Power transmission mechanism and robot

Abstract

The invention discloses a power transmission mechanism and a robot. The power transmission mechanism comprises a driving assembly and further a linkage device, wherein the driving assembly drives thelinkage device to move; a joint assembly which comprises a joint line wheel, wherein the joint line wheel is located at one side of the linkage device; a first guide assembly which is located at the side, deviating from the joint line wheel, of the linkage device; a transmission line set at least part of which is fixedly connected with the linkage device, wherein the transmission line set bypassesthe joint line wheel and the first guide assembly, the driving assembly drives the linkage device to move, the linkage device drives the transmission line set to move around the joint line wheel, andthe transmission line set drives the joint line wheel to rotate. According to the technical scheme, the overall mass of an exoskeleton is reduced, the installation space is compact, the reasonable transmission ratio configuration is achieved, the output requirements for high rotating speed and large torque are met, and the usage is convenient.

Description

technical field [0001] The invention relates to the technical field of legged robots and exoskeleton robots, in particular to a power transmission mechanism and a wearable exoskeleton. Background technique [0002] With the development of science and technology, legged robots are widely used in industry and service industries; robots are widely used in military and industrial load-bearing assistance, as well as medical and rehabilitation occasions for helping the elderly and the disabled. Existing legged robots or wearable exoskeleton robots have high requirements on the output of each active joint, and need to meet the high-speed, high-efficiency use effect and support the wearer's own weight, thereby assisting the wearer to complete normal assistance. or recovery activities. At the same time, in order to achieve good assisting and following effects, exoskeleton robots often use force sensors for force control or impedance control in the control of each joint. [0003] In...

AI Technical Summary

Problems solved by technology

[0003] In order to meet high-speed and high-torque output, motors are often used to cooperate with gears, pulleys and other reduction mechanisms with large volume and mass, or hydraulic drives are used to cooperate with hydraulic pump stations, and the overall mass is larger. In limited space or quality constraints Under such circumstances, it is difficult to meet the configuration of a reasonable transmission ratio, and it is impossible to meet the requirements of output and speed at the same time, which is not conducive to use, causing inconvenient wearing and inflexible movement.

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