[0017] Encoder 1, the rotating shaft of encoder 1 is connected to the connecting shaft, encoder 1 is used to measure the rotation angle of the hollow rotor and the winding wheel assembly of the motor.

[0018] Optionally, the winding reel assembly includes:

[0019] Synchronous winding wheel;

[0020] A bearing, one side of which is connected to the synchronous winding wheel;

[0021] An inner ratchet is connected to the other side of the bearing, and a cross-shaped synchronous shaft is provided on the inner ratchet;

[0022] A ratchet cover plate is connected to the synchronous winding wheel, so that the inner ratchet is located inside the receiving space formed by the ratchet cover plate and the synchronous winding wheel, and a first hole is provided on the ratchet cover plate;

[0023] A ratchet winding wheel is provided on the side of the ratchet cover plate away from the synchronous winding wheel, and the cross-shaped synchronous shaft passes through the first hole and is connected to the ratchet winding wheel.

[0024] Optionally, the first direction control component includes:

[0025] A spring is disposed inside the synchronous winding wheel, with one end of the spring abutting against the inner wall of the synchronous winding wheel;

[0026] A first pawl shaft is mounted on the synchronous winding wheel;

[0027] Pawl 1 is mounted on the first pawl shaft and can rotate around the first pawl shaft. One end of pawl 1 abuts against the other end of spring 1. Spring 1 provides spring force to pawl 1, so that one end of pawl 1 abuts against the teeth of the inner ratchet of the winding wheel assembly, thereby putting the first direction control assembly in a first direction locking state.

[0028] Optionally, the first direction control component includes:

[0029] Spring 2 is disposed inside the synchronous winding wheel, and one end of spring 2 abuts against the inner wall of the synchronous winding wheel;

[0030] The second pawl shaft is mounted on the synchronous winding wheel;

[0031] Pawl 2 is mounted on the first pawl shaft and can rotate around the first pawl shaft. One end of pawl 2 abuts against the other end of spring 2. Spring 2 provides spring force to pawl 2, so that one end of pawl 2 abuts against the teeth of the inner ratchet of the winding wheel assembly, thereby putting the second direction control assembly in the second direction locking state.

[0032] Optionally, the switching component includes:

[0033] An adjusting handle, which is mounted on the ratchet cover plate;

[0034] An adjusting cam is mounted on the inner ratchet and connected to the adjusting handle; wherein...

[0035] The adjusting handle can rotate, thereby driving the adjusting cam to rotate. During rotation, the adjusting cam can provide force to the first pawl, thereby disengaging the first pawl from the teeth of the inner ratchet, or provide force to the second pawl, thereby disengaging the second pawl from the teeth of the inner ratchet.

[0036] Optionally, the exoskeleton joint drive device capable of rapidly switching transmission modes further includes:

[0037] Encoder bracket;

[0038] Encoder 2, which is fixed to the encoder bracket;

[0039] An encoder gear meshes with the teeth of the ratchet winding wheel, and the encoder gear is mounted on the rotating shaft of the second encoder.

[0040] This application also provides an exoskeleton joint drive system, which includes the exoskeleton joint drive device described above that can quickly switch transmission modes.

[0041] This application also provides an exoskeleton joint, which includes the exoskeleton joint drive system described above.

[0042] The exoskeleton joint drive device of this application, which can quickly switch transmission modes, achieves the switching between torque output and tension output transmission modes within the same drive device through the cooperation of a first direction control component, a second direction control component, and a switching component, thereby improving the device's functional reuse capability and application scenario coverage. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of an exoskeleton joint drive system with rapidly switchable transmission modes according to an embodiment of this application.

[0044] Figure 2 This is an exploded structural diagram of an exoskeleton joint drive device with rapidly switchable transmission modes according to an embodiment of this application.

[0045] Figure 3 This is a schematic diagram of an exoskeleton joint system according to an embodiment of this application, wherein the exoskeleton drive device capable of quickly switching transmission modes is in auxiliary torque mode.

[0046] Figure 4 This is a schematic diagram of an exoskeleton joint according to another embodiment of this application; wherein the exoskeleton drive device with rapidly switchable transmission modes is in resistance tension mode.

[0047] Figure 5 yes Figure 2 The diagram shows the torque mode and tension mode of the exoskeleton joint drive device with rapidly switchable transmission modes, including the winding state and torque action.

[0048] Figure 6 This is a schematic diagram of the mode perception and switching process of an exoskeleton joint drive device that can quickly switch transmission modes.

[0049] Figure label:

[0050] 1. Exoskeleton joint drive device; 2. Two guide pulleys; 3. Two tension sensors; 4. Two drive ropes; 5. Base; 6. Two cable clamps; 7. One cable clamp; 8. Clamp fixing seat; 9. One drive rope; 10. One tension sensor; 11. One guide pulley; 12. Ratchet winding wheel; 13. Ratchet cover plate; 14. Inner ratchet; 15. Bearing; 16. Synchronous winding wheel; 17. One spring; 18. Connecting shaft; 19. One encoder; 20. One pawl; 21. Motor bracket; 22. Motor; 23. Connecting flange; 24. One spring; 25. Adjustment... 26. Adjusting handle; 27. Encoder gear; 28. Encoder bracket; 29. ​​Encoder II; 30. Pawl II; 31. Brake cable I; 32. Brake cable II; 33. Thigh strap; 34. Lower leg strap; 35. Lower leg fixing plate; 36. Torque mode end effector; 37. Waist belt; 38. Drive unit I; 39. Pull mode end effector; 40. End effector extension rod; 41. Snap ring; 42. Foot support rod; 43. Drive unit II; 44. Drive unit III; 45. Brake cable assembly I; 46. Brake cable assembly II. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0052] like Figures 1 to 5 The exoskeleton joint drive device shown, which allows for rapid switching of transmission modes, includes:

[0053] Driver components;

[0054] A winding wheel assembly, the winding wheel assembly being connected to the drive assembly, with one end of drive rope one and one end of drive rope two disposed on the winding wheel assembly;

[0055] A first direction control component, the first direction control component having a first locking end, the first locking end being able to abut against the winding wheel assembly, thereby enabling the first direction control component to have a first direction locking state and a first direction free state;

[0056] The second direction control component has a second locking end that can abut against the winding wheel assembly, thereby giving the second direction control component a second direction locking state and a second direction free state.

[0057] A switching component is provided, which controls the first direction control component to switch between a first direction locked state and a first direction free state, and controls the second direction control component to switch between a second direction locked state and a second direction free state; wherein...

[0058] The drive device can drive the winding wheel assembly to rotate in a first direction or a second direction, thereby causing the winding wheel assembly to drive the first drive rope and the second drive rope to rotate.

[0059] When the first direction control component is in the first direction locking state, the first locking end prevents the winding wheel assembly from rotating in the first direction;

[0060] When the second direction control component is in the second direction locking state, the second locking end prevents the winding wheel assembly from rotating in the second direction.

[0061] In this embodiment, the drive assembly includes a motor bracket 21 and a motor 22, and the hollow rotor of the motor 22 is connected to the winding wheel assembly via a connecting shaft 18.

[0062] In this embodiment, the exoskeleton joint drive device with rapidly switchable transmission modes further includes an encoder 19, the rotation shaft of which is connected to the connecting shaft 18, and the encoder 19 is used to measure the rotation angle of the hollow rotor and the winding wheel assembly of the motor 22.

[0063] In this embodiment, the winding wheel assembly includes a synchronous winding wheel 16, a bearing 15, an inner ratchet 14, a ratchet cover plate 13, and a ratchet winding wheel 12; wherein,

[0064] The drive rope is installed on the synchronous winding reel 16;

[0065] One side of the bearing 15 is connected to the synchronous winding wheel 16;

[0066] The inner ratchet 14 is connected to the other side of the bearing, and a cross-shaped synchronous shaft is provided on the inner ratchet 14;

[0067] The ratchet cover plate 13 is connected to the synchronous winding wheel 16, so that the inner ratchet 14 is located inside the receiving space formed by the ratchet cover plate 13 and the synchronous winding wheel 16. The ratchet cover plate 13 is provided with a first hole.

[0068] The ratchet winding wheel 12 is located on the side of the ratchet cover plate 13 away from the synchronous winding wheel 16. The cross-shaped synchronous shaft passes through the first hole and is connected to the ratchet winding wheel 12. The second drive rope is installed on it.

[0069] In this embodiment, the first direction control component includes a spring-17, a first pawl shaft, and a pawl-20, wherein,

[0070] Spring 17 is disposed inside the synchronous winding wheel 16, and one end of spring 17 abuts against the inner wall of the synchronous winding wheel 16;

[0071] The first pawl shaft is mounted on the synchronous winding wheel 16;

[0072] Pawl 20 is mounted on the first pawl shaft and can rotate around the first pawl shaft. One end of pawl 20 abuts against the other end of spring 17. Spring 17 provides spring force to pawl 20, so that one end of pawl 20 abuts against the teeth of the inner ratchet 14 of the winding wheel assembly, thereby putting the first direction control assembly in the first direction locking state.

[0073] In this embodiment, the first direction control component includes a second spring 24, a second pawl shaft, and a second pawl 30, wherein,

[0074] Spring 24 is disposed inside the synchronous winding wheel 16, with one end of spring 24 abutting against the inner wall of the synchronous winding wheel 16; the second pawl shaft is mounted on the synchronous winding wheel 16.

[0075] Pawl 2 30 is mounted on the first pawl shaft and can rotate around the first pawl shaft. One end of pawl 2 30 abuts against the other end of spring 2 24. Spring 2 24 provides spring force to pawl 2 30, so that one end of pawl 2 30 abuts against the teeth of the inner ratchet 14 of the winding wheel assembly, thereby putting the second direction control assembly in the second direction locking state.

[0076] In this embodiment, the switching assembly includes an adjusting handle 26 and an adjusting cam 25. The adjusting handle 26 is mounted on the ratchet cover 13; the adjusting cam 25 is mounted on the inner ratchet 14 and connected to the adjusting handle 26.

[0077] The adjusting handle 26 can rotate, thereby driving the adjusting cam 25 to rotate. The adjusting cam 25 drives the inner ratchet 14 to rotate, and the inner ratchet 14 drives the ratchet winding wheel 12 to rotate. During rotation, the adjusting cam 25 can provide force to the first pawl 20, thereby disengaging the first pawl 20 from the teeth of the inner ratchet 14, or provide force to the second pawl 30, thereby disengaging the second pawl 30 from the teeth of the inner ratchet 14.

[0078] In this embodiment, the exoskeleton joint drive device capable of quickly switching transmission modes further includes an encoder bracket 28, an encoder 29, and an encoder gear 27, wherein,

[0079] Encoder 29 is fixed to encoder bracket 28;

[0080] The encoder gear 27 meshes with the teeth of the ratchet winding wheel 12, and the encoder gear 27 is mounted on the rotating shaft of the encoder 29.

[0081] This application also provides an exoskeleton joint drive system, which includes the exoskeleton joint drive device described above that can quickly switch transmission modes.

[0082] This application also provides an exoskeleton joint, which includes the exoskeleton joint drive system described above.

[0083] The following is combined with Figures 2 to 5 As this application is described in detail, it is understood that the examples provided do not constitute any limitation on this application.

[0084] This application mainly describes the exoskeleton joint drive device 1, which allows for rapid switching of transmission modes. The adjustment handle 26 drives the adjustment cam 25 to rotate. By adjusting the cam 25 and actuating either pawl 1 20 or pawl 2 30 (i.e., applying an external force to pawl 1 to overcome the elastic force of the spring, causing pawl 1 to move in the direction of the spring, thus not affecting the rotation of the inner ratchet teeth in both directions; the working principle of the adjustment cam and pawl 2 is the same as that of pawl 1, and will not be repeated here), unlocking (first direction free state, second direction free state) or locking (first direction locked state, second direction locked state) is achieved.

[0085] See Figure 4 In this embodiment, when the adjusting handle 26 is at its rightmost or leftmost position, pawl 1 20 or pawl 2 30 respectively press against the inner ratchet 14, thereby locking the ratchet winding wheel 12 counterclockwise or clockwise. The operator can achieve clockwise or counterclockwise winding by supporting the synchronous winding wheel 16 with one hand and rotating the ratchet winding wheel 12, thus forming two relative relationships between the drive rope 1 4 and the drive rope 2 9, respectively corresponding to... Figure 5 (b) Torque mode and (d) Tension mode.

[0086] The relative relationships between pawl 1 (20), pawl 2 (30) and the inner ratchet 14 are as follows: Figure 5 The torque mode (a) and tension mode (c) are shown in the diagram.

[0087] The two modes mentioned above correspond to respectively Figure 3 and Figure 4 The two human-computer interaction states shown are achieved by combining the torque mode end effector 36 and the tension mode end effector 39 respectively (the end effector is prior art, see patent application number 2024110305052, entitled A rope-driven actuator for a knee exoskeleton rehabilitation system for lying people).

[0088] See Figure 3 as well as Figure 4 The exoskeleton joints in the two embodiments of this application may include one or more exoskeleton joint drive systems;

[0089] In this embodiment, the exoskeleton joint drive system includes an exoskeleton joint drive device 1 with a rapidly switchable transmission mode, a base 5, a drive rope 4, a drive rope 9, a guide pulley 2, a tension sensor 3, a guide pulley 11, a tension sensor 10, a Bodeline card 6, and a Bodeline card 7.

[0090] See Figure 1 The exoskeleton joint drive device 1, which can quickly switch transmission modes, is fixed to the base 5. The drive rope 1 and drive rope 2 9 led out from the exoskeleton joint drive device 1 are guided by the guide pulley 1 2 and the tension sensor 2 3, and then connected in series with the guide pulley 2 11 and the tension sensor 1 10, and pass through the Bodeline card 1 6 and Bodeline card 1 7.

[0091] See Figure 3 In torque mode, the rope passes through both the first and second guide tubes 31 and 32, respectively; see also Figure 4 In tension mode, the rope passes through the first 45 and the second 46 of the cable assembly, and then acts on the torque mode end effector 36 and the tension mode end effector 39 respectively to generate torque or tension and realize two human-machine interaction states.

[0092] In the drive unit, the exoskeleton joint drive unit 1, which can quickly switch transmission modes, is fixed on the motor bracket 21 by the motor 22. The rotating shaft of the encoder 19 is connected to the connecting shaft 18 and is fixed relative to the synchronous winding wheel 16; the drive rope 4 is wound clockwise on the synchronous winding wheel 16, and the synchronous winding wheel 16 is then connected to the hollow rotor of the motor 22 through the connecting shaft 18 to achieve synchronous rotation with the motor; the encoder 19 is used to directly measure the rotation angle of the rotor of the motor 22 and the winding of the synchronous winding wheel 16.

[0093] On the other side of the synchronous winding wheel 16, the two ends of spring 17 are respectively engaged in the grooves of the synchronous winding wheel 16 and pawl 20, and spring 24 is engaged in the grooves of the synchronous winding wheel 16 and pawl 30 in the same manner. An adjusting cam 25 is positioned between pawl 20 and pawl 30 and is inserted into the circular hole of the synchronous winding wheel 16 to achieve rotation. The inner ratchet 14 is inserted into the central shaft of the synchronous winding wheel 16 via a bearing 15, thereby achieving relative rotation with the synchronous winding wheel 16. Depending on the state of the adjusting cam 25, pawl 20 and pawl 30 can abut against the teeth of the inner ratchet 14 under different working conditions, specifically as follows... Figure 5 As shown in (a) and (c).

[0094] The ratchet cover plate 13 covers the inner ratchet 14 with screws, and presses the inner ratchet 14, bearing 15, pawl 1 20, pawl 2 30, adjusting cam 25, spring 17 and spring 2 24 together between the ratchet cover plate 13 and the synchronous winding wheel 16.

[0095] The cross-shaped synchronous shaft at the left end of the inner ratchet 14 passes through the central hole of the ratchet cover plate 13 and is inserted into the ratchet winding wheel 12 to achieve synchronous rotation with the ratchet winding wheel 12; the adjusting cam 25 passes through the lower hole of the ratchet cover plate 13, and the adjusting handle 26 is fixed by screws and rotates synchronously with the adjusting cam 25. The second encoder 29 is fixed to the encoder bracket 28, and both the encoder bracket 28 and the motor bracket 21 are fixed to the base 5; the shaft of the second encoder 29 synchronizes with the encoder gear 27, which is used to measure the absolute rotation angle of the ratchet winding wheel 12.

[0096] In torque output mode, such as Figure 3 As shown, ropes 4 and 9 in drive device 38 pass through conduit 31 and conduit 32 and are then transmitted to torque mode end effector 36. At this time, torque mode end effector 36 applies the torque generated by the synchronous motor to the user's calf through calf fixing plate 35; its fixed end is tied to the user's thigh through thigh strap 33, and its rotating end applies to the user's calf through calf strap 34.

[0097] In tension output mode, such as Figure 4As shown, drive device two 43 and drive device three 44 are respectively driven to tension mode end effector 39 and another tension mode end effector 39 symmetrically arranged through two sets of Bowden conduits, Bowden conduit group one 45 and Bowden conduit group two 46. The tension mode end effector 39 is connected to the end effector extension rod 40, and its moving end can slide on the end effector extension rod 40. In this mode, the tension mode end effector 39 is responsible for transmitting the tension generated by drive device two 43 and drive device three 44, and acting on the user's foot through the retaining ring 41 and the foot support rod 42 for linear resistance training.

[0098] Implementation of mode switching: To analyze mode switching, we first define the initial state: In torque output mode, the actuator angle is set to 0, and the encoder angle is set to -19. With encoder 29 angle All are calibrated to 0.

[0099] This device drives the adjusting cam 25 to rotate by adjusting the handle 26, so that the ratchet 1 20 and the ratchet 2 30 switch the inner ratchet 14 to different meshing states, thereby changing the locking direction of the ratchet winding wheel 12, and ultimately changing the relative winding relationship between the drive rope 1 4 and the drive rope 2 9.

[0100] When switching from torque mode to tension mode, the switching knob is placed at the corresponding side limit, restricting the ratchet winding wheel 12 from rotating in the specified direction. The state switch is then completed by adjusting the rotation angle of the ratchet winding wheel 12. When switching back from tension mode to torque mode, it is necessary to... =0 state starts and reverses the adjustment of ratchet winding wheel 12.

[0101] During the mode transition, the ratchet winding wheel 12 needs to rotate to the target angle in both directions to ensure a smooth and accurate switch between the tension output mode and the torque output mode. During this process, the target adjustment angle for the tension mode is denoted as... The target adjustment angle for torque mode is denoted as Both conditions are met:

[0102] in, This indicates the additional rotation angle of the ratchet when adjusted to the required preload. Because the ratchet has a 60-tooth structure... It varies in multiples of 6°.

[0103] Therefore, the essence of mode switching and preload adjustment is to change the winding constraint relationship and additional winding angle through the composite mechanism composed of pawl 1 20, pawl 2 30, inner ratchet 14 and adjusting cam 25, so that the dual rope force transmission can switch between differential output and same-direction superimposed output, and achieve adjustable preload in torque mode.

[0104] Torque output mode implementation method: In torque output mode, the corresponding Figure 5 (a) and (b) are the states shown in the figure. The input tension of the two ropes is denoted as follows: and And at the end, a reverse tangential action is formed; through this differential action, the device outputs joint torque. Drive rope 4 and drive rope 9, after being transmitted through cable conduit 31 and cable conduit 32, act on the torque-mode end effector 36 to achieve torque output to the joint segment. Their relationship is as follows:

[0105] ;

[0106] ;

[0107] in, Indicates the joint output torque; This represents the equivalent tangential resultant force on the output shaft of the end effector; This indicates the equivalent arm radius of the end effector output shaft.

[0108] Among them, in the figure , These correspond to two separate rope tension inputs; when and When the difference changes, the output torque This changes accordingly. Preload adjustment is possible in this mode, with the preload adjustment corresponding to an additional rotation angle. ,and Values ​​are taken as multiples of 6°; the target angle for torque mode after adjustment is... This allows for tension baseline setting and improves output stability.

[0109] Implementation of the tensile output mode: In the tensile output mode, the corresponding Figure 5 (c) and (d) are shown in the state. The drive output is transmitted to the tension mode end effector 39 and its symmetrical end via the first 45 and the second 46 of the ballast cable assembly, and the axial load is transmitted to the action part through the end effector extension rod 40 and related connecting parts.

[0110] In this mode, the input tension of the two ropes is denoted as follows: and The two tensions, coupled by the pulleys, superimpose in the same direction, resulting in an axial tensile force. Their relationship can be expressed as:

[0111] ;

[0112] in, Indicates axial output tensile force; , This represents the tension transmission coefficient, determined by the rope winding path and the pulley mechanism configuration. In the figure... , These correspond to two separate rope tension inputs; when and When changing, the axial output tensile force It changes accordingly.

[0113] Pattern Recognition: To ensure the distinguishability of mode switching states, this implementation adopts a pattern recognition method based on the angle symbol of the absolute encoder. After the system is powered on, zero-position calibration is performed first: drive rope 4 is released, and the reading of encoder 29 is set to [value missing]. During operation, the absolute angle of encoder 29 is read in real time. ,when When it is determined to be in tension mode, when It is determined to be in torque mode.

[0114] This identification method corresponds one-to-one with the mechanical switching process and can be used for mode confirmation and post-switching status verification, such as... Figure 6 As shown. Meanwhile, since both modes rely on the initial angle definition, the encoder's initial value should be consistent with the absolute position definition; rope elongation or significant deformation of the Bowden tube may cause deviations between the initial value and the absolute position, requiring a zero-position check before use.

[0115] This application employs a mechanical switching mechanism consisting of an adjusting handle 26, an adjusting cam 25, a first pawl 20, a second pawl 30, and an inner ratchet 14. By changing the locking direction of the ratchet winding wheel 12 and the constraint relationship between the double rope winding, the torque mode and the tension mode can be quickly switched.

[0116] This application reuses two force transmission links, rope 4 and rope 9, within the same drive device: differential action corresponds to torque output, and unidirectional superposition corresponds to tensile force output, realizing dual-mode integrated output.

[0117] This application adopts a remote cable force transmission architecture. The motor part 1 of the drive device is connected to the end effector through the first 31, the second 32, the first 45, and the second 46 of the first and second 45 of the cable, taking into account both the flexibility of the structural layout and the adaptability of human-machine application.

[0118] This application introduces a preload adjustment function in torque mode, where the preload additional angle is denoted as... And because the ratchet has a 60-tooth structure, Adjust in multiples of 6°; the target adjustment angle for torque mode and the target adjustment angle for tension mode meet the requirements. This allows for quantifiable and repeatable pre-tightening settings.

[0119] This application uses encoder 229 zero-position calibration and angle sign discrimination for pattern recognition: After system power-on... Running Determined to be in tension mode. The system is identified as torque mode, enabling rapid confirmation and verification of the status after switching.

[0120] The mode switching and pre-tightening adjustment in this application share the same mechanical mechanism, eliminating the need for additional complex execution units, which helps reduce structural complexity and improves engineering feasibility.

[0121] This application has the following advantages:

[0122] This invention realizes two transmission modes, torque output and tension output, within the same drive device, thereby improving the device's functional reuse capability and application scenario coverage.

[0123] The ratchet-internal ratchet-adjusting cam switching mechanism enables fast and stable mechanical switching, reducing the time consumption and operational complexity caused by disassembly and assembly.

[0124] By employing two force transmission mechanisms—dual-rope differential and unidirectional superposition—joint torque output and axial tensile force output are achieved respectively. The output mechanism is clear and easy to debug in engineering.

[0125] By setting the preload adjustment additional angle θstep in stages, the risk of rope slack can be effectively reduced, the force transmission stability can be improved, and the consistency and repeatability of torque output can be enhanced.

[0126] By using the zero-position calibration and angle symbol recognition of encoder 29, the mode state can be directly determined and verified after switching, reducing the reliance on complex additional recognition methods.

[0127] The Bowden line allows for remote force transmission, enabling flexible arrangement of the drive and action ends. This facilitates integration with different exoskeleton configurations and enhances system engineering deployment capabilities.

[0128] Experimental results show that the switching efficiency of the present invention is significantly improved: the average switching time is reduced from 265±37s to 13.92±3.96s, and the switching time is shortened by about 94.7%, which has obvious practical value.

[0129] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. An exoskeleton joint drive device with rapidly switchable transmission modes, the exoskeleton joint comprising a drive rope one and a drive rope two, characterized in that, The exoskeleton joint drive device capable of rapidly switching transmission modes includes: Driver components; A winding wheel assembly, the winding wheel assembly being connected to the drive assembly, with one end of drive rope one and one end of drive rope two disposed on the winding wheel assembly; A first direction control component, the first direction control component having a first direction locked state and a first direction free state; A second direction control component, the second direction control component having a second direction locked state and a second direction free state; A switching component is provided, which controls the first direction control component to switch between a first direction locked state and a first direction free state, and controls the second direction control component to switch between a second direction locked state and a second direction free state; wherein... The drive device can drive the winding wheel assembly to rotate in a first direction or a second direction, thereby causing the winding wheel assembly to drive the first drive rope and the second drive rope to rotate. When the first direction control component is in the first direction locking state, the first locking end prevents the winding wheel assembly from rotating in the first direction; When the second direction control component is in the second direction locking state, the second locking end prevents the winding wheel assembly from rotating in the second direction.

2. The exoskeleton joint drive device with rapidly switchable transmission modes as described in claim 1, characterized in that, The driving component includes: Motor bracket (21); The motor (22) has a hollow rotor connected to the winding wheel assembly via a connecting shaft (18).

3. The exoskeleton joint drive device with rapidly switchable transmission modes as described in claim 2, characterized in that, The exoskeleton joint drive device capable of rapidly switching transmission modes further includes: Encoder 1 (19), the rotating shaft of encoder 1 (19) is connected to the connecting shaft (18), and encoder 1 (19) is used to measure the rotation angle of the hollow rotor and the winding wheel assembly of motor (22).

4. The exoskeleton joint drive device with rapidly switchable transmission modes as described in claim 3, characterized in that, The winding wheel assembly includes: Synchronous winding wheel (16), the drive rope is mounted on the synchronous winding wheel (16); A bearing (15), one side of which is connected to the synchronous winding wheel (16); An inner ratchet (14) is connected to the other side of the bearing, and a cross-shaped synchronous shaft is provided on the inner ratchet (14); A ratchet cover plate (13) is connected to the synchronous winding wheel (16), so that the inner ratchet (14) is located inside the receiving space formed by the ratchet cover plate (13) and the synchronous winding wheel (16), and a first hole is provided on the ratchet cover plate (13); A ratchet winding wheel (12) is provided on the side of the ratchet cover plate (13) away from the synchronous winding wheel (16). The cross-shaped synchronous shaft passes through the first hole and is connected to the ratchet winding wheel (12). The second drive rope is installed on the ratchet.

5. The exoskeleton joint drive device with rapidly switchable transmission modes as described in claim 4, characterized in that, The first direction control component includes: Spring 1 (17) is disposed inside the synchronous winding wheel (16), and one end of the spring 1 (17) abuts against the inner wall of the synchronous winding wheel (16); The first pawl shaft is mounted on the synchronous winding wheel (16); Pawl 1 (20) is mounted on the first pawl shaft and can rotate around the first pawl shaft. One end of the pawl 1 (20) abuts against the other end of the spring 1 (17). The spring 1 (17) provides spring force to the pawl 1 (20), so that one end of the pawl 1 (20) abuts against the teeth of the inner ratchet (14) of the winding wheel assembly, thereby making the first direction control assembly in the first direction locking state.

6. The exoskeleton joint drive device with rapidly switchable transmission modes as described in claim 5, characterized in that, The first direction control component includes: Spring 2 (24) is disposed inside the synchronous winding wheel (16), and one end of the spring 2 (24) abuts against the inner wall of the synchronous winding wheel (16); The second pawl shaft is mounted on the synchronous winding wheel (16); Pawl 2 (30) is mounted on the first pawl shaft and can rotate around the first pawl shaft. One end of pawl 2 (30) abuts against the other end of spring 2 (24). Spring 2 (24) provides spring force to pawl 2 (30), so that one end of pawl 2 (30) abuts against the teeth of the inner ratchet (14) of the winding wheel assembly, thereby putting the second direction control assembly in the second direction locking state.

7. The exoskeleton joint drive device with rapidly switchable transmission modes as described in claim 6, characterized in that, The switching component includes: Adjustment handle (26), the adjustment handle (26) is mounted on the ratchet cover plate (13); An adjusting cam (25) is mounted on the inner ratchet (14) and connected to the adjusting handle (26); wherein, The adjusting handle (26) can rotate, thereby driving the adjusting cam (25) to rotate. The adjusting cam (25) drives the inner ratchet (14) to rotate, and the inner ratchet (14) drives the ratchet winding wheel (12) to rotate. During rotation, the adjusting cam (25) can provide force to the first pawl (20) so that the first pawl (20) disengages from the teeth of the inner ratchet (14) or provide force to the second pawl (30) so that the second pawl (30) disengages from the teeth of the inner ratchet (14).

8. The exoskeleton joint drive device with rapidly switchable transmission modes as described in claim 7, characterized in that, The exoskeleton joint drive device capable of rapidly switching transmission modes further includes: Encoder bracket (28); Encoder 2 (29), which is fixed to encoder bracket (28); The encoder gear (27) meshes with the teeth of the ratchet winding wheel (12) and is mounted on the shaft of the second encoder (29).

9. An exoskeleton joint drive system, characterized in that, The exoskeleton joint drive system includes an exoskeleton joint drive device with rapidly switchable transmission modes as described in any one of claims 1 to 8.

10. An exoskeleton joint, characterized in that, The exoskeleton joint includes the exoskeleton joint drive system as described in claim 9.

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