CN108724243A - Flexible bionic joint and robot - Google Patents
Flexible bionic joint and robot Download PDFInfo
- Publication number
- CN108724243A CN108724243A CN201810947129.1A CN201810947129A CN108724243A CN 108724243 A CN108724243 A CN 108724243A CN 201810947129 A CN201810947129 A CN 201810947129A CN 108724243 A CN108724243 A CN 108724243A
- Authority
- CN
- China
- Prior art keywords
- rotating wheel
- rotating
- wheel
- driving member
- double wedge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 56
- 230000001360 synchronised effect Effects 0.000 claims description 41
- 230000002093 peripheral effect Effects 0.000 claims description 25
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 16
- 238000009434 installation Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 210000004394 hip joint Anatomy 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 230000027455 binding Effects 0.000 description 3
- 238000009739 binding Methods 0.000 description 3
- 210000002310 elbow joint Anatomy 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
- 229910000952 Be alloy Inorganic materials 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 241001354235 Plagiodontes Species 0.000 description 1
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009993 protective function Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of flexible bionic joint and robot, flexible bionic joint include：Actuator, the actuator include output shaft；Joint assembly, the joint assembly includes the second rotating member of the first rotating member and neighbouring first rotating member, first rotating member include the first rotating wheel and with co-axially fixed second rotating wheel of first rotating wheel, second rotating member includes third rotating wheel, first driving member, first driving member bypass the output shaft and first rotating wheel；And second driving member, second driving member bypass second rotating wheel and the third rotating wheel.Technical solution of the present invention is intended to reduce ectoskeleton total quality, and installation space is compact, and realizes rational transmission ratio configuration, is conducive to realize overload protection, easy to use.
Description
Technical field
The present invention relates to legged type robot and exoskeleton robot technical field, more particularly to a kind of flexible bionic joint and
Robot.
Background technology
With scientific technological advance, legged type robot is widely used in industry, service industry；Robot is widely used in army
Thing, industrial heavy burden power-assisted, and medical, rehabilitation occasion of helping the disabled of helping the elderly.Existing legged type robot or wearable ectoskeleton
Robot output diarthrodial to each master is more demanding, need to meet high rotating speed, high output using effect, and reach support
The own wt of wearer, to assist wearer to complete the activities such as normal auxiliary or rehabilitation.
To meet high rotating speed, large torque output, the deceleration for often using motor mate gear, the isometric quality of belt wheel larger
Mechanism, or use hydraulic-driven, then it can coordinate hydraulic power unit, total quality bigger, in a limited space or quality limits
Under, it is difficult to meet the configuration of reasonable transmission ratio, and since its transmission is the rigid elements such as gear pair, it is unfavorable for realizing that overload is protected
Shield causes human body wearing inconvenient, and movement is dumb, is unfavorable for using.
Invention content
The main object of the present invention is to provide a kind of flexible bionic joint, it is intended to reduce ectoskeleton total quality, installation is empty
Between it is compact, and realize the configuration of rational transmission ratio, be conducive to realize overload protection, it is easy to use.
To achieve the above object, flexible bionic joint provided by the invention, including：
Actuator, the actuator include output shaft；
Joint assembly, the joint assembly include the second rotating member of the first rotating member and neighbouring first rotating member,
First rotating member include the first rotating wheel and with co-axially fixed second rotating wheel of first rotating wheel, described second turn
Moving part includes third rotating wheel,
First driving member, first driving member bypass the output shaft and first rotating wheel；And
Second driving member, second driving member bypass second rotating wheel and the third rotating wheel.
Optionally, the periphery of the output shaft, first rotating wheel, second rotating wheel and the third rotating wheel
Edge is equipped with the first double wedge, and first driving member is convex around the part described first of the output shaft and first rotating wheel
Tooth, and be bonded with the outer peripheral edge of the output shaft and first rotating wheel, second driving member rotates around described second
Wheel and the third rotating wheel part first double wedge, and with the periphery of second rotating wheel and the third rotating wheel
Edge is bonded.
Optionally, first driving member is the first synchronous belt, and the output shaft is also arranged with belt wheel, the output shaft
First double wedge is set to the outer peripheral edge of the belt wheel, and first synchronous belt bypasses the belt wheel and first rotating wheel, and supports
Connect first double wedge of the belt wheel and first rotating wheel；
Second driving member is the second synchronous belt, and second synchronous belt bypasses second rotating wheel and the third
Rotating wheel, and abut the first double wedge of second rotating wheel and the third rotating wheel.
Optionally, first driving member and second driving member are chain, the chain and first double wedge
Engagement connection；
Alternatively, first driving member is synchronous belt, the output shaft is also arranged with belt wheel, and the first of the output shaft is convex
Tooth is set to the outer peripheral edge of the belt wheel, and the synchronous belt bypasses the belt wheel and the first rotating wheel, and abuts the of the belt wheel
First double wedge of one double wedge and the first rotating wheel, second driving member are chain, the chain and second rotating wheel
The engagement connection of first double wedge of the first double wedge and the third rotating wheel；
Alternatively, first driving member is chain, the chain engages connection, second transmission with first double wedge
Part is belt, and the belt bypasses the outer peripheral edge of second rotating wheel and the third rotating wheel, and abuts described second turn
First double wedge of the first double wedge of driving wheel and the third rotating wheel.
Optionally, second driving member is drive line, and the outer peripheral edge of second rotating wheel is equipped with along its circumferential ring
Around being formed with the first wire casing, the outer peripheral edge of the third rotating wheel is equipped with along it circumferentially around being formed with the second wire casing, described
Drive line bypasses first wire casing and second wire casing, and fits in the second rotating wheel and the third rotating wheel；
First driving member is chain, and the outer peripheral edge of the output shaft and first rotating wheel forms the first double wedge,
The chain engages connection with first double wedge；
Alternatively, first driving member is synchronous belt, the output shaft is also arranged with belt wheel, and the synchronous belt is around described
Belt wheel and the first rotating wheel.
Optionally, the radius of first rotating wheel is more than the radius of second rotating wheel；
And/or the radius of second rotating wheel is less than the radius of the third rotating wheel.
Optionally, the flexible bionic joint further includes the second connection of the first connector and relatively described first connector
Part, first connector are equipped with the first axis hole, and second connector is equipped with the second axis hole, and the flexible bionic joint also wraps
The second shaft for including the first rotating shaft for being plugged in the first axis hole and being plugged in second axis hole, first rotating member are rotatable
Ground is socketed on the first rotating shaft, and second rotating member is rotationally socketed on second shaft.
Optionally, the joint assembly further includes connecting set on the first gear of first connector and set on described second
The second gear of fitting, the first gear and the second gear are meshed, and the joint assembly further includes connecting rod, the connecting rod
Equipped with spaced third axis hole and the 4th axis hole along its length, it is located at the first rotating shaft and described the of the same side
The end of two shafts is plugged in is plugged in the third axis hole and the 4th axis hole respectively；
And/or the joint assembly further includes：
4th rotating wheel, the 4th rotating wheel are fixed by socket in first rotating shaft, and the first rotating shaft drives the described 4th
Rotating wheel rotates；
5th rotating wheel, the 5th rotating wheel are fixed by socket in the second shaft, and second shaft drives the described 5th
Rotating wheel rotates；
Traction component, the third rotating wheel rotation are connected between the third rotating wheel and the 5th rotating wheel
When, the third rotating wheel drives the traction component movement, the traction component to drive the 5th rotating wheel rotation,
And the rotation direction of the 5th rotating wheel is opposite with the rotation direction of third rotating wheel.
Optionally, the flexible bionic joint further includes at least two fixation bands, the side of a fixed band and described the
A connection piece is fixedly connected, and the side of another fixed band is fixedly connected with second connector, each fixed band
Both ends be mutually detachably connected.
The present invention also proposes a kind of robot, including flexible bionic joint, which includes：
Actuator, the actuator include output shaft；
Joint assembly, the joint assembly include the second rotating member of the first rotating member and neighbouring first rotating member,
First rotating member include the first rotating wheel and with co-axially fixed second rotating wheel of first rotating wheel, described second turn
Moving part includes third rotating wheel,
First driving member, first driving member bypass the output shaft and first rotating wheel；And
Second driving member, second driving member bypass second rotating wheel and the third rotating wheel.
Technical scheme of the present invention is by being provided around the first driving member of output shaft and the first rotating wheel, and by second turn
Driving wheel is coaxially fixed with the first rotating wheel, then bypasses the second rotating wheel and third rotating wheel by the second driving member, when needs pair
When joint assembly is rotated forward (state of the actuator as output end), the output shaft of actuator drives the first driving member fortune
Dynamic, the first driving member drives the rotation of the first rotating wheel, since the second rotating wheel and the first rotating wheel are coaxially fixed, to second turn
Driving wheel also generates rotational motion, and then drives the rotation of third rotating wheel around the second driving member of the second rotating wheel, realizes joint
Component rotates forward.Due to the use of the non-intellectual of environment, (the third rotating wheel when needing to rotate backward joint assembly
As output end), third rotating wheel drives the second drive member, the second driving member that the second rotating wheel is driven to move, second turn
Driving wheel drives the movement of the first rotating wheel, the first rotating wheel to drive the first drive member, is realized by the rotation of components at different levels anti-
The reduction of power, to reach preferably overload protection.In this way, technical scheme of the present invention can reduce ectoskeleton total quality,
Installation space is compact, and realizes rational transmission ratio configuration, is conducive to realize overload protection, easy to use.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of one embodiment of flexible bionic joint of the present invention；
Fig. 2 is the structural schematic diagram at another visual angle of one embodiment of flexible bionic joint of the present invention；
Fig. 3 is the structural schematic diagram that one embodiment of flexible bionic joint of the present invention removes fixed band；
Fig. 4 is that one embodiment of flexible bionic joint of the present invention removes the fixed structural schematic diagram with another visual angle；
Fig. 5 is the front view that one embodiment of flexible bionic joint of the present invention removes fixed band；
Fig. 6 is the explosive view of one embodiment of flexible bionic joint of the present invention；
Fig. 7 is the knot of one embodiment of the first connector, the second connector and joint assembly of flexible bionic joint of the present invention
Structure schematic diagram；
Fig. 8 is the first connector, the second connector and another embodiment of joint assembly of flexible bionic joint of the present invention
Structural schematic diagram.
Drawing reference numeral explanation：
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining relative position relation, motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as referring to
Show or imply its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " are defined as a result,
Two " feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can
To be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution occurs
Conflicting or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection model
Within enclosing.
The present invention proposes a kind of flexible bionic joint 100.
Referring to figs. 1 to Fig. 8, technical solution of the present invention proposes that a kind of flexible bionic joint 100 includes：
Actuator 10, the actuator 10 include output shaft；
Joint assembly 30, the joint assembly 30 include the second of the first rotating member 33 and neighbouring first rotating member 33
Rotating member 37, first rotating member 33 include the first rotating wheel 331 and with first rotating wheel 331 co-axially fixed second
Rotating wheel 332, second rotating member 37 include third rotating wheel 37,
First driving member 50, first driving member 50 bypass the output shaft and first rotating wheel 331；And
Second driving member 60, second driving member 60 bypass second rotating wheel 332 and the third rotating wheel 37.
Technical scheme of the present invention is incited somebody to action by being provided around the first driving member 50 of output shaft and the first rotating wheel 331
Second rotating wheel 332 and the first rotating wheel 331 are coaxial fixed, then by the second driving member 60 around the second rotating wheel 332 and the
Three rotating wheels 37, (state of the actuator 10 as output end), actuator when needing to rotate forward joint assembly 30
10 output shaft drives the movement of the first driving member 50, the first driving member 50 to drive the rotation of the first rotating wheel 331, due to the second rotation
Wheel 332 and the first rotating wheel 331 are coaxial fixed, to which the second rotating wheel 332 also generates rotational motion, and then around the second rotation
Second driving member 60 of wheel 332 drives third rotating wheel 37 to rotate, and realizes rotating forward for joint assembly 30.Due to the use of environment
Non- intellectual, when needing to rotate backward joint assembly 30 (third rotating wheel 37 be used as output end), third rotating wheel
37 drive the movement of the second driving members 60, the second driving member 60 that the movement of the second rotating wheel 332, the second rotating wheel 332 is driven to drive the
One rotating wheel 331 moves, and the first rotating wheel 331 drives the movement of the first driving member 50, and counter-force is realized by the rotation of components at different levels
Reduction, to reach preferably overload protection.In this way, technical scheme of the present invention can reduce ectoskeleton total quality, peace
Spaces compact is filled, and realizes rational transmission ratio configuration, is conducive to realize overload protection, it is easy to use.
In the embodiment of the application, actuator 10 can be motor, specifically, can be servo motor or driving electricity
Machine, as long as the movement of the first driving member 50, the second driving member 60, the first rotating member 33 and the second rotating member 37 can preferably be driven
?.
Preferably, the output shaft axle center of actuator 10 and the axle center distance of the first rotating wheel 331 are 80mm-600mm.If
Actuator 10 is designed too small at a distance from the first rotating wheel 331, then the gravity for be easy to causeing flexible bionic joint 100 is concentrated,
It is unfavorable for using；And if the distance of actuator 10 and the first rotating wheel 331 is designed too big, flexible bionic joint can be caused
100 volume is larger, is unfavorable for using.Herein, by the axle center distance in the output shaft axle center of actuator 10 and the first rotating wheel 331
For 80mm-600mm, the mass concentration for preventing actuator 10 and the first rotating wheel 331 is not only improved, and can be by flexible bionic joint
100 fixing fabric structure is comprehensive preferable within zone of reasonableness.Certainly, specific mounting distance can be according to practical feelings
Condition is set, and the distance of the actuator 10 and the first rotating wheel 331 can also be 100mm, 120mm, 150mm, 180mm,
200mm, 300mm, 360mm, 400mm, 450mm, 500mm, 550mm etc..
Referring to Fig.1, Fig. 4, Fig. 6, in the embodiment of the application, the output shaft, first rotating wheel 331, institute
The outer peripheral edge for stating the second rotating wheel 332 and the third rotating wheel 37 is equipped with the first double wedge 38, first driving member 50 around
Cross part first double wedge 38 of the output shaft and first rotating wheel 331, and with the output shaft and described first
The outer peripheral edge of rotating wheel 331 is bonded, and second driving member 60 bypasses second rotating wheel 332 and the third rotating wheel 37
Part first double wedge 38, and be bonded with the outer peripheral edge of second rotating wheel 332 and the third rotating wheel 37.Setting
First double wedge 38 can make the frictional force of the first driving member of increase by 50 and output shaft and the first rotating wheel 331, and, increase by second
The frictional force of driving member 60 and the second rotating wheel 332 and third rotating wheel 37, to make the first driving member of skin 50 and second be driven
Part 60 can preferably drive joint assembly 30 to rotate.
In the embodiment of the application, first driving member 50 is the first synchronous belt, and the output shaft is also arranged with
Belt wheel, the first double wedge 38 of the output shaft are set to the outer peripheral edge of the belt wheel, first synchronous belt around the belt wheel and
First rotating wheel 331, and abut first double wedge 38 of the belt wheel and first rotating wheel 331；
Second driving member 60 is the second synchronous belt, and second synchronous belt bypasses second rotating wheel 332 and institute
Third rotating wheel 37 is stated, and abuts the first double wedge 38 of second rotating wheel 332 and the third rotating wheel 37.
In the present embodiment, be driven by secondary synchronization band, due to synchronous belt springiness, can mitigate impact and
Vibration, therefore smooth running, noise is relatively low when work, and the structure of belt transmission is simple, can effectively reduce whole weight
Amount and volume, manufacturing cost is low, convenient for installation and maintenance.When the overload occurs, can occur to slide relatively between synchronous belt and belt wheel
It is dynamic to play overload protective function without damaging other parts, reduce the damage that impact etc. is brought.And made by the way that belt wheel is arranged
The power transmission of first synchronous belt is more stable, and is replaced convenient for the installation and removal of the first synchronous belt, user-friendly.
It, can also be by (being rotated away from output shaft and first in the outside of the first synchronous belt in an embodiment of application
The side of wheel 331), extruding wheel is set, which abuts the synchronous belt between output shaft and the first rotating wheel 331, increases
The tensile force for adding the first synchronous belt and output shaft and the first rotating wheel 331 prevents the first synchronous belt from skidding, further increases flexibility
The reliability of bionic joint 100.And it (can also be rotated away from the second rotating wheel 332 and third in the outside of the second synchronous belt
The side of wheel 37), extruding wheel is set, which abuts the synchronization between the second rotating wheel 332 and third rotating wheel 37
Band increases the tensile force of the second synchronous belt and the second rotating wheel 332 and third rotating wheel 37, prevents the second synchronous belt from skidding.
In the embodiment of the application, the medial surface of first synchronous belt and second synchronous belt is equipped with second
Double wedge, the second double wedge of first synchronous belt is bonded the first double wedge 38 of the belt wheel and first rotating wheel 331, described
Second double wedge of the second synchronous belt is bonded the first double wedge 38 of second rotating wheel 332 and the third rotating wheel 37.Setting
38 and second double wedge of intermeshing first double wedge, the transmission effect of further deduct a percentage the first driving member 50 and the second driving member 60
Rate greatly reduces the possibility of skidding, user-friendly.The double wedge can be direct tooth type or plagiodont, as long as convenient for passing
It is dynamic.
In the embodiment of the application, first driving member 50 and second driving member 60 are chain, described
Chain engages connection with first double wedge 38；Chain drive have it is nonelastic sliding and skidding, average ratios it is accurate, work can
It leans on, is efficient, transmitting the advantage that power is big, overload capacity is strong, the transmission size under identical operating mode is small, required tensile force is small, from
And flexible bionic joint 100 is made preferably to work.
Alternatively, first driving member 50 is synchronous belt, the output shaft is also arranged with belt wheel, the first of the output shaft
Double wedge 38 is set to the outer peripheral edge of the belt wheel, and the synchronous belt bypasses the belt wheel and the first rotating wheel 331, and abuts the band
First double wedge 38 of the first double wedge 38 and the first rotating wheel 331 of wheel, second driving member 60 are chain, the chain and institute
State the first double wedge 38 engagement connection of the first double wedge 38 and the third rotating wheel 37 of the second rotating wheel 332；
Alternatively, first driving member 50 is chain, the chain engages connection with first double wedge 38, described second
Driving member 60 is belt, and the belt bypasses the outer peripheral edge of second rotating wheel 332 and the third rotating wheel 37, and abuts
First double wedge 38 of second rotating wheel 332 and the first double wedge 38 of the third rotating wheel 37.In the present embodiment, it uses
The combination of chain and synchronous belt, which carries out transmission, so that flexible bionic joint 100 is provided simultaneously with chain drive and belt transmission
The advantages of, it is user-friendly.
In the embodiment of the application, second driving member 60 is drive line 751, second rotating wheel 332
Outer peripheral edge is equipped with to be equipped with circumferentially around the first wire casing, the outer peripheral edge of the third rotating wheel 37 is formed with along its circumferential direction along it
It is formed around with the second wire casing, the drive line 751 bypasses first wire casing and second wire casing, and fits in the
Two rotating wheels 332 and the third rotating wheel 37；
First driving member 50 is chain, the outer peripheral edge formation first of the output shaft and first rotating wheel 331
Double wedge 38, the chain engage connection with first double wedge 38；
Alternatively, first driving member 50 is synchronous belt, the output shaft is also arranged with belt wheel, and the synchronous belt bypasses institute
State belt wheel and the first rotating wheel 331.Drive line 751 may be used wire or carbon fiber line, and the first rotating wheel 331 drives the
After the rotation of two rotating wheels 332, drive line 751 can drive third rotating wheel 37 to rotate by tensile force.Also, due to transmission
751 volume of line and quality smaller can be very good the volume and quality that reduce flexible bionic joint 100, and make flexible bionic
Joint 100 has preferable gearing.
With reference to Fig. 5, in the embodiment of the application, the radius of first rotating wheel 331 is more than described second and rotates
The radius of wheel 332；
And/or the radius of second rotating wheel 332 is less than the radius of the third rotating wheel 37.
In the embodiment of the application, the radius r2 of the radius r1 of first rotating wheel 331 and the second rotating wheel 332
Relationship can be：R1/r2=2~7, the pass of the radius r2 of second rotating wheel 332 and the radius r3 of third rotating wheel 37
It is to be：R2/r3=1.5~3.5, reduction ratio is arranged such can accomplish 8-20 range in dimensional space limitation, with
Meet different power-assisted use occasions.It, can be effectively due to the advantages such as pressure is small on the elastic, compact of synchronous belt itself, axis
The anti-drive of reduction system, reaches motion accompanying effect well, the requirement of speed when meeting wearer motion.
In the embodiment of the application, the flexible bionic joint 100 further includes the first connector 31 and relatively described
Second connector 32 of the first connector 31, first connector 31 are equipped with the first axis hole, and second connector 32 is equipped with
Second axis hole, the flexible bionic joint 100 further include being plugged in the first rotating shaft 34 of the first axis hole and being plugged in described second
Second shaft 35 of axis hole, first rotating member 33 are rotationally socketed on the first rotating shaft 34, second rotating member
37 are rotationally socketed on second shaft 35.First rotating shaft 34 is set and the second shaft 35 is convenient for first adapter and second
The rotation of adapter, it is to be understood that the first rotating shaft 34 and the second shaft 35 are also arranged with bearing, to facilitate rotation.
In the present embodiment, multiple lightening holes 20 are equipped on first connector 31 and second connector 32, ensured by force
Under the premise of the wall of degree, setting lightening hole 20 can reduce the quality of flexible bionic joint 100, which connects
The material of fitting 32 can be alloy in lightweight, to while ensureing 100 structural stability of flexible bionic joint, make its quality
It is relatively light, it is easy to use.
With reference to Fig. 2, Fig. 3, Fig. 6, Fig. 7, in the embodiment of the application, the joint assembly 30 further includes set on described
The first gear 71 of first connector 31 and second gear 72 set on second connector 32, the first gear 71 and institute
It states second gear 72 to be meshed, the joint assembly 30 further includes connecting rod 36, which is equipped with interval along its length and sets
The third axis hole and the 4th axis hole set are plugged in positioned at the first rotating shaft 34 of the same side and the end of second shaft 35
It is plugged in the third axis hole and the 4th axis hole respectively；The first connector 31 may be implemented around 34 turns of first rotating shaft in above-mentioned scheme
Dynamic, connecting rod 36 is rotated around first rotating shaft 34 and the second connector 32 drives the second shaft 35 and connecting rod 36 relative motion, three freedom
Degree.Connecting rod 36 can be driven while rotation around first rotating shaft 34 second shaft 35 around first rotating shaft 34 rotate, and then realize with
The second connector 32 that second shaft 35 is fixedly connected, which is realized, becomes axis rotation, so as to simulate the fortune of human synovial well
Dynamic form promotes the comfort of human body to help human body to restore motor function.
When the first connector 31 is fixed, when the second connector 32 is rotated by external force, the second connector 32 drives second gear
72 and second shaft 35 rotate, since second gear 72 is engaged with first gear 71, so process of the second gear 72 in rotation
Middle drive first gear 71 rotates, but since first gear 71 is fixedly connected with the first connector 31,31 position of the first connector
Fixed, therefore, the second connector 32 drives connecting rod 36 to be rotated around first rotating shaft 34, i.e., first gear 71 is formed with second gear 72
Planetary gear mechanism, the change axis rotation of second gear 72 realize the joint transmission that personalizes, and improve flexible bionic joint 100 and wear
Comfort when wearing.
The flexible bionic joint 100 can be used for that upper limb joint is assisted to restore movement, it can also be used to joint of lower extremity be assisted to restore
Movement, the first connector 31 are thigh support frame or big arm support, and the second connector 32 is small leg support or forearm bracket.First connects
Fitting 31 and the second connector 32 can be platy structure, or tubular structure, in order to which human body is dressed.
With reference to Fig. 8, the joint assembly 30 further includes：
4th rotating wheel 73, the 4th rotating wheel 73 are fixed by socket in first rotating shaft 34, and the first rotating shaft 34 drives
4th rotating wheel 73 rotation；
5th rotating wheel 74, the 5th rotating wheel 74 are fixed by socket in the second shaft 35, and second shaft 35 drives
5th rotating wheel 74 rotation；
Traction component 75, the 4th rotating wheel are connected between 4th rotating wheel 73 and the 5th rotating wheel 74
When 73 rotation, the 4th rotating wheel 73 drives the traction component 75 to move, and the traction component 75 drives described the
Five rotating wheels 74 rotate, and the rotation direction of the 5th rotating wheel 74 is opposite with the rotation direction of the 4th rotating wheel 73.
Above-mentioned scheme equally may be implemented the first connector 31 around first rotating shaft 34 rotation, connecting rod 36 around first rotating shaft 34 rotation and
Second connector 32 drives 35 opposite first connector 31 of the second shaft to transfer three degree of freedom.Connecting rod 36 is around 34 turns of first rotating shaft
While dynamic, the 4th rotating wheel 73 drives the second runner to rotate by traction component 75, due to the second runner and the second shaft 35
It is fixedly connected, therefore the 4th rotating wheel 73 drives the 4th driving wheel of walking around to be rotated around the second shaft 35 by traction component 75, Jin Ershi
The second connector 32 being now fixedly connected with the second shaft 35, which is realized, becomes axe movement, so as to simulate human synovial well
Transport form so that bio-robot can fully simulate the biological characteristic of itself.
With reference to Fig. 6, in the embodiment of the application, the long strip type that connecting rod 36 can be integrally formed is rod-shaped, to make
It is simple in structure to be convenient for manufacture, and have preferable support connection effect；Or the side of the connecting rod 36 extends to form shield flap portion,
Shield flap portion second driving member of the cover 60, to ensure the steady operation of the second driving member 60；Or the connecting rod 36 may include
First linkage section 361, the second linkage section 362 and regulating part, the regulating part connect the first linkage section 361 and the second linkage section 362,
And the spacing of adjustable first linkage section 361 and the second linkage section 362, to change first rotating shaft 34 and the second shaft 35 away from
From.
Referring to Fig.1, Fig. 2, in the embodiment of the application, the flexible bionic joint 100 further includes at least two fixations
The side of band 40, a fixed band 40 is fixedly connected with first connector 31, the side of another fixed band 40 with
Second connector 32 is fixedly connected, and the both ends of each fixed band 40 are mutually detachably connected.It is understood that solid
Determine band 40 to be made of flexible material, such setting facilitates wearing.And the clamping element of the clamping of fixed band 40 can also be set to
(not shown) realizes being detachably connected for fixed 40 end of band by clamping element.
Further, the flexible bionic joint 100 includes at least four fixation bands 40, the side of the two fixed bands 40
First connector 31 is fixed at interval, and second connector is fixed at the side interval of the another two fixed band 40
32.Multiple fixed bands 40, which are arranged, can make the wearing of wearer more convenient, and improve the fixed effect of flexible bionic joint 100
Fruit.
Specifically, in the present embodiment, when the movement of flexible bionic joint 100 is with lower limb, binding position is respectively at 4：
B on front side of the posterior leg a of nearly foot, the shank at nearly knee joint end, nearly knee joint end thigh on front side of c, nearly hip joint end it is big
D on rear side of leg.Ectoskeleton uses active power-assisted in knee joint, is equivalent at the 4 point bindings of ABCD, ectoskeleton is coordinated by BC points
Apply active force, AD points apply opposite force in rear side, to achieve the effect that " three power of class cross static and dynamic equilibrium ".This binding force
Mode can utmostly meet body biomechanics performance, wearing is more comfortable, and fitting effect is more preferable, and power efficiency is high,
Auxiliaring effect is more preferable.
Equally, the three similar power equilibrium principle that crosses can be also used in the ectoskeleton in other joints, such as：
(1) ectoskeleton that ankle-joint is actively contributed, can be after the foot of A, nearly ankle-joint on front side of the foot of nearly toe end
Side B, the posterior leg C of nearly ankle-joint, nearly kneed shank front side D, 4 points of cooperations, for BC as actively contributing, AD applications are reversed
Power, three power cross balance.
(2) ectoskeleton that hip joint is actively contributed, on front side of the nearly kneed thigh B on rear side of the thigh of A, nearly hip joint,
C on rear side of the waist of nearly hip joint, nearly back waist on front side of D, 4 points of cooperations, for BC as actively contributing, AD applies opposite force, three
Power crosses balance.
(3) upper limb elbow joint active output ectoskeleton, on front side of the nearly carpal forearm on rear side of the forearm of A, nearly elbow joint
B, C on rear side of the large arm of nearly elbow joint, nearly shoulder joint large arm on front side of D, 4 points of cooperations, as actively contributing, AD applies reversed BC
Power, three power cross balance.
The present invention also proposes a kind of robot, which includes flexible bionic joint 100, the flexible bionic joint 100
Actuator 10, the actuator 10 include output shaft；Joint assembly 30, the joint assembly 30 include the first rotating member 33 and neighbour
Second rotating member 37 of nearly first rotating member 33, first rotating member 33 include the first rotating wheel 331 and with described the
One rotating wheel, 331 co-axially fixed second rotating wheel 332, second rotating member 37 include third rotating wheel 37, the first transmission
Part 50, first driving member 50 bypass the output shaft and first rotating wheel 331；And second driving member 60, it is described
Second driving member 60 bypasses second rotating wheel 332 and the third rotating wheel 37.Since robot uses above-mentioned institute
There are whole technical solutions of embodiment, therefore at least all advantageous effects caused by the technical solution with above-described embodiment,
This is no longer going to repeat them.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
In the scope of patent protection that other related technical areas are included in the present invention.
Claims (10)
1. a kind of flexible bionic joint, which is characterized in that including：
Actuator, the actuator include output shaft；
Joint assembly, the joint assembly includes the second rotating member of the first rotating member and neighbouring first rotating member, described
First rotating member include the first rotating wheel and with co-axially fixed second rotating wheel of first rotating wheel, second rotating member
Including third rotating wheel；
First driving member, first driving member bypass the output shaft and first rotating wheel；And
Second driving member, second driving member bypass second rotating wheel and the third rotating wheel.
2. flexible bionic joint as described in claim 1, which is characterized in that the output shaft, first rotating wheel, described
The outer peripheral edge of second rotating wheel and the third rotating wheel is equipped with the first double wedge, and first driving member bypasses the output shaft
With part first double wedge of first rotating wheel, and with the outer peripheral edge of the output shaft and first rotating wheel paste
Close, second driving member bypass second rotating wheel and the third rotating wheel part first double wedge, and with institute
State the outer peripheral edge fitting of the second rotating wheel and the third rotating wheel.
3. flexible bionic joint as claimed in claim 2, which is characterized in that first driving member is the first synchronous belt, institute
It states output shaft and is also arranged with belt wheel, the first double wedge of the output shaft is set to the outer peripheral edge of the belt wheel, first synchronous belt
Around the belt wheel and first rotating wheel, and abut first double wedge of the belt wheel and first rotating wheel；
Second driving member is the second synchronous belt, and second synchronous belt rotates around second rotating wheel and the third
Wheel, and abut the first double wedge of second rotating wheel and the third rotating wheel.
4. flexible bionic joint as claimed in claim 2, which is characterized in that first driving member and second driving member
It is chain, the chain engages connection with first double wedge；
Alternatively, first driving member is synchronous belt, the output shaft is also arranged with belt wheel, and the first double wedge of the output shaft is set
In the outer peripheral edge of the belt wheel, the synchronous belt bypasses the belt wheel and the first rotating wheel, and abuts the first convex of the belt wheel
First double wedge of tooth and the first rotating wheel, second driving member are chain, the chain and the first of second rotating wheel
The engagement connection of first double wedge of double wedge and the third rotating wheel；
Alternatively, first driving member is chain, the chain engages connection with first double wedge, and second driving member is
Belt, the belt bypass the outer peripheral edge of second rotating wheel and the third rotating wheel, and abut second rotating wheel
The first double wedge and the third rotating wheel the first double wedge.
5. flexible bionic joint as described in claim 1, which is characterized in that second driving member is drive line, described the
The outer peripheral edge of two rotating wheels, which is equipped with, to be equipped with along it circumferentially around the first wire casing, the outer peripheral edge of the third rotating wheel is formed with
Along it circumferentially around the second wire casing is formed with, the drive line bypasses first wire casing and second wire casing, and pastes
Together in the second rotating wheel and the third rotating wheel；
First driving member is chain, and the first double wedge of outer peripheral edge formation of the output shaft and first rotating wheel is described
Chain engages connection with first double wedge；
Alternatively, first driving member is synchronous belt, the output shaft is also arranged with belt wheel, and the synchronous belt bypasses the belt wheel
With the first rotating wheel.
6. the flexible bionic joint as described in any one of claim 1 to 5, which is characterized in that the half of first rotating wheel
Diameter is more than the radius of second rotating wheel；
And/or the radius of second rotating wheel is less than the radius of the third rotating wheel.
7. flexible bionic joint as claimed in claim 6, which is characterized in that the flexible bionic joint further includes the first connection
Second connector of part and relatively described first connector, first connector are equipped with the first axis hole, second connector
Equipped with the second axis hole, the flexible bionic joint further includes being plugged in the first rotating shaft of the first axis hole and being plugged in second axis
Second shaft in hole, first rotating member are rotationally socketed on the first rotating shaft, and second rotating member is rotationally
It is socketed on second shaft.
8. flexible bionic joint as claimed in claim 7, which is characterized in that the joint assembly further includes being set to described first
The first gear of connector and second gear set on second connector, the first gear are mutually nibbled with the second gear
It closing, the joint assembly further includes connecting rod, which is equipped with spaced third axis hole and the 4th axis hole along its length,
It is plugged in positioned at the first rotating shaft of the same side and the end of second shaft and is plugged in the third axis hole and respectively
Four axis holes；
And/or the joint assembly further includes：
4th rotating wheel, the 4th rotating wheel are fixed by socket in first rotating shaft, and the first rotating shaft drives the 4th rotation
Wheel rotation；
5th rotating wheel, the 5th rotating wheel are fixed by socket in the second shaft, and second shaft drives the 5th rotation
Wheel rotation；
Traction component is connected between the third rotating wheel and the 5th rotating wheel, when the third rotating wheel rotates, institute
Stating third rotating wheel drives the traction component movement, the traction component to drive the 5th rotating wheel rotation, and institute
The rotation direction for stating the 5th rotating wheel is opposite with the rotation direction of third rotating wheel.
9. flexible bionic joint as claimed in claim 7 or 8, which is characterized in that the flexible bionic joint further includes at least
Two fix band, and the side of a fixed band is fixedly connected with first connector, the side of another fixed band and institute
It states the second connector to be fixedly connected, the both ends of each fixed band are mutually detachably connected.
10. a kind of robot, which is characterized in that including flexible bionic joint, the flexible bionic joint include as claim 1 to
Flexible bionic joint described in any one of 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947129.1A CN108724243B (en) | 2018-08-17 | 2018-08-17 | Flexible bionic joint and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810947129.1A CN108724243B (en) | 2018-08-17 | 2018-08-17 | Flexible bionic joint and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108724243A true CN108724243A (en) | 2018-11-02 |
| CN108724243B CN108724243B (en) | 2024-07-02 |
Family
ID=63943207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810947129.1A Active CN108724243B (en) | 2018-08-17 | 2018-08-17 | Flexible bionic joint and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108724243B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998860A (en) * | 2019-04-26 | 2019-07-12 | 广东博智林机器人有限公司 | A kind of lower limb exoskeleton robot having overload skidding function |
| CN112476478A (en) * | 2020-11-16 | 2021-03-12 | 中国科学技术大学 | Bionic rope-driven four-degree-of-freedom arm oriented to man-machine cooperation |
| CN115990870A (en) * | 2023-01-16 | 2023-04-21 | 达闼机器人股份有限公司 | Actuator and robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2156688C2 (en) * | 1995-10-25 | 2000-09-27 | Вовк Анатолий Васильевич | Manipulator hinged joint |
| RU2156687C2 (en) * | 1995-10-25 | 2000-09-27 | Вовк Анатолий Васильевич | Manipulator hinged joint |
| US20160302876A1 (en) * | 2013-12-03 | 2016-10-20 | Richard Wolf Gmbh | Instrument, in particular a medical endoscopic instrument or technoscope |
| CN106585763A (en) * | 2016-12-26 | 2017-04-26 | 哈尔滨工业大学 | Biped robot with flexible ankle joints |
| CN108340401A (en) * | 2018-01-10 | 2018-07-31 | 杭州娃哈哈精密机械有限公司 | A kind of elbow joint and its method of operating of mechanical arm |
| CN208592864U (en) * | 2018-08-17 | 2019-03-12 | 深圳市丞辉威世智能科技有限公司 | Flexible bionic joint and robot |
-
2018
- 2018-08-17 CN CN201810947129.1A patent/CN108724243B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2156688C2 (en) * | 1995-10-25 | 2000-09-27 | Вовк Анатолий Васильевич | Manipulator hinged joint |
| RU2156687C2 (en) * | 1995-10-25 | 2000-09-27 | Вовк Анатолий Васильевич | Manipulator hinged joint |
| US20160302876A1 (en) * | 2013-12-03 | 2016-10-20 | Richard Wolf Gmbh | Instrument, in particular a medical endoscopic instrument or technoscope |
| CN106585763A (en) * | 2016-12-26 | 2017-04-26 | 哈尔滨工业大学 | Biped robot with flexible ankle joints |
| CN108340401A (en) * | 2018-01-10 | 2018-07-31 | 杭州娃哈哈精密机械有限公司 | A kind of elbow joint and its method of operating of mechanical arm |
| CN208592864U (en) * | 2018-08-17 | 2019-03-12 | 深圳市丞辉威世智能科技有限公司 | Flexible bionic joint and robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998860A (en) * | 2019-04-26 | 2019-07-12 | 广东博智林机器人有限公司 | A kind of lower limb exoskeleton robot having overload skidding function |
| CN109998860B (en) * | 2019-04-26 | 2021-10-08 | 广东博智林机器人有限公司 | Lower limb exoskeleton robot with overload slipping function |
| CN112476478A (en) * | 2020-11-16 | 2021-03-12 | 中国科学技术大学 | Bionic rope-driven four-degree-of-freedom arm oriented to man-machine cooperation |
| CN115990870A (en) * | 2023-01-16 | 2023-04-21 | 达闼机器人股份有限公司 | Actuator and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108724243B (en) | 2024-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102443213B1 (en) | A driving module and a motion assist apparatus comprising thereof | |
| JP6794500B2 (en) | Drive module and exercise assist device including drive module | |
| JP6527011B2 (en) | Drive module, exercise assisting apparatus including the drive module, and control method of exercise assisting apparatus | |
| CN108724243A (en) | Flexible bionic joint and robot | |
| ITRM20120482A1 (en) | ROBOTIC DEVICE FOR ASSISTANCE AND REHABILITATION OF LOWER LIMBS. | |
| KR20160148074A (en) | Driving unit of multi-joint robot | |
| CN208592864U (en) | Flexible bionic joint and robot | |
| KR20160046358A (en) | A driving module, a motion assist apparatus comprising the driving module and a control method of the motion assist apparatus | |
| KR20170021018A (en) | Frame Structure Of Lower Limb Assistance Robot | |
| CN105105897B (en) | A kind of foot device for wearable lower limb exoskeleton robot | |
| CN110833495A (en) | Lower limb exoskeleton robot driven by stepping motor and driven by worm and gear | |
| KR20170075699A (en) | Frame Structure Of Lower Limb Assistance Robot | |
| CN109464227B (en) | Multi-degree-of-freedom artificial limb arm joint | |
| JP2011098425A (en) | Leg for human type walking robot | |
| CN113183131B (en) | Exoskeleton robot ankle joint with double flexible driving branches | |
| JP5728952B2 (en) | Walking support device | |
| JP2011212122A (en) | Mounting type assisting device | |
| KR102244673B1 (en) | Driving unit of multi-joint robot | |
| KR102418860B1 (en) | Knee Joint Structure And Wearable Assistance Device Having The Same | |
| KR20230170447A (en) | Joint structure and exo-skeleton robot including the same | |
| CN208438339U (en) | Power transmission mechanism and robot | |
| CN117919061B (en) | Lower limb exoskeleton based on active rigidity-variable joint | |
| CN115179262B (en) | Exoskeleton hip joint structure | |
| CN115056884B (en) | Humanoid robot leg structure with differential joint decoupling and inertia upward movement characteristics | |
| CN110524512A (en) | Power transmission mechanism and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |