CN116000900B

CN116000900B - Flexible exoskeleton robot and its flexible split drive package

Info

Publication number: CN116000900B
Application number: CN202211107972.1A
Authority: CN
Inventors: 强利刚; 郭超; 李林; 肖陶康; 宋定安; 张勇; 肖新华; 胡静; 李阳阳
Original assignee: Guizhou Aerospace Control Technology Co Ltd
Current assignee: Guizhou Aerospace Control Technology Co Ltd
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2025-10-28
Anticipated expiration: 2042-09-13
Also published as: CN116000900A

Abstract

The present invention discloses a flexible exoskeleton robot and its flexible split drive package. The flexible split drive package includes a drive mechanism and a winding quick-release mechanism. The drive mechanism includes an integrated first shell assembly, a power element, a winding drive assembly and a detection assembly. The power element is arranged outside the first shell assembly. The winding drive assembly includes a drive shaft. The drive shaft is arranged to rotate under the drive of the power element. The first end of the drive shaft extends out of the outside of the first shell assembly. The detection assembly is used to detect the rotation angle of the drive shaft; the winding quick-release mechanism includes an integrated second shell assembly, a winding wheel and a pull wire. The pull wire is provided on the winding wheel and extends from the second installation space to the outside of the second shell assembly. The winding wheel is provided with a mounting hole. The winding wheel is detachably connected to the drive shaft through the mounting hole. The present invention can solve the problems of large size, heavy weight and difficult maintenance of the exoskeleton robot in the prior art.

Description

Flexible exoskeleton robot and flexible split driving bag thereof

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a flexible exoskeleton robot and a flexible split driving bag thereof.

Background

At present, the main driving mode of the flexible exoskeleton robot is rope driving, and a driving device is required to integrally design a motor, a speed reduction transmission mechanism and a bearing mechanism, so that the whole flexible exoskeleton robot is portable and small. Once the integration level of the driving device is not high, the exoskeleton is very heavy, the man-machine matching performance and wearing comfort level can be reduced, and the assistance effect of the flexible exoskeleton robot is seriously restricted. Meanwhile, the maintenance of the whole flexible exoskeleton robot is also a very important problem in view of the fact that the bowden cable is a consumable product during operation.

That is, the existing flexible exoskeleton robot has the disadvantages of low integration level of the driving mechanism, large volume, heavy weight and the like. When the flexible exoskeleton robot is worn on a human body, extra load of the human body can be increased, the comfort and the walking flexibility of the exoskeleton worn by the human body are affected, the performance and the power-assisted efficiency of the exoskeleton robot are reduced, meanwhile, the production cost of the exoskeleton robot can be increased, and the practical development of the flexible exoskeleton robot is greatly limited.

Disclosure of Invention

The invention aims to provide a flexible exoskeleton robot and a flexible split driving bag thereof, which are used for solving the problems of large volume, heavy weight and difficult maintenance of the exoskeleton robot in the prior art.

In order to achieve the above object, according to one aspect of the present application, there is provided a flexible split drive pack comprising:

The driving mechanism comprises a first shell component, a power element, a winding driving component and a detection component, wherein the first shell component, the power element, the winding driving component and the detection component are integrally arranged, the first shell component is surrounded to form a first installation space, the power element is arranged outside the first shell component, the winding driving component comprises a driving shaft, the driving shaft is arranged in the first installation space and rotates under the driving of the power element, the first end of the driving shaft extends out of the first shell component, the detection component is arranged on the first shell component to detect the rotation angle of the driving shaft, and

The winding quick detach mechanism, winding quick detach mechanism is including the second casing subassembly, reel and the acting as go-between of integrated setting, second casing subassembly encloses to establish and forms the second installation space, the reel rotationally installs in the second installation space, act as go-between establish on the reel and follow the second installation space stretch out in the outside of second casing subassembly, be provided with the mounting hole on the reel, the reel passes through the mounting hole with drive shaft detachably connects.

Further, the power element comprises a motor, an output shaft of the motor extends into the first installation space, a motor gear is arranged on the output shaft of the motor, and a winding gear is fixedly arranged on the driving shaft;

The driving mechanism further comprises a transmission gear assembly, the transmission gear assembly is arranged in the first installation space, and the motor gear is connected with the winding gear through the transmission gear assembly.

Further, the transmission gear assembly includes:

the first rotating shaft is rotatably arranged in the first installation space, is parallel to the driving shaft and is perpendicular to the output shaft of the motor;

A first gear fixedly mounted on the first rotary shaft and engaged with the motor gear, and

And the second gear is fixedly arranged on the first rotating shaft and meshed with the winding gear.

Further, the detection assembly includes:

a magnetic steel fixedly arranged on the driving shaft, and

The non-contact type magnetic-sensitive encoder is arranged on the first shell component and matched with the magnetic steel to be used for detecting the rotation angle of the driving shaft.

Further, one end of the driving shaft extending out of the first shell component is a non-cylindrical section, and the mounting hole is a non-circular hole matched with the non-cylindrical section.

Further, a hard end is arranged at the first end of the stay wire, a counter bore is arranged on the reel, and the hard end is arranged in the counter bore and limited in the counter bore through a limiting cover plate.

Further, the second housing assembly includes:

The shell part is surrounded to form the second installation space, and the reel is rotatably installed in the second installation space;

the winding check ring comprises an annular main body and an annular flange, the annular main body surrounds to form an avoidance hole corresponding to the mounting hole, the inner diameter of the avoidance hole is smaller than the outer diameter of the reel, the annular flange is arranged on the periphery of the annular main body and embedded in the second mounting space, and the reel is located on the inner side of the annular flange.

Further, the winding quick-release mechanism further comprises a spool, the spool is fixedly arranged on the second shell assembly, and the stay wire penetrates out of the second shell assembly from the spool.

Further, the flexible split drive pack further comprises:

the mounting seat is provided with a mounting groove;

The control board and the driving mechanism are arranged in the mounting groove, and the control board is in communication connection with the power element and the detection assembly;

The cover plate is covered on the mounting groove, a positioning groove is formed in the cover plate, and the winding quick-release mechanism is detachably arranged in the positioning groove.

According to another aspect of the present invention, there is provided a flexible exoskeleton robot comprising the flexible split drive pack described above.

By applying the technical scheme of the invention, the driving mechanism and the winding quick-release mechanism are arranged as an integrated structure, so that the volume and the weight of the flexible split driving bag can be effectively reduced. After the flexible separate driving bag is arranged on the flexible exoskeleton robot, the load of the flexible exoskeleton robot can be reduced, the comfort and the flexibility of the flexible exoskeleton robot in the use process can be improved, the performance and the power-assisted effect of the flexible separate driving bag can be improved to a certain extent, and the production cost of the flexible exoskeleton robot is reduced.

Meanwhile, the winding quick-release mechanism and the driving mechanism are detachably connected through the mounting hole and the driving shaft, and the winding quick-release mechanism can be conveniently detached from the driving mechanism for maintenance in actual use.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

FIG. 1 is an exploded view of a flexible split drive pack according to an embodiment of the present disclosure;

FIG. 2 is a front view of a drive mechanism disclosed in an embodiment of the present application;

FIG. 3 is a cross-sectional view B-B in FIG. 2;

Fig. 4 is a front view of a winding quick release mechanism according to an embodiment of the present application;

fig. 5 is a cross-sectional view A-A of fig. 4.

Reference numerals illustrate:

10. Driving mechanism, 11, first housing component, 111, first housing part, 112, second housing part, 1101, first installation space, 1102, recess, 12, power element, 121, motor gear, 13, winding driving component, 131, driving shaft, 132, winding gear, 14, detection component, 141, magnetic steel, 142, noncontact magneto-sensitive encoder, 15, transmission gear component, 151, first rotating shaft, 152, first gear, 153, second gear, 16, first bearing, 17, second bearing, 20, winding quick-release mechanism, 21, second housing component, 211, housing part, 212, winding retainer ring, 2121, relief hole, 2122, annular main body, 2123, annular flange, 2101, second installation space, 2102, protrusion, 22, winding reel, 221, installation hole, 222, counter bore, 223, limit cover plate, 23, stay wire, 231, hard, 24, spool, 30, installation seat, 31, installation groove, 40, control plate, 50, cover plate, 51, positioning groove, 60, screw.

Detailed Description

The advantages and features of the present invention will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings and detailed description. It should be noted that the drawings are in a very simplified form and are adapted to non-precise proportions, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention.

It should be noted that, in order to clearly illustrate the present invention, various embodiments of the present invention are specifically illustrated by the present embodiments to further illustrate different implementations of the present invention, where the various embodiments are listed and not exhaustive. Furthermore, for simplicity of explanation, what has been mentioned in the previous embodiment is often omitted in the latter embodiment, and therefore, what has not been mentioned in the latter embodiment can be referred to the previous embodiment accordingly.

As shown in fig. 1 to 5, according to an embodiment of the present application, there is provided a flexible split drive pack. The flexible split driving bag comprises a driving mechanism 10 and a winding quick-release mechanism 20.

The drive mechanism 10 includes an integrally provided first housing assembly 11, a power element 12, a wire drive assembly 13, and a detection assembly 14. The first housing assembly 11 encloses a first installation space 1101 for facilitating installation of the wire drive assembly 13 and the detection assembly 14. The power element 12 is disposed outside the first housing assembly 11, the wire winding driving assembly 13 includes a driving shaft 131, the driving shaft 131 is disposed in the first mounting space 1101 and is driven by the power element 12 to rotate, a first end of the driving shaft 131 extends outside the first housing assembly 11, and the detecting assembly 14 is disposed on the first housing assembly 11 to detect a rotation angle of the driving shaft 131.

The winding quick-release mechanism 20 comprises a second housing assembly 21, a winding reel 22 and a pull wire 23 which are integrally arranged. The second housing assembly 21 encloses a second installation space 2101, the reel 22 is rotatably installed in the second installation space 2101, the pull wire 23 is provided on the reel 22 and extends out of the second housing assembly 21 from the second installation space 2101, the reel 22 is provided with an installation hole 221, and the reel 22 is detachably connected with the first end of the driving shaft 131 through the installation hole 221.

In actual operation, the driving shaft 131 is driven to rotate by the power element 12, that is, the reel 22 connected with the driving shaft 131 can be driven to rotate, and when the reel 22 rotates, the stay 23 can be driven to stretch out and draw back to adjust the length of the stay 23 extending out of the second housing assembly 21.

Since the driving mechanism 10 and the winding quick-release mechanism 20 are provided as an integrated structure in this embodiment, the volume and weight of the flexible split driving bag can be effectively reduced. After the flexible separate driving bag is arranged on the flexible exoskeleton robot, the load of the flexible exoskeleton robot can be reduced, the comfort and the flexibility of the flexible exoskeleton robot in the use process can be improved, the performance and the power-assisted effect of the flexible separate driving bag can be improved to a certain extent, and the production cost of the flexible exoskeleton robot is reduced.

Meanwhile, the winding quick-release mechanism 20 and the driving mechanism 10 in the embodiment are detachably connected together through the mounting hole 221 and the driving shaft 131, so that the winding quick-release mechanism 20 can be conveniently detached from the driving mechanism 10 for maintenance in practical use.

Specifically, the first housing assembly 11 in the present embodiment includes a first housing portion 111 and a second housing portion 112, and the first housing portion 111 and the second housing portion 112 are fastened together to enclose the first installation space 1101. In actual assembly, the first casing 111 and the second casing 112 can be connected together through bolts, screws, buckles and other structures, so that the structure is simple and convenient to realize.

In order to further improve the integration level of the flexible split driving bag in this embodiment, the first housing component 11 in this embodiment is provided with a recess 1102. Correspondingly, the second housing component 21 is provided with a protrusion 2102, and when actually assembled, the protrusion 2102 is mounted in the recess 1102, and through the cooperation of the protrusion 2102 and the recess 1102, reliable guiding and positioning can be provided.

The power element 12 comprises a motor, an output shaft of which extends into the first installation space 1101, a motor gear 121 is arranged on the output shaft of the motor, and a winding gear 132 is fixedly arranged on the driving shaft 131. In practical design, the driving mechanism 10 further includes a transmission gear assembly 15, where the transmission gear assembly 15 is disposed in the first installation space 1101 to realize a transmission connection between the motor gear 121 and the winding gear 132, so as to conveniently transmit the power of the motor to the driving shaft 131 to drive the reel 22 to rotate.

Further, the transmission gear assembly 15 includes a first rotation shaft 151, a first gear 152, and a second gear 153. The first rotating shaft 151 is rotatably installed in the first installation space 1101 through a first bearing 16, the first rotating shaft 151 is parallel to the driving shaft 131 and perpendicular to an output shaft of the motor, the first gear 152 is fixedly installed on the first rotating shaft 151 and engaged with the motor gear 121, and the second gear 153 is fixedly installed on the first rotating shaft 151 and engaged with the winding gear 132. In actual design, the rotation angle of the driving shaft 131 can be adjusted by selecting and designing the transmission ratio of the first gear 152 and the second gear 153.

Alternatively, the motor gear 121 and the first gear 152 in the present embodiment are both bevel gears, and by the action of the bevel gears, the integration level of the driving mechanism 10 can be improved, and the volume and weight of the driving mechanism 10 in the present embodiment can be further reduced.

As shown in fig. 2 and 3 in combination, the driving shaft 131 in the present embodiment is rotatably installed in the first installation space 1101 by the second bearing 17. The drive shaft 131 stretches out in the one end of first casing subassembly 11 and is the non-cylindrical section, and mounting hole 221 is the non-circular hole of non-cylindrical section looks adaptation, through cylindrical section and non-circular hole cooperation, can prevent to take place relative rotation between drive shaft 131 and the reel 22, more is convenient for realize the dismouting between reel 22 and the drive shaft 131, simple structure, the realization of being convenient for. Alternatively, the non-cylindrical section may be a prismatic section or an elliptical cylindrical section, and the non-circular hole may be a prismatic hole or an elliptical hole, etc.

Further, the detecting component 14 in the present embodiment includes a magnetic steel 141 and a non-contact magneto-sensitive encoder 142. The magnetic steel 141 is fixedly arranged on the driving shaft 131, and the non-contact type magnetic sensitive encoder 142 is arranged on the first shell assembly 11 to be matched with the magnetic steel 141 for detecting the rotation angle of the driving shaft 131 as system feedback.

The driving mechanism 10 is operated by the power element 12, i.e. the motor, when the driving mechanism 10 is powered on, the motor gear 121 serves as an input gear to drive the first gear 152 and the second gear 153 to rotate, and further drive the winding gear 132 and the reel 22 to rotate. The power of the power element 12 is transmitted through the first gear 152, the second gear 153 and the winding gear 132, so that the purposes of reducing and increasing torque can be achieved. The pull wire 23 is fixed on the reel 22 and outputs proper displacement, speed and pulling force to act on the leg joints of the human body. The rotation angle of the driving shaft 131 is linearly related to the displacement of the wire 23, indirectly reflecting the movement position of the wire 23.

Referring to fig. 4 and 5, the second housing assembly 21 in this embodiment includes a housing portion 211 and a winding collar 212. The housing 211 encloses a second installation space 2101, the reel 22 is rotatably installed in the second installation space 2101 through a deep groove bearing, the winding retainer 212 comprises an annular main body 2122 and an annular flange 2123, the annular main body 2122 encloses a dodging hole 2121 corresponding to the installation hole 221, and the winding retainer is suitable for the driving shaft 131 to pass through the dodging hole 2121 and be connected with the installation hole 221 in a matched manner. The inner diameter of the escape hole 2121 is smaller than the outer diameter of the reel 22, so that the pull wire 23 wound on the reel 22 can be prevented from falling off from the escape hole 2121, the annular flange 2123 is arranged on the outer peripheral edge of the annular main body 2122 and embedded in the second installation space 2101, and the reel 22 is positioned on the inner side of the annular flange 2123, that is, the reel 22 can be effectively installed and positioned under the action of the outer shell 211 and the winding retainer 212.

During actual assembly, the winding retainer ring 212 and the shell 211 can be connected through the modes of addiction interference fit, buckle, bolt and the like, so that the structure is simple, and the disassembly and the assembly are convenient.

The first end of the pull wire 23 in this embodiment is provided with a hard tip 231, and the reel 22 is provided with a counterbore 222, and the hard tip 231 is disposed in the counterbore 222 and is defined in the counterbore 222 by a limiting cover plate 223. In actual installation, the limiting cover plate 223 can be detachably fixed on the reel 22 through the screw 60, so that the structure is simple, and the stay wire 23 is convenient to maintain. Of course, in other embodiments of the present application, the hard tip 231 may be fixed to the reel 22 by welding, fastening, riveting, or the like, and any other modification within the scope of the present application is within the scope of the present application. Alternatively, the pull wire 23 in the embodiment is a Bowden wire, the pull wire 23 does not interfere with the rolling path of the pull wire in the wire guide wheel when moving, and the pull wire 23 is fixed on the thigh pull sensor after being led out from the reel 22, so that force feedback closed loop control is formed, and meanwhile, the assistance is provided for human body movement.

Further, the winding quick-release mechanism 20 further includes a spool 24, the spool 24 is fixedly disposed on the second housing assembly 21, and the stay 23 extends from the spool 24 out of the second housing assembly 21, so that the stay 23 is protected by the spool 24. In actual installation, the end of the conduit 24 may be fixed to the second housing component 21 by welding, clamping, screwing, or the like, which is not particularly limited in the present application.

The winding quick release mechanism 20 in this embodiment is matched with a non-cylindrical section on the driving shaft 131 through a mounting hole 221 on the winding wheel 22 to transmit power, a shoulder and a deep groove ball bearing on the non-cylindrical section provide positioning for the winding wheel 22, the inner wall of the shell 211 is rough and is in interference fit with the edge of the winding retainer 212, and the two are pressed together during assembly to seal the winding wheel 22 in the structure. The whole winding quick release mechanism 20 is a closed and firm whole, and only the winding wheel 22 is connected with the driving shaft 131 through a square hole to transmit torque.

Referring again to fig. 1 to 5, the flexible split drive package of the present embodiment further includes a mounting base 30, a control board 40, a cover 50, a communication interface, and the like. Wherein, the mounting seat 30 is provided with a mounting groove 31, the control board 40 and the driving mechanism 10 are arranged in the mounting groove 31, and the control board 40 is in communication connection with the power element 12 and the detection assembly 14. The cover plate 50 is covered on the mounting groove 31, the cover plate 50 is provided with a positioning groove 51, and the winding quick-release mechanism 20 is fixedly arranged in the positioning groove 51.

In actual use, the flexible split driving bags are symmetrically arranged behind the waistband of the flexible exoskeleton robot respectively, and the outside of the flexible split driving bags drives the stay wire 23 to roll through the reel 22 so as to provide assistance for a human body. The mounting base 30 seals the control board 40, the driving mechanism 10, the communication interface and the like, and the electric appliance circuit is completely positioned in the flexible split driving bag, so that the reliability of the system is improved. The winding retainer 212 is made of nylon and wrapped around the reel 22, a hole for pulling the pull wire 23 is reserved in the tangential direction and is pressed on the housing 211, the spool 24 is inserted into the second housing assembly 21 and is pressed and fixed through a fixing structure and the like, so that the whole pull wire 23 is ensured to be in the protection of the composite material in the working process. And meanwhile, the position of the spool 24 is adjusted to ensure that the phenomenon that the stay wires 23 are overlapped and wound does not occur in the working process, and the working life of the stay wires 23 is prolonged. In actual use, the winding quick-release mechanism 20 can be prepared with a plurality of sets, and when the pull wire 23 needs to be replaced, the whole winding quick-release mechanism 20 is only required to be pulled out lightly, and a new set is required to be replaced.

According to the above structure, it can be known that the flexible split driving bag in this embodiment is used by matching the bevel gear and the spur gear, so that the volume of the driving mechanism 10 is reduced, the maintenance time is greatly shortened, and the installation adaptability and the maintainability of the system are improved by the design of the winding quick-release mechanism 20.

The flexible split driving bag is provided with the executing structure with the quick-dismantling interface, the motor is adopted to drive the gear transmission mechanism, the winding gear 132 is driven to drive the stay wire 23 to provide assistance for joints after the speed is reduced, the rotation angle of the driving shaft 131 is measured through the non-contact type magnetic-sensitive encoder 142 to serve as feedback, the displacement and the speed of the stay wire 23 are calculated, a closed loop is formed, a proper joint moment is provided for a human body in the movement process, the stretching/bending movement of the leg exoskeleton mechanism is realized, and the purpose of flexible assistance of the joints is achieved. The drive mechanism 10, control board 40, cables, etc. are integrated by the mount 30 and cover 50 in a closed, independent space, with only two communication interfaces and wires 23 being routed to drive hip joint movement. Meanwhile, the executing structure transmits power through the nylon-metal matching mechanism, and the quick-dismantling function is realized, so that the maintenance time is greatly reduced.

The integrated driving device of the invention solves the problems to a great extent, integrates a motor, a speed reducing mechanism, a driving circuit, a control circuit, a battery, a Bowden wire and the like together to form a closed and independent servo driving bag, all electric appliance cables are closed inside the flexible split driving bag, special limiting and guiding structures are designed at the rolling and wire outlet ends of the Bowden wire to protect the Bowden wire, and the stability and reliability of the driving mechanism and the circuit are improved. Meanwhile, the driving mechanism 10 and the winding quick-release mechanism 20 can reliably transmit power on the premise of allowing quick plugging and unplugging through the matched transmission of the non-cylindrical section and the non-circular hole, the concave part 1102 arranged on the first shell assembly 11 and the nylon bulge 2102 arranged on the second shell assembly 21 can reliably guide and position, the whole flexible split driving bag is light, small and compact in appearance, the number of parts is reduced, the cost is saved, and meanwhile, the installation adaptability and the system reliability maintenance are improved through the integrated design.

According to another aspect of the present invention, there is provided a flexible exoskeleton robot including the above-described flexible split driving bag, and therefore, the flexible exoskeleton robot includes all the technical effects of the flexible split driving bag in the above-described embodiments, and since the technical effects of the flexible split driving bag have been described in detail, a detailed description thereof is omitted herein.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1. the flexible driving bag has compact structure, high integration degree and good installation adaptability;

2. the reel actuating mechanism of the flexible driving bag transmits power through the non-cylindrical section and the non-circular hole, so that the quick pulling-out and inserting can be realized, the replacement is quick and simple, and the maintainability is good;

3. The flexible driving bag has small weight and high response speed, and improves the human body power-assisted efficiency;

4. the flexible driving bag can be arranged on two sides of the waistband of the flexible exoskeleton robot in a split mode, and has good adaptability.

Spatially relative terms, such as "above," "upper" and "upper surface," "above" and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the process is carried out, the exemplary term "above" may be included. Upper and lower. Two orientations below. The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.

The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A flexible split drive pack comprising:

The driving mechanism (10), the driving mechanism (10) comprises a first shell component (11), a power element (12), a winding driving component (13) and a detection component (14) which are integrally arranged, the first shell component (11) is surrounded to form a first installation space (1101), the power element (12) is arranged outside the first shell component (11), the winding driving component (13) comprises a driving shaft (131), the driving shaft (131) is arranged in the first installation space (1101) and rotates under the driving of the power element (12), a first end of the driving shaft (131) extends out of the first shell component (11), and the detection component (14) is arranged on the first shell component (11) to detect the rotation angle of the driving shaft (131), and

The winding quick-release mechanism (20), the winding quick-release mechanism (20) comprises a second shell component (21), a winding wheel (22) and a pulling wire (23) which are integrally arranged, a second installation space (2101) is formed by surrounding the second shell component (21), the winding wheel (22) is rotatably installed in the second installation space (2101), the pulling wire (23) is arranged on the winding wheel (22) and extends out of the second installation space (2101) from the outside of the second shell component (21), a mounting hole (221) is formed in the winding wheel (22), and the winding wheel (22) is detachably connected with the driving shaft (131) through the mounting hole (221);

The power element (12) comprises a motor, an output shaft of the motor extends into the first installation space (1101), a motor gear (121) is arranged on the output shaft of the motor, and a winding gear (132) is fixedly arranged on the driving shaft (131);

The driving mechanism (10) further comprises a transmission gear assembly (15), the transmission gear assembly (15) is arranged in the first installation space (1101), and the motor gear (121) is connected with the winding gear (132) through the transmission gear assembly (15);

The transmission gear assembly (15) comprises:

a first rotating shaft (151), wherein the first rotating shaft (151) is rotatably installed in the first installation space (1101), the first rotating shaft (151) is parallel to the driving shaft (131), and the first rotating shaft (151) is perpendicular to an output shaft of the motor;

a first gear (152), the first gear (152) being fixedly mounted on the first rotating shaft (151) and being meshed with the motor gear (121), and

And a second gear (153), wherein the second gear (153) is fixedly arranged on the first rotating shaft (151) and meshed with the winding gear (132).

2. The flexible split drive package of claim 1, wherein the detection assembly (14) comprises:

A magnetic steel (141), the magnetic steel (141) being fixedly arranged on the driving shaft (131), and

And the non-contact type magnetic sensitive encoder (142) is arranged on the first shell assembly (11) and matched with the magnetic steel (141) for detecting the rotation angle of the driving shaft (131).

3. The flexible split drive pack as claimed in claim 1, wherein the end of the drive shaft (131) extending from the first housing assembly (11) is a non-cylindrical section, and the mounting hole (221) is a non-circular hole adapted to the non-cylindrical section.

4. The flexible split drive package of claim 1 wherein the first end of the pull wire (23) is provided with a hard tip (231), the reel (22) is provided with a counterbore (222), and the hard tip (231) is disposed within the counterbore (222) and is defined within the counterbore (222) by a limiting cover plate (223).

5. A flexible split drive pack as claimed in claim 1, wherein the second housing assembly (21) comprises:

a housing portion (211), wherein the housing portion (211) encloses the second installation space (2101);

winding retainer ring (212), winding retainer ring (212) include annular main part (2122) and annular flange (2123), annular main part (2122) enclose establish form with dodge hole (2121) that mounting hole (221) correspond, dodge the internal diameter in hole (2121) be less than the external diameter of reel (22), annular flange (2123) set up in the periphery of annular main part (2122) along and inlay establish second installation space (2101), reel (22) are located the inboard of annular flange (2123).

6. The flexible split drive package according to any one of claims 1 to 5, wherein the wire winding quick release mechanism (20) further comprises a wire pipe (24), the wire pipe (24) is fixedly arranged on the second housing assembly (21), and the pull wire (23) passes out of the second housing assembly (21) from the wire pipe (24).

7. The flexible split drive package of any one of claims 1 to 5, the flexible split driving bag is characterized by further comprising:

the mounting seat (30), the mounting seat (30) is provided with a mounting groove (31);

The control board (40) and the driving mechanism (10) are arranged in the mounting groove (31), and the control board (40) is in communication connection with the power element (12) and the detection assembly (14);

the cover plate (50), the cover plate (50) is covered and is established on the mounting groove (31), be provided with constant head tank (51) on the cover plate (50), wire winding quick detach mechanism (20) detachably sets up in constant head tank (51).

8. A flexible exoskeleton robot comprising the flexible split drive pack of any one of claims 1 to 7.