CN110328686A - A kind of bionical shoulder joint mechanism with Muscle tensility performance - Google Patents

A kind of bionical shoulder joint mechanism with Muscle tensility performance Download PDF

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Publication number
CN110328686A
CN110328686A CN201910730786.5A CN201910730786A CN110328686A CN 110328686 A CN110328686 A CN 110328686A CN 201910730786 A CN201910730786 A CN 201910730786A CN 110328686 A CN110328686 A CN 110328686A
Authority
CN
China
Prior art keywords
shoulder joint
rope
support shaft
performance
muscle
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.)
Pending
Application number
CN201910730786.5A
Other languages
Chinese (zh)
Inventor
王飞
张岩岭
邵东升
丁赛
于振中
李文兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei Harbin gonglixun Intelligent Technology Co., Ltd
Original Assignee
HRG International Institute for Research and Innovation
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by HRG International Institute for Research and Innovation filed Critical HRG International Institute for Research and Innovation
Priority to CN201910730786.5A priority Critical patent/CN110328686A/en
Publication of CN110328686A publication Critical patent/CN110328686A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Abstract

The invention discloses a kind of bionical shoulder joint mechanisms with Muscle tensility performance, and including drive module, transmission module and fixed module for fixing drive module and transmission module, the fixed module includes body shell and big arm housing;It includes integrated motor and the support shaft being installed on body shell to the drive module, and the integrated motor output end is fixedly installed rope idler wheel, and the rope idler wheel side is provided with support shaft;The rope idler wheel and transmission rope one end fasten, and the transmission rope other end extends to outside support shaft after winding rope idler wheel and support shaft.The present invention rationally amplifies motor output torque using rope enlarger, by the winding circle number of change support shaft and the coefficient of friction of rope and support shaft, different degrees of magnification ratio may be implemented, to realize the requirement of needed by human body Muscle tensility size.

Description

A kind of bionical shoulder joint mechanism with Muscle tensility performance
Technical field
The present invention relates to a kind of bionic field, specifically a kind of bionical shoulder joint mechanism with Muscle tensility performance.
Background technique
With the continuous development of robot technology, bionic mechanical arm is hot research direction in recent years.Current is imitative Raw human arm is mainly to simulate the operational capacity of human muscle.Its freedom that similar real human body arm may be implemented at present Degree configuration and scope of activities.However, for the human body in the sufferer, situations such as such as spasm, hemiplegia, Muscle tensility performance Simulation but rarely has concern.It is different from the muscle strength that can be realized human body ability to act, Muscle tensility is a kind of duration or interruption The dyskinesia of abnormal motion and posture caused by property contraction of muscle.The simulation of the Muscle tensility of simulation of human body arm is health in recent years Multiple urgent need of the medicine for robot bionic technology.
Summary of the invention
Technical problem to be solved by the present invention lies in: existing bionical human arm is mainly operated with the muscle for simulating human body Ability, and lack and pathological situation is in for human body, such as the simulation of Muscle tensility in spasm or hemiplegia.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of bionical shoulder joint mechanism with Muscle tensility performance, including drive module, transmission module and driven for fixed The fixed module of dynamic model block and transmission module, the fixed module include body shell and big arm housing;
It includes integrated motor and the support shaft being installed on body shell to the drive module, the integrated motor output End is fixedly installed rope idler wheel, and the rope idler wheel side is provided with support shaft;The rope idler wheel and transmission rope one end fasten, transmission The rope other end extends to outside support shaft after winding rope idler wheel and support shaft;
The transmission module includes that shoulder fixed plate, shoulder joint flexural pivot and shoulder joint rope connecting shaft, the shoulder are fixed Plate is disposed in proximity in the body shell of big arm housing, and the shoulder joint flexural pivot is fixedly installed in big arm housing, the shoulder joint Multiple shoulder joint rope connecting shafts are fixedly installed on section flexural pivot, the transmission rope passes through shoulder fixed plate and corresponding shoulder joint Rope connects axis connection.
As a further solution of the present invention: the integrated motor is fixedly installed in body shell by motor fixing plate On.
As further scheme of the invention: the motor fixing plate is provided with motor cover board close to rope idler wheel side, The support shaft is fixed on motor cover board.
As further scheme of the invention: the shoulder joint flexural pivot is fixed on large arm shell by the first shoulder joint support On body, the first shoulder joint support and shoulder joint flexural pivot sphere-contact, and restricted shoulder joint flexural pivot movement is arranged in one side The second shoulder joint support.
As further scheme of the invention: the first shoulder joint support is connected by bearing and shoulder joint fixed plate It connects.
As further scheme of the invention: the circlip and shoulder of the axial movement of restricted bearing being arranged on the bearing Arthrodesis lid.
As further scheme of the invention: being provided with reduction rope between the shoulder joint flexural pivot and shoulder joint fixed plate Rope mill undermines the plastic pipe of guiding force loss.
As further scheme of the invention: the drive module has three groups, and is arranged in and body shell pair At the position for answering human body tendon of subscapularis muscle, tendon of infraspinatus muscle and tendon of supraspinatus muscle.
Compared with prior art, the beneficial effects of the present invention are: the present invention uses rope enlarger to motor power output Square is rationally amplified, and by the winding circle number of change support shaft and the coefficient of friction of rope and support shaft, difference may be implemented The magnification ratio of degree, to realize the requirement of needed by human body Muscle tensility size.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment.
Fig. 2 is the structural schematic diagram of drive module in embodiment.
In figure: 1- integrates motor, 2- motor fixing plate, 3- motor cover board, 4- support shaft, 5- transmission rope, 6- rope idler wheel, 7- The fixed lid of shoulder fixed plate, the first shoulder joint of 8- support, the second shoulder joint of 9- support, 10- shoulder joint flexural pivot, 11- shoulder joint, 12- shoulder joint rope connecting shaft.
Specific embodiment
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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
A kind of bionical shoulder joint mechanism with Muscle tensility performance referring to FIG. 1-2, including drive module, transmission module And the fixed module for fixing drive module and transmission module, the fixed module include body shell (not indicating) and large arm Shell (does not indicate);
The drive module it include the integrated motor 1 being installed on body shell and support shaft 4, the integrated motor 1 Output end is fixedly installed rope idler wheel 6, and 6 side of rope idler wheel is provided with support shaft 4;The rope idler wheel 6 and 5 one end of transmission rope Fastening, 5 other end of transmission rope extend to outside support shaft after winding rope idler wheel 6 and support shaft 4;
The transmission module includes shoulder fixed plate 7, shoulder joint flexural pivot 10 and shoulder joint rope connecting shaft 12, the shoulder Fixed plate 7 is disposed in proximity in the body shell of big arm housing, and the shoulder joint flexural pivot 10 is fixedly installed in big arm housing, institute State and be fixedly installed multiple shoulder joint rope connecting shafts 12 on shoulder joint flexural pivot 10, the transmission rope 5 pass through shoulder fixed plate 7 with Corresponding shoulder joint rope connecting shaft 12 connects.
The working principle of the invention is: traditional retarder variant is then limited to its size at present, apart from needed by human body Muscle tensility situation difference is more.Be different from tradition motor torque is amplified by retarder, the present invention pass through transmission rope 5 and The rope enlarger that support shaft 4 is constituted, Muscle tensility size needed for real human body can be simulated.Rope enlarger both ends Pulling force has following relationship, i.e.,
F1=F2eμθ, the π of θ=2 n
Wherein, F1To wind 5 active force end pulling force of transmission rope in support shaft 4;F2It is driven to wind transmission rope 5 in support shaft 4 Power end pulling force;μ is the coefficient of friction of transmission rope 5 and support shaft 4;θ is the angle that transmission rope 5 winds support shaft 4;N is transmission rope 5 Wind the circle number of support shaft 4;The winding circle number of transmission rope 5 of support shaft 4 often takes n≤3 in drive module described in the present embodiment, The winding of rope idler wheel 6 encloses that several related with its stroke and length in reserve is related.
I.e. when needing to realize Muscle tensility analog case, drive end F1Make bionical shoulder joint for people's gymnastics and drives to support shaft The pulling force at 4 ends, and driven end F2To integrate the pulling force size that motor 1 exports.
Therefore the present invention can rationally amplify motor output torque using rope enlarger, twine in transmission rope 5 Around the angle, θ of support shaft 4 it is constant in the case where, pass through the winding circle number of change support shaft 4 and rubbing for transmission rope 5 and support shaft 4 It wipes coefficient (it can be changed by different materials), different degrees of magnification ratio may be implemented, to realize human body The requirement of required Muscle tensility size.
Preferably, the integrated motor 1 is fixedly installed on body shell by motor fixing plate 2.
Preferably, the motor fixing plate 2 is provided with motor cover board 3 close to rope 5 side of idler wheel, and the support shaft 4 is fixed In on motor cover board 3.
Preferably, the shoulder joint flexural pivot 10 is fixed on big arm housing by the first shoulder joint support 8, first shoulder Joint seating 8 and 10 sphere-contact of shoulder joint flexural pivot, and the second mobile shoulder joint of restricted shoulder joint flexural pivot 10 is arranged in one side Save support 9.
Preferably, the first shoulder joint support 8 is connect by bearing with shoulder joint fixed plate 7.
Preferably, the circlip and shoulder joint fixed lid 11 of the axial movement of restricted bearing are set on the bearing.
Preferably, it is provided between the shoulder joint flexural pivot 10 and shoulder joint fixed plate 7 and reduces rope wear and guiding force The plastic pipe (not indicating) of loss.
Preferably, the drive module has three groups, and is arranged in human body tendon of subscapularis muscle corresponding with body shell, ridge At the position of lower tendon and tendon of supraspinatus muscle.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art The other embodiments being understood that.

Claims (8)

1. a kind of bionical shoulder joint mechanism with Muscle tensility performance, which is characterized in that including drive module, transmission module and use In the fixed module of fixed drive module and transmission module, the fixed module includes body shell and big arm housing;
It includes integrated motor and the support shaft being installed on body shell to the drive module, and the integrated motor output end is solid Surely it is provided with rope idler wheel, the rope idler wheel side is provided with support shaft;The rope idler wheel and transmission rope one end fasten, and transmission rope is another One end extends to outside support shaft after winding rope idler wheel and support shaft;
The transmission module includes shoulder fixed plate, shoulder joint flexural pivot and shoulder joint rope connecting shaft, and the shoulder fixed plate is set It is disposed adjacent in the body shell of big arm housing, the shoulder joint flexural pivot is fixedly installed in big arm housing, the shoulder joint ball Multiple shoulder joint rope connecting shafts are fixedly installed in hinge, the transmission rope passes through shoulder fixed plate and corresponding shoulder joint rope Connect axis connection.
2. the bionical shoulder joint mechanism according to claim 1 with Muscle tensility performance, which is characterized in that the integrated electricity Machine is fixedly installed on body shell by motor fixing plate.
3. the bionical shoulder joint mechanism according to claim 2 with Muscle tensility performance, which is characterized in that the motor is solid Fixed board is provided with motor cover board close to rope idler wheel side, and the support shaft is fixed on motor cover board.
4. the bionical shoulder joint mechanism according to claim 1 with Muscle tensility performance, which is characterized in that the shoulder joint Flexural pivot is fixed on big arm housing by the first shoulder joint support, and the first shoulder joint support connects with shoulder joint flexural pivot spherical surface Touching, and the second mobile shoulder joint support of restricted shoulder joint flexural pivot is arranged in one side.
5. the bionical shoulder joint mechanism according to claim 4 with Muscle tensility performance, which is characterized in that first shoulder Joint seating is connect by bearing with shoulder joint fixed plate.
6. the bionical shoulder joint mechanism according to claim 5 with Muscle tensility performance, which is characterized in that on the bearing The circlip and the fixed lid of shoulder joint of the axial movement of restricted bearing are set.
7. the bionical shoulder joint mechanism with Muscle tensility performance described in -6 any one according to claim 1, which is characterized in that The plastic pipe for reducing rope wear and guiding force loss is provided between the shoulder joint flexural pivot and shoulder joint fixed plate.
8. the bionical shoulder joint mechanism according to claim 7 with Muscle tensility performance, which is characterized in that the driving mould Block has three groups, and is arranged at the position of human body tendon of subscapularis muscle corresponding with body shell, tendon of infraspinatus muscle and tendon of supraspinatus muscle.
CN201910730786.5A 2019-08-08 2019-08-08 A kind of bionical shoulder joint mechanism with Muscle tensility performance Pending CN110328686A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910730786.5A CN110328686A (en) 2019-08-08 2019-08-08 A kind of bionical shoulder joint mechanism with Muscle tensility performance

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910730786.5A CN110328686A (en) 2019-08-08 2019-08-08 A kind of bionical shoulder joint mechanism with Muscle tensility performance

Publications (1)

Publication Number Publication Date
CN110328686A true CN110328686A (en) 2019-10-15

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030018388A1 (en) * 2001-07-10 2003-01-23 Comer Alan Elbert Pneumatic muscle analogs for exoskeletal robotic limbs and associated control mechanisms
US20130054021A1 (en) * 2011-08-26 2013-02-28 Disney Enterprises, Inc. Robotic controller that realizes human-like responses to unexpected disturbances
CN103419200A (en) * 2013-07-23 2013-12-04 大连理工大学 Artificial muscle elastic joint driving device of robot
CN105150190A (en) * 2015-07-22 2015-12-16 广州大学 Six-freedom-degree bionic mechanical arm based on pneumatic muscle
CN207710784U (en) * 2017-12-15 2018-08-10 中国科学院沈阳自动化研究所 The bionic arm of Pneumatic artificial muscle driving
CN108908303A (en) * 2018-08-22 2018-11-30 嘉兴学院 A kind of apery shoulder joint system based on rope
CN208289885U (en) * 2018-05-24 2018-12-28 枣庄学院 A kind of Bionic flexible mechanical arm
CN109674483A (en) * 2018-12-24 2019-04-26 上海大学 A kind of adjustable single finger is at the uniform velocity passive exercise device with and single finger Muscle tensility detection method
CN109984875A (en) * 2019-04-30 2019-07-09 李辰熹 A kind of bionic mechanical artifucial limb and control method
CN209158379U (en) * 2018-10-08 2019-07-26 中国科学院自动化研究所 Flexible bionic mechanical arm

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030018388A1 (en) * 2001-07-10 2003-01-23 Comer Alan Elbert Pneumatic muscle analogs for exoskeletal robotic limbs and associated control mechanisms
US20130054021A1 (en) * 2011-08-26 2013-02-28 Disney Enterprises, Inc. Robotic controller that realizes human-like responses to unexpected disturbances
CN103419200A (en) * 2013-07-23 2013-12-04 大连理工大学 Artificial muscle elastic joint driving device of robot
CN105150190A (en) * 2015-07-22 2015-12-16 广州大学 Six-freedom-degree bionic mechanical arm based on pneumatic muscle
CN207710784U (en) * 2017-12-15 2018-08-10 中国科学院沈阳自动化研究所 The bionic arm of Pneumatic artificial muscle driving
CN208289885U (en) * 2018-05-24 2018-12-28 枣庄学院 A kind of Bionic flexible mechanical arm
CN108908303A (en) * 2018-08-22 2018-11-30 嘉兴学院 A kind of apery shoulder joint system based on rope
CN209158379U (en) * 2018-10-08 2019-07-26 中国科学院自动化研究所 Flexible bionic mechanical arm
CN109674483A (en) * 2018-12-24 2019-04-26 上海大学 A kind of adjustable single finger is at the uniform velocity passive exercise device with and single finger Muscle tensility detection method
CN109984875A (en) * 2019-04-30 2019-07-09 李辰熹 A kind of bionic mechanical artifucial limb and control method

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Effective date of registration: 20200914

Address after: 230000 4th floor, building 3, block C, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province

Applicant after: Hefei Harbin gonglixun Intelligent Technology Co., Ltd

Address before: 236000 Anhui city of Hefei Province Economic and Technological Development Zone Cuiwei Road No. 6 Haiheng building room 6012

Applicant before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION