Flexible exoskeleton driving structure for preventing rope from falling off

Abstract

The utility model provides a flexible exoskeleton driving structure for preventing a rope from falling off, and particularly relates to the technical field of transmission mechanisms, according to the flexible exoskeleton driving structure for preventing the rope from falling off, a wire coil is arranged in a wire coil cover, and a first bearing and a second bearing are arranged on the two sides of the wire coil respectively in a sleeving mode; the first bearing and the second bearing support the wire coil to enable the wire coil to move stably, and the first bearing and the second bearing prevent a gap from being generated between the wire coil cover and the wire coil and limit a rope on a wire groove of the wire coil at the same time, so that the rope is not prone to falling off from the wire coil.

Description

Technical Field

[0001] The utility model relates to the technical field of transmission mechanisms, in particular to a driving structure for preventing rope shedding of a flexible exoskeleton. Background Art

[0002] Most of the driving schemes of traditional exoskeleton robots adopt motor drive, which can provide functions such as assisting the human body. However, due to the structural characteristics of most driving motors, both the transmission shaft and the winding disc are likely to cause the rope to fall off. Compared with traditional exoskeletons, the transmission device of flexible exoskeletons pays more attention to flexibility and efficiency. Therefore, ropes and motors are often used for main driving. However, whether it is a traditional exoskeleton or a flexible exoskeleton, when the motor rotates at a high speed, the transmission shaft and the winding disc are likely to cause the rope to fall off. When the rope falls off the winding disc, the rope gets stuck on the rotating shaft, which is likely to cause the movement failure of the driving structure.

[0003] In view of this, the utility model provides a driving structure for preventing rope shedding of a flexible exoskeleton, which can avoid the situation where the rope falls off the winding disc during high-speed rotation. Summary of the Utility Model

[0004] In order to solve the problem that the transmission shaft is likely to cause the rope to fall off the winding disc during rotation, the utility model proposes a driving structure for preventing rope shedding of a flexible exoskeleton.

[0005] The utility model is realized through the following technical solutions:

[0006] The utility model proposes that the driving structure for preventing rope shedding of a flexible exoskeleton includes a motor, a winding disc and a winding disc cover, wherein:

[0007] The winding disc is arranged inside the winding disc cover. The winding disc is provided with a wire groove and a rope. The rope is wound on the wire groove. One end of the rope is fixed inside the wire groove, and the other end passes through the side surface of the winding disc cover and extends to the outside. The output end of the motor is fixedly connected to the winding disc;

[0008] First bearings and second bearings are respectively arranged on both sides of the winding disc. The first bearing and the second bearing are sleeved on both sides of the winding disc. The rope is located between the first bearing and the second bearing. The inner sides of the first bearing and the second bearing are fixed to the winding disc, and the outer sides of the first bearing and the second bearing are fixed to the winding disc cover.

[0009] Further, it further includes a housing. The housing is fixedly connected to the winding disc cover. The output of the motor passes through the housing and is fixedly connected to the winding disc. The motor is fixed inside the housing.

[0010] Furthermore, the wire spool cover further includes an end cover and a cover body. The cover body is fixedly connected to one side of the outer shell. The end cover is arranged on the side of the cover body away from the outer shell, and the end cover is fixedly connected to the cover body.

[0011] Furthermore, the outer shell includes a motor base and a housing. The housing is fixedly connected to the cover body. The motor base is arranged on the side of the housing away from the wire spool cover, and the motor base is fixedly connected to the housing. The motor is fixed inside the housing.

[0012] Furthermore, a limiting groove is arranged on the motor base, and one side of the motor is closely attached to the limiting groove.

[0013] Furthermore, the motor is a brushless motor.

[0014] Advantages of the present utility model:

[0015] For the driving structure of the flexible exoskeleton for preventing rope shedding proposed by the present utility model, the wire spool is arranged inside the wire spool cover, and the first bearing and the second bearing are respectively sleeved on both sides of the wire spool. The first bearing and the second bearing support the wire spool to make the movement of the wire spool stable. The first bearing and the second bearing avoid generating a gap between the wire spool cover and the wire spool and at the same time limit the rope on the wire groove of the wire spool, so that the rope is not easily shed from the wire spool. Description of the drawings

[0016] Figure 1 is the overall view of the driving structure of the flexible exoskeleton for preventing rope shedding of the present utility model;

[0017] Figure 2 is the exploded view of the driving structure of the flexible exoskeleton for preventing rope shedding of the present utility model;

[0018] Figure 3 is the wire spool and rope structure diagram of the driving structure of the flexible exoskeleton for preventing rope shedding of the present utility model;

[0019] In the figure: wire spool 1, motor 2, outer shell 3, housing 31, motor base 32, wire spool cover 4, cover body 41, end cover 42, rope 5, first bearing 6, second bearing 7;

[0020] The realization, functional features and advantages of the present utility model will be further described with reference to the embodiments and the drawings. Detailed implementation manners

[0021] In order to more clearly and completely illustrate the technical solution of the present utility model, the present utility model will be further described below with reference to the drawings.

[0022] Please refer to Figures 1-3, the present utility model proposes a driving structure for preventing rope detachment of a flexible exoskeleton, which includes a motor 2, a wire reel 1, and a wire reel cover 4, where:

[0023] The wire reel 1 is arranged inside the wire reel cover 4. The wire reel 1 is provided with a wire groove and a rope 5. The rope 5 is wound around the wire groove. One end of the rope 5 is fixed inside the wire groove, and the other end penetrates through the side of the wire reel cover 4 and extends to the outside. The output end of the motor 2 is fixedly connected to the wire reel 1;

[0024] First bearings 6 and second bearings 7 are respectively arranged on both sides of the wire reel 1. The first bearings 6 and the second bearings 7 are sleeved on both sides of the wire reel 1. The rope 5 is located between the first bearings 6 and the second bearings 7. The inner sides of the first bearings 6 and the inner sides of the second bearings 7 are fixedly connected to the wire reel 1, and the outer sides of the first bearings 6 and the outer sides of the second bearings 7 are fixedly connected to the wire reel cover 4.

[0025] In this embodiment:

[0026] The wire reel cover 4 is used to provide a containing structure for the wire reel 1;

[0027] The wire reel 1 is used to wind and fix the rope 5;

[0028] The outer shell 3 is used to provide a containing and fixing structure for the motor 2;

[0029] The first bearings 6 and the second bearings 7 are used to prevent the rope 5 from detaching;

[0030] The motor 2 is used to drive the wire reel 1 to rotate and retract the rope 5;

[0031] In a specific embodiment, the rope 5 is wound into the wire groove of the wire reel 1 and further fixed. First bearings 6 and second bearings 7 are respectively arranged on both sides of the wire reel 1. The first bearings 6 and the second bearings 7 prevent a gap from being generated between the wire reel 1 and the wire reel cover 4, and at the same time support the wire reel 1 to make the wire reel 1 more stable and steady when rotating. Due to the limitation of the first bearings 6 and the second bearings 7, the rope 5 is always on the wire reel 1. With the enclosure of the wire reel cover 4, when the motor 2 drives the wire reel 1 to rotate at a high speed, the rope 5 is not likely to fall off.

[0032] Furthermore, it further includes an outer shell 3. The outer shell 3 is fixedly connected to the wire reel cover 4. The output of the motor 2 penetrates through the outer shell 3 and is fixedly connected to the wire reel 1. The motor 2 is fixed inside the outer shell 3.

[0033] In this embodiment:

[0034] The outer shell 3 is used to provide a containing and fixing connection structure for the motor 2;

[0035] In a specific embodiment, the outer shell 3 is generally square in shape. The outer shell 3 is connected to one side of the wire spool cover 4. The motor 2 is fixed inside the outer shell 3. There is a motor 2 hole provided on the outer shell 3. The output end of the motor 2 passes through the motor 2 hole and is connected to the wire spool cover 4.

[0036] Further, the wire spool cover 4 further includes an end cover 42 and a cover body 41. The cover body 41 is fixedly connected to one side of the outer shell 3. The end cover 42 is provided on the side of the cover body 41 away from the outer shell 3. The end cover 42 is fixedly connected to the cover body 41.

[0037] In this embodiment:

[0038] The end cover 42 is used to provide a receiving structure for the wire spool 1.

[0039] The cover body 41 is used to enclose the end cover 42;

[0040] In a specific embodiment, the cover body 41 is generally similar to a cylinder. The edge of the cover body 41 fits against one side of the outer shell 3. One side of the cover body 41 is fixedly connected to the outer shell 3 by screws. The other side of the cover body 41 is fixedly connected to the end cover 42 by screws. The end cover 42 and the outer shell 3 respectively enclose both sides of the end cover 42, and the wire spool 1 can be enclosed inside. The rope 5 on the wire spool 1 is finally connected to the external flexible exoskeleton through the through hole on the side of the cover body 41.

[0041] Further, the outer shell 3 includes a motor base 32 and a housing 31. The housing 31 is fixedly connected to the cover body 41. The motor base 32 is provided on the side of the housing 31 away from the wire spool cover 4. The motor base 32 is fixedly connected to the housing 31. The motor 2 is fixed inside the housing 31;

[0042] There is a limit groove provided on the motor base 32. One side of the motor 2 fits closely against the limit groove.

[0043] In this embodiment:

[0044] The motor base 32 is used to hold the motor 2;

[0045] In a specific embodiment, the motor base 32 is connected to the housing 31. The limit groove on the motor base 32 restricts one side of the motor 2, making the motor 2 more stable and preventing excessive shaking during the operation of the motor 2.

[0046] Further, the motor 2 is a brushless motor.

[0047] In a specific embodiment, the type of the motor 2 can also be selected as other types according to the actual usage situation.

[0048] Certainly, the present utility model may also have many other implementation manners. Based on this implementation manner, other implementation manners obtained by those of ordinary skill in the art without any creative work all fall within the scope protected by the present utility model.

Claims

1. A driving structure for preventing a flexible exoskeleton from falling off, characterized in that: It includes a motor, a cable drum and a cable drum cover, wherein: The wire drum is arranged in the wire drum cover, and a wire groove and a rope are arranged on the wire drum. The rope is wound on the wire groove, one end of the rope is fixed to the inside of the wire groove, and the other end passes through the side of the wire drum cover and extends to the outside, and the output end of the motor is fixedly connected to the wire drum; A first bearing and a second bearing are respectively provided on both sides of the wire drum. The first bearing and the second bearing are sleeved on both sides of the wire drum. The rope is located between the first bearing and the second bearing. The inner side of the first bearing and the inner side of the second bearing are fixed to the wire drum, and the outer side of the first bearing and the outer side of the second bearing are fixed to the wire drum cover.

2. The driving structure of the flexible exoskeleton to prevent the rope from falling off according to claim 1 is characterized in that: It also includes a shell, which is fixedly connected to the wire drum cover, the output of the motor passes through the shell and is fixedly connected to the wire drum, and the motor is fixed inside the shell.

3. The driving structure of the flexible exoskeleton to prevent the rope from falling off according to claim 2 is characterized in that: The cable drum cover also includes an end cover and a cover body, wherein the cover body is fixedly connected to one side of the shell, and the end cover is arranged on a side of the cover body away from the shell, and the end cover is fixedly connected to the cover body.

4. The driving structure of the flexible exoskeleton to prevent the rope from falling off according to claim 3 is characterized in that: The housing includes a motor base and a shell, the shell is fixedly connected to the cover body, the motor base is arranged on a side of the shell away from the wire drum cover, the motor base is fixedly connected to the shell, and the motor is fixed in the shell.

5. The driving structure of the flexible exoskeleton to prevent the rope from falling off according to claim 4 is characterized in that: A limiting groove is arranged on the motor base, and one side of the motor is tightly fitted with the limiting groove.

6. The driving structure of the flexible exoskeleton to prevent the rope from falling off according to claim 5 is characterized in that: The motor is a brushless motor.

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