CN110733055B - Bionic joint mechanism comprising multi-ball range-extending joint module - Google Patents
Bionic joint mechanism comprising multi-ball range-extending joint module Download PDFInfo
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- CN110733055B CN110733055B CN201911022534.3A CN201911022534A CN110733055B CN 110733055 B CN110733055 B CN 110733055B CN 201911022534 A CN201911022534 A CN 201911022534A CN 110733055 B CN110733055 B CN 110733055B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 206010049816 Muscle tightness Diseases 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000000926 separation method Methods 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 29
- 239000010959 steel Substances 0.000 claims description 29
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000003592 biomimetic effect Effects 0.000 claims description 4
- 210000003205 muscle Anatomy 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 2
- 210000003141 lower extremity Anatomy 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000002787 reinforcement Effects 0.000 claims description 2
- 210000001364 upper extremity Anatomy 0.000 claims description 2
- 210000002435 tendon Anatomy 0.000 description 5
- 239000003814 drug Substances 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 210000003484 anatomy Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention provides a bionic joint mechanism comprising a multi-ball range-extending joint module, which comprises a driving module, a separation transmission module, a multi-ball range-extending joint module and an output module, wherein the driving module is used for driving a ball to rotate; the driving module and the separating transmission module are respectively composed of three groups of units with the same structure. According to the bionic joint mechanism comprising the multi-ball range-extending joint module, the multi-ball range-extending joint module has a muscle tension bionic function, and the muscle tension of the joint is well expressed.
Description
Technical Field
The invention relates to the field of robots, in particular to a bionic joint mechanism comprising a multi-ball range-extending joint module.
Background
In the existing bionic joint, for example, the bionic joint based on pneumatic muscle hybrid described in patent document 1(CN 107263523A), the bionic joint of the human body only realizes general motion function, structural appearance and intelligent bionic. However, the activity of each joint in the real human body is greatly related to the tendon group, the activity is driven by the tendon group, and the tendon group also shows the tension characteristic in the driving process, which is called the muscle tension in medicine, but the muscle tension simulating characteristic is rarely found in the field, and the characteristic has a good reference value for the rehabilitation medicine in recent years, especially for patients with spasm, hemiplegia and the like.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a novel bionic joint mechanism comprising a multi-ball range-extending joint module. The mechanism is designed by combining human anatomy, human bionics and human kinematics, and meets the requirement of expressing the muscle tension of the robot in rehabilitation medicine.
In order to realize the purpose, the invention provides the following technical scheme:
a bionic joint mechanism comprising a multi-ball range-extending joint module comprises a driving module, a separation transmission module, the multi-ball range-extending joint module and an output module.
Furthermore, the driving module and the separation transmission module are respectively composed of three groups of units with the same structure;
furthermore, the multi-ball range-extending joint module has a muscle tension bionic function and well shows the muscle tension of the joint.
Drawings
FIG. 1 is a schematic overall view of a biomimetic joint mechanism of the present invention;
FIG. 2 is a schematic view of a multi-ball extended range joint module of the present invention;
reference numerals:
the integrated motor 1, the speed reducer 2, the driving module fixing seat 3, the steel wire rope wheel 4, the body seat plate 5, the sleeve 6, the driving tensioning seat 7, the driving tensioning screw 8, the corner block 9, the transfer plate 10, the output tensioning screw 11, the steel wire rope 12, the rotary bearing 13, the output disc 14, the output block 15, the primary ball 16, the primary ball cover 17, the primary ball socket 18, the secondary ball 19, the secondary ball cover 20, the secondary and tertiary ball sockets 21, the supporting rotary bearing 22, the sleeve pressing block 23, the supporting ring plate 24, the tertiary ball cover 25 and the tertiary ball 26
(Note: the structures shown in the figures are meant to be illustrative of the nature of the invention and are not intended to be dependent upon the structures shown in the figures.)
Detailed Description
As shown in fig. 1, the bionic joint mechanism according to the present invention includes a driving module, a separation transmission module, a multi-ball range-extending joint module and an output module, wherein the driving module and the separation transmission module are respectively composed of three groups of units with the same structure.
As a preferred embodiment, the driving module includes: integrated motor 1, speed reducer 2, drive module fixing base 3, wire rope sheave 4 and health bedplate 5.
Wherein, drive module comprises three groups of units that the structure is the same at least, specifically is: integrated motor 1 is connected firmly with speed reducer 2 back through the fix with screw on drive module fixing base 3, and drive module fixing base 3 passes through the screw and is fixed with health bedplate 5, and wire rope wheel 4 dress is on the output shaft of speed reducer 2 to the rotation of integrated motor 1 passes through the reinforcement of speed reducer 2 and passes wire rope wheel 4 on, and wire rope wheel 4 only need rotate the round can satisfy joint pivoted maximum angle.
As a preferred embodiment, the separation transmission module comprises: the device comprises a sleeve 6, a driving tension seat 7, a driving tension screw 8, a corner block 9, a transfer plate 10, an output tension screw 11, a steel wire rope 12, a supporting rotary bearing 22, a sleeve pressing block 23 and a supporting ring plate 24.
Wherein, the separation transmission module also comprises three groups of units with the same structure at least, specifically: the angle block 9 is fixedly connected with the body seat plate 5 and the middle rotating plate 10, the driving tension seat 7 is fixedly connected on the driving module fixing seat 3, and the driving tension screw 8 is connected with the driving tension seat 7 through threads and can adjust the steel wire rope 12 and the sleeve in the sleeve assembly 6.
Similarly, the output tension screw 11 is connected with the transfer plate 10 through threads and can adjust the steel wire rope 12 and the sleeve in the sleeve assembly 6, a section of the sleeve 6 is arranged between the drive tension screw 8 and the output tension screw 11, and the other end of the output tension screw 11 is also provided with a small section of the steel wire rope and the sleeve 6 in the sleeve assembly 6.
The support ring plate 24 is internally provided with a bearing and is arranged on the two-stage ball socket 21 and the three-stage ball socket 21 together, a small section of sleeve 6 is fixed on the periphery of the support ring plate 24 through a sleeve pressing block 23, the sleeve 6 is a path through which the steel wire rope 12 must run, in the path, one end of the steel wire rope 12 is fixed on the steel wire rope wheel 4, the other end of the steel wire rope 12 is fixed on the output disc 14, and the steel wire rope wheel 4 can be wound by a circle for tensioning the output disc 14 in the output module, so that the muscle tension of joints in the upper and lower limbs can be realized.
As a preferred embodiment, the multi-ball range extending joint module, as shown in fig. 2, comprises: a first-stage ball 16, a first-stage ball cover 17, a first-stage ball socket 18, a second-stage ball 19, a second-stage ball cover 20, a second-third-stage ball socket 21, a third-stage ball cover 25 and a third-stage ball 26.
Wherein, one end of the first-level ball 16 is fixedly connected with the transfer board 10, and the other end is a ball body which is restrained in the first-level ball socket 18 by the first-level ball cover 17 and can freely slide in the first-level ball socket 18. The other end of the primary ball socket 18 is fixedly connected with a secondary ball 19.
Similarly, the second-stage ball 19 is constrained by the second-stage ball cover 20 in the second-stage ball socket of the second-stage ball socket 21 and can slide freely in the second-stage ball socket of the second-stage ball socket 21.
Similarly, the third-stage ball 26 is constrained in the third-stage ball socket of the second-stage ball socket 21 by the third-stage ball cover 25 and can freely slide in the third-stage ball socket of the second-stage ball socket 21, and the other end of the third-stage ball 26 is fixedly connected to the output block 15.
The first-stage ball 16, the second-stage ball 19 and the third-stage ball 26 can rotate 45 degrees in space relative to each other, and the three balls can rotate 135 degrees in total, so that the maximum motion degree of the joint can be met.
In the embodiment, three balls are connected in series, and the series connection of four balls or more can be expanded. The purpose of the series connection of three balls and more than three balls is to increase the spatial angle of motion and the maximum range of reach of the joint.
As a preferred embodiment, the output module includes: a rotary bearing 13, an output disc 14 and an output block 15.
Wherein, the rotary bearing 13 is installed on the optical axis of the other end of the third-stage ball 26, and the output disc 14 is installed on the outer ring of the rotary bearing 13. When the steel wire rope 12 is tensioned, the output disc 14 rotates and simultaneously transmits tension to the output block 15 through the three-stage ball 26, so that the tension of the muscle groups of the limbs on the joints can be simulated.
The output disc 14 is provided to prevent the steel wire rope 12 from being entangled with other steel wire ropes 12 when the steel wire rope 12 is tensioned along with the three balls connected in series to rotate in space.
In this embodiment, the steel wire rope 12 is used for transmission to simulate the movement of the tendon group of the human joint part, that is, the three groups of driving modules and the three groups of separating transmission modules together complete the simulation of the steel wire rope 12 on the tendon group of the human body. The muscle tension of the joints of the actual human body, particularly the patient, is differentiated by different grades, and the grade differentiation is realized by changing the torque force of the integrated motor 1 in the driving module, and the muscle tension of the integrated motor is constant for each grade, and the muscle tension with the constant value only allows the wire rope wheel 4 to rotate for one circle under the driving of the integrated motor 1, otherwise, the tension is changed due to the diameter change when the wire rope 12 is wound on the wire rope wheel 4 for the second circle.
Meanwhile, this is also a key feature in the control in this embodiment, and its specific calculation formula is as follows:
the torque output by the integrated motor 1 through the speed reducer 2 is T,
the wire rope wheel 4 has a diameter D,
the steel cord 12 has a diameter d of,
the muscle tension is F and the muscle tension is F,
when the wire rope 12 is wound n times, its winding diameter is approximately D + n × D, so that F is 2T/(D + n × D),
as can be seen from the formula, n is constant only at a certain value and F can be kept unchanged, and for easy control, n is selected to be 1 in the present embodiment, but is not limited to be selected to be 1.
Compared with the existing bionic joint mechanism, the bionic joint mechanism comprising the multi-ball range-extending joint module has the following characteristics:
(1) provides a novel bionic joint mechanism which can well show the muscle tension of the joint.
(2) The robot is designed by combining human anatomy, human bionics and human kinematics, and the requirement of expressing the muscle tension of the robot in rehabilitation medicine is met.
The above description is only exemplary of the invention and should not be taken as limiting the scope of the invention, which is intended to cover any variations, equivalents, or improvements made within the spirit and scope of the invention.
Claims (4)
1. A bionic joint mechanism comprising a multi-ball range-extending joint module is characterized in that:
the device comprises a driving module, a separation transmission module, a multi-ball range-extending joint module and an output module;
the driving module and the separation transmission module are respectively composed of three groups of units with the same structure;
the multi-ball range-extending joint module has a muscle tension bionic function and well shows the muscle tension of the joint;
the driving module includes: the integrated motor (1), the speed reducer (2), the driving module fixing seat (3), the steel wire rope wheel (4) and the body seat plate (5);
the driving module at least comprises three groups of units with the same structure, and specifically comprises the following components: the integrated motor (1) is fixedly connected with the speed reducer (2) and then fixed on the driving module fixing seat (3) through screws, the driving module fixing seat (3) is fixed with the body seat plate (5) through screws, the steel wire rope wheel (4) is arranged on an output shaft of the speed reducer (2), so that the rotation of the integrated motor (1) is transmitted to the steel wire rope wheel (4) through the reinforcement of the speed reducer (2), and the steel wire rope wheel (4) can meet the maximum rotation angle of a joint only by rotating for one circle;
the disconnect transmission module includes: the device comprises a sleeve (6), a driving tensioning seat (7), a driving tensioning screw (8), an angle block (9), a transit plate (10), an output tensioning screw (11), a steel wire rope (12), a supporting rotary bearing (22), a sleeve pressing block (23) and a supporting ring plate (24);
the separation transmission module at least also comprises three groups of units with the same structure, and specifically comprises the following steps: the corner block (9) is fixedly connected with the body seat plate (5) and the middle rotating plate (10), the driving tensioning seat (7) is fixedly connected on the driving module fixing seat (3), and the driving tensioning screw (8) is connected with the driving tensioning seat (7) through threads and can adjust the sleeve (6);
the output tensioning screw (11) is connected with the transfer plate (10) through threads and can adjust the sleeve (6), a section of sleeve (6) is arranged between the driving tensioning screw (8) and the output tensioning screw (11), and the other end of the output tensioning screw (11) is also provided with a small section of sleeve (6);
the support ring plate (24) is internally provided with a bearing and is arranged on a two-stage ball socket and a three-stage ball socket (21) together, a small section of sleeve (6) is fixed on the periphery of the support ring plate (24) through a sleeve pressing block (23), each sleeve (6) is a path through which a steel wire rope (12) must pass when walking, in the path, one end of the steel wire rope (12) is fixed on the steel wire rope wheel (4), the other end of the steel wire rope is fixed on the output disc (14), and the steel wire rope wheel (4) can be wound by a circle to stretch the output disc (14) in the output module, so that the muscle tension of joints in the upper and lower limbs can be realized.
2. The biomimetic joint mechanism including the multi-ball range extending joint module of claim 1, wherein:
the multi-ball range extending joint module comprises: the ball bearing comprises a first-stage ball (16), a first-stage ball cover (17), a first-stage ball socket (18), a second-stage ball (19), a second-stage ball cover (20), a second-stage ball socket and a third-stage ball socket (21), a third-stage ball cover (25) and a third-stage ball (26).
3. The biomimetic joint mechanism including the multi-ball range extending joint module of claim 2, wherein:
one end of the first-stage ball (16) is fixedly connected with the transfer plate (10), the other end of the first-stage ball is a ball body, and the ball body is restrained in the first-stage ball socket (18) by a first-stage ball cover (17) and can freely slide in the first-stage ball socket (18); the other end of the first-stage ball socket (18) is fixedly connected with a second-stage ball (19);
the second-stage ball (19) is constrained in the second-stage ball socket of the second-stage and third-stage ball socket (21) by the second-stage ball cover (20) and can freely slide in the second-stage ball socket of the second-stage and third-stage ball socket (21);
the third-stage ball (26) is constrained in the third-stage ball socket of the second-stage and third-stage ball socket (21) by the third-stage ball cover (25) and can freely slide in the third-stage ball socket of the second-stage and third-stage ball socket (21), and the other end of the third-stage ball (26) is fixedly connected to the output block (15).
4. A biomimetic joint mechanism comprising a multi-ball range extending joint module according to claim 3, wherein:
the output module includes: a rotary bearing (13), an output disc (14) and an output block (15);
wherein, the rotary bearing (13) is arranged on the optical axis at the other end of the three-stage ball (26), and the output disc (14) is arranged on the outer ring of the rotary bearing (13);
when the steel wire rope (12) is tensioned, the output disc (14) rotates and simultaneously transmits tension to the output block (15) through the three-stage ball (26), so that the tension of the muscle groups of limbs on joints can be simulated.
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| CN201911022534.3A CN110733055B (en) | 2019-10-25 | 2019-10-25 | Bionic joint mechanism comprising multi-ball range-extending joint module |
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| CN201911022534.3A CN110733055B (en) | 2019-10-25 | 2019-10-25 | Bionic joint mechanism comprising multi-ball range-extending joint module |
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| CN110733055B true CN110733055B (en) | 2022-03-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486193A (en) * | 2009-02-25 | 2009-07-22 | 四川大学 | Two-freedom degree spherical joint drive mechanism |
| FR3040145A1 (en) * | 2015-08-21 | 2017-02-24 | Commissariat Energie Atomique | ARTICULATED ROBOT ARM |
| DE102017204735A1 (en) * | 2017-03-21 | 2018-09-27 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | The robotic articulation |
| CN109591041A (en) * | 2017-10-02 | 2019-04-09 | 斯寇司株式会社 | Finger mechanism, manipulator and method for controlling robot |
| CN109925161A (en) * | 2017-12-18 | 2019-06-25 | 中国科学院沈阳自动化研究所 | A kind of Glenohumeral joint bionical power-assisted flexible exoskeleton mechanism |
| CN110328686A (en) * | 2019-08-08 | 2019-10-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical shoulder joint mechanism with Muscle tensility performance |
| CN110333671A (en) * | 2019-05-09 | 2019-10-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of rehabilitation simulation people is with Muscle tensility control system and its control method |
-
2019
- 2019-10-25 CN CN201911022534.3A patent/CN110733055B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486193A (en) * | 2009-02-25 | 2009-07-22 | 四川大学 | Two-freedom degree spherical joint drive mechanism |
| FR3040145A1 (en) * | 2015-08-21 | 2017-02-24 | Commissariat Energie Atomique | ARTICULATED ROBOT ARM |
| DE102017204735A1 (en) * | 2017-03-21 | 2018-09-27 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | The robotic articulation |
| CN109591041A (en) * | 2017-10-02 | 2019-04-09 | 斯寇司株式会社 | Finger mechanism, manipulator and method for controlling robot |
| CN109925161A (en) * | 2017-12-18 | 2019-06-25 | 中国科学院沈阳自动化研究所 | A kind of Glenohumeral joint bionical power-assisted flexible exoskeleton mechanism |
| CN110333671A (en) * | 2019-05-09 | 2019-10-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of rehabilitation simulation people is with Muscle tensility control system and its control method |
| CN110328686A (en) * | 2019-08-08 | 2019-10-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical shoulder joint mechanism with Muscle tensility performance |
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