CN111347458A - Joint mechanism and robot with same - Google Patents
Joint mechanism and robot with same Download PDFInfo
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- CN111347458A CN111347458A CN201811570276.8A CN201811570276A CN111347458A CN 111347458 A CN111347458 A CN 111347458A CN 201811570276 A CN201811570276 A CN 201811570276A CN 111347458 A CN111347458 A CN 111347458A
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- connecting rod
- link
- actuator
- robot
- joint mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- 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
Abstract
The present invention relates to a joint mechanism and a robot having the same. The joint mechanism comprises a first connecting rod, a second connecting rod and a locking actuator; the second connecting rod is rotationally connected with the first connecting rod; the locking actuator is arranged on the first connecting rod and is used for controlling the first connecting rod and the second connecting rod to rotate to be locked or unlocked; foretell joint mechanism and have this joint mechanism's robot, during the use, can dress the foot in user's foot with foot wearing portion, when sole pressure that foot dynamic force test module detected reached the settlement threshold value, the lock dead actuator control first connecting rod is dead for the rotation lock of second connecting rod, make the rotation connection between first connecting rod and the second connecting rod be in the lock dead state, load gravity on the main part is directly conducted to ground and is not acted on the user through the joint mechanism that locks dead and foot wearing portion this moment, thereby make the robot reach and replace the user to bear the weight effect.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a joint mechanism and a robot with the joint mechanism.
Background
The active loading exoskeleton robot supplies power to a motor of the power module through the power supply module, and the motor drives the joint mechanism to move. The power module of the active load exoskeleton robot mainly comprises a motor with high rotating speed, which is connected in series with a speed reducer with a large reduction ratio, the power module drives a joint mechanism to act so as to drive a load to move at low speed, so that the overall structure of the robot is complex, and in addition, the weight of the whole robot is large due to the self weight of the robot, the speed reducer and the plurality of motors connected in series. However, the active load exoskeleton robot has high performance requirements on the motor and the reducer, which results in high cost of the robot. Because the power module of the robot needs to drive heavy load movement, and the capacity of the energy storage equipment of the power supply module is limited, the endurance time of the robot is short.
Disclosure of Invention
In view of the above, it is necessary to provide a joint mechanism and a robot having the joint mechanism, which solve the problems of a complicated overall structure, a heavy weight, a high cost, and a short cruising time of the robot.
A joint mechanism comprises a first connecting rod, a second connecting rod and a locking actuator, wherein the second connecting rod is rotatably connected with the first connecting rod; the dead lock actuator is arranged on the first connecting rod and used for controlling the first connecting rod and the second connecting rod to rotate to be dead locked or unlocked.
A robot comprising a main body, a hip joint part, a foot wearing part, and the joint mechanism of any of the above embodiments, the hip joint part being connected to the main body; the foot wearing part is provided with a foot dynamic force testing module which is in communication connection with the control end of the locking actuator, and the foot dynamic force testing module is used for detecting the pressure of the sole of a foot; the hip joint part is also connected with the first connecting rod, and the foot wearing part is connected with the second connecting rod; or the hip joint part is also connected with the second connecting rod, and the foot wearing part is connected with the first connecting rod; when the sole pressure reaches a set threshold value, the locking actuator controls the first connecting rod and the second connecting rod to rotate and lock or unlock.
According to the joint mechanism and the robot with the joint mechanism, the joint mechanism is not required to be provided with a power module and is not required to be connected with a speed reducer in series through a high-rotating-speed motor, so that the weight and the production cost of the joint mechanism are reduced; the joint structure is applied to the robot, so that the endurance time of the robot is greatly increased under the condition that the capacity of the energy storage equipment is constant; in addition, the robot that this application discloses when using, can dress the portion in the user foot with the foot, when sole pressure that foot dynamic force test module detected reached the settlement threshold value, the dead lock actuator control first connecting rod rotates the lock for the second connecting rod and dies, makes the rotation between first connecting rod and the second connecting rod be connected in the dead lock state, and load gravity on the main part is worn the portion through the dead joint mechanism of lock and foot and is directly conducted to ground and not act on the user this moment to make the robot reach and replace the user to bear the effect of load.
Drawings
FIG. 1 is a schematic view of a robot according to an embodiment;
FIG. 2 is another schematic view of the robot of FIG. 1;
FIG. 3 is yet another schematic view of the robot of FIG. 1;
FIG. 4 is a schematic view of the joint mechanism of the robot shown in FIG. 1;
FIG. 5 is a partial cross-sectional view of the articulating mechanism of FIG. 4;
FIG. 6 is another schematic view of the joint mechanism of the robot shown in FIG. 1;
FIG. 7 is a schematic view of a joint mechanism of a robot according to another embodiment;
FIG. 8 is another schematic view of the articulating mechanism of FIG. 7;
fig. 9 is a schematic view of a joint mechanism of a robot according to still another embodiment;
fig. 10 is a schematic view of a joint mechanism of a robot according to still another embodiment;
fig. 11 is a schematic view of a joint mechanism of a robot of still another embodiment;
fig. 12 is a schematic view of a joint mechanism of a robot according to still another embodiment;
FIG. 13 is a cross-sectional view of the articulating mechanism of FIG. 12;
fig. 14 is a schematic view of a joint mechanism of a robot of still another embodiment;
FIG. 15 is another schematic view of the articulating mechanism of FIG. 14;
FIG. 16 is a cross-sectional view of the articulating mechanism of FIG. 14;
fig. 17 is another partial schematic view of the robot of fig. 1.
Detailed Description
In order to facilitate understanding of the present invention, the joint mechanism and the robot having the joint mechanism will be more fully described below with reference to the related drawings. The figures show preferred embodiments of the joint mechanism and the robot having the joint mechanism. However, the joint mechanism and the robot having the joint mechanism may be implemented in many different forms and are not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the joint mechanism and the robot having the joint mechanism.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the joint mechanism and the robot having the joint mechanism is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In one embodiment, a joint mechanism includes a first link, a second link, and a lock actuator; the second connecting rod is rotatably connected with the first connecting rod; the dead lock actuator is arranged on the first connecting rod and used for controlling the first connecting rod and the second connecting rod to rotate to be dead locked or unlocked.
As shown in fig. 1 to 3, the robot 10 of an embodiment includes a main body 100, a hip joint portion 200, a joint mechanism 300, and a foot wearing portion 400. The hip joint unit 200 is connected to the main body 100. The hip joint unit 200 is connected to the foot wearing unit 400 by a joint mechanism 300. The main body 100 is to be worn on the upper body and the waist of the user, and the foot wearing part 400 is to be worn on the foot of the user, so that the robot 10 is worn on the user to assist the user in walking. In the present embodiment, the robot 10 is a passive skeletal robot, i.e., a passive weight exoskeleton robot.
As shown in fig. 3 and 4, in one embodiment, the joint mechanism 300 includes a first link 310, a second link 320, and a lock actuator 330. The second link 320 is rotatably connected to the first link 310. The dead lock actuator 330 is disposed on the first link 310, and the dead lock actuator 330 is used for controlling the first link 310 and the second link 320 to be locked or unlocked in a rotating manner, that is, the dead lock actuator 330 is used for controlling the first link 310 to be rotatable or non-rotatable relative to the second link 320. When the locking actuator 330 controls the first link 310 to rotate relative to the second link 320, the first link 310 and the second link 320 can rotate relative to each other, and when the user's leg moves, the first link 310 and the second link 320 rotate relative to each other. If the user's leg is not moving, the first link 310 and the second link 320 are relatively stationary. When the locking actuator 330 controls the first link 310 to be in a non-rotatable state relative to the second link 320, the first link 310 and the second link 320 cannot rotate relative to each other, i.e., the first link 310 and the second link 320 are stationary relative to each other.
Compared with the traditional active skeleton robot, the joint mechanism 300 and the robot 10 with the joint mechanism 300 disclosed by the application have the advantages that the joint mechanism 300 does not need to be provided with a power module, and a speed reducer is not required to be connected in series through a high-rotating-speed motor, so that the weight and the production cost of the joint mechanism 300 are reduced; the joint structure is applied to the robot 10, so that the endurance time of the robot 10 is greatly increased under the condition that the capacity of energy storage equipment is constant; in addition, when the robot 10 disclosed in the present application is used, the foot wearing part 400 can be worn on the foot of the user, when the sole pressure detected by the foot dynamic force testing module reaches a set threshold, the deadlock actuator 330 controls the first link 310 to be rotationally deadlocked relative to the second link 320, so that the rotational connection between the first link 310 and the second link 320 is in a deadlock state, and at this time, the load gravity on the main body 100 is directly transmitted to the ground through the deadlocked joint mechanism 300 and the foot wearing part 400 without acting on the user, thereby enabling the robot 10 to achieve the effect of replacing the load borne by the user.
As shown in fig. 4, in order to make the rotation between the first link 310 and the second link 320 in the locked state, in one embodiment, the locking actuator 330 is tightly locked to the second link 320 to control the first link 310 and the second link 320 to be locked or unlocked, so that the rotation between the first link 310 and the second link 320 is in the locked state.
As shown in fig. 4, in one embodiment, the lock actuator 330 includes a first rotary actuator 331 and a coil spring 332. The first rotation actuator 331 is connected to the first link 310. The coil spring 332 is sleeved on the first link 310 and the second link 320, and the coil spring 332 generates friction force to the second link 320 when the first link 310 and the second link 320 rotate relatively. One end of the coil spring 332 is fixed on the first link 310, the other end is connected to the power output end of the first rotary actuator 331, and the coil spring 332 is tightly held on the second link 320. The coil spring 332 is tightly held on the joint rotating shaft of the second connecting rod 320, so that the coil spring 332 is tightly held on the second connecting rod 320. In this embodiment, the diameter of the coil spring 332 is slightly smaller than the diameter of the second link 320, so that the coil spring 332 always hugs the second link 320. It is understood that the magnitude of the clasping force of the coil spring 332 on the second link 320 varies with the rotational position between the first link 310 and the second link 320. There is always a relative motion friction condition between the coil spring 332 and the second link 320 before the coil spring 332 fully locks the second link 320. Specifically, one end of the coil spring 332 and its adjacent portion are sleeved and fixed on the first link 310, and the other end of the coil spring 332 is connected to the power output end of the first rotary actuator 331. The coil spring 332 is tightly held on the joint rotating shaft of the second connecting rod 320, so that the coil spring 332 is tightly held on the second connecting rod 320. Further, the diameter of the coil spring 332 is slightly smaller than that of the joint rotating shaft, so that the coil spring 332 is always tightly held on the joint rotating shaft. Referring to fig. 2, when the second link 320 rotates relative to the first link 310 in the arrow direction, the first link 310 drives the coil spring 332 to contract, the friction force of the coil spring 332 on the second link 320 gradually increases until the friction torque generated by the friction force of the coil spring 332 on the second link 320 is equal to the rotation torque between the first link 310 and the second link 320, at this time, the coil spring 332 completely locks the second link 320, so that the rotation of the first link 310 and the second link 320 is locked, and the second link 320 cannot rotate relative to the first link 310 in the arrow direction, which corresponds to an upright state of the knee joint of the user. The weight of the load is directly transmitted to the ground through the first and second links 310 and 320 without pressing on the user. When the unlocking is required, the first rotary actuating mechanism 331 acts, and the power output end of the first rotary actuating mechanism 331 swings by a predetermined angle, so that the tension of the coil spring 332 is reduced, that is, the friction of the coil spring 332 on the second connecting rod 320 is reduced, the rotary unlocking of the first connecting rod 310 and the second connecting rod 320 is realized, and at the moment, the first connecting rod 310 and the second connecting rod 320 can rotate relatively. When the second link 320 rotates relative to the first link 310 in the direction opposite to the arrow, the first link 310 drives the coil spring 332 to continue to loosen, the friction force of the coil spring 332 on the second link 320 gradually decreases, the rotation between the first link 310 and the second link 320 cannot be locked, and the first rotation actuating mechanism 331 does not need to be operated in the process.
As shown in fig. 5, in one embodiment, the first link 310 includes a first link body 311 and a rotation shaft 312 connected to each other. The second link 320 includes a second link body 321 and a shaft sleeve 322 connected to each other, and the shaft sleeve 322 is sleeved on the rotating shaft 312 and rotatably connected to the rotating shaft 312, so that the first link 310 is rotatably connected to the second link 320. The second link body 321 is sleeved on the rotating shaft 312 and rotatably connected with the rotating shaft 312. The coil spring 332 is partially received and fixed on the rotation shaft 312 such that the coil spring 332 is partially received and fixed on the first link 310. Further, a thrust bearing 340 is arranged between the shaft sleeve 322 and the rotating shaft 312, so that the rotation between the shaft sleeve 322 and the rotating shaft 312 is more stable, and the bearing performance of the axial pressure of the rotation of the first connecting rod 310 and the second connecting rod 320 can be improved. As shown in fig. 4, further, the joint mechanism 300 further includes a coil clamp 350, and the coil clamp 350 clamps the coil spring 332 on the rotation shaft 312, so that the coil spring 332 is partially fixed on the first link 310. Referring also to fig. 6, further, the wrap spring clip 350 includes a clip 351 and a screw 352, the clip 351 being U-shaped. One end of the clamp 351 is provided with a through hole, the other end of the clamp 351 is provided with a threaded hole, the screw 352 penetrates through the through hole, and the part of the screw 352 is positioned in the threaded hole and is in threaded connection with the clamp 351. It is understood that in other embodiments, the wrap spring clips 350 may be omitted. A coil spring 332 is welded to hub 322.
As shown in FIG. 5, in one embodiment, the first link 310 further includes a stop 315. The rotating shaft 312 includes a rotating shaft body 3121 and a fixing ring 3122, and both ends of the rotating shaft body 3121 are connected with the stop block 315 and the first link body 311, respectively. The fixing ring 3122 is sleeved on the rotating shaft body 3121 and connected with the rotating shaft body 3121, and both sides of the fixing ring 3122 are respectively abutted against the thrust bearing 340 and the stop block 315, so that the fixing ring 3122 is reliably fixed on the rotating shaft body 3121. The coil spring 332 is sleeved and partially fixed on the fixing ring 3122, so that the coil spring 332 is sleeved and partially fixed on the rotating shaft 312. Further, the first connecting rod 310 further includes a locking screw 313, a first threaded hole 3123 is formed on the rotating shaft body 3121, a second threaded hole 3152 is formed on the stopper 315, and the locking screw 313 is respectively inserted into the first threaded hole and the second threaded hole, so that the rotating shaft body 3121 is connected with the stopper 315. It is understood that in other embodiments, the rotating shaft body 3121 is welded or glued to the stop block 315, such that the rotating shaft body 3121 is tightly connected to the stop block 315.
Referring again to fig. 4, in one embodiment, the first rotary actuator 331 includes a steering engine 331a and a rocker arm 331 b. The steering gear 331a is fixed to the first link 310. The rocker arm 331b is connected with the power output shaft of the steering engine 331a, and the coil spring 332 is connected to the rocker arm 331 b. When the steering engine 331a acts, the steering engine 331a drives the rocker arm 331b to move, and since the coil spring 332 is fixed on the rocker arm 331b, the rocker arm 331b drives the coil spring 332 to move, so that one end of the coil spring 332 is connected with the power output end of the first rotary actuating mechanism 331, and the coil spring 332 is released to realize the rotary unlocking of the first connecting rod 310 and the second connecting rod 320.
In one embodiment, the rocker arm 331b includes a rocker arm body 3311, a connecting post 3312, and a retaining member (not shown). The rocker arm body 3311 is connected to the power output shaft of the steering gear 331a and the connecting column 3312, respectively. The connecting post 3312 is provided with a threaded hole and a through hole 3313 communicating with each other, and the coil spring 332 is inserted into the through hole. A locking member is positioned within the threaded bore and is threadably engaged with connecting post 3312 and is biased against coil spring 332 such that coil spring 332 is secured to rocker arm 331 b. Further, the coil spring 332 can freely slide in the through hole, so that the unlocking force of the steering engine 331a is small, and an energy-saving effect is achieved. Experiments prove that if the coil spring 332 is completely and fixedly connected with the connecting column 3312, the unlocking force of the steering gear 331a is much larger. It will be appreciated that in other embodiments, the lock actuator 330 is not limited to a rotary actuator and coil spring 332 configuration.
In another embodiment, as shown in fig. 7 and 8, the lock actuator 330 includes a first linear actuator 333, a first gear block 334, a first elastic member 335, and a second gear block 336. The first linear actuation mechanism 333 is connected to the second link 320. The first tooth 334 is provided on the power output shaft of the first linear actuation mechanism 333. The first elastic member 335 has one end connected to the second rack 336 and the other end connected to the first link 310. The second rack 336 is disposed opposite the first rack 334 for engaging the second rack 336 with the first rack 334 when the lock actuator 330 is in the locked state. When the locking actuator 330 acts, the first linear actuator 333 drives the first gear block 334 to move toward the direction close to the second gear block 336 until the first gear block 334 is engaged with the second gear block 336, and since one end of the first elastic member 335 is connected to the second gear block 336 and the other end is connected to the first link 310, the relative rotation between the first link 310 and the second link 320 needs to overcome the elastic force of the first elastic member 335, thereby ensuring that the locking actuator 330 has a buffering effect when in a locking state. During unlocking, the first linear actuator 333 drives the first gear block 334 to move away from the second gear block 336 until the first gear block 334 is separated from the second gear block 336, so that the first link 310 and the second link 320 can rotate relative to each other. Specifically, a first tooth is arranged on one side of the first tooth block 334 adjacent to the second tooth block 336, and a second tooth matched with the first tooth is arranged on one side of the second tooth block 336 adjacent to the first tooth block 334, so that the first tooth block 334 is meshed with the second tooth block 336.
As shown in fig. 7, in the present embodiment, the second link 320 is a bent structure, and the rotation connection point of the second link 320 and the first link 310 is located in the bent region of the second link 320. The first connecting rod 310 is provided with an extending column 314, and the end of the first elastic member 335 is connected and fixed on the extending column. In one embodiment, the first elastic member 335 is a coil spring or an elastic glue. In this embodiment, the first elastic member 335 is a coil spring, so that the first elastic member 335 has better elastic strength and service life. Further, the number of the first elastic member 335 and the extending columns is two, and the two extending columns are parallel to each other. The second rack 336 is located between the two extending columns, and two sides of the second rack 336 are respectively fixed on the corresponding extending columns through the corresponding first elastic members 335, so that the second rack 336 is more reliably disposed between the two extending columns, and meanwhile, the relative rotation between the first connecting rod 310 and the second connecting rod 320 requires a larger elastic force to overcome.
As shown in fig. 7, in one embodiment, the first linear actuator 333 includes a first telescopic cylinder 333a and a fixing seat 333b, the first telescopic cylinder 333a is fixed on the second link 320, and the fixing seat 333b is connected to a power output shaft of the first telescopic cylinder 333 a. The first tooth block 334 is fixed to the fixing seat 333b, so that the first tooth block 334 is disposed on the power output shaft of the first linear actuation mechanism 333. It is understood that, in other embodiments, the first linear actuator 333 may be replaced by a combination of a motor, a screw rod and a nut, the motor is fixed on the second connecting rod 320, the screw rod is connected with an output shaft of the motor, the nut is sleeved on the screw rod and is screwed with the screw rod, and the nut is further fixed with the first tooth block 334, so that the first tooth block 334 is arranged on a power output shaft of the first linear actuator 333. It is understood that in other embodiments, the deadlock actuator 330 is not limited to controlling the first link 310 and the second link 320 to be locked or unlocked by being clasped to the second link 320.
As shown in fig. 9 to 11, in another embodiment, the power output end of the locking actuator 330 abuts against the second link 320 to control the first link 310 and the second link 320 to be locked or unlocked in a rotating manner, so that the rotation between the first link 310 and the second link 320 is in a locked state. In one embodiment, the power output end of the locking actuator 330 elastically abuts against the second link 320, so that the rotation between the first link 310 and the second link 320 is in an elastic locking state, and the locking actuator 330 has better buffering performance.
As shown in fig. 9 to 11, in one embodiment, the deadlocking actuator 330 includes a second linear actuator 337 and an elastic connector 338, the second linear actuator 337 is disposed on the first link 310, and a power output end of the second linear actuator 337 is connected to the second link 320 via the elastic connector 338. In this embodiment, the elastic connector 338 is connected to the second link 320 in an abutting or rotating manner, so that the power output end of the second linear actuator 337 is connected to the second link 320 via the elastic connector 338. When the locking actuator 330 is actuated, the second linear actuator 337 drives the elastic connector 338 to move in the first direction, so that the elastic connector 338 elastically abuts against the second link 320. When the lock is unlocked, the second linear actuator 337 drives the elastic connector 338 to move in a second direction opposite to the first direction, and the elastic connector 338 contracts and leaves the second link 320, or the elastic connector 338 expands and contracts along with the rotation positions of the second link 320 and the first link 310, so that the first link 310 and the second link 320 can rotate relative to each other. In this embodiment, the first direction is a direction in which the elastic connector 338 approaches the second link 320, and the second direction is a direction in which the elastic connector 338 moves away from the second link 320.
As shown in fig. 9, in one embodiment, the elastic connection member 338 includes a hard rod 338a and a second elastic member 338b, and the power output end of the second linear actuation mechanism 337 is connected to one end of the hard rod 338 a. The other end of the hard lever 338a is connected to one end of the second elastic member 338 b. The end of the second elastic member 338b remote from the rigid rod 338a is adapted to abut against the second link 320. When the locking actuator 330 acts, the second linear actuator 337 drives the rigid rod 338a to move toward the second elastic member 338b toward the direction close to the second link 320 until the second elastic member 338b abuts against the second link 320, and since the rigid rod 338a has a certain rigidity, the rigid rod 338a can better press the second elastic member 338b, so that the second elastic member 338b is in a contracted state, the second elastic member 338b simultaneously elastically abuts against the second link 320, and the rotation of the first link 310 and the second link 320 is in an elastic locking state. During unlocking, the second linear actuator 337 drives the hard rod 338a and the second elastic member 338b to move in a direction away from the second link 320 until the second elastic member 338b automatically resets and leaves the second link 320, so that the first link 310 and the second link 320 can rotate relative to each other. In one embodiment, the second elastic member 338b is a coil spring or an elastic glue. In this embodiment, the second elastic member 338b is a coil spring, so that the second elastic member 338b has better elastic stiffness and longer service life.
It is understood that in other embodiments, the elastic connector 338 is not limited to the connection structure of the rigid rod 338a and the second elastic member 338b, and in other embodiments, the elastic connector 338 may be an elastic rod or an elastic brace. In this case, the second elastic member 338b may be omitted, so that the structure of the elastic connection member 338 is more simple and reliable.
In one embodiment, as shown in fig. 10, the resilient connector 338 is a resilient rod that is telescopically movable. The second linear actuation mechanism 337 drives the elastic rod to extend or retract. When the second linear actuator 337 drives the elastic rod to extend, the elastic rod elastically abuts against the second link 320. When the second linear actuator 337 retracts the elastic rod, the elastic rod moves away from the second link 320, so that the rotation between the first link 310 and the second link 320 is restored, and the joint mechanism 300 is unlocked. In this embodiment, the second linear actuator 337 has a telescopic cylinder structure. When the joint mechanism 300 is in the locked state, the end of the elastic rod away from the second linear actuation mechanism 337 abuts against the second link 320.
As shown in fig. 10, a connection hole 316 is formed on the first link 310, and the second linear actuator 337 is inserted into the connection hole 316 and connected to the first link 310, such that the second linear actuator 337 is disposed on the first link 310. Further, the second link 320 is provided with a positioning groove, and when the joint mechanism 300 is in the dead-lock state, the portion of the elastic rod is located in the positioning groove and abuts against the second link 320, so that the elastic rod abuts against the second link 320 reliably. Of course, the positioning groove can be omitted, and the elastic rod is directly welded or glued to the second connecting rod 320, so that the second connecting rod 320 is firmly connected to the elastic rod.
It is understood that the elastic connection member 338 may not be separated from the second link 320, i.e. the elastic connection member 338 is always rotationally connected to the second link 320, and after the joint mechanism 300 is unlocked, the second linear actuation mechanism 337 drives the elastic connection member 338 to freely extend and retract along with the rotation of the second link 320. In one embodiment, as shown in fig. 11, the elastic connecting member 338 is an elastic bar, the second linear actuator 337 drives the elastic bar to expand and contract, and the end of the elastic bar remote from the second linear actuator 337 is pivotally connected to the second link 320. When the extending length of the elastic brace is constant, the tension of the elastic brace on the second connecting rod 320 is constant, so that the included angle between the second connecting rod 320 and the first connecting rod 310 is kept constant, and the rotation between the first connecting rod 310 and the second connecting rod 320 is locked. When the lock is unlocked, the second linear actuator 337 drives the elastic bar to randomly change its extension length, so that the first link 310 and the second link 320 can rotate relatively.
It is understood that in other embodiments, the power output end of the locking actuator 330 is not limited to elastically abut against the second link 320, and the power output end of the locking actuator 330 may also rigidly abut against the second link 320. In other embodiments, the deadlocking actuator 330 is not limited to controlling the first link 310 and the second link 320 to be rotationally locked or unlocked by being tightly locked or abutted against the second link 320.
As shown in fig. 12-13, in another embodiment, the lock actuator 330 includes a container 339, a valve body 341, a piston 342, and a second rotary actuator 343. The container 339 is connected to the second link 320, and the container 339 is formed with an air passage 339a, a through hole 339b communicating with the air passage 339a, a piston cavity 339c communicating with the air passage 339a, and a mounting hole 339 d. The valve body 341 is located in the air passage 339a and is rotatably connected to the container 339, and the valve body 341 is provided with an air guide hole 341 a. The piston 342 is disposed in the piston cavity 339c and divides the piston cavity 339c into a first chamber 3391 and a second chamber 3392, the piston 342 is movably connected to the container 339, the piston 342 is further inserted into the mounting hole 339d and connected to the first rod 310, and the first chamber 3391 is communicated with the second chamber 3392 through the air passage 339 a. The second rotary actuating mechanism 343 is disposed on the container 339, and a power output shaft of the second rotary actuating mechanism 343 is disposed through the through hole 339b and connected to the valve body 341, and the second rotary actuating mechanism 343 drives the valve body 341 to rotate so as to control the first link 310 and the second link 320 to be locked or unlocked.
When the locking actuator 330 is actuated, the second rotary actuator 343 drives the valve body 341 to rotate relative to the container 339 until the air vent 341a is not communicated with the air passage 339a, i.e., the air passage 339a is blocked by the valve body 341, so that the first chamber 3391 and the second chamber 3392 are blocked, the piston 342 and the container 339 cannot be movably connected, so that the first connecting rod 310 and the second connecting rod 320 cannot rotate relative to each other, i.e., the rotation of the first connecting rod 310 and the second connecting rod 320 is in a locking state. When the unlocking is performed, the second rotary actuator 343 drives the valve body 341 to rotate relative to the container 339 until the air vent 341a is communicated with the air passage 339a, so that the air passage 339a is in a conducting state, the first chamber 3391 is communicated with the second chamber 3392 through the air passage 339a, the first chamber 3391 is communicated with the second chamber 3392, and the piston 342 is movably connected with the container 339, so that the first link 310 and the second link 320 can rotate relative to each other.
In one embodiment, the air hole 341a penetrates through the valve body 341, and the air hole 341a penetrates through the center of the valve body 341, so that the valve body 341 has better stress strength. As shown in fig. 13, the valve body 341 is further formed in a spherical shape, and the air vent 341a passes through the spherical center of the valve body 341, so that the valve body 341 is better rotatably connected to the container 339. In this embodiment, the extending direction of the air passage channel 339a is arc-shaped, and the cross section perpendicular to the extending direction of the air passage channel 339a is circular, so that the spherical valve body 341 is adapted to the extending direction of the air passage channel 339 a. In other embodiments, the valve body 341 may also be cylindrical, an accommodating cavity communicating with the air passage 339a is further formed in the container 339, the valve body 341 is located in the accommodating cavity and is rotatably connected with the container 339, and the accommodating cavity is matched with the valve body 341 in shape, so as to improve the sealing performance of the valve body 341 in cooperation with the container 339.
As shown in fig. 12-13, in one embodiment, the piston 342 is slidably connected to the container 339. When the locking actuator 330 is actuated, the second rotary actuator 343 drives the valve body 341 to rotate clockwise relative to the container 339 until the air vent 341a is not communicated with the air passage 339a, i.e., the air passage 339a is blocked by the valve body 341, so that the first chamber 3391 and the second chamber 3392 are blocked, the piston 342 and the container 339 cannot be slidably connected, so that the first connecting rod 310 and the second connecting rod 320 cannot rotate relative to each other, i.e., the first connecting rod 310 and the second connecting rod 320 rotate in a locking state. When the unlocking is performed, the second rotation actuating mechanism 343 drives the valve body 341 to rotate counterclockwise relative to the container 339 until the air vent 341a is communicated with the air passage 339a, so that the air passage 339a is in a conducting state, the first chamber 3391 is communicated with the second chamber 3392 through the air passage 339a, the first chamber 3391 is communicated with the second chamber 3392, the piston 342 is slidably connected with the container 339, and the first connecting rod 310 and the second connecting rod 320 can rotate relative to each other.
It is understood that in other embodiments, the piston 342 and the container 339 are not limited to sliding connections. In another embodiment, as shown in fig. 14-16, the piston 342 is rotatably connected to the container 339. When the locking actuator 330 is actuated, the second rotary actuator 343 drives the valve body 341 to rotate relative to the container 339 until the air vent 341a is not communicated with the air passage 339a, i.e., the air passage 339a is blocked by the valve body 341, so that the first chamber 3391 and the second chamber 3392 are blocked, the piston 342 and the container 339 cannot be rotatably connected, and the first connecting rod 310 and the second connecting rod 320 cannot be rotated with each other, i.e., the first connecting rod 310 and the second connecting rod 320 are in a locked state. When the unlocking is performed, the second rotary actuator 343 drives the valve body 341 to rotate relative to the container 339 until the air vent 341a is communicated with the air passage 339a, so that the air passage 339a is in a conducting state, the first chamber 3391 is communicated with the second chamber 3392 through the air passage 339a, the first chamber 3391 is communicated with the second chamber 3392, the piston 342 is rotatably connected with the container 339, and the first connecting rod 310 and the second connecting rod 320 can rotate relative to each other. As shown in fig. 16, a boss 339e is disposed on an inner wall of the container 339, a rotation groove (not shown) is disposed on the boss 339e, and the piston 342 is partially disposed in the rotation groove and rotatably connected to the boss 339e, so that the rotation between the piston 342 and the container 339 is more stable.
As shown in fig. 1, in one embodiment, the foot wearing part 400 is provided with a foot dynamic force testing module 410 which is connected to the control end of the locking actuator 330 in communication. The foot dynamic force testing module 410 is used to detect plantar pressure. When the sole pressure reaches a set threshold value, the deadlock actuator 330 controls the first link 310 and the second link 320 to be rotationally locked or unlocked. The hip joint unit 200 is further connected to the first link 310, and the foot wearing unit 400 is connected to the second link 320, so that the hip joint unit 200 is connected to the foot wearing unit 400 through the joint mechanism 300. Further, the hip joint unit 200 is rotatably connected to the first link 310, and the foot wearing unit 400 is rotatably connected to the second link 320, so that the overall structure of the robot 10 is more flexible. In the present embodiment, the first link 310 is a link corresponding to the thigh of the user, and the second link 320 is a link corresponding to the calf of the user.
As shown in fig. 1, in one embodiment, the robot 10 further includes a gas spring 500, one end of the gas spring 500 is connected to the second link 320, and the other end is connected to the foot wearing part 400, so that the second link 320 is connected to the foot wearing part 400 through the gas spring 500, and at the same time, the second link 320 and the foot wearing object have good cushioning performance, thereby reducing the energy consumption of the entire robot 10. In this embodiment, the gas spring 500 is rotatably connected to the foot wearing portion 400, and an end of the gas spring 500 away from the foot wearing portion 400 is fixedly connected to the second link 320, so that the foot wearing portion 400 is rotatably connected to the second link 320.
As shown in fig. 17, the hip joint part 200 further includes a joint base 210, a rotating cylinder (hidden by the joint base) and a pin 230. The joint seat 210 is connected with the main body 100, and a rotation cavity and an arc-shaped waist groove 213 which are communicated with each other are formed in the joint seat 210. The rotating cylinder is located in the rotating cavity and is rotatably connected with the joint base 210. The pin 230 is inserted into the arc-shaped waist groove 213 and connected to the rotating cylinder, and the pin 230 is further connected to the first link 310, so that the first link 310 is rotatably connected to the hip joint portion 200. Further, the pin 230 is rotatably connected to the first link 310, and the pin 230 is rotatably connected to the first link 310. The second rotation plane of the rotating cylinder and the joint seat 210 is perpendicular to each other, so that the first link 310 and the hip joint portion 200 are rotatably connected along two different planes, the movement of the robot 10 is smoother, and the energy consumption of the robot 10 is reduced.
As shown in fig. 2, in one embodiment, the angle a between the first link 310 and the second link 320 is greater than 0 degrees and less than 180 degrees, so that the joint mechanism 300 is always retroflexed, that is, the joint mechanism 300 is always retroflexed regardless of whether the user advances or retreats, so that the flexion direction of the joint mechanism 300 is opposite to the flexion direction of the user's knee joint. Since the amplitude of forward swing of the lower limbs of the user is greater than the amplitude of backward swing of the user during walking, experiments prove that the backward bending joint mechanism 300 enables the reaction force of the foot wearing object applied to the user when the lower limbs swing forward to be smaller, which is beneficial to improving the convenience of the robot 10. In this embodiment, the joint mechanism 300 is of a dorsiflexion design, i.e., opposite to the flexion direction of the user's knee joint.
Referring again to fig. 1, in one embodiment, the robot 10 further includes a master box 600. The main body 100 includes a support frame 110 and a strap 120, and the strap 120 and the console box 600 are both provided on the support frame 110. The hip joint unit 200 is connected to the support frame 110, and the hip joint unit 200 is connected to the main body 100. The master control box 600 is respectively connected with the foot dynamic force testing module 410 and the control end of the locking actuator 330 in a communication way. The binding band 120 is wearable and fixed on the upper body of the user, a set threshold value is stored in the main control box 600, and the main control box 600 can receive the sole pressure value detected by the foot dynamic force testing module 410 in real time and compare the current sole pressure value with a preset threshold value. When the current sole pressure reaches a set threshold value, the master control box 600 sends a locking or unlocking control signal to the control end of the locking actuator 330, the locking actuator 330 controls the first connecting rod 310 to rotate and lock or unlock relative to the second connecting rod 320, so that the rotating connection between the first connecting rod 310 and the second connecting rod 320 is in a locking state, and at the moment, the load gravity on the main body 100 is directly transmitted to the ground through the locked joint mechanism 300 and the foot wearing part 400 and does not act on a user, so that the robot 10 can replace the user to bear the load force, and the use convenience of the robot 10 is improved.
Referring again to fig. 1, in one embodiment, the main body 100 further includes a back rest plate 130, the back rest plate 130 is disposed on the support frame 110, the back rest plate 130 is used to abut against the back of the user, when in use, the back of the user abuts against the back rest plate 130, and the user is more portable when wearing the main body 100. The main control box 600 and the straps 120 are connected to the support frame 110 through the back rest 130, so that the main control box 600 and the straps 120 are better arranged on the support frame 110. Specifically, the console box 600 is provided on the rear side of the back rest 130. Referring to fig. 2, further, the rotation center of the hip joint portion 200 is located on the extension plane of the back rest plate 130, so that the hip joint portion 200 is designed to be posterior. When the strap 120 is worn and fixed on the upper body of the user, the back of the user fits the back rest plate 130, and the hip joint portion 200 is located on the extension plane of the back rest plate 130, so that the hip joint portion 200 is located right below the back rest plate 130, and thus, regardless of the body weight of the user, the hip joint 20 of the user is located in front of the hip joint portion 200 in the walking direction during the walking process of the user using the robot 10, that is, the hip joint portion 200 of the robot 10 is always located behind the hip joint of the user, so that the lower limb part of the robot 10 can be ensured to return to the original length, the problem that the normal operation of the robot 10 is obstructed due to the falling of the hip joint portion 200 is prevented, and the use reliability of the robot 10 is improved. In the embodiment, the supporting frame 110 is U-shaped, so that the back rest 130 is better fixed on the supporting frame 110.
Referring to fig. 1 again, the back rest plate 130 is further provided with a plurality of ventilation holes 132, so that the back rest plate 130 has a ventilation function when being worn on the user, thereby preventing the user from easily sweating when using the robot 10 for a long time. Further, the robot 10 further includes a load 700, the load 700 is disposed on the back rest 130, and the load 700 and the console box 600 are located on the same side of the back rest 130. The load 700 is connected to the master control box 600 and the lock actuator 330. Further, the load 700 includes a battery module and an air supply module. The battery module is electrically connected to the main control box 600 to supply power to the main control box 600. The lock-up actuator 330 is connected to the battery module or the gas supply module to provide driving power for the lock-up actuator 330. The gas supply module is connected to the gas spring 500 such that the gas supply module supplies pneumatic power to the gas spring 500, so that the robot 10 can travel in the open air. In the present embodiment, the total weight of the load 700 is less than or equal to 10kg, making the entire robot 10 light in weight. When the load 700 stores energy for a certain amount, the duration of the robot 10 is long.
Referring again to fig. 1, further, the straps 120 include a waist strap 122 and a shoulder strap 124, both the waist strap 122 and the shoulder strap 124 being disposed on the same side of the back rest plate 130. The waist strap 122 is adapted to wrap around the waist of the user such that the strap 120 is worn around the waist of the user. The shoulder straps 124 are adapted to be worn over the shoulders of the user such that the straps 120 are worn over the upper torso of the user. Specifically, the waist strap 122 and the shoulder straps 124 are secured to the back rest 130 on a side facing away from the console box 600.
It is understood that in other embodiments, the hip joint part 200 may be connected to the second link 320 and the foot wearing part 400 is connected to the first link 310, such that the hip joint part 200 is connected to the foot wearing part 400 through the joint mechanism 300. Further, the hip joint unit 200 is rotatably connected to the second link 320, and the foot wearing unit 400 is rotatably connected to the first link 310, so that the overall structure of the robot 10 is more flexible.
According to the joint mechanism 300 and the robot 10 with the joint mechanism 300, the joint mechanism 300 does not need to be provided with a power module, and a speed reducer is not required to be connected in series through a high-rotating-speed motor, so that the weight and the production cost of the joint mechanism 300 are reduced; the joint structure is applied to the robot 10, so that the endurance time of the robot 10 is greatly increased under the condition that the capacity of energy storage equipment is constant; in addition, when the robot 10 disclosed in the present application is used, the foot wearing part 400 can be worn on the foot of the user, and when the sole pressure detected by the foot dynamic force testing module 410 reaches a set threshold, the deadlock actuator 330 controls the first link 310 to be rotationally deadlocked with respect to the second link 320, so that the rotational connection between the first link 310 and the second link 320 is in a deadlock state, and at this time, the gravity of the load 700 on the main body 100 is directly transmitted to the ground through the deadlocked joint mechanism 300 and the foot wearing part 400 without acting on the user, so that the robot 10 can replace the user to bear the gravity of the load 700.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An articulation mechanism, comprising:
a first link;
the second connecting rod is rotatably connected with the first connecting rod; and
the dead lock actuator is arranged on the first connecting rod and used for controlling the first connecting rod and the second connecting rod to rotate to be dead locked or unlocked.
2. The joint mechanism according to claim 1, wherein the locking actuator is locked to the second link to control the first link and the second link to be rotationally locked or unlocked.
3. The joint mechanism according to claim 2, wherein the lock-up actuator includes a first rotary actuator and a coil spring, the first rotary actuator is connected to the first link, the coil spring is respectively sleeved on the first link and the second link, one end of the coil spring is fixed to the first link, the other end of the coil spring is connected to the power output end of the first rotary actuator, and the coil spring is tightly held on the second link;
the first rotary actuating mechanism comprises a steering engine and a rocker arm, the steering engine is fixed on the first connecting rod, the rocker arm is connected with a power output shaft of the steering engine, and the coil spring is connected to the rocker arm.
4. The joint mechanism according to claim 2, wherein the lock-up actuator includes a first linear actuator, a first tooth block, a first elastic member, and a second tooth block; the first linear actuating mechanism is connected to the second connecting rod; the first tooth block is arranged on a power output shaft of the first linear actuating mechanism; one end of the first elastic piece is connected with the second tooth block, and the other end of the first elastic piece is connected with the first connecting rod; the second tooth block is opposite to the first tooth block and used for enabling the second tooth block to be meshed with the first tooth block when the locking actuator is in a locking state.
5. The joint mechanism according to claim 1, wherein a power output end of the locking actuator abuts against the second connecting rod to control the first connecting rod and the second connecting rod to be locked or unlocked in a rotating manner;
and the power output end of the locking actuator is elastically abutted against the second connecting rod.
6. The joint mechanism of claim 5, wherein the lock actuator comprises a second linear actuator and an elastic connector, the second linear actuator is disposed on the first link, and a power output end of the second linear actuator is connected to the second link through the elastic connector.
7. The joint mechanism of claim 2, wherein the lock-up actuator comprises a container, a valve body, a piston, and a second rotary actuator; the container is connected with the second connecting rod, and is provided with an air passage channel, a through hole communicated with the air passage channel, a piston cavity communicated with the air passage channel and a mounting hole; the valve body is positioned in the gas path channel and is rotationally connected with the container, and a gas guide hole is formed in the valve body; the piston is positioned in the piston cavity and divides the piston cavity into a first cavity and a second cavity, the piston is movably connected with the container, the piston is further arranged in the mounting hole in a penetrating manner and connected with the first connecting rod, and the first cavity is communicated with the second cavity through the air passage channel; the second rotary actuating mechanism is arranged on the container, a power output shaft of the second rotary actuating mechanism penetrates through the through hole and is connected with the valve body, and the second rotary actuating mechanism drives the valve body to rotate so as to control the first connecting rod and the second connecting rod to be locked or unlocked in a rotating mode.
8. A robot comprising a main body, a hip joint part, a foot wearing part, and the joint mechanism of any one of claims 1 to 7, the hip joint part being connected to the main body; the foot wearing part is provided with a foot dynamic force testing module which is in communication connection with the control end of the locking actuator, and the foot dynamic force testing module is used for detecting the pressure of the sole of a foot; the hip joint part is also connected with the first connecting rod, and the foot wearing part is connected with the second connecting rod; or the hip joint part is also connected with the second connecting rod, and the foot wearing part is connected with the first connecting rod; when the sole pressure reaches a set threshold value, the locking actuator controls the first connecting rod and the second connecting rod to rotate and lock or unlock.
9. The robot of claim 8, wherein an angle between the first link and the second link is greater than 0 degrees and less than 180 degrees.
10. A robot according to claim 8 or 9, characterized in that the robot further comprises a master box; the main body comprises a support frame and a binding band, the binding band and the main control box are both arranged on the support frame, the hip joint part is connected with the support frame, and the main control box is respectively in communication connection with the foot dynamic force testing module and the control end of the locking actuator;
the main part still includes the back backup plate, the back backup plate set up in on the support frame, hip joint position is in on the extension plane of back backup plate place.
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| CN201811570276.8A CN111347458B (en) | 2018-12-21 | 2018-12-21 | Joint mechanism and robot with same |
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| CN201811570276.8A CN111347458B (en) | 2018-12-21 | 2018-12-21 | Joint mechanism and robot with same |
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| CN111347458B CN111347458B (en) | 2021-10-22 |
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| CN112894775A (en) * | 2021-02-05 | 2021-06-04 | 李传江 | Reinforcement type lower limb assistance exoskeleton capable of enhancing load bearing capacity and endurance of human body |
| WO2022088470A1 (en) * | 2020-10-30 | 2022-05-05 | 深圳市优必选科技股份有限公司 | Joint energy storage assistance mechanism, robot joint structure, and robot |
| CN115871020A (en) * | 2023-03-08 | 2023-03-31 | 北京工业大学 | Micro robot joint with large load |
| WO2023070863A1 (en) * | 2021-10-28 | 2023-05-04 | 中国科学院深圳先进技术研究院 | Walking-assistive exoskeleton apparatus |
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| CN111347458B (en) | 2021-10-22 |
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