Integrated Power System and Exoskeleton Robot Based on Toothed Belt Structure

Abstract

This application relates to the technical field of exoskeletons, and specifically discloses an integrated power system based on a toothed belt structure, including a substrate, a drive motor, a gear set reduction mechanism, a timing belt power transmission mechanism, and a torque output mechanism sequentially provided on the substrate. The gear set reduction mechanism includes a first gear set and a second gear set for reducing the output rotation speed of the drive motor, and the first gear set and the second gear set are located on both sides of the substrate respectively. An exoskeleton robot is further disclosed, including the above integrated power system, and further including a main body back structure, a femoral part leg structure, and a fibular part leg structure. The femoral part leg structure is hinge-connected to the waist of the main body back structure, the femoral part leg mechanism is connected to the base fixture, and the fibular part leg structure is connected to the motion actuator. This application realizes a stable, silent, high shock resistance, and high-precision power output setting through the layout of the gear set reduction mechanism and the timing belt power transmission.

Description

Technical Field

[0001] This application relates to the technical field of exoskeletons, and in particular to an integrated power system and an exoskeleton robot based on a toothed belt structure.

Background Art

[0002] Since the exoskeleton was researched and developed in the 1960s, it has been diverted from the military field to the civilian market. Most of them are mainly for medical treatment and industrial production. As an auxiliary tool to help workers bear loads and perform manufacturing and transportation operations, currently, it is being researched and developed in the direction of stronger load-bearing capacity, higher control force and flexibility. The wearable lower limb exoskeleton system provides additional power or ability to the wearer, thereby strengthening the functions of the human body and being able to complete certain functions and tasks under the control of the operator.

[0003] In related technologies, the driving devices of the lower limb exoskeleton system are generally attached to each joint of the lower limb, such as the hip joints and knee joints on both the left and right sides. The driving device that is always adopted is a power system by a power servo motor. The power system by a power servo motor often has a direct gear connection or a coaxial deceleration form. This power system has the problems that the overall mechanism is relatively large and heavy, the application is not flexible and convenient, and the size of the whole machine is large and the weight of the whole machine is heavy.

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to reduce the volume and weight of the driving device applied to the lower limb exoskeleton system, this application provides an integrated power system and an exoskeleton robot based on a toothed belt structure.

Means for Solving the Problems

[0005] In the first aspect, the integrated power system based on the toothed belt structure provided by the present application includes a substrate, a drive motor, a gear set reduction mechanism, a timing belt power transmission mechanism, and a torque output mechanism that are sequentially provided on the substrate and perform power transmission. The gear set reduction mechanism includes a first gear set and a second gear set for reducing the output rotation speed of the drive motor. The first gear set and the second gear set are located on both sides of the substrate respectively. The drive motor and the second gear set are located on the same side of the substrate. The timing belt power transmission mechanism and the first gear set are located on the same side of the substrate. The torque output mechanism is located on the side close to the second gear set of the substrate.

[0006] By adopting the above technical solution, by respectively mounting the first gear set and the second gear set on both sides of the substrate, and also mounting the timing belt power transmission mechanism and the torque output mechanism on both sides of the substrate respectively, the volume of the power system can be significantly reduced. Due to the layout of the gear set reduction mechanism and the timing belt power transmission, a stable, quiet, highly shock-resistant, and high-precision power output setting can be realized. The first gear set and the second gear set can further achieve the effect of two-stage reduction.

[0007] Optionally, the first gear set includes a power gear and a first reduction gear that mesh with each other. The power gear is fixedly mounted on the output shaft of the drive motor. The first reduction gear is located on the side close to the power gear of the substrate and is rotatably mounted on the substrate. The diameter of the first reduction gear is larger than the diameter of the power gear.

[0008] By adopting the above technical solution, the drive motor drives the rotation of the power gear, and further drives the rotation of the first reduction gear to realize the first-stage reduction.

[0009] Optionally, a holding plate is mounted on the side of the substrate close to the first gear set. The holding plate is a plate-like structure with a plurality of cut-outs. One end of the gear shaft of the first reduction gear is rotatably mounted on the substrate, and the other end is rotatably mounted on the holding plate.

[0010] By adopting the above technical solution, by using the holding plate to attach the first reduction gear, the rotation of the first reduction gear can be made more stable and a good transmission effect can be maintained.

[0011] Optionally, the second gear set includes an intermediate gear and a second reduction gear that mesh with each other. Both the intermediate gear and the second reduction gear are rotatably attached to the substrate. The intermediate gear is provided coaxially with the first reduction gear and rotates synchronously. The diameter of the second reduction gear is larger than the diameter of the intermediate gear, and the diameter of the intermediate gear is smaller than the diameter of the first reduction gear.

[0012] By adopting the above technical solution, after deceleration by the first reduction gear, the intermediate gear and the second reduction gear perform a second stage of deceleration, and in cooperation with the first gear set, the effect of two-stage deceleration of the integrated power system can be realized.

[0013] Optionally, the timing belt power transmission mechanism includes a timing belt, a first pulley and a second pulley rotatably attached to the substrate. The first pulley and the second pulley are provided on the side of the substrate close to the first gear set. The timing belt is wound around the first pulley and the second pulley. The first pulley is provided coaxially with the second reduction gear in the second gear set, and the diameter of the second pulley is larger than the diameter of the first pulley.

[0014] By adopting the above technical solution, after two-stage deceleration by the second reduction gear, a third stage of deceleration can be performed by using the timing belt power transmission mechanism.

[0015] Optionally, a first mounting seat and a second mounting seat are provided on the side of the substrate closer to the timing belt power transmission mechanism. One end of the rotating shaft on which the first pulley is located is rotatably mounted on the substrate, and the other end is rotatably mounted on the first mounting seat. One end of the rotating shaft on which the second pulley is located is rotatably mounted on the substrate, and the other end is rotatably mounted on the second mounting seat.

[0016] By adopting the above technical solution, the first pulley and the second pulley are respectively mounted by using the first mounting seat and the second mounting seat, so that both of them are made more stable during movement.

[0017] Optionally, the torque output mechanism includes an output shaft and an output disk. The output shaft is located on the side of the substrate closer to the second gear set. The output shaft is provided coaxially with the second pulley, and the output shaft is fixed to the rotating shaft on which the second pulley is located. The output disk is fixed to the end of the output shaft and is located on the side of the substrate closer to the second gear set.

[0018] By adopting the above technical solution, the output disk serves as a power output part, and by mounting it on the side of the substrate closer to the second gear set, the structure of the integrated power system is made more compact.

[0019] Optionally, an operating actuator is fixed to the output disk, a fixed disk is provided on the side of the substrate closer to the output disk, the fixed disk is provided coaxially with the output disk, and a base fixture is fixedly connected to the side of the fixed disk away from the substrate.

[0020] By adopting the above technical solution, the operating actuator is used as the final power execution element in the integrated power system to be directly connected to the structure it is to drive, the base fixture is used to install and fix the integrated power system, and is directly connected to the fixing mechanism corresponding to the drive mechanism connected to the operating actuator. When the operating actuator rotates, the drive mechanism connected to it is rotated relative to the fixing mechanism, so as to realize the power output of the integrated power system.

[0021] Optionally, a stopper disk is fixedly installed on the side away from the fixing disk of the base fixture. The stopper disk is provided coaxially with the fixing disk. A first circumferential stopper block is attached to the side of the stopper disk away from the base fixture, and a second circumferential stopper block is attached to the side of the output disk of the operating actuator close to it. The first circumferential stopper block and the second circumferential stopper block partially overlap in the axial direction of the output disk.

[0022] By adopting the above technical solution, when the drive motor drives the rotation of the operating actuator, the cooperation of the first circumferential stopper block and the second circumferential stopper block can stop the rotation angle of the operating actuator.

[0023] In the second aspect, the exoskeleton robot provided by the present application includes an integrated power system based on the above toothed belt structure, and further includes a main body back structure, a femur part leg structure, and a fibula part leg structure. The femur part leg structure is hingedly connected to the waist of the main body back structure. The femur part leg mechanism is connected to the base fixture, and the fibula part leg structure is connected to the operating actuator.

[0024] By adopting the above technical solution, after wearing the exoskeleton robot, when people walk, the fibular leg structure can rotate relative to the femoral leg structure under the drive of the integrated power system, thereby achieving the effect of assisting people's walking. By means of modularization and the method of combined design with the main housing, the problem that the overall mechanism of the conventional exoskeleton power system is relatively large and heavy and its application is not flexible and convenient can be effectively solved. In addition, stable silent, high shock resistance and high-precision power assist output of the exoskeleton can be realized.

Advantages of the Invention

[0025] In short, the present application has at least one of the following beneficial technical effects: 1. When the integrated power system specifically operates, the driving motor drives the rotation of the power gear, performs the first-stage deceleration via the first gear set, then transmits to the second gear set for the second-stage deceleration, and further performs the third-stage deceleration via the timing belt power transmission mechanism, and finally outputs by the power output mechanism. In addition, the first gear set and the second gear set can further achieve the effect of two-stage deceleration. 2. By respectively mounting the first gear set and the second gear set on both sides of the substrate, and respectively mounting the timing belt power transmission mechanism and the torque output mechanism on both sides of the substrate, the volume of the power system can be significantly reduced. Through the layout of the gear set reduction mechanism and the timing belt power transmission, stable silent, high shock resistance and high-precision power output settings can be realized. 3. The motion actuator is used as the final power execution element in the integrated power system and is used to directly connect to the structure to be driven by it. The base fixture is used to mount and fix the integrated power system and is directly connected to the fixing mechanism corresponding to the driving mechanism connected to the motion actuator. When the motion actuator rotates, the driving mechanism connected to it can be rotated relative to the fixing mechanism to realize the power output of the integrated power system.

Brief Description of the Drawings

[0026]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiment for Carrying Out the Invention

[0027] Hereinafter, the present application will be described in more detail with reference to FIGS. 1 to 7. (Embodiment)

[0028] Based on the toothed belt structure, the integrated power system includes, with reference to FIGS. 1 and 2, a substrate 1, a drive motor 2, a gear set reduction mechanism 3, a timing belt power transmission mechanism 4, and a torque output mechanism 5 that are sequentially provided on the substrate 1. Here, the drive motor 2 provides power as a power source to the gear set reduction mechanism 3. After being decelerated via the gear set reduction mechanism 3, the power is transmitted to the timing belt power transmission mechanism 4, and finally, the power is output by the torque output mechanism 5. The power output here acts on the leg structure of the fibular part in the lower body exoskeleton system, and can drive it to rotate around the knee joint, and further complete the walking motion.

[0029] Specifically, the gear set reduction mechanism 3 includes a first gear set 31 and a second gear set 32 that cooperate with each other. The first gear set 31 is connected to the output shaft of the drive motor 2, the second gear set 32 is connected to the timing belt power transmission mechanism 4, and the first gear set 31 and the second gear set 32 are located on both sides of the substrate 1 respectively. That is, the power output from the drive motor 2 is first transmitted to the first gear set 31, then to the second gear set 32, and subsequently transmitted by the timing belt power transmission mechanism 4 to the torque output mechanism 5.

[0030] Furthermore, the first gear set 31 includes a power gear 311 and a first reduction gear 312 that mesh with each other. Among them, the power gear 311 is connected to the output shaft of the drive motor 2 by a pin and rotates with the output shaft of the drive motor 2. The first reduction gear 312 is rotatably mounted on the substrate 1. The power gear 311 and the first reduction gear 312 are both located on the same side of the substrate 1, and the diameter of the first reduction gear 312 is larger than the diameter of the power gear 311, thereby achieving the effect of speed reduction. In this embodiment, both the power gear 311 and the first reduction gear 312 adopt helical gears.

[0031] The second gear set 32 includes an intermediate gear 321 and a second reduction gear 322 that mesh with each other. The intermediate gear 321 and the second reduction gear 322 are located on the side of the substrate 1 away from the first gear set 31 and are rotatably mounted on the substrate 1. The diameter of the second reduction gear 322 is larger than the diameter of the intermediate gear 321, and the diameter of the intermediate gear 321 is smaller than the diameter of the first reduction gear 312. Here, the intermediate gear 321 is provided coaxially with the first reduction gear 312 in the first gear set 31, and both rotate synchronously, that is, the rotation speeds of the first reduction gear 312 and the intermediate gear 321 are equal. Similarly, in this embodiment, both the intermediate gear 321 and the second reduction gear 322 adopt helical gears.

[0032] The fitting of the power gear 311 and the first reduction gear 312 and the fitting of the intermediate gear 321 and the second reduction gear 322 form a two-stage reduction system, which can achieve a relatively stable reduction effect. Moreover, the adopted helical gear has the advantages of small volume, light weight, large transmission torque, and fine grading of the transmission ratio. By adopting a layout method in which the two gear sets are respectively arranged on both sides of the substrate 1, the volume of the integrated power system is significantly reduced, and the weight of the integrated power system is also reduced.

[0033] Referring to FIGS. 1 and 3, in order to improve the stability of gear mounting, a holding plate 6 is attached to the side of the substrate 1 close to the first gear set 31. The holding plate 6 has a rectangular parallelepiped plate structure with a plurality of cut-out portions, and the holding plate 6 and the substrate 1 are locked and fixed by screws. In this embodiment, the holding plate 6 is provided parallel to the substrate 1. When mounting the first reduction gear 312, one end of the gear shaft of the first reduction gear 312 is rotatably attached to the substrate 1, and the other end is rotatably attached to the holding plate 6 to ensure the stable rotation of the first reduction gear 312. In this embodiment, the gear shaft of the first reduction gear 312 is a sleeve formed on the gear hub of the first reduction gear 312. The gear shaft of the intermediate gear 321 is fixed to the gear shaft of the first reduction gear 312 to ensure their synchronous rotation. Similarly, in this embodiment, the gear shaft of the intermediate gear 321 is also provided as a sleeve formed on the gear hub of the intermediate gear 321, and the gear shaft of the intermediate gear 321 is fastened to the gear shaft of the first reduction gear 312 by bolts, so that their synchronous rotation can be ensured.

[0034] Referring to FIGS. 1 and 4, a mounting bracket 7 is provided on the side of the substrate 1 close to the second gear set 32. The mounting bracket 7 and the substrate 1 are locked and fixed by screws. The mounting bracket 7 is used to mount the PCB board 71. The PCB board 71 mainly integrates a control system of the drive motor 2 for receiving the output signals of the drive motor 2 and the torque output mechanism 5 and adjusting the motion state of the drive motor 2. The mounting bracket 7 is entirely disc-shaped and is provided coaxially with the second reduction gear 322 in the second gear set 32, reducing the occupied space of the PCB board 71 and making the structure more compact. Further, a data transmission port is further provided in the housing of the substrate 1.

[0035] Referring to FIGS. 2 and 3, specifically, the timing belt power transmission mechanism 4 includes a timing belt 41, a first pulley 42 and a second pulley 43 rotatably mounted on the substrate 1. Here, the first pulley 42 and the second pulley 43 are provided on the side of the substrate 1 close to the first gear set 31. The timing belt 41 is wound around the first pulley 42 and the second pulley 43 to realize their synchronous rotation. Teeth are provided on the inner side of the timing belt 41 and are used to mesh with the teeth on the first pulley 42 and the second pulley 43, thereby ensuring a stable transmission ratio between the first pulley 42 and the second pulley 43.

[0036] Furthermore, the diameter of the second pulley 43 is larger than that of the first pulley 42. The first pulley 42 is provided coaxially with the second reduction gear 322 of the second gear set 32, and the two rotate synchronously, that is, the rotation speeds of the first reduction gear 312 and the first pulley 42 are equal. That is, the timing belt power transmission mechanism 4 also has a deceleration effect in the process of power transmission. In addition, the timing belt transmission has the characteristics of more stable transmission, simple structure, low cost, easy use and maintenance, and overload slip.

[0037] In order to facilitate the attachment of the first pulley 42 and the second pulley 43, a first mounting seat 8 and a second mounting seat 9 are respectively provided on the side of the substrate 1 close to the timing belt power transmission mechanism 4. Here, the first mounting seat 8 is used to attach the first pulley 42 in accordance with the substrate 1, and the second mounting seat 9 is used to attach the second pulley 43 in accordance with the substrate 1.

[0038] Specifically, the first mounting seat 8 may be locked and fixed to the substrate 1 by screws. One end of the rotating shaft where the first pulley 42 is located is rotatably attached to the substrate 1, and the other end is rotatably attached to the first mounting seat 8 to ensure the stable rotation of the first pulley 42. The first mounting seat 8 may be set as a disk-shaped structure with a plurality of cutouts, which not only reduces its own weight but also can maintain a relatively small volume. Since the first pulley 42 is close to the first gear set 31, in this embodiment, the first mounting seat 8 and the holding plate 6 are provided as an integral structure, and both are formed of a plastic thermoplastic material to facilitate their attachment.

[0039] One end of the rotating shaft where the second pulley 43 is located is rotatably attached to the substrate 1, and the other end is rotatably attached to the second mounting seat 9 to ensure the stable rotation of the second pulley 43. The second mounting seat 9 may be locked and fixed to the substrate 1 by screws. In this embodiment, the rotating shaft where the second pulley 43 is located is a sleeve formed on the hub of the second pulley 43, and the second mounting seat 9 is provided parallel to the substrate 1. In addition, the side of the second mounting seat 9 away from the substrate 1 is recessed toward the direction of the substrate 1 to form a circular groove, and a relative position sensor system 10 is attached in the circular groove. The relative position sensor system 10 is used to detect related parameters with respect to the rotating shaft where the second pulley 43 is located. The related parameters include, but are not limited to, information such as the speed and position of the rotating shaft where the second pulley 43 is located. By attaching the relative position sensor system 10 in the recessed groove, the structure is made more compact and the volume of the integrated power system is reduced.

[0040] Referring to FIG. 1, specifically, the torque output mechanism 5 includes an output shaft 51 and an output disk 52. Among them, the output shaft 51 is located on the side close to the second gear set 32 of the substrate 1. The output shaft 51 is provided coaxially with the second pulley 43, and the output shaft 51 is fixed to the rotating shaft where the second pulley 43 is located. In this embodiment, the two are integrally formed. That is, the output shaft 51 rotates synchronously with the second pulley 43, and their rotation speeds are the same. The output disk 52 is fixed to the end of the output shaft 51 and is located on the side close to the second gear set 32 of the substrate 1, making the integrated power system more compact. In this embodiment, the output disk 52 and the output shaft 51 are also of an integral structure, that is, the entire rotating shaft of the output disk 52, the output shaft 51, the second pulley 43, and the second pulley 43 is of an integral structure. This type of installation method is not only easy to install but also can ensure a stable output state.

[0041] Referring to FIGS. 1 and 4, an operation actuator 12 is connected to the output disk 52 of the torque output mechanism 5. Specifically, when connecting to the output disk 52, it may be fixedly connected by a flange. The operation actuator 12 serves as the final execution element of the integrated power system and rotates synchronously with the output disk 52. The finally output motion state may be a rocking motion around the axis of the output disk 52. Of course, when the operation actuator 12 rotates one full circle with the output disk 52, the operation actuator 12 may also perform a rotational motion around the axis of the output disk 52. Its specific motion state can be relatedly set according to actual usage needs, and the setting here can be realized by controlling the forward and reverse rotation of the drive motor 2.

[0042] In this embodiment, the motion actuator 12 is a connecting rod for connecting to the leg structure of the fibular part in the lower limb exoskeleton system. When the output disk 52 rotates, the motion actuator 12 is driven to rotate accordingly, thereby realizing the movement of the leg structure of the fibular part. For ease of understanding, the movement state of the leg structure of the fibular part is similar to the movement state of the lower leg relative to the knee joint when a person walks. This is only an example of one application scenario in the integrated power system and not the only use of the integrated power system. It should be understood that the motion actuator 12 is applicable to various working environments that require a swinging or rotating output state.

[0043] Referring to FIGS. 1 and 3, the substrate 1 serves as the base part of the entire integrated power system. In order to stably mount it, a fixed disk 13 is provided on the side of the substrate 1 close to the output disk 52. In this embodiment, the fixed disk 13 is integrally formed with the substrate 1 and the fixed disk 13 is in a disk shape. Also, the fixed disk 13 is provided coaxially with the output disk 52. A base fixture 14 is fixedly attached to the side of the fixed disk 13 away from the substrate 1, and the base fixture 14 may be fixed to the connection part on the base to which the integrated power system is applied. The fixed attachment of the substrate 1 can be realized by the base fixture 14.

[0044] Since the fixed disk 13 is provided coaxially with the output disk 52 and the base fixture 14 and the motion actuator 12 are designed to be connected to the components on the fixed disk 13 and the output disk 52 respectively, when the drive motor 2 drives the rotation of the output disk 52, the swinging or rotating motion of the motion actuator 12 relative to the base fixture 14 can be realized.

[0045] In this embodiment, the base fixture 14 is a connecting rod used to connect the link to the leg structure of the femur part in the lower limb exoskeleton system. When specifically applied, it can be fixed to the part located at the knee joint of the leg structure of the femur part in the lower limb exoskeleton system. According to the embodiment of connecting the operation actuator 12 described above to the leg structure of the fibula part in the lower limb exoskeleton system, when the base fixture 14 is fixed to the leg structure of the femur part in the lower limb exoskeleton system, as the output disk 52 rotates, the operation actuator 12 can drive the leg structure of the fibula part in the lower limb exoskeleton system to swing with a certain amplitude. When the integrated power system is applied to the lower limb exoskeleton system, it is connected to the leg structures of the fibula part and the femur part as the knee joints respectively, and the walking motion of the lower limb exoskeleton can be realized. Similarly, it should be understood that this is only an example of an application scenario in the integrated power system and not the only use of the integrated power system.

[0046] Furthermore, a stopper disk 141 is provided on the side of the base fixture 14 away from the fixing disk 13. The stopper disk 141 is disk-shaped, coaxially provided with the fixing disk 13, and their diameters are the same. Similarly, the stopper disk 141 is also fixedly connected to the base fixture 14, and the connection method may adopt flange connection, that is, the stopper disk 141 and the substrate 1 always maintain a relatively fixed state.

[0047] A first circumferential stopper block 142 is attached to the side of the base fixture 14 of the stopper disk 141 away from it. The first circumferential stopper block 142 may be fixed to the stopper disk 141 using screws. A second circumferential stopper block 143 is attached to the side closer to the output disk 52 of the operation actuator 12, and the second circumferential stopper block 143 may be fixed to the operation actuator 12 using screws. When the operation actuator 12 is attached to the output disk 52, the first circumferential stopper block 142 and the second circumferential stopper block 143 partially overlap in the axial direction of the output disk 52. That is, when the drive motor 2 drives the rotation of the operation actuator 12, the cooperation of the first circumferential stopper block 142 and the second circumferential stopper block 143 can perform a stop with respect to the rotation angle of the operation actuator 12. When the integrated power system is applied to the lower limb exoskeleton system as the knee joint, the rotation angle at this location is the rotation angle of the leg structure of the fibula part in the lower limb exoskeleton system with respect to the leg structure of the femur part in the lower limb exoskeleton system, and the first circumferential stopper block 142 and the second circumferential stopper block 143 are used to limit the maximum rotation angles of the leg structures of the fibula part and the femur part in the lower limb exoskeleton system. Preferably, the maximum rotation angle between the operation actuator 12 and the base fixture 14 is 135 degrees.

[0048] Specifically, the drive motor 2 selects a servo motor, and the housing of the drive motor 2 is fixed to the side closer to the second gear set 32 of the substrate 1 by bolts. Also, the output shaft of the drive motor 2 penetrates the substrate 1 and protrudes from the side closer to the first gear set 31 of the substrate 1, and the protruding part of the output shaft of the drive motor 2 is fitted and attached to the power gear 311 in the first gear set 31. Such a design method can reduce the occupied space of the drive motor 2 to a certain extent and make the volume of the entire integrated power system smaller. Furthermore, an absolute position sensor system 11 is provided on the drive motor 2 and is used to detect the relevant parameters of the output shaft of the drive motor 2. The relevant parameters include, but are not limited to, information such as the speed and position of the drive motor 2.

[0049] In addition, a first protective case 16 and a second protective case 17 are further provided on both sides of the substrate 1. The first protective case 16 is covered outside the drive motor 2 and the second gear set 32, and the second protective case 17 is covered outside the first gear set 31 and the timing belt power transmission mechanism 4 to protect the integrated power system.

[0050] The embodiment of the present application further discloses an exoskeleton robot, which includes an integrated power system based on the toothed belt structure, and further includes a main body back structure 18, a femur part leg structure 19, and a fibula part leg structure 20. Among them, the femur part leg structure 19 is hingedly connected to the waist of the main body back structure 18, and the other end of the femur part leg structure 19 is connected to the fibula part leg structure 20 by an integrated power system based on the toothed belt structure. Specifically, when connecting, in order to fix the entire integrated power system, the femur part leg structure 19 can be connected to the base fixture 14, and in order to realize the relative rotation between the fibula part leg structure 20 and the femur part leg structure 19, the fibula part leg structure 20 can be connected to the motion actuator 12.

[0051] Furthermore, a shoulder belt 21 is provided on the main body back structure 18, and the shoulder belt 21 is connected to the main body back structure 18 by a fastening method. In specific use, the main body back structure 18 is worn on the upper body of the human body and fixed by using the shoulder belt 21. On the side of the fibula part leg structure 20 away from the femur part leg structure 19, a shoe cover structure 22 for people to wear is provided, and the shoe cover structure 22 and the fibula part leg structure 20 are also rotatably connected.

[0052] The implementation principle of the embodiment of the present application is as follows.

[0053] After wearing the exoskeleton robot, when people walk, the fibula part leg structure 20 can rotate relative to the femur part leg structure 19 under the drive of the integrated power system, thereby achieving the effect of assisting people's walking.

[0054] When the integrated power system operates specifically, the driving motor 2 drives the rotation of the power gear 311, performs the first-stage deceleration via the first gear set 31, then transmits it to the second gear set 32 to perform the second-stage deceleration, and further performs the third-stage deceleration via the timing belt power transmission mechanism 4, and finally outputs it by the power output mechanism 5, and further drives the movement of the fibular part leg structure 20.

[0055] All the embodiments of this specific embodiment are preferred embodiments of the present application and do not limit the protection scope of the present application. Here, the same parts are denoted by the same reference numerals. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included within the protection scope of the present application.

Description of Reference Numerals

[0056] 1... Substrate, 2... Driving motor, 3... Gear set deceleration mechanism, 31... First gear set, 311... Power gear, 312... First reduction gear, 32... Second gear set, 321... Intermediate gear, 322... Second reduction gear, 4... Timing belt power transmission mechanism, 41... Timing belt, 42... First pulley, 43... Second pulley, 5... Torque output mechanism, 51... Output shaft, 52... Output disk, 6... Holding plate, 7... Mounting bracket, 71... PCB board, 8... First mounting seat, 9... Second mounting seat, 10... Relative position sensor system, 11... Absolute position sensor system, 12... Operating actuator, 13... Fixed disk, 14... Substrate fixture, 141... Stopper disk, 142... First circumferential stopper block, 143... Second circumferential stopper block, 16... First protective case, 17... Second protective case, 18... Main body back structure, 19... Femoral part leg structure, 20... Fibular part leg structure, 21... Shoulder belt, 22... Boot cover structure.

Claims

1. A substrate (1), a drive motor (2) provided sequentially on the substrate (1) for power transmission, a gear set reduction mechanism (3), a timing belt power transmission mechanism (4), and a torque output mechanism (5). The gear set reduction mechanism (3) includes a first gear set (31) and a second gear set (32) for reducing the output rotational speed of the drive motor (2). The first gear set (31) and the second gear set (32) are located on both sides of the substrate (1) respectively. The drive motor (2) and the second gear set (32) are located on the same side of the substrate (1). The timing belt power transmission mechanism (4) and the first gear set (31) are located on the same side of the substrate (1). The torque output mechanism (5) is located on the side closer to the second gear set (32) of the substrate (1). An integrated power system based on a toothed belt structure, characterized by the above.

2. The first gear set (31) includes a power gear (311) and a first reduction gear (312) that mesh with each other. The power gear (311) is fixedly attached to the output shaft of the drive motor (2). The first reduction gear (312) is located on the side closer to the power gear (311) of the substrate (1) and is rotatably attached to the substrate (1). The diameter of the first reduction gear (312) is larger than the diameter of the power gear (311). An integrated power system based on the toothed belt structure according to Claim 1, characterized by the above.

3. A holding plate (6) is attached to the side of the substrate (1) closer to the first gear set (31). The holding plate (6) has a plate-like structure with a plurality of cut-out portions. One end of the gear shaft of the first reduction gear (312) is rotatably attached to the substrate (1), and the other end is rotatably attached to the holding plate (6). An integrated power system based on the toothed belt structure according to Claim 2, characterized by the above.

4. The second gear set (32) includes an intermediate gear (321) and a second reduction gear (322) that mesh with each other. Both the intermediate gear (321) and the second reduction gear (322) are rotatably attached to the substrate (1). The intermediate gear (321) is provided coaxially with the first reduction gear (312) and rotates synchronously. The diameter of the second reduction gear (322) is larger than the diameter of the intermediate gear (321), and the diameter of the intermediate gear (321) is smaller than the diameter of the first reduction gear (312). The integrated power system based on the toothed belt structure according to claim 2, characterized in that.

5. The timing belt power transmission mechanism (4) includes a timing belt (41), a first pulley (42) and a second pulley (43) rotatably attached to the substrate (1). The first pulley (42) and the second pulley (43) are provided on the side closer to the first gear set (31) of the substrate (1). The timing belt (41) is wound around the first pulley (42) and the second pulley (43). The first pulley (42) is provided coaxially with the second reduction gear (322) in the second gear set (32). The diameter of the second pulley (43) is larger than the diameter of the first pulley (42). The integrated power system based on the toothed belt structure according to claim 2, characterized in that.

6. A first mounting seat (8) and a second mounting seat (9) are respectively provided on the side of the substrate (1) close to the timing belt power transmission mechanism (4). One end of the rotating shaft where the first pulley (42) is located is rotatably attached to the substrate (1), and the other end is rotatably attached to the first mounting seat (8). One end of the rotating shaft where the second pulley (43) is located is rotatably attached to the substrate (1), and the other end is rotatably attached to the second mounting seat (9). The integrated power system based on the toothed belt structure according to claim 5, characterized in that.

7. The torque output mechanism (5) includes an output shaft (51) and an output disk (52). The output shaft (51) is located on the side closer to the second gear set (32) of the substrate (1). The output shaft (51) is provided coaxially with the second pulley (43), and the output shaft (51) is fixed to the rotating shaft where the second pulley (43) is located. The output disk (52) is fixed to the end of the output shaft (51) and is located on the side closer to the second gear set (32) of the substrate (1). The integrated power system based on the toothed belt structure according to claim 5, characterized by the above.

8. An operation actuator (12) is fixed to the output disk (52), and a fixed disk (13) is provided on the side of the substrate (1) closer to the output disk (52). The fixed disk (13) is provided coaxially with the output disk (52), and a base fixture (14) is fixedly attached to the side of the fixed disk (13) away from the substrate (1). The integrated power system based on the toothed belt structure according to claim 7, characterized by the above.

9. A stopper disk (141) is fixedly provided on the side of the base fixture (14) away from the fixed disk (13). The stopper disk (141) is provided coaxially with the fixed disk (13). A first circumferential stopper block (142) is attached to the side of the stopper disk (141) away from the base fixture (14). A second circumferential stopper block (143) is attached to the side of the operation actuator (12) closer to the output disk (52). The first circumferential stopper block (142) and the second circumferential stopper block (143) partially overlap in the axial direction of the output disk (52). The integrated power system based on the toothed belt structure according to claim 8, characterized by the above.

10. An exoskeleton robot, comprising the integrated power system based on the toothed belt structure according to any one of claims 1 to 8, further comprising a main body back structure (18), a femur part leg structure (19), and a fibula part leg structure (20). The femur part leg structure (19) is hinge-connected to the waist of the main body back structure (18). The femur part leg mechanism is connected to the base fixture (14), and the fibula part leg structure (20) is connected to the operation actuator (12).

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