CN215093602U - Exoskeleton robot skeleton joint driving and executing mechanism and exoskeleton robot - Google Patents

Abstract

The utility model discloses an exoskeleton robot skeleton joint driving actuating mechanism and an exoskeleton robot, which relate to the technical field of robots and are used for solving the problems of poor integration, unreliable structure and small load bearing of the existing exoskeleton electric joint; the power output end of the motor main shaft is sequentially provided with a harmonic transmission reducer and a double-planetary gear reducer from the outer end to the inner side, and the motor main shaft drives the steel wheel to rotate through the transmission of the double-planetary gear reducer and the harmonic transmission reducer. The utility model provides an integrate that the degree is high, the compliance is good, the noise is little, rotation moment is big exoskeleton robot skeleton joint actuating mechanism.

Description

Exoskeleton robot skeleton joint driving and executing mechanism and exoskeleton robot

Technical Field

The utility model relates to the technical field of robots, especially, relate to an exoskeleton robot skeleton joint actuating mechanism.

Background

The exoskeleton robot is used for assisting a human body to complete tasks (such as long-distance rapid movement under the condition of large load) which are difficult or impossible to complete under the normal condition of the human body, so that the movement capability of the human body is greatly enhanced, and the exoskeleton robot can be used in the fields of military affairs, scientific investigation, medical treatment, construction, maintenance and the like.

The electric joints of the existing exoskeleton robot mainly comprise two types. One is a motor screw mechanism which can realize linear motion, and then a corresponding rotary hinge mechanism is designed at a joint to convert the linear motion of the motor screw mechanism into rotary motion of the joint.

The other is to adopt a direct current motor with a shell and a combined harmonic reducer, and the driving mechanism has small load bearing and poor smoothness.

In conclusion, the existing exoskeleton electric joint has the problems of poor integration, unreliable structure, small load bearing capacity and the like, the assistance effect, flexibility and wearing comfort of the exoskeleton are reduced to a great extent due to the problems, and the application range and the functionality of the exoskeleton are limited.

SUMMERY OF THE UTILITY MODEL

Based on the problem, the utility model aims to provide an it is high, the structure is reliable, the compliance is good, the little exoskeleton robot skeleton joint actuating mechanism of noise to integrate the degree.

In order to achieve the above object, the present invention provides the following technical solutions:

the utility model also provides an exoskeleton robot skeletal joint driving actuating mechanism, which comprises a barrel-shaped structure and a steel wheel which is output by external power, wherein a rotatable motor is arranged inside the steel wheel, and a motor spindle is arranged inside the motor;

the power output end of the motor main shaft is sequentially provided with a harmonic drive reducer and a double-planetary gear reducer from the outer end to the inner side, and the motor main shaft drives the steel wheel to rotate through the transmission of the double-planetary gear reducer and the harmonic drive reducer.

Furthermore, the double-planetary gear reducer comprises a sun gear, a first planet carrier and a second planet carrier which are sequentially arranged at the inner lateral shaft end;

an inner gear is sleeved on the outer sides of the sun gear and the first planet carrier, the inner gear is fixed on a shell of the motor, the sun gear is fixed on the motor spindle, and the first planet carrier and the second planet carrier are rotationally connected to the motor spindle;

a plurality of first planetary gears are arranged on the side wall of the first planet carrier, and each first planetary gear is meshed with the sun gear and the inner gear;

a plurality of second planet gears are arranged on the side wall of the second planet carrier, and each second planet gear is meshed with the internal gear and the first planet carrier;

and the harmonic drive reducer is fixedly connected with the second planet carrier.

Further, the inner gear is fixed on a shell of the motor through a plurality of bolts;

a sun wheel gasket is arranged between the sun wheel and the first planet carrier.

Further, the harmonic drive reducer comprises a wave generator, a flexible bearing and a flexible gear which are sequentially sleeved together from inside to outside, wherein the wave generator is fixedly connected with the second planet carrier;

when the second planet carrier is used as a power output shaft, the flexible bearing is deformed by the wave generator, so that the flexible gear is meshed with the steel wheel in the long axis direction to drive the steel wheel to rotate.

Furthermore, the flexible wheel cover is connected with the inner ring of the flexible bearing through a flexible wheel ring.

Further, the motor is rotationally connected with the steel wheel through a first bearing and a second bearing;

the outer ring of the first bearing abuts against the annular bulge on the inner wall of the steel wheel, and the inner ring abuts against the shaft shoulder of the motor shell through the first motor ring;

the inner ring of the second bearing is propped against the shaft shoulder of the motor shell, the outer ring is propped against the threaded ring, the threaded ring is connected on the inner wall of the steel wheel through threads,

furthermore, a second motor ring is arranged at the rear part of the motor and is positioned in the inner ring of the threaded ring.

Furthermore, a threaded cover is arranged at the rear end of the motor and connected to the shell of the motor through threads, and the motor spindle is rotatably connected with the threaded cover.

Furthermore, one end of the steel wheel is provided with a steel wheel cover, and the power output end of the motor spindle is rotatably connected to the steel wheel cover through a third bearing.

Further, the steel wheel cover is connected with the steel wheel through a bolt.

The utility model also discloses an use exoskeleton robot of exoskeleton robot skeleton joint drive actuating mechanism, still include robot truck and exoskeleton joint, exoskeleton robot skeleton joint drive actuating mechanism installs on the exoskeleton joint.

Further, the exoskeleton hip joint comprises a shoulder joint, an elbow joint, a hip joint and a knee joint.

Compared with the prior art, the utility model provides a beneficial effect:

the whole structure of the utility model takes the motor shaft as the center, the harmonic transmission reducer and the double planetary gear reducer are arranged in series, the whole structure is compact, and the integration is good; the double-planetary gear reducer has the advantages of small volume, light weight, high bearing capacity, low noise, high efficiency and the like, and the double-planetary gear reducer has better integration and reliability under the same load; through the design of the two-stage planetary reducer, the electric operation is stable without impact, and the boosting effect, the flexibility and the wearing comfort are improved; the harmonic gear reducer provides a large-transmission-ratio speed reduction effect, and meanwhile, compared with a common speed reducer, the harmonic gear reducer has the advantages that the volume can be reduced by 2/3 and the weight can be reduced by 1/2 when the output torque is the same; the utility model discloses can realize the function of ectoskeleton robot adduction/abduction, internal rotation/external rotation, be one kind and integrate that the degree is high, the compliance is good, the noise is little, the big ectoskeleton robot bone joint drive actuating mechanism of moment of rotation.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural diagram of a skeletal joint driving actuator of an exoskeleton robot according to an embodiment of the present invention;

fig. 2 is a schematic view of a specific installation of the skeletal joint driving actuator of the exoskeleton robot according to the embodiment of the present invention;

fig. 3 is a top view of the skeletal joint driving actuator of the exoskeleton robot according to the embodiment of the present invention, shown in the shoulder joint;

fig. 4 is a side view of the exoskeleton robot skeletal joint driving actuator provided by the embodiment of the present invention in the shoulder joint.

Reference numerals:

1. a third bearing; 2. a steel wheel cover; 3. a flexible wheel cover; 4. a compliant bearing; 5. a flexible gear; 6. an internal gear; 7. a gasket; 8. a steel wheel; 9. a bolt; 10. a first bearing; 10-1, a second bearing; 11. a first motor ring; 12. a threaded ring; 13. a threaded cap; 14. a motor spindle; 15. a motor, 16, a second motor ring; 17. a sun gear; 18. a sun gear pad; 19. a first planetary gear; 20. a first carrier; 21. a flexible wheel ring; 22. a wave generator; 23. a second planet carrier; 24. a space ring; 25. a second planetary gear; 20. a back support; 27. a robot arm; 28. the shoulder is connected with the frame.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The electric joint is a key part of the exoskeleton and is mainly applied to realizing the functions of adduction/abduction and internal rotation/external rotation of the exoskeleton robot. With the continuous development of design technology, the exoskeleton technology can gradually reduce or even release the burden of a human body, so that the requirements on various parts of the exoskeleton are higher and higher. Therefore, higher requirements are put forward for important indexes such as flexibility, mass, volume and the like of the integrated electric joint. Therefore, the skeletal joint driving actuating mechanism of the exoskeleton robot, which has the advantages of high integration degree, good flexibility, low noise and large rotation moment, is urgently needed to be developed, the defects and shortcomings of the existing technology are overcome, and a new design scheme is provided for exoskeleton development.

In order to achieve a certain purpose, as shown in fig. 1, an embodiment of the present invention specifically discloses a skeletal joint driving actuator of an exoskeleton robot, which includes a steel wheel 8 with a barrel-shaped structure and outputting external power, a rotatable motor 15 is disposed inside the steel wheel 8, and a motor spindle 14 is disposed inside the motor 15; a harmonic drive reducer and a double-planetary gear reducer are sequentially arranged on the power output end of the motor main shaft 14 from the outer end to the inner side, and the motor main shaft 14 drives the steel wheel 8 to rotate through the transmission of the double-planetary gear reducer and the harmonic drive reducer.

The utility model discloses a two-stage planetary reducer's design makes electric joint operate steadily and does not have the impact, reduces the electronic joint noise of integration, and harmonic gear reducer provides the speed reduction effect of big drive ratio, makes the increase of joint rotation moment, and this electric joint compact structure, the structure is more reliable, and electric joint's load-bearing capacity reaches 30 kg.

As a possible realization, the double planetary gear reducer comprises a sun gear 17, a first planet carrier 20 and a second planet carrier 23 arranged in this order at the inner lateral shaft ends. The outer sides of the sun gear 17 and the first planet carrier 20 are sleeved with an internal gear 6, the internal gear 6 is fixed on a shell of the motor 15, the sun gear 17 is fixed on the motor spindle 14, and the first planet carrier 20 and the second planet carrier 23 are both rotatably connected on the motor spindle 14 through bearings. A plurality of first planetary gears 19 are provided on a side wall of the first carrier 20, and each first planetary gear 19 meshes with the sun gear 17 and the ring gear 6. A plurality of second planet gears 25 are arranged on the side wall of the second planet carrier 23, and each second planet gear 25 is meshed with the internal gear 6 and the first planet carrier 20; the second planet carrier 23 is fixedly connected with the harmonic drive reducer. In the present embodiment, the number of the first planetary gears 19 is 3, and the number of the second planetary gears 25 is 3.

Those skilled in the art will appreciate that: the sun gear 17, the first carrier 20, the first planetary gears 19, and the internal gear 6 constitute a first planetary gear reducer. The first carrier 20, the second carrier 23, the second planetary gears 25 and the internal gear 6 constitute a second planetary gear reducer in which the first carrier 20 serves as a sun gear of the second stage planetary gear reducer.

In the present embodiment, the internal gear 6 is fixed to the housing of the motor 15 by a plurality of bolts 9, and the heads of the bolts 9 are provided with spacers 7. A sun gear spacer 18 is provided between the sun gear 17 and the first carrier 20. The sun gear pad 18 is disposed on the main shaft of the motor 15 and embedded in the sun gear 17, and the sun gear pad 18 is used for spacing the sun gear 17 from the first planet carrier 20.

As a possible implementation manner, the harmonic drive reducer includes a wave generator 22, a flexible bearing 4, and a flexible gear 5, which are sequentially sleeved together from inside to outside, and the wave generator 22 is fixedly connected with a second planet carrier 23. When the second planet carrier 23 is used as a power output shaft, the flexible bearing 4 is deformed by the wave generator 22, so that the flexible gear 5 is meshed with the steel wheel 8 in the long axis direction to drive the steel wheel 8 to rotate.

In this embodiment, the harmonic drive reducer further includes a flexible wheel cover 3, and the flexible wheel cover 3 is connected with the inner ring of the flexible bearing 4 through a flexible wheel ring 21.

The motor 15 is rotationally connected with the steel wheel 8 through a first bearing 10 and a second bearing 10-1; the outer ring of the first bearing 10 abuts against an annular bulge on the inner wall of the steel wheel 8, the inner ring abuts against a shaft shoulder of a shell of a motor 15 through a first motor ring 11, and the first motor ring 11 is sleeved on the shell of the motor 15; the inner ring of the second bearing 10-1 is pressed against the shaft shoulder of the shell of the motor 15, the outer ring is pressed against the threaded ring 12, and the threaded ring 12 is connected to the inner wall of the steel wheel 8 through threads.

A second motor ring 16 is arranged at the rear part of the motor 15, the second motor ring 16 is positioned in the inner ring of the threaded ring 12, and a fixing hole is arranged on the outer circular wall of the second motor ring 16 and is fixed on the shell of the motor 15 through a bolt. The rear end of the motor 15 is provided with a screw cap 13, the screw cap 13 is connected to the housing of the motor 15 through screw threads, and the motor spindle 14 is rotatably connected with the screw cap 13 through a bearing.

In order to prevent external dust from entering the harmonic drive reducer and the double-planetary gear reducer, one end of the steel wheel 8 is provided with a steel wheel cover 2, and the power output end of the motor spindle 14 is rotatably connected to the steel wheel cover 2 through a third bearing 1. The steel wheel cover 2 is connected with the steel wheel 8 through bolts.

It should be noted that, the first planet carrier 20 and the second planet carrier 23 are both rotatably connected to the motor spindle 14 through a double bearing, a spacer 24 is provided between two adjacent bearings as a partition, and a spacer 24 is also provided between the third bearing 1 and the mounting bearing of the second planet carrier 23.

The utility model discloses a working process:

a motor spindle 14 of a motor 15 drives a first-stage planetary gear reducer, a sun gear 17 in the first-stage planetary gear reducer serves as input, a first planet carrier 20 serves as an output shaft, an internal gear 6 is fixed, meanwhile, the first planet carrier 20 serves as a sun gear of a second-stage planetary gear reducer, a second planet carrier 23 serves as an output shaft and is fixedly connected with a wave generator 22, and the wave generator 22 enables the flexible bearing 4 to deform, so that the flexible gear 5 is meshed with the rigid gear 8 in the long axis direction to drive the rigid gear 8 to rotate. Different interfaces are connected with the motor, so that the functions of adduction/abduction or internal rotation/external rotation of the skeletal robot can be realized.

The utility model also discloses an use exoskeleton robot of exoskeleton robot skeleton joint drive actuating mechanism, this exoskeleton robot includes robot truck and exoskeleton joint. The exoskeleton robot skeletal joint driving executing mechanism is arranged on an exoskeleton joint, and the exoskeleton hip joint comprises a shoulder joint, an elbow joint, a hip joint and a knee joint.

In this embodiment, for example, when implementing the shoulder joint of the exoskeleton robot, as shown in fig. 2 to 4, the robot trunk includes a back support 26, the shoulder of the back support 26 is connected to the robot arm 27 through a shoulder joint structure, specifically, the steel wheel 8 of the exoskeleton robot skeletal joint driving actuator is connected to the robot arm 27 through a nail shaft, the housing of the motor 15 of the exoskeleton robot skeletal joint driving actuator is connected to a shoulder connecting frame 28 through a nail shaft, and the shoulder connecting frame 28 is fixed on the top side of the back support 26.

The action process of the shoulder joint is as follows: the motor main shaft 14 drives the steel wheel 8 to rotate through the transmission of the double-planetary gear reducer and the harmonic transmission reducer, and the steel wheel 8 further drives the robot arm 27 to rotate around the motor main shaft 14.

The shoulder joint, the elbow joint, the hip joint and the knee joint included in the exoskeleton hip joint can be driven by adopting a hydraulic driving system, and the details will be described by taking the hydraulic driving system as an example:

the hydraulic drive system may include a liquid supply unit, a first hydraulic cylinder, a first control valve unit, a second hydraulic cylinder, and a second control valve unit. The liquid supply unit is used for outputting hydraulic oil to drive the first hydraulic cylinder and the second hydraulic cylinder. The first control valve unit is used for controlling the flow rate of the hydraulic oil supplied to the first hydraulic cylinder by the liquid supply unit. When the wearer stands, the first control valve unit controls the first hydraulic cylinder to be in an extended state. When the wearer walks, the first control valve unit controls the first hydraulic cylinder to be in an extension/flexion circulation state. The second control valve unit is used for controlling the flow rate of the hydraulic oil supplied to the second hydraulic cylinder by the liquid supply unit. When the wearer stands, the second control valve unit controls the second hydraulic cylinder to be in an extended state. When the wearer walks, the second control valve unit controls the second hydraulic cylinder to be in an extension/flexion circulation state.

Compared with the prior art, will the utility model provides a hydraulic drive system is applied to the ectoskeleton, and when the ectoskeleton includes hip joint, knee joint and ankle joint at least, can be connected first pneumatic cylinder and knee joint power, utilizes the extension/the flexible of the drive knee joint that contracts of first pneumatic cylinder. The second hydraulic cylinder is connected with the hip joint in a dynamic mode, and the extension/contraction of the second hydraulic cylinder is used for driving the extension/flexion of the hip joint.

As the hip, the knee and the ankle joint move mainly in the sagittal plane when the human body normally walks, the moment required by the ankle joint is small, and the energy consumption is mainly generated in the hip and the knee joint. Therefore, the utility model provides a hydraulic drive system does not design the drive to the little ankle joint of required moment. That is, the exoskeleton lower limb is designed to be a driving mode of single-leg double-freedom (it should be understood that the double-freedom comprises a knee joint freedom and a hip joint freedom), so that the energy consumption of a hydraulic driving system is reduced to the maximum extent while the characteristics of the human skeleton motion are met, and the exoskeleton and the human motion are skillfully fused.

When a wearer stands, under the control of the first control valve unit, the liquid supply unit supplies hydraulic oil to the rodless cavity of the first hydraulic cylinder to drive the piston rod of the first hydraulic cylinder to extend out, so that the knee joint is in an upright state to provide assistance for the knee joint of the wearer. Meanwhile, under the control of the second control valve unit, the liquid supply unit can also supply hydraulic oil to the rodless cavity of the second hydraulic cylinder so as to drive a piston rod of the second hydraulic cylinder to extend out, so that the hip joint is in a straightened state, and assistance is provided for the hip joint of a wearer.

As can be seen from the above application process, the liquid supply unit, the first control valve unit and the first hydraulic cylinder can provide the driving force for the knee joint to meet the requirement of the knee joint, and the liquid supply unit, the second control valve unit and the second hydraulic cylinder can provide the driving force for the hip joint to meet the requirement of the hip joint. Based on this, an assistance to the exoskeleton can be achieved. In addition, the first hydraulic cylinder and the second hydraulic cylinder share the same liquid supply unit, so that the size of the hydraulic drive system can be reduced and the weight of the hydraulic drive system can be reduced under the condition that the hydraulic drive system is simplified as a whole.

When the wearer walks and is in a leg stretching state, the liquid supply unit supplies hydraulic oil to the rodless cavity of the first hydraulic cylinder under the control of the first control valve unit so as to drive the piston rod of the first hydraulic cylinder to extend out, and meanwhile, under the pushing of the piston rod of the first hydraulic cylinder, the hydraulic oil in the rod cavity of the first hydraulic cylinder flows back to the liquid supply unit. Based on this, the knee joint ectoskeleton is extended gradually along with the extension of wearer's knee joint, provides the drive power for the extension of wearer's knee joint. Meanwhile, under the control of the second control valve unit, the liquid supply unit supplies hydraulic oil to the rodless cavity of the second hydraulic cylinder so as to drive a piston rod of the second hydraulic cylinder to extend. Based on this, the hip joint exoskeleton straightens gradually with the straightening of the hip joint of the wearer, and provides driving force for the straightening of the hip joint of the wearer.

When the wearer walks and is in a leg bending state, the liquid supply unit supplies hydraulic oil to the rod cavity of the first hydraulic cylinder under the control of the first control valve unit so as to drive the piston rod of the first hydraulic cylinder to retract, and meanwhile, under the pushing of the piston rod of the first hydraulic cylinder, the hydraulic oil in the rod-free cavity of the first hydraulic cylinder flows back to the liquid supply unit. Based on this, the knee joint ectoskeleton gradually retracts along with the retraction of the wearer's knee joint, and provides driving force for the retraction of the wearer's knee joint. At the same time, the piston rod of the second hydraulic cylinder is retracted under the control of the second control valve unit. In this regard, the hip exoskeleton gradually retracts as the wearer's hip joint retracts, providing a driving force for the retraction of the wearer's hip joint.

According to above application process, the utility model provides a hydraulic drive system can drive knee joint ectoskeleton and hip joint ectoskeleton and be the flexible circulation state along with the walking state of wearing person when the wearing person walks to improve the flexibility ratio of ectoskeleton motion.

As a possible implementation, the first hydraulic cylinder and the second hydraulic cylinder each have a pressure threshold. The hydraulic driving system also comprises a safety valve which is arranged at the outlet of the liquid supply unit. And when the measured pressure of the first hydraulic cylinder and the second hydraulic cylinder is larger than or equal to the pressure threshold value, overflowing by using the safety valve.

As a possible implementation manner, the hydraulic drive system further includes a pressure signal measuring unit, and the pressure signal measuring unit is configured to measure a differential pressure signal between the rod-free chamber and the rod-containing chamber of the first hydraulic cylinder and the second hydraulic cylinder. And the communication unit is used for receiving the pressure difference signal of the first hydraulic cylinder and the pressure difference signal of the second hydraulic cylinder. And a processing unit which generates a first control signal and a second control signal when receiving the differential pressure signal of the first hydraulic cylinder and the differential pressure signal of the second hydraulic cylinder which are sent by the communication unit. The communication unit is further used for sending a first control signal to the first control valve unit, and the first control valve unit is used for controlling the flow of the hydraulic oil entering the first hydraulic cylinder according to the first control signal. The communication unit is further used for sending a second control signal to the second control valve unit, and the second control valve unit is used for controlling the flow of the hydraulic oil entering the second hydraulic cylinder according to the second control signal.

As a possible implementation, the first control valve unit includes a first solenoid valve and a second solenoid valve; the first electromagnetic valve and the second electromagnetic valve are both arranged between the liquid supply unit and the first hydraulic cylinder. The first electromagnetic valve and the second electromagnetic valve are connected in parallel. The second control valve unit includes a third solenoid valve and a fourth solenoid valve. The third electromagnetic valve and the fourth electromagnetic valve are arranged between the liquid supply unit and the second hydraulic cylinder. The third electromagnetic valve and the fourth electromagnetic valve are connected in parallel. When the wearer stands, the first solenoid valve is opened to drive the first hydraulic cylinder in an extended state. The third solenoid valve is opened to drive the second hydraulic cylinder in the extended state. The second solenoid valve and the fourth solenoid valve are closed. When the wearer walks and bends legs, the first electromagnetic valve is opened to drive the first hydraulic cylinder to be in a bent state. The third solenoid valve is opened to place the second hydraulic cylinder in a flexed state. The second solenoid valve and the fourth solenoid valve are opened.

When a wearer walks and stretches legs, the first electromagnetic valve is opened to drive the first hydraulic cylinder to be in an extending state; the third electromagnetic valve is opened to drive the second hydraulic cylinder to be in an extending state; the second solenoid valve and the fourth solenoid valve are opened.

As a possible implementation, the liquid supply unit includes an oil tank, and a motor pump communicated with the oil tank, and the motor pump sucks hydraulic oil out of the oil tank to supply to the first hydraulic cylinder and the second hydraulic cylinder. The oil tank is also used for recovering the hydraulic oil overflowed by the first hydraulic cylinder and the second hydraulic cylinder.

As a possible implementation, the liquid supply unit further comprises a filter, the filter being arranged between the oil tank and the motor pump, and/or the filter being arranged between the motor pump and the first and second control valve units.

As a possible implementation manner, the hydraulic drive system further includes an integrated housing, and at least a first hydraulic cylinder, a first control valve unit, a second hydraulic cylinder, and a second control valve unit are integrated on the integrated housing.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The skeletal joint driving and executing mechanism of the exoskeleton robot is characterized by comprising a steel wheel (8) which is of a barrel-shaped structure and outputs external power, wherein a rotatable motor (15) is arranged inside the steel wheel (8), and a motor spindle (14) is arranged inside the motor (15);

the power output end of the motor main shaft (14) is sequentially provided with a harmonic drive reducer and a double-planetary gear reducer from the outer end to the inner side, and the motor main shaft (14) drives the steel wheel (8) to rotate through the transmission of the double-planetary gear reducer and the harmonic drive reducer.

2. An exoskeleton robot skeletal joint drive actuator as claimed in claim 1 wherein the double planetary gear reducer comprises a sun gear (17), a first planet carrier (20) and a second planet carrier (23) arranged in sequence at their inboard axial ends;

an inner gear (6) is sleeved on the outer sides of the sun gear (17) and the first planet carrier (20), the inner gear (6) is fixed on a shell of the motor (15), the sun gear (17) is fixed on the motor spindle (14), and the first planet carrier (20) and the second planet carrier (23) are rotationally connected to the motor spindle (14);

a plurality of first planet gears (19) are arranged on the side wall of the first planet carrier (20), and each first planet gear (19) is meshed with the sun gear (17) and the internal gear (6);

a plurality of second planet gears (25) are arranged on the side wall of the second planet carrier (23), and each second planet gear (25) is meshed with the internal gear (6) and the first planet carrier (20);

the harmonic drive reducer is fixedly connected with the second planet carrier (23).

3. An exoskeleton robot skeletal joint drive actuator as claimed in claim 2 wherein the internal gear (6) is fixed to the housing of the motor (15) by a plurality of bolts (9);

a sun wheel gasket (18) is arranged between the sun wheel (17) and the first planet carrier (20).

4. The exoskeleton robot skeletal joint driving actuator according to claim 2, wherein the harmonic drive reducer comprises a wave generator (22), a flexible bearing (4) and a flexible gear (5) which are sequentially sleeved together from inside to outside, wherein the wave generator (22) is fixedly connected with the second planet carrier (23);

when the second planet carrier (23) is used as a power output shaft, the flexible bearing (4) is deformed through the wave generator (22), so that the flexible gear (5) is meshed with the steel wheel (8) in the long axis direction to drive the steel wheel (8) to rotate.

5. An exoskeleton robot skeletal joint drive actuator as claimed in claim 4 comprising a flexible wheel cover (3), the flexible wheel cover (3) being connected to the inner race of the flexible bearing (4) by a flexible wheel ring (21).

6. An exoskeleton robot skeletal joint drive actuator as claimed in claim 1 wherein the motor (15) is rotationally connected to the steel wheel (8) through a first bearing (10), a second bearing (10-1);

the outer ring of the first bearing (10) abuts against an annular bulge on the inner wall of the steel wheel (8), and the inner ring abuts against a shaft shoulder of a shell of the motor (15) through a first motor ring (11);

the inner ring of the second bearing (10-1) abuts against a shaft shoulder of the shell of the motor (15), the outer ring abuts against the threaded ring (12), and the threaded ring (12) is connected to the inner wall of the steel wheel (8) through threads;

and a second motor ring (16) is arranged at the rear part of the motor (15), and the second motor ring (16) is positioned in the inner ring of the threaded ring (12).

7. An exoskeleton robot skeletal joint drive actuator as claimed in claim 1, characterized in that the rear end of the motor (15) is provided with a screw cap (13), the screw cap (13) is screwed on the housing of the motor (15), and the motor spindle (14) is in rotational connection with the screw cap (13).

8. An exoskeleton robot skeletal joint driving actuator as claimed in claim 1, wherein one end of the steel wheel (8) is provided with a steel wheel cover (2), and the power output end of the motor spindle (14) is rotatably connected to the steel wheel cover (2) through a third bearing (1);

the steel wheel cover (2) is connected with the steel wheel (8) through a bolt.

9. An exoskeleton robot comprising the skeletal joint drive actuator for use with an exoskeleton robot as claimed in any one of claims 1 to 8, wherein: the exoskeleton robot further comprises a robot trunk and exoskeleton joints, and the exoskeleton robot skeletal joint driving actuating mechanism is installed on the exoskeleton joints.

10. The exoskeleton robot of claim 9, wherein said actuator is driven by skeletal joints of said exoskeleton robot, wherein said actuator is further configured to: the exoskeleton hip joint comprises a shoulder joint, an elbow joint, a hip joint and a knee joint.

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