CN104029217B - Pneumatic-muscled bionic joint based on universal-joint parallel mechanism - Google Patents

Abstract

The invention relates to a pneumatic muscle bionic joint based on a universal joint type parallel mechanism. The main structure includes: a support rod, a fixed end platform, a connecting shaft, a deep groove ball bearing, a pneumatic muscle, a universal joint, and a forearm platform. , Holes with circlips, round nuts. When the bionic joint works, by inflating the pneumatic muscle, the rubber tube expands after inflation and acts on the woven mesh. The weave angle of the mesh wires of the woven mesh increases, causing the axial contraction of the pneumatic muscles. By separately inflating single, two or three pneumatic muscles, the forearm platform can complete three rotation degrees of freedom. The structure of the bionic joint of the invention is relatively simple, light, has good flexibility and low cost. The posture space is larger during exercise, which is closer to the range of motion of the human arm, thereby enhancing the compliance of the mechanism and increasing the range of posture adjustment. Applying the present invention to the field of medical rehabilitation can enhance the function recovery effect of the elderly or persons with upper limb disabilities.

Description

A Pneumatic Muscle Bionic Joint Based on Universal Joint Parallel Mechanism

technical field

The invention relates to the fields of robots and human body bionics, in particular to a pneumatic muscle bionic joint.

Background technique

In today's society, with the rapid economic growth and development, the number of disabled people caused by production and traffic disasters is increasing year by year, and many diseases have also caused many people to lose their upper limbs. On the other hand, the aging of the global population has brought about a large number of problems, such as the need for professional and timely care for the elderly to complete their daily life and medical problems. The resolution of these problems will entail substantial financial burdens. Human upper limb bionic mechanisms can be used to restore limb function in these patients, and can be used to provide assisting devices for the elderly to complete activities of daily living, which will alleviate the current shortage of professional technicians and allow them to reduce their financial burden, has great social significance. At present, although domestic and foreign scholars have carried out research on the field of upper limb rehabilitation with pneumatic muscles for many years, there are also various structural designs for bionic elbow joints, including parallel mechanisms such as 3-SPS/S, but the movement space of these mechanisms is generally relatively small. Small, far smaller than the range of motion of the human arm, and most of them are driven by motors, resulting in high quality and poor safety performance, which makes the comfort, range of motion and rehabilitation effect of the bionic arm far from the actual needs. The new type of bionic driving device—Pneumatic Artificial Muscle (PAM for short), the main advantage is that the working method, response time, and stretching range are similar to those of biological muscles, and its nonlinear characteristics are similar to those of human skeletal muscles, and it has motors and other drives Does not have flexibility. Pneumatic (artificial) muscle drive devices can be used in many fields, and can replace the motor drive devices widely used in robots, making robots more flexible, such as human prosthetics, limb rehabilitation equipment, bionic robots, and entertainment industry and so on.

Chinese patent CN 1961848 B proposes a flexible exoskeleton elbow joint with single-degree-of-freedom pneumatic muscles. The elbow joint mechanism is composed of two pneumatic muscles and a single-degree-of-freedom rotary motion pair. This structure can only realize single-degree-of-freedom motion.

Chinese patent CN 101181175A proposes a single-degree-of-freedom elbow joint rehabilitation training device. The mechanism is driven by two pneumatic muscles pulling opposite ends. This structure can only realize single-degree-of-freedom movement.

Chinese patent CN 102126210 A proposes a seven-degree-of-freedom pneumatic muscle flexible robot arm. The movement of each degree of freedom of the mechanism is driven by the double-end pull principle of two pneumatic muscles, which results in large volume and high cost. .

Contents of the invention

The purpose of the present invention is to provide a pneumatic muscle bionic joint with simple structure, light weight, good flexibility and compliance, and capable of adjusting a wide range of poses and postures.

The pneumatic muscle bionic joint of the present invention has a three-dimensional rotation degree of freedom, and its special feature is that the connection between the pneumatic muscle and the forearm platform and the fixed end platform is connected by a universal joint, a connecting shaft, a deep groove ball bearing and a circlip . By driving the pneumatic muscles, the three-dimensional rotation of the forearm platform is driven.

As shown in Fig. 1, the performance of the bionic joint includes: the ground is used as a fixed coordinate system, and the support bar of the forearm platform is parallel to the Z axis and vertically upward. The forearm platform can rotate around the X- axis and Y -axis, and the range of motion can reach (-50°, 50°), and the range of motion around the Z -axis can reach (-25°, 25°), and the output force of the bionic joint can reach 300N.

Compared with the previous technology, the advantages of the present invention are:

1. The bionic joint of the present invention has a larger posture space during exercise, which is closer to the range of motion of the human arm, thereby enhancing the compliance of the mechanism and increasing the range of posture adjustment;

2. By using the pneumatic muscle as the driver, the structure of the bionic joint is relatively simple, light, and has good flexibility;

3. Applying the bionic joint of the present invention to the field of medical rehabilitation can enhance the recovery effect of the upper limb function of the elderly or disabled persons.

Description of drawings

Fig. 1 Schematic diagram of bionic joint structure;

Figure 2 Schematic diagram of the fixed platform structure;

Fig. 3 Schematic diagram of the structure of the forearm platform;

Fig. 4 Pneumatic muscle bionic joint system diagram.

In the figure: 1 support rod, 2 fixed end platform, 3 connecting shaft, 4 deep groove ball bearing, 5 pneumatic muscle, 6 universal joint, 7 forearm platform, 8 elastic retaining ring for holes, 9 round nut, 10 air Compressor, 11 pneumatic triples, 12 air pipes, 13 pneumatic muscle control unit (SPCU controller).

detailed description

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

As shown in Figures 1, 2, and 3, the bionic joint is mainly composed of four parts: the fixed end platform 2, the forearm platform 7, the pneumatic muscle 5 and the support rod 1.

As shown in Figures 1, 2, and 3, among the six universal joints 6, three of them are connected to the fixed end platform 2 through the pin hole end of the connecting shaft 3, and the remaining three are connected to the forearm through the pin hole end of the connecting shaft 3. Platform 7 is connected. The installation method of the connecting shaft 3 is: process three 120° evenly distributed stepped holes on the two platforms respectively, install the deep groove ball bearing 4 in the stepped hole, and fix the outer ring of the deep groove ball bearing 4 with the elastic retaining ring 8 for the hole The connecting shaft 3 is inserted into the stepped holes of the two platforms and installed in cooperation with the deep groove ball bearing 4, so that the shaft shoulder is in contact with the inner ring of the deep groove ball bearing 4; the round nut 9 is installed on the fine thread end of the connecting shaft 3, And contact with the inner ring of deep groove ball bearing 4.

As shown in Fig. 2 and Fig. 3, one end of the support rod 1 is fixedly connected with the center of the fixed end platform 2 through threads, and the other end is connected with the forearm platform through the universal joint 6 and the connecting shaft 3. As shown in Figure 3, the installation method of the connecting shaft 3 is as follows: a stepped hole is processed in the center of the forearm platform, the deep groove ball bearing 4 is installed in the stepped hole, and the outer ring of the deep groove ball bearing 4 is fixed with a circlip 8 for the hole; The connecting shaft 3 is inserted into the stepped holes of the two platforms and installed in cooperation with the deep groove ball bearing 4, so that the shoulder is in contact with the inner ring of the deep groove ball bearing 4; the round nut 9 is installed on the fine thread end of the connecting shaft 3, and It is in contact with the inner ring of the deep groove ball bearing 4.

As shown in FIG. 4 , the pneumatic muscle bionic joint system mainly includes: a pneumatic muscle bionic joint, an air compressor 10 , a pneumatic triple piece 11 , a trachea 12 , and a pneumatic muscle control unit SPCU controller 13 .

The working principle of the pneumatic muscle bionic joint is: start the air compressor 10, the air source in the air compressor 10 will stabilize and filter the air through the pneumatic triple unit 11, and deliver it to the pneumatic muscle control unit SPCU13. The pulse signal or input program realizes the control of the opening and closing of the air valve, and then controls the flow of air in the pneumatic muscle 5, and adjusts the internal air pressure; the rubber tube expands after inflation, and acts on the braided net to increase the braiding angle and drive the pneumatic muscle to contract. The three-axis rotational movement of the forearm platform can be achieved by driving the pneumatic muscles in different ways.

Claims (1)

1. a kind of pneumatic muscles bionic joint based on universal coupling formula parallel institution, it is characterised in that：Critical piece includes： Support bar, fixing end platform, connecting shaft, deep groove ball bearing, three pneumatic muscles, the first universal coupling, forearm platform, Kong Yong Circlip, round nut and six the second universal couplings, one end of support bar are solid centrally through screw thread with fixing end platform Even, the other end is connected with forearm platform by the first universal coupling and connecting shaft；Three pneumatic muscles are put down with forearm The coupling part of platform and fixing end platform is respectively adopted the universal coupling, connecting shaft, deep groove ball bearing and circlip and connects Connect, the connecting shaft is a multidiameter, its one end processing screw thread, the other end are machined with pin hole, wherein three second universal Joint is connected with fixing end platform by the pin-and-hole end of connecting shaft, its excess-three pin-and-hole of second universal coupling by connecting shaft End is connected with forearm platform；Process three 120 ° of uniform shoulder holes on two platforms respectively；Deep-groove ball is installed in shoulder hole Bearing, and fixed by connecting shaft, round nut and circlip for hole.