CN114750135A - Robot joint structure - Google Patents
Robot joint structure Download PDFInfo
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- CN114750135A CN114750135A CN202210428475.5A CN202210428475A CN114750135A CN 114750135 A CN114750135 A CN 114750135A CN 202210428475 A CN202210428475 A CN 202210428475A CN 114750135 A CN114750135 A CN 114750135A
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- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 210000000689 upper leg Anatomy 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims 1
- 210000000629 knee joint Anatomy 0.000 abstract description 12
- 210000003127 knee Anatomy 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 6
- 230000003993 interaction Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 5
- 210000002414 leg Anatomy 0.000 description 5
- 210000001699 lower leg Anatomy 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 210000002303 tibia Anatomy 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000000521 femorotibial joint Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000000281 joint capsule Anatomy 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000005499 meniscus Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000004417 patella Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot joint structure which comprises an installation frame, an elastic support, a driving mechanism, a first support arm, an adjusting arm, a second support arm and an adjusting mechanism. The robot joint structure can convert rigid drive into flexible drive, thereby reducing the risk in the process of using the robot joint structure and improving the adaptability of human-computer interaction. In addition, through designing adjustment mechanism, the length of adjustable interval L can be adaptively changed to and the angle of initial contained angle alpha, so, the wearing person can adaptively adjust the initial contained angle alpha of first support arm and second support arm according to the standing position of self habit and the angle of straightening of self knee, so that the robot joint mechanism can adapt to the knee joint straightness of different wearing crowds, and has wider application range.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot joint structure.
Background
The active power joint is used as an important part of the power-assisted exoskeleton and mainly provides power for the motion of the active joint of an external wearer, the traditional exoskeleton power joint mainly considers the freedom degree of the crouching motion of legs of a person, and the scheme that a motor and a speed reducer are connected in series and then are directly connected with an execution part is adopted, so that the power-assisted exoskeleton power joint is large in size, time-consuming and labor-consuming to install and high in manufacturing cost. Meanwhile, the humanoid robot joint driver is mostly rigid direct drive, and the structure adjustability and the flexibility are poor.
The knee joint is the largest and most complex joint in the human body and is composed of a femorotibial joint, a femorotallic joint, a meniscus joint, a ligament joint, a synovial capsule and a synovial fissure which are mutually combined by the femur, the tibia and the patella. Most people have knee hyperextension of different degrees, the knee hyperextension means that the extension angle of the knee when the leg is extended is beyond the normal flexion and extension range, and the top end of the tibia slides backwards relative to the femur to enable the knee joint to be opened backwards excessively. The extension angle of the knee joint of the normal population is 0 degrees, while the extension angle of the knee joint of the population with the hyperextension knee joint may be-5 degrees or-10 degrees. Therefore, when each person stands, the position of the knee is different, in popular terms, the included angle between the tibia and the femur is different.
To above-mentioned problem, current robot joint can't be applicable to the knee joint that different crowds stood and straighten the angle, and the initial contained angle of big, shank skeleton of current robot joint is invariable promptly, and after dressing, user's knee joint can't carry out effective regulation according to the posture of oneself knee joint, consequently, has the not high problem of adaptability, has just also caused robot joint can't be applicable to different demands to greatly reduced robot joint's application scope.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot joint structure, so that a wearer can adjust the robot joint structure according to the own knee joint straightness, and the application range of the robot joint is widened.
In order to achieve the above object, the present invention provides a robot joint structure, including a mounting frame; the elastic bracket is movably arranged on the mounting rack; the driving mechanism is used for driving the elastic support to do linear motion; the first support arm is hinged with the elastic support, and the axis of the hinged position of the first support arm and the elastic support is marked as a first axis; the adjusting arm is hinged with the mounting rack, and the axis of the hinged position of the adjusting arm and the mounting rack is marked as a second axis; the second support arm is hinged with the first support arm and the adjusting arm respectively, the axis of the hinged position of the second support arm and the first support arm is marked as a third axis, the third axis can rotate around the first axis, the axis of the hinged position of the second support arm and the adjusting arm is marked as a fourth axis, the fourth axis can rotate around the second axis, the distance between the third axis and the second axis is marked as an adjustable distance L, and the second support arm and the first support arm have an initial included angle alpha; and the adjusting mechanism is arranged on the mounting rack and used for adjusting the position of the fourth axis so as to adjust the length of the adjustable interval L and the angle of the initial included angle alpha.
Preferably, the adjusting mechanism comprises a ratchet wheel and a locking assembly, the ratchet wheel is rotatably arranged on the mounting frame, the adjusting arm is arranged on the ratchet wheel, the rotating axis of the ratchet wheel is coincident with the second axis, and the locking assembly is arranged on the mounting frame and used for limiting the steering direction of the ratchet wheel.
Preferably, a housing is arranged on the mounting frame, and the ratchet wheel extends into the housing; the locking assembly comprises a first pawl, a first elastic piece, a second pawl and a second elastic piece, the first pawl and the second pawl are both rotatably arranged in the shell and are respectively meshed with the ratchet wheel, and the rotation stopping directions of the first pawl and the second pawl are opposite; the first elastic piece is used for exerting acting force on the first pawl to prevent the first pawl from being disengaged from the ratchet wheel, and the second elastic piece is used for exerting acting force on the second pawl to prevent the second pawl from being disengaged from the ratchet wheel.
Preferably, the first pawl and the second pawl are symmetrically arranged on two sides of the ratchet wheel, a first intermittent gear is arranged on the first pawl, and the rotation axis of the first intermittent gear is coincident with the rotation axis of the first pawl; the second pawl is provided with a second intermittent gear meshed with the first intermittent gear, the rotating axis of the second intermittent gear is overlapped with the rotating axis of the second pawl, and the second pawl is provided with a shifting block which extends out of the shell.
Preferably, the first support arm is of an L-shaped structure and comprises a first arm body and a second arm body, the first arm body is hinged to the elastic support, and the second support arm is hinged to a corner where the first arm body is connected with the second arm body.
Preferably, a shank wearing piece is arranged on the second arm body, an extension arm is formed by extending one end, far away from the first support arm, of the second support arm, and a thigh wearing piece is arranged on the extension arm.
Preferably, a guide frame is arranged on the mounting frame, and a support seat is arranged at one end of the guide frame; the elastic support comprises a first sliding plate, a second sliding plate, a third sliding plate, a first spring, a second spring and a plurality of connecting rods, the first sliding plate, the second sliding plate and the third sliding plate are all in sliding fit on the guide frame, the second sliding plate is located between the first sliding plate and the third sliding plate, and the driving mechanism is used for driving the second sliding plate to slide along the guide frame; the two ends of the first spring are respectively connected with the first sliding plate and the second sliding plate, the two ends of the second spring are respectively connected with the second sliding plate and the third sliding plate, and each connecting rod is respectively connected with the first sliding plate and the third sliding plate.
Preferably, the driving mechanism comprises a driving motor, a coupling, a speed reducer, a lead screw and a nut; the driving motor, the shaft coupling the reduction gear with the lead screw is transmission connection in proper order, driving motor the shaft coupling the reduction gear all sets up in the mounting bracket, the lead screw sets up in the leading truck and with the supporting seat rotates to be connected, the nut sets up on the second slide and wear to establish on the lead screw.
The invention has the beneficial effects that:
1. the invention discloses a robot joint structure, which is characterized in that when a driving mechanism drives an elastic support to move along an installation frame, the movement of the elastic support can change the position of a first axis, so that a first support arm and a second support arm are driven to rotate relatively, and the bending or straightening action of a robot is completed. Through the mutual matching of the driving mechanism, the elastic support, the first support arm and the second support arm, rigid driving is converted into flexible driving, so that the risk in the process of using the robot joint structure is reduced, and the adaptability of human-computer interaction is improved.
2. The invention discloses a robot joint structure, before using, an adjusting mechanism is operated to enable an adjusting arm to rotate around a second axis, as the position of a fourth axis is changed, a third axis also adaptively rotates around a first axis, as the position of the second axis is not changed and the position of the third axis is changed, the distance between the third axis and the second axis is changed, namely the length of an adjustable distance L and the angle of an initial included angle alpha are changed, therefore, a wearer can adaptively adjust the initial included angle alpha of a first supporting arm and a second supporting arm according to the standing posture of the wearer and the straightening angle of the wearer's knee, and thus, the robot joint structure can adapt to the straightening degrees of the knee joints of different people and has a wider application range.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a joint structure of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a first axis, a second axis, a third axis, and a fourth axis;
FIG. 3 is a schematic view of the structure of the second arm cooperating with the adjustment arm;
FIG. 4 is a schematic view of the structure of the adjusting arm cooperating with the ratchet;
FIG. 5 is a schematic view of the adjustment mechanism;
FIG. 6 is a side view of the state of FIG. 2;
FIG. 7 is a schematic structural view of the joint of the first support arm, the second support arm, and the adjustment arm;
fig. 8 is a schematic structural view of the driving mechanism, the elastic support and the mounting bracket.
Reference numerals:
10-a mounting frame, 11-a shell, 12-a guide frame and 13-a supporting seat;
20-elastic support, 21-first slide plate, 22-second slide plate, 23-third slide plate, 24-first spring, 25-second spring, 26-connecting rod;
30-driving mechanism, 31-driving motor, 32-lead screw, 33-nut;
40-a first arm, 41-a first arm body, 42-a second arm body;
50-an adjustment arm;
60-second arm, 61-extension arm;
70-an adjusting mechanism, 71-a ratchet wheel, 72-a first pawl, 73-a first elastic piece, 74-a second pawl, 75-a second elastic piece, 76-a first intermittent gear, 77-a second intermittent gear and 78-a shifting block;
81-lower leg wear, 82-upper leg wear;
91-first axis, 92-second axis, 93-third axis, 94-fourth axis.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1 to 8, in one embodiment of the present invention, a robot joint structure is provided, which includes a mounting block 10, an elastic support 20, a driving mechanism 30, a first arm 40, an adjusting arm 50, a second arm 60, and an adjusting mechanism 70.
Referring to fig. 1 and 2, the elastic support 20 is movably disposed on the mounting frame 10, and the driving mechanism 30 is also disposed on the mounting frame 10 and is used for driving the elastic support 20 to move linearly. The first arm 40 is hinged to the elastic support 20, and the axis of the hinge of the first arm 40 and the elastic support 20 is referred to as the first axis. The adjusting arm 50 is hinged to the mounting frame 10, in the height direction, the adjusting arm 50 is hinged to the mounting frame 10 and located above the hinge of the first support arm 40 and the elastic support 20, and the axis of the hinge of the adjusting arm 50 and the mounting frame 10 is marked as a second axis.
The second support arm 60 is hinged to the first support arm 40 and the adjusting arm 50 respectively, the axis of the hinged position of the second support arm 60 and the first support arm 40 is recorded as a third axis, the third axis can rotate around the first axis, the axis of the hinged position of the second support arm 60 and the adjusting arm 50 is recorded as a fourth axis, the first axis, the second axis, the third axis and the fourth axis are parallel to each other, the fourth axis can rotate around the second axis, the distance between the third axis and the second axis is recorded as an adjustable distance L, and the second support arm 60 and the first support arm 40 have an initial included angle alpha. An adjusting mechanism 70 is disposed on the mounting frame 10, and the adjusting mechanism 70 is used for adjusting the position of the fourth axis, so as to adjust the length of the adjustable distance L and the angle of the initial included angle α.
In the joint structure of the robot of the present embodiment, since the distance between the first axis and the third axis, the distance between the second axis and the fourth axis, and the distance between the third axis and the fourth axis are constant, when the driving mechanism 30 drives the elastic support 20 to move along the mounting rack 10, the movement of the elastic support 20 changes the position of the first axis, so as to drive the first support arm 40 and the second support arm 60 to rotate relatively, that is, the included angle between the first support arm 40 and the second support arm 60 changes within a certain range, so as to indirectly change the positions of the third axis and the fourth axis, thereby completing the bending or straightening action of the joint structure of the robot.
Through the mutual matching of the driving mechanism 30, the elastic support 20, the first support arm 40 and the second support arm 60, the rigid driving is converted into the flexible driving, so that the risk in the process of using the robot joint structure is reduced, and the adaptability of man-machine interaction is improved.
Since the position of the hinge of the adjustment arm 50 to the mounting frame 10 is fixed, a wider range of objects can be accommodated by adjusting the relative position of the fourth axis to the second axis. Specifically, when the user wears the robot joint structure, the adjustment arm 50 is rotated about the second axis by operating the adjustment mechanism 70, and the third axis is also adapted to rotate about the first axis due to the change in the position of the fourth axis. Since the position of the second axis is not changed, but the position of the third axis is changed, the distance between the third axis and the second axis is changed, and the position adjustment of the second arm 60 correspondingly drives the first arm 40 to adjust, i.e. the length of the adjustable distance L and the angle of the initial included angle α are changed. After the initial angle α is determined, the angle between the first arm 40 and the second arm 60 changes only within a certain range during the walking process, i.e. the first arm 40 and the second arm 60 have a maximum angle and a minimum angle.
Therefore, the wearer can adjust the initial included angle alpha of the first support arm 40 and the second support arm 60 according to the standing position and the knee straightening angle, and the first support arm 40 and the second support arm 60 can only move in steps according to the shape of the wearer, so that the robot joint mechanism can adapt to the knee straightening degrees of different wearing people and has a wider application range.
In one embodiment, the adjustment mechanism 70 includes a ratchet 71 and a lock assembly, the ratchet 71 is rotatably disposed on the mounting frame 10, the adjustment arm 50 is disposed on the ratchet 71, the rotation axis of the ratchet 71 coincides with the second axis, and the lock assembly is disposed on the mounting frame 10 and is used for limiting the rotation direction of the ratchet 71.
Specifically, the ratchet 71 is rotatably mounted on the mounting block 10 through an axis, the adjusting arm 50 is fixed on a side of the ratchet 71 away from the mounting block 10, since the rotation axis of the ratchet 71 is overlapped with the second axis and the adjusting arm 50 is fixed on the ratchet 71, when the limit of the locking assembly on the ratchet 71 is released, an operator can operate the adjusting arm 50 to wind the second axis, so as to adjust the length of the adjustable distance L and the initial included angle α between the first support arm 40 and the second support arm 60, and after the adjustment, the locking assembly is operated to lock the ratchet 71, and the position of the adjusting arm 50 is also fixed.
The knee of the wearer is located at the hinged position of the first support arm 40 and the second support arm 60, and after the wearer wears the robot joint structure, the wearer can operate the locking assembly to adjust the initial included angle alpha between the first support arm 40 and the second support arm 60, so that the operation is simple and convenient.
In one embodiment, the mounting bracket 10 is provided with a housing 11, and the ratchet 71 extends into the housing 11. The locking assembly comprises a first pawl 72, a first elastic member 73, a second pawl 74 and a second elastic member 75, wherein the first pawl 72 and the second pawl 74 are rotatably arranged in the housing 11 and are respectively engaged with the ratchet wheel 71, and the rotation stopping directions of the first pawl 72 and the second pawl 74 are opposite. The first resilient member 73 is arranged to apply a force to the first pawl 72 to prevent it from disengaging the ratchet wheel 71 and the second resilient member 75 is arranged to apply a force to the second pawl 74 to prevent it from disengaging the ratchet wheel 71.
Because the first pawl 72 and the second pawl 74 have opposite rotation stopping directions to the ratchet wheel 71, when the ratchet wheel 71 needs to be rotated forward or backward, the wearer only needs to unlock the corresponding first pawl 72 or second pawl 74 to rotate the adjusting arm 50, and after the position of the adjusting arm 50 is adjusted, the first spring 24 or the second elastic member 75 drives the first pawl 72 or the second pawl 74 to reset, and the ratchet wheel 71 is locked at the position.
In one embodiment, the first pawl 72 and the second pawl 74 are symmetrically arranged on both sides of the ratchet wheel 71, the first pawl 72 is provided with a first intermittent gear 76, and the rotation axis of the first intermittent gear 76 coincides with the rotation axis of the first pawl 72. The second pawl 74 is provided with a second intermittent gear 77 meshed with the first intermittent gear 76, the rotation axis of the second intermittent gear 77 is coincident with the rotation axis of the second pawl 74, the second pawl 74 is provided with a dial 78, and the dial 78 extends out of the housing 11.
Specifically, when the initial included angle α needs to be adjusted, an operator only needs to dial the dial block 78, the second pawl 74 rotates and simultaneously transmits the rotation to the first pawl 72 through the second intermittent gear 77, the first pawl 72 and the second pawl 74 simultaneously compress the first elastic member 73 and the second elastic member 75, the locking state of the ratchet 71 is released, and at the moment, the position of the adjusting arm 50 can be rotated and adjusted at will, so that the knee joint straightness of different wearers can be adapted. After adjustment, the wearer only needs to release the shifting block 78, the first pawl 72 and the second pawl 74 are reset by the first elastic member 73 and the second elastic member 75, respectively, the ratchet 71 is locked again, and accordingly, the position of the adjusting arm 50 is also locked.
Moreover, the position of the adjusting arm 50 can be finely adjusted by adopting the structure that the ratchet wheel 71 is matched with the first pawl 72 and the second pawl 74, so that the application range of the adjusting mechanism 70 is improved.
In one embodiment, the first arm 40 is in an L-shaped configuration, the first arm 40 includes a first arm 41 and a second arm 42, the first arm 41 is hinged to the elastic support 20, and the second arm 60 is hinged to a corner where the first arm 41 is connected to the second arm 42. When the driving mechanism 30 drives the elastic support 20 to move along the mounting frame 10, the movement of the elastic support 20 changes the position of the first axis, so as to drive the first arm 40 and the second arm 60 to move, thereby indirectly changing the positions of the third axis and the fourth axis, and completing the bending or straightening action of the joint structure of the robot.
In one embodiment, for wearing, the second arm 42 is provided with a lower leg wearing part 81, the end of the second arm 60 far away from the first arm 40 is extended to form an extension arm 61, and the extension arm 61 is provided with a upper leg wearing part 82. The joint structure of the robot has a plurality of mounting holes on the first support arm 40 and the second support arm 60 to facilitate the mounting of the thigh wearing part 82 and the shank wearing part 81 at different positions to suit the wearers with different leg lengths. Meanwhile, the robot joint structure adopts the carbon plate and the titanium alloy as main manufacturing materials, the overall weight is greatly reduced, the consumed energy of a wearer in the using process is reduced, and the robot joint structure is suitable for more users and has a wider application range.
In one embodiment, the mounting frame 10 is provided with a guide frame 12, and one end of the guide frame 12 is provided with a support base 13. The elastic support 20 comprises a first sliding plate 21, a second sliding plate 22, a third sliding plate 23, a first spring 24, a second spring 25 and a plurality of connecting rods 26, wherein the first sliding plate 21, the second sliding plate 22 and the third sliding plate 23 are all in sliding fit on the guide frame 12, the second sliding plate 22 is positioned between the first sliding plate 21 and the third sliding plate 23, and the driving mechanism 30 is used for driving the second sliding plate 22 to slide along the guide frame 12. The two ends of the first spring 24 are respectively connected with the first sliding plate 21 and the second sliding plate 22, the two ends of the second spring 25 are respectively connected with the second sliding plate 22 and the third sliding plate 23, and each connecting rod 26 is respectively connected with the first sliding plate 21 and the third sliding plate 23.
The first arm 41 and the connecting rod 26, the first support arm 40 and the second support arm 60, the second support arm 60 and the adjusting arm 50, the ratchet 71 and the mounting rack 10 are hinged through bearings.
The drive mechanism 30 includes a drive motor 31, a coupling, a speed reducer, a lead screw 32, and a nut 33. Driving motor 31, shaft coupling, reduction gear and lead screw 32 are transmission connection in proper order, and driving motor 31, shaft coupling, reduction gear all set up in mounting bracket 10, and lead screw 32 sets up in leading truck 12 and rotates with supporting seat 13 to be connected, and nut 33 sets up on second slide 22 and wears to establish on lead screw 32.
The design can maintain high inherent compliance in most of the gait cycle of the humanoid robot by connecting the first spring 24 and the second spring 25 in series to transfer force, and simultaneously maintain the capability of providing peak force, and has the advantages of light weight, compact structure, wide output force range and the like.
The working principle is specifically explained by straightening the robot joint as follows:
the driving motor 31 is connected with the guide frame 12 through a coupler, the speed is reduced through the speed reducer, the rotary motion is transmitted to the lead screw 32, the lead screw 32 rotates to drive the nut 33 to slide downwards along the guide frame 12, the nut 33 moves downwards and transmits the motion to the first sliding plate 21 and the third sliding plate 23 through the first spring 24 and the second spring 25, so that the elastic support 20 is driven to move downwards integrally, the first support arm 40 is hinged with the connecting rod 26, the position of the first axis moves downwards, and the first support arm 40 rotates clockwise around the first axis, so that the position of the second support arm 60 can be adjusted adaptively until the second support arm 60 and the second arm body 42 are close to be straight, and the straightening action is completed.
The working principle of the bending motion of the robot joint is specifically explained as follows:
the driving motor 31 is connected with the guide frame 12 through a coupler, the speed is reduced through the speed reducer, the rotary motion is transmitted to the lead screw 32, the lead screw 32 rotates to drive the nut 33 to slide upwards along the guide frame 12, the nut 33 moves upwards and transmits the motion to the first sliding plate 21 and the third sliding plate 23 through the first spring 24 and the second spring 25 in the process of moving upwards, so that the elastic support 20 is driven to move upwards as a whole, the first support arm 40 is hinged with the connecting rod 26, the position of the first axis is moved upwards, the first support arm 40 rotates anticlockwise around the first axis, in this way, the second support arm 60 can also adjust the position adaptively, the included angle between the second support arm 60 and the second arm body 42 changes, and the bending action is completed.
In the description of the present invention, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (8)
1. A robot joint structure characterized in that: the method comprises the following steps:
a mounting frame;
the elastic bracket is movably arranged on the mounting rack;
the driving mechanism is used for driving the elastic support to do linear motion;
The first support arm is hinged with the elastic support, and the axis of the hinged position of the first support arm and the elastic support is marked as a first axis;
the adjusting arm is hinged with the mounting rack, and the axis of the hinged position of the adjusting arm and the mounting rack is marked as a second axis;
the second support arm is hinged with the first support arm and the adjusting arm respectively, the axis of the hinged position of the second support arm and the first support arm is marked as a third axis, the third axis can rotate around the first axis, the axis of the hinged position of the second support arm and the adjusting arm is marked as a fourth axis, the fourth axis can rotate around the second axis, the distance between the third axis and the second axis is marked as an adjustable distance L, and the second support arm and the first support arm have an initial included angle alpha; and
and the adjusting mechanism is arranged on the mounting rack and used for adjusting the position of the fourth axis so as to adjust the length of the adjustable interval L and the angle of the initial included angle alpha.
2. The robot joint structure according to claim 1, wherein: adjustment mechanism includes ratchet and locking subassembly, the ratchet rotates to be set up on the mounting bracket, the regulating arm sets up on the ratchet, the axis of rotation of ratchet with the coincidence of second axis, the locking subassembly sets up on the mounting bracket and be used for the restriction the turning to of ratchet.
3. The robot joint structure according to claim 2, wherein: a shell is arranged on the mounting rack, and the ratchet wheel extends into the shell;
the locking assembly comprises a first pawl, a first elastic piece, a second pawl and a second elastic piece, the first pawl and the second pawl are rotatably arranged in the shell and are respectively meshed with the ratchet wheel, and the rotation stopping directions of the first pawl and the second pawl are opposite;
the first elastic piece is used for exerting acting force on the first pawl to prevent the first pawl from disengaging from the ratchet wheel, and the second elastic piece is used for exerting acting force on the second pawl to prevent the second pawl from disengaging from the ratchet wheel.
4. The robot joint structure according to claim 3, wherein: the first pawl and the second pawl are symmetrically arranged on two sides of the ratchet wheel, a first intermittent gear is arranged on the first pawl, and the rotating axis of the first intermittent gear is overlapped with the rotating axis of the first pawl;
the second pawl is provided with a second intermittent gear meshed with the first intermittent gear, the rotating axis of the second intermittent gear is overlapped with the rotating axis of the second pawl, and the second pawl is provided with a shifting block which extends out of the shell.
5. The robot joint structure according to any one of claims 1 to 4, wherein: the first support arm is of an L-shaped structure and comprises a first arm body and a second arm body, the first arm body is hinged to the elastic support, and the second support arm is hinged to a corner where the first arm body is connected with the second arm body.
6. The robot joint structure according to claim 5, wherein: the second arm body is provided with a shank wearing piece, one end, far away from the first support arm, of the second support arm extends to form an extension arm, and the extension arm is provided with a thigh wearing piece.
7. The robot joint structure according to any one of claims 1 to 4, wherein: a guide frame is arranged on the mounting frame, and a supporting seat is arranged at one end of the guide frame;
the elastic support comprises a first sliding plate, a second sliding plate, a third sliding plate, a first spring, a second spring and a plurality of connecting rods, the first sliding plate, the second sliding plate and the third sliding plate are all in sliding fit on the guide frame, the second sliding plate is positioned between the first sliding plate and the third sliding plate, and the driving mechanism is used for driving the second sliding plate to slide along the guide frame;
The two ends of the first spring are respectively connected with the first sliding plate and the second sliding plate, the two ends of the second spring are respectively connected with the second sliding plate and the third sliding plate, and each connecting rod is respectively connected with the first sliding plate and the third sliding plate.
8. The robot joint structure according to claim 7, wherein: the driving mechanism comprises a driving motor, a coupling, a speed reducer, a lead screw and a nut;
the driving motor, the shaft coupling the reduction gear with the lead screw is transmission connection in proper order, driving motor the shaft coupling the reduction gear all sets up in the mounting bracket, the lead screw sets up in the leading truck and with the supporting seat rotates to be connected, the nut sets up on the second slide and wear to establish on the lead screw.
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| WO2022062713A1 (en) * | 2020-09-27 | 2022-03-31 | 上海傅利叶智能科技有限公司 | Ankle joint device having adjustable foot support initial angle |
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| CN107041825A (en) * | 2017-05-18 | 2017-08-15 | 浙江机电职业技术学院 | A kind of postoperative elbow knee joint rehabilitation device |
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| CN114750135B (en) | 2024-02-23 |
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