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
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
As further scheme of the invention: the circlip and shoulder of the axial movement of restricted bearing being arranged on the bearing
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.
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.