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] The present application relates to the technical field of exoskeletons, and in particular to integrated power systems and exoskeleton robots based on toothed belt structures. [Background technology]

[0002] Since their research and development began in the 1960s, exoskeletons have been adapted from the military to the civilian market, primarily for medical and industrial applications, as assistive devices for assisting workers in carrying loads and performing manufacturing and carrying tasks. Currently, research and development is underway to develop devices with stronger load-bearing capacity, greater control, and greater flexibility. Wearable lower limb exoskeleton systems provide the wearer with additional power or capabilities, thereby augmenting the functions of the human body and enabling them to complete certain functions and tasks under the operator's control.

[0003] In the related art, the drive units of the lower limb exoskeleton system are generally attached to each joint of the lower limb, such as the hip joint and knee joint on both sides. The drive units usually adopted are power servo motor drive systems, and the power servo motor drive systems are often of the direct gear or coaxial reduction type, which makes the entire mechanism of the power system relatively large and heavy, making it difficult to apply flexibly and conveniently, and causing problems such as a large size and heavy weight of the entire machine. Summary of the Invention [Problem 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, the present application provides an integrated power system and exoskeleton robot based on a toothed belt structure. [Means for solving the problem]

[0005] In a 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, which are sequentially arranged 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, and the torque output mechanism is located on the side of the substrate closer to the second gear set.

[0006] By adopting the above technical solution, the first gear set and the second gear set are mounted on both sides of the base plate, and the timing belt power transmission mechanism and the torque output mechanism are mounted on both sides of the base plate, respectively, thereby significantly reducing the volume of the power system. The gear set reduction mechanism and timing belt power transmission layout achieve stable, quiet, highly shock-resistant, and highly accurate power output setting, and 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 being fixedly attached to the output shaft of the drive motor, the first reduction gear being rotatably attached to the substrate on a side of the substrate closer to the power gear, and the diameter of the first reduction gear being larger than the diameter of the power gear.

[0008] By adopting the above technical solution, the driving motor drives the rotation of the power gear, which in turn drives the rotation of the first reduction gear, thereby realizing the first stage of reduction.

[0009] Optionally, a retaining plate is attached to the side of the substrate closer to the first gear set, the retaining plate having a plate-like structure with multiple holes cut out, and one end of the gear shaft of the first reduction gear is rotatably attached to the substrate, and the other end is rotatably attached to the retaining plate.

[0010] By adopting the above technical solution, the first reduction gear is mounted using a holding plate, which makes the rotation of the first reduction gear more stable and maintains a good transmission effect.

[0011] Optionally, the second gear set includes an intermediate gear and a second reduction gear that mesh with each other, both of which are rotatably mounted on a substrate, the intermediate gear is coaxial with the first reduction gear and rotates synchronously with it, and 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 the speed is reduced by the first reduction gear, a second stage of reduction is performed by the intermediate gear and the second reduction gear, and in cooperation with the first gear set, the effect of two-stage reduction of the integrated power system can be realized.

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

[0014] By adopting the above technical solution, after two-stage reduction is achieved by the second reduction gear, a third-stage reduction can be achieved by utilizing 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, and one end of the rotating shaft on which the first pulley is located is rotatably attached to the substrate and the other end is rotatably attached to the first mounting seat, and one end of the rotating shaft on which the second pulley is located is rotatably attached to the substrate and the other end is rotatably attached to the second mounting seat.

[0016] By adopting the above technical solution, the first and second mounting seats are used to mount the first and second pulleys, respectively, making them more stable during movement.

[0017] Optionally, the torque output mechanism includes an output shaft and an output disc, the output shaft being located on a side of the base plate closer to the second gear set, the output shaft being coaxial with the second pulley and fixed to a rotation axis on which the second pulley is located, and the output disc being fixed to an end of the output shaft and being located on a side of the base plate closer to the second gear set.

[0018] By adopting the above technical solution, the output disc is made into a power output part, which is mounted on the side of the base plate close to the second gear set, thereby making the structure of the integrated power system more compact.

[0019] Optionally, a motion actuator is fixedly attached to the output disk, a fixed disk is provided on a side of the substrate closer to the output disk, the fixed disk is coaxial with the output disk, and a substrate fixture is fixedly connected to the side of the fixed disk remote 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 and is directly connected to the structure it is intended to drive, and 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 operating actuator. When the operating 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.

[0021] Optionally, a stopper disk is fixed to the base fixture on a side remote from the fixed disk, the stopper disk being coaxial with the fixed disk, a first circumferential stopper block is attached to the stopper disk on a side remote from the base fixture, and a second circumferential stopper block is attached to the stopper disk on a side closer to the output disk of the operating actuator, and 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 first circumferential stopper block and the second circumferential stopper block cooperate to stop the rotation angle of the operating actuator.

[0023] In a second aspect, the present application provides an exoskeleton robot comprising an integrated power system based on the toothed belt structure, and further comprising a body back structure, a femoral leg structure and a fibular leg structure, wherein the femoral leg structure is hingedly connected to the waist of the body back structure, the femoral leg mechanism is connected to a base fixture, and the fibular leg structure is connected to a movement actuator.

[0024] By adopting the above technical solution, when people wear the exoskeleton robot and walk, the fibula leg structure can rotate relative to the femur leg structure under the driving force of the integrated power system, thereby achieving the effect of assisting people in walking. The modularization and design method combined with the main housing can effectively solve the problem that the entire mechanism of the traditional exoskeleton power system is relatively large and heavy, and is not flexible and convenient to apply, and also realizes a stable, quiet, highly impact-resistant and highly precise power assist output of the exoskeleton. [Effects of the Invention]

[0025] In summary, the present application has at least one beneficial technical effect as follows: 1. When the integrated power system is in operation, the driving motor drives the rotation of the power gear, which then passes through the first gear set to achieve a first-stage reduction, then transmits to the second gear set to achieve a second-stage reduction, and then passes through the timing belt power transmission mechanism to achieve a third-stage reduction, and finally outputs through the power output mechanism. The first gear set and the second gear set can also achieve the effect of two-stage reduction; 2. The first gear set and the second gear set are mounted on both sides of the board, and the timing belt power transmission mechanism and torque output mechanism are mounted on both sides of the board, respectively. This significantly reduces the volume of the power system. The gear set reduction mechanism and timing belt power transmission layout achieves stable, quiet, highly shock-resistant, and highly accurate power output setting. 3. The operating actuator is the final power execution element in the integrated power system and is used to directly connect to the structure it is intended to drive. 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 operating actuator. When the operating 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 explanation of the drawings]

[0026] [Figure 1] FIG. 2 is a structural schematic diagram showing the mounting positions of a drive motor, a second gear set, and a torque output mechanism in an embodiment of the present application. [Figure 2] FIG. 2 is a structural schematic diagram showing the mounting positions of a first gear set and a timing belt power transmission mechanism according to an embodiment of the present invention. [Figure 3] 3 is a structural schematic diagram showing the mounting positions of a holding plate, a first mounting seat, and a second mounting seat in an embodiment of the present application. FIG. [Figure 4] 1 is a structural schematic diagram showing the mounting bracket, base fixture, and operating actuator mounting locations of an embodiment of the present application. [Figure 5] 3 is a structural schematic diagram showing the mounting positions of a stopper disk, a first circumferential stopper block, and a second circumferential stopper block in an embodiment of the present application. FIG. [Figure 6] 1 is a schematic diagram showing the overall structure of an embodiment of the present application after a first protective case and a second protective case are attached to a substrate. [Figure 7] 1 is a schematic diagram showing the overall structure of a lower limb exoskeleton robot according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention will be described in further detail below with reference to FIGS. (Example)

[0028] Referring to Figures 1 and 2, the integrated power system based on the toothed belt structure includes a base plate 1, a driving motor 2, a gear set reduction mechanism 3, a timing belt power transmission mechanism 4, and a torque output mechanism 5, which are sequentially arranged on the base plate 1. The driving motor 2 serves as a power source and provides power to the gear set reduction mechanism 3, which then reduces the power and transmits it to the timing belt power transmission mechanism 4, and finally outputs power through the torque output mechanism 5. The power output here acts on the fibula leg structure of the lower body exoskeleton system, driving it to rotate around the knee joint, and further completing 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, and 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 respectively located on both sides of the base plate 1. 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 then received by the timing belt power transmission mechanism 4 and transmitted 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, of which 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, and 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 that of the power gear 311, thereby achieving a speed reduction effect. In this embodiment, both the power gear 311 and the first reduction gear 312 are helical gears.

[0031] The second gear set 32 ​​includes an intermediate gear 321 and a second reduction gear 322 that mesh with each other, and 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 rotatably attached to the substrate 1, the diameter of the second reduction gear 322 being larger than that of the intermediate gear 321 and smaller than that of the first reduction gear 312, where the intermediate gear 321 is disposed coaxially with the first reduction gear 312 in the first gear set 31 and the two rotate synchronously, i.e., 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 are helical gears.

[0032] The engagement between the power gear 311 and the first reduction gear 312 and the engagement between the intermediate gear 321 and the second reduction gear 322 form a two-stage reduction system, which can achieve a relatively stable reduction effect. The helical gear used has the advantages of small volume, light weight, large transmission torque, and fine transmission ratio gradation. 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 entire integrated power system is significantly reduced and the weight of the integrated power system is also reduced.

[0033] 1 and 3, to improve the stability of the gear installation, a holding plate 6 is attached to the substrate 1 on the side closer to the first gear set 31. The holding plate 6 has a rectangular parallelepiped plate-like structure with multiple recesses, and the holding plate 6 and the substrate 1 are locked and fixed with screws. In this embodiment, the holding plate 6 is installed parallel to the substrate 1. When the first reduction gear 312 is installed, 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, ensuring stable rotation of the first reduction gear 312. In this embodiment, the gear shaft of the first reduction gear 312 is a sleeve molded into 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, ensuring synchronous rotation of the two. Similarly, in this embodiment, the gear shaft of the intermediate gear 321 is also provided as a sleeve molded 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 with a bolt, thereby ensuring synchronous rotation of the two.

[0034] 1 and 4, a mounting bracket 7 is provided on the side of the circuit board 1 close to the second gear set 32, and the mounting bracket 7 and the circuit board 1 are locked together with screws. The mounting bracket 7 is used to mount a PCB board 71, which mainly integrates the drive motor 2 and a control system for the drive motor 2 that receives output signals from the torque output mechanism 5 and adjusts the motion of the drive motor 2. The mounting bracket 7 is generally disk-shaped and is disposed coaxially with the second reduction gear 322 of the second gear set 32, thereby reducing the space occupied by the PCB board 71 and making the structure more compact. In addition, a data transmission port is further provided on the housing of the circuit board 1.

[0035] 2 and 3, specifically, the timing belt power transmission mechanism 4 includes a timing belt 41 and a first pulley 42 and a second pulley 43 rotatably mounted on the substrate 1, where the first pulley 42 and the second pulley 43 are disposed on the side of the substrate 1 closer to the first gear set 31, the timing belt 41 is wound around the first pulley 42 and the second pulley 43 to realize synchronous rotation thereof, and the timing belt 41 has teeth on the inside thereof, which 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, and the first pulley 42 is mounted coaxially with the second reduction gear 322 of the second gear set 32, so that they rotate synchronously, i.e., the rotation speeds of the first reduction gear 312 and the first pulley 42 are equal. In other words, the timing belt power transmission mechanism 4 also has a deceleration effect in the power transmission process. Furthermore, the timing belt transmission also has the characteristics of stable transmission, simple structure, low cost, easy use and maintenance, and no overload slippage.

[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 provided on the side of the substrate 1 closer to the timing belt power transmission mechanism 4, respectively, where 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 base 8 may be locked to the base plate 1 with a screw, and one end of the rotation shaft on which the first pulley 42 is located is rotatably attached to the base plate 1, while the other end is rotatably attached to the first mounting base 8, ensuring stable rotation of the first pulley 42. The first mounting base 8 may be configured as a disc-shaped structure with multiple hollows, which not only reduces its weight but also allows it to maintain a relatively small volume. Because the first pulley 42 is close to the first gear set 31, in this embodiment, the first mounting base 8 and the retaining plate 6 are provided as an integrated structure, and both are molded from a plastic thermoplastic material, which allows for easy installation.

[0039] One end of the rotating shaft on which the second pulley 43 is located is rotatably mounted to the substrate 1, and the other end is rotatably mounted to the second mounting seat 9 to ensure stable rotation of the second pulley 43. The second mounting seat 9 may be locked to the substrate 1 with a screw. In this embodiment, the rotating shaft on which the second pulley 43 is located is a sleeve molded on the hub of the second pulley 43, and the second mounting seat 9 is arranged parallel to the substrate 1. The side of the second mounting seat 9 away from the substrate 1 is recessed toward the substrate 1 to form a circular groove. The relative position sensor system 10 is mounted in the circular groove. The relative position sensor system 10 is used to detect parameters related to the rotating shaft on which the second pulley 43 is located, including, but not limited to, information on the speed and position of the rotating shaft on which the second pulley 43 is located. Mounting the relative position sensor system 10 in the recessed groove makes the structure more compact and reduces the volume of the integrated power system.

[0040] Referring to FIG. 1 , specifically, the torque output mechanism 5 includes an output shaft 51 and an output disc 52. The output shaft 51 is located on the side of the base 1 closest to the second gear set 32. The output shaft 51 is coaxial with the second pulley 43 and is fixed to the rotation shaft on which the second pulley 43 is located. In this embodiment, the two are integrally molded. That is, the output shaft 51 rotates synchronously with the second pulley 43, and the rotation speeds of the two are the same. The output disc 52 is fixed to the end of the output shaft 51 and is located on the side of the base 1 closest to the second gear set 32, making the integrated power system more compact. In this embodiment, the output disc 52 and the output shaft 51 are also integrally formed. That is, the output disc 52, the output shaft 51, the rotation shaft of the second pulley 43, and the second pulley 43 are all integrally formed. This type of installation method is not only easy to install, but also ensures a stable output state.

[0041] 1 and 4, the motion actuator 12 is connected to the output disc 52 of the torque output mechanism 5. Specifically, when connected to the output disc 52, it may be connected and fixed by a flange. The motion actuator 12 is the final execution element of the integrated power system, and rotates synchronously with the output disc 52, and the final output motion state may be a motion state in which it oscillates around the axis of the output disc 52. Of course, when the motion actuator 12 rotates once around the output disc 52, the motion actuator 12 may also rotate around the axis of the output disc 52, and the specific motion state can be relatedly set according to actual usage needs, and the setting here can be achieved 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 fibular leg structure 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 fibular leg structure. For ease of understanding, the movement of the fibular leg structure is similar to the movement of the lower leg relative to the knee joint when a human body walks. It should be understood that this is merely an example of one application scenario for the integrated power system and is not the only use of the integrated power system. The motion actuator 12 can be applied to various work environments requiring a swinging or rotating output state.

[0043] 1 and 3, substrate 1 serves as the base of the entire integrated power system, and to stably mount it, fixed disk 13 is provided on the side of substrate 1 closest to output disk 52. In this embodiment, fixed disk 13 is integrally molded with substrate 1 and has a disk shape. Fixed disk 13 is also provided coaxially with output disk 52. A base fixture 14 is fixedly attached to the side of fixed disk 13 away from substrate 1, and this base fixture 14 may be fixed to a connecting portion on a base to which it is applied as an integrated power system. Fixed mounting of substrate 1 can be achieved by base fixture 14.

[0044] The fixed disk 13 is arranged coaxially with the output disk 52, and the base fixture 14 and the operating actuator 12 are designed to be connected to components on the fixed disk 13 and the output disk 52, respectively, so that when the drive motor 2 drives the rotation of the output disk 52, a swinging or rotational movement of the operating 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 femoral leg structure in a lower limb exoskeleton system. In a specific application, it can be fixed to the portion of the femoral leg structure located at the knee joint in the lower limb exoskeleton system. According to the above-described embodiment in which the movement actuator 12 is connected to the fibular leg structure in a lower limb exoskeleton system, when the base fixture 14 is fixed to the femoral leg structure in the lower limb exoskeleton system, the movement actuator 12 can drive the fibular leg structure in the lower limb exoskeleton system to oscillate at a certain amplitude as the output disk 52 rotates. When the integrated power system is applied to a lower limb exoskeleton system, it can be connected to the fibular and femoral leg structures as knee joints, respectively, to realize the walking motion of the lower limb exoskeleton. It should be noted that this is merely an example of an application scenario for the integrated power system and is not the only application of the integrated power system.

[0046] Furthermore, a stopper disk 141 is provided on the side of the substrate fixture 14 away from the fixed disk 13. The stopper disk 141 is disk-shaped, is coaxial with the fixed disk 13, and has the same diameter as the fixed disk 13. Similarly, the stopper disk 141 is also fixedly connected to the substrate fixture 14, and the connection method may be a flange connection, so that the stopper disk 141 and the substrate 1 are always fixed relative to each other.

[0047] A first circumferential stopper block 142 may be attached to the stopper disk 141 on a side thereof away from the base fixture 14, and the first circumferential stopper block 142 may be fixed to the stopper disk 141 using screws, and a second circumferential stopper block 143 may be attached to the operation actuator 12 on a side thereof closer to the output disk 52, 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. In other words, when the drive motor 2 drives the rotation of the operation actuator 12, the first circumferential stopper block 142 and the second circumferential stopper block 143 cooperate to stop the rotation angle of the operation actuator 12. When the integrated power system is applied to a lower limb exoskeleton system as a knee joint, the rotation angle of the relevant point is the rotation angle of the fibula leg structure in the lower limb exoskeleton system relative to the femur leg structure 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 fibula leg structure and the femur leg structure in the lower limb exoskeleton system. Preferably, the maximum rotation angle between the operating actuator 12 and the base fixture 14 is 135 degrees.

[0048] Specifically, the drive motor 2 is a servo motor, and the housing of the drive motor 2 is fixed by bolts to the side of the base plate 1 closer to the second gear set 32. The output shaft of the drive motor 2 penetrates the base plate 1 and protrudes from the side of the base plate 1 closer to the first gear set 31, and the protruding portion of the output shaft of the drive motor 2 is fitted and attached to the power gear 311 of the first gear set 31. This design method can reduce the space occupied by the drive motor 2 to a certain extent, making the overall volume of the integrated power system smaller. Furthermore, the drive motor 2 is provided with an absolute position sensor system 11, which is used to detect relevant parameters of the output shaft of the drive motor 2, including, but not limited to, information on the speed, position, etc. 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 covering the outside of the drive motor 2 and the second gear set 32, and the second protective case 17 covering the outside of the first gear set 31 and the timing belt power transmission mechanism 4, thereby protecting the integrated power system.

[0050] The embodiments of the present application further disclose an exoskeleton robot, which includes an integrated power system based on the above-mentioned toothed belt structure, and further includes a main body back structure 18, a femoral leg structure 19, and a fibular leg structure 20, of which the femoral leg structure 19 is hingedly connected to the waist of the main body back structure 18, and the other end of the femoral leg structure 19 is connected to the fibular leg structure 20 by the integrated power system based on the above-mentioned toothed belt structure. Specifically, when connected, the femoral leg structure 19 may be connected to a base fixture 14 to fix the entire integrated power system, and the fibular leg structure 20 may be connected to a movement actuator 12 to realize relative rotation between the fibular leg structure 20 and the femoral leg structure 19.

[0051] Furthermore, shoulder belts 21 are provided on the main body back structure 18, and the shoulder belts 21 are connected to the main body back structure 18 by a fastening method. In specific use, the main body back structure 18 is fastened to the upper body of a person using the shoulder belts 21. A shoe cover structure 22 for wearing by a person is provided on the side of the fibula leg structure 20 away from the femur leg structure 19, and the shoe cover structure 22 and the fibula 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 leg structure 20 can rotate relative to the femur leg structure 19 under the driving of the integrated power system, thereby achieving the effect of assisting people in walking.

[0054] When the integrated power system is in operation, the drive motor 2 drives the rotation of the power gear 311, which then passes through the first gear set 31 to reduce the speed to the first stage, then transmits to the second gear set 32 ​​to reduce the speed to the second stage, and then passes through the timing belt power transmission mechanism 4 to reduce the speed to the third stage, and finally outputs the power through the power output mechanism 5, which further drives the movement of the fibular leg structure 20.

[0055] The examples of the specific embodiments are all preferred embodiments of the present application and do not limit the scope of protection of the present application, and the same parts are designated by the same reference numerals herein, so that any equivalent changes made based on the structure, shape and principle of the present application should be included in the scope of protection of the present application. [Explanation of symbols]

[0056] 1... Circuit board, 2... Drive motor, 3... Gear set reduction 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 disc, 6... Retaining plate, 7... Mounting bracket, 71... PCB board, 8... Mounting seat 1, 9...second mounting seat, 10...relative position sensor system, 11...absolute position sensor system, 12...operating actuator, 13...fixed disk, 14...base fixing device, 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...femur leg structure, 20...fibular leg structure, 21...shoulder belt, 22...shoe cover structure.

Claims

1. The device includes 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) and perform power transmission, the gear set reduction mechanism (3) includes a first gear set (31) and a second gear set (32) for reducing the output rotation speed of the drive motor (2), the first gear set (31) and the second gear set (32) are located on opposite sides of the substrate (1), 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), and the torque output mechanism (5) is located on the same side of the substrate (1) as the second gear set (32); 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 of the substrate (1) closer to the power gear (311) and is rotatably attached to the substrate (1), and the diameter of the first reduction gear (312) is larger than the diameter of the power gear (311); 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 both rotatably mounted on the base (1), the intermediate gear (321) is disposed coaxially with the first reduction gear (312) and rotates synchronously with it, and 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).

2. 2. The integrated power system based on a toothed belt structure according to claim 1, characterized in that a retaining plate (6) is attached to the base plate (1) on the side closer to the first gear set (31), the retaining plate (6) being a plate-like structure with multiple cutouts, one end of the gear shaft of the first reduction gear (312) being rotatably attached to the base plate (1), and the other end being rotatably attached to the retaining plate (6).

3. 2. The integrated power system based on a toothed belt structure according to claim 1, wherein 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), the first pulley (42) and the second pulley (43) being provided on a side of the substrate (1) closer to the first gear set (31), the timing belt (41) being wound around the first pulley (42) and the second pulley (43), the first pulley (42) being provided coaxially with the second reduction gear (322) in the second gear set (32), and the diameter of the second pulley (43) being larger than the diameter of the first pulley (42).

4. 4. The integrated power system based on a toothed belt structure according to claim 3, characterized in that a first mounting seat (8) and a second mounting seat (9) are provided on the side of the base plate (1) closer to the timing belt power transmission mechanism (4), respectively, one end of a rotation shaft on which the first pulley (42) is located is rotatably attached to the base plate (1) and the other end is rotatably attached to the first mounting seat (8), and one end of a rotation shaft on which the second pulley (43) is located is rotatably attached to the base plate (1) and the other end is rotatably attached to the second mounting seat (9).

5. 4. The integrated power system based on a toothed belt structure according to claim 3, wherein the torque output mechanism (5) includes an output shaft (51) and an output disk (52), the output shaft (51) being located on a side of the base plate (1) closer to the second gear set (32), the output shaft (51) being coaxial with the second pulley (43) and fixed to a rotation axis on which the second pulley (43) is located, and the output disk (52) being fixed to an end of the output shaft (51) and located on a side of the base plate (1) closer to the second gear set (32).

6. 6. An integrated power system based on a toothed belt structure according to claim 5, characterized in that an operating actuator (12) is fixed to the output disc (52), a fixed disc (13) is provided on a side of the substrate (1) closer to the output disc (52), the fixed disc (13) is provided coaxially with the output disc (52), and a base fixture (14) is fixedly attached to the side of the fixed disc (13) remote from the substrate (1).

7. 7. An integrated power system based on a toothed belt structure according to claim 6, characterized in that a stopper disk (141) is fixed to the base fixture (14) on a side remote from the fixed disk (13), the stopper disk (141) being arranged coaxially with the fixed disk (13), a first circumferential stopper block (142) is attached to the stopper disk (141) on a side remote from the base fixture (14), and a second circumferential stopper block (143) is attached to a side of the operating actuator (12) closer to the output disk (52), the first circumferential stopper block (142) and the second circumferential stopper block (143) partially overlapping in the axial direction of the output disk (52).

8. An exoskeleton robot comprising an integrated power system based on a toothed belt structure as described in any one of claims 1 to 7, and further comprising a main body back structure (18), a femoral leg structure (19) and a fibular leg structure (20), one end of the femoral leg structure (19) being hingedly connected to the waist of the main body back structure (18), and the other end of the femoral leg structure (19) being connected to the fibular leg structure (20) via an integrated power system based on a toothed belt structure.

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