CN114750135B - Robot joint structure - Google Patents
Robot joint structure Download PDFInfo
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- CN114750135B CN114750135B CN202210428475.5A CN202210428475A CN114750135B CN 114750135 B CN114750135 B CN 114750135B CN 202210428475 A CN202210428475 A CN 202210428475A CN 114750135 B CN114750135 B CN 114750135B
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- sliding plate
- support arm
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- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 210000000689 upper leg Anatomy 0.000 claims description 6
- 210000002414 leg Anatomy 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 abstract description 10
- 210000000629 knee joint Anatomy 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 5
- 230000003993 interaction Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 7
- 238000005452 bending Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 210000001699 lower leg Anatomy 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000004417 patella Anatomy 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 206010062310 Joint hyperextension Diseases 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 244000309466 calf Species 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
- 238000005265 energy consumption Methods 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
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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 a mounting 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 driving into flexible driving, so that risks in the process of using the robot joint structure are reduced, and the adaptability of man-machine interaction is improved. In addition, through design adjustment mechanism, but the length of adaptable adjustable interval L to and the angle of initial contained angle alpha, so, the wearer is according to the standing appearance of self custom, and self knee angle of straightening, just can adjust the initial contained angle alpha of first support arm and second support arm adaptively, so for this robot joint mechanism can adapt to different wearing crowd's knee joint degree of straightening, and makes it have wider application scope.
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 active joint movement of an outer wearer, the traditional exoskeleton power joint mainly considers the freedom degree of the curling and stretching movement of the legs of the person, and adopts the scheme that a motor and a speed reducer are connected in series and then are directly connected with an executing part, so that the power-assisted exoskeleton is large in general size, time and labor are wasted in installation, and the manufacturing cost is high. Meanwhile, most of the humanoid robot joint drivers are driven directly and have poor structural adjustability and poor flexibility.
The knee joint is the largest and most complex joint in the human body and consists of a femoral shin joint, a femoral patella joint, a meniscus, a ligament, a synovial capsule and a synovial fissure, wherein the femoral, tibial and patella joints are combined with each other. Most people have different degrees of knee hyperextension, which means that the extension angle of the knee exceeds the normal extension range when the leg is straightened, and the top end of the tibia slides backwards relative to the femur so that the knee joint is excessively opened backwards. The knee extension angle of normal population is 0 deg., whereas the knee extension angle of population with hyperextension of knee joint may be-5 deg. or-10 deg.. Therefore, the knee position is different when each person stands, and in common practice, the included angle between the tibia and the femur is different.
For the problems, the existing robot joints cannot be suitable for the knee joint straightening angles of different crowds when standing, namely, the initial included angle angles of the bones of the big leg and the lower leg of the existing robot joints are constant, after the robot is worn, the knee joints of a user cannot be effectively adjusted according to the postures of the knee joints of the user, so that the problem of low adaptability exists, the problem that the robot joints cannot be suitable for different requirements is caused, and the application range of the robot joints is greatly reduced.
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 according to the knee joint straightening degree of the wearer, and the application range of the robot joint is improved.
In order to achieve the above object, the present invention provides a robot joint structure comprising a mounting frame; an elastic bracket movably disposed on the mounting frame; 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 part of the first support arm and the elastic support is recorded as a first axis; the adjusting arm is hinged with the mounting frame, and the axis of the hinged position of the adjusting arm and the mounting frame is recorded 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 interval between the third axis and the second axis is marked as an adjustable interval L, and the second support arm and the first support arm have an initial included angle alpha; the adjusting mechanism is arranged on the mounting frame and is used for adjusting the position of the fourth axis so as to realize the length of the adjustable interval L and the angle adjustment 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 rotation axis of the ratchet wheel coincides with the second axis, and the locking assembly is arranged on the mounting frame and used for limiting the steering of the ratchet wheel.
Preferably, a shell is arranged on the mounting frame, and the ratchet wheel stretches into the shell; the locking assembly comprises a first pawl, a first elastic piece, a second pawl and a second elastic piece, wherein 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 direction of the first pawl is opposite to that of the second pawl; the first elastic member is used for exerting a force for preventing the first pawl from being separated from the ratchet wheel, and the second elastic member is used for exerting a force for preventing the second pawl from being separated from the ratchet wheel.
Preferably, the first pawl and the second pawl are symmetrically arranged at 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 rotation axis of the second intermittent gear coincides with the rotation axis of the second pawl, the second pawl is provided with a shifting block, and the shifting block extends out of the shell.
Preferably, the first support arm is in an L-shaped structure, the first support arm comprises a first arm body and a second arm body, the first arm body is hinged with the elastic support, and the second support arm is hinged at the corner where the first arm body is connected with the second arm body.
Preferably, the second arm body is provided with a lower leg wearing piece, one end of the second support arm far away from the first support arm extends to form an extension arm, and the extension arm is provided with a thigh wearing piece.
Preferably, 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, wherein the first sliding plate, the second sliding plate and the third sliding plate are 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.
Preferably, the driving mechanism comprises a driving motor, a coupling, a speed reducer, a screw rod and a nut; the driving motor, the coupler, the speed reducer and the screw rod are sequentially in transmission connection, the driving motor, the coupler and the speed reducer are all arranged in the mounting frame, the screw rod is arranged in the guide frame and is rotationally connected with the supporting seat, and the nut is arranged on the second sliding plate and penetrates through the screw rod.
The invention has the beneficial effects that:
1. the invention discloses a robot joint structure, which is characterized in that when an elastic support is driven by a driving mechanism to move along a mounting frame, the position of a first axis is changed by the movement of the elastic support, 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 mutually supporting of actuating mechanism, elastic support, first support arm and second support arm, make rigid drive change into flexible drive to reduce the risk in the use this robot joint structure in-process, improved man-machine interaction's adaptability.
2. The invention discloses a robot joint structure, before use, an adjusting mechanism is operated to enable an adjusting arm to rotate around a second axis, and a third axis can also adaptively rotate around a first axis due to the fact that the position of a fourth axis is changed, and the position of the third axis is not changed, so that 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, and therefore, a wearer can adaptively adjust the initial included angle alpha between a first support arm and a second support arm according to the standing postures and the knee straightening angles of the wearer, and the robot joint structure can adapt to knee joint straightening degrees of different wearers and has wider application ranges.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a robot joint structure 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 second arm and the adjusting arm in cooperation;
FIG. 4 is a schematic view of the engagement of the adjustment arm with the ratchet wheel;
FIG. 5 is a schematic structural view of an adjustment mechanism;
FIG. 6 is a side view of the FIG. 2 state;
FIG. 7 is a schematic view of the structure of the hinge of the first arm, the second arm, and the adjusting arm;
fig. 8 is a schematic structural view of the driving mechanism, the elastic support and the mounting frame.
Reference numerals:
10-mounting frames, 11-shells, 12-guide frames and 13-supporting seats;
20-elastic support, 21-first slide plate, 22-second slide plate, 23-third slide plate, 24-first spring, 25-second spring and 26-connecting rod;
30-driving mechanism, 31-driving motor, 32-lead screw, 33-nut;
40-a first support arm, 41-a first arm body, 42-a second arm body;
50-an adjusting arm;
60-a second arm, 61-an extension arm;
70-adjusting mechanism, 71-ratchet, 72-first pawl, 73-first elastic member, 74-second pawl, 75-second elastic member, 76-first intermittent gear, 77-second intermittent gear, 78-dial;
81-calf wear, 82-thigh wear;
91-first axis, 92-second axis, 93-third axis, 94-fourth axis.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level 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 frame 10, a resilient bracket 20, a driving mechanism 30, a first support arm 40, an adjusting arm 50, a second support 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 perform linear motion. The first arm 40 is hinged to the elastic support 20, and the axis at which the first arm 40 is hinged to the elastic support 20 is denoted as a first axis. The adjusting arm 50 is hinged to the mounting frame 10, and in the height direction, the adjusting arm 50 is hinged to the mounting frame 10 above the position where the first arm 40 is hinged to the elastic support 20, and the axis of the position where the adjusting arm 50 is hinged to the mounting frame 10 is denoted as a second axis.
The second support arm 60 is hinged to the first support arm 40 and the adjusting arm 50 respectively, an axis of a hinged position of the second support arm 60 and the first support arm 40 is denoted as a third axis, the third axis can rotate around the first axis, an axis of a hinged position of the second support arm 60 and the adjusting arm 50 is denoted 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, a distance between the third axis and the second axis is denoted 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 realize the length of the adjustable distance L and the angle adjustment of the initial included angle α.
In the robot joint structure of the present embodiment, because 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 frame 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 relatively rotate, i.e. the angle between the first support arm 40 and the second support arm 60 changes within a certain interval 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 robot joint structure.
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 articulated position of the adjusting 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 mechanism 70 is operated to rotate the adjustment arm 50 about the second axis, and the third axis is also adaptively rotated about the first axis due to the change in the position of the fourth axis. Because the position of the second axis is unchanged, 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, that is, 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 will only change within a certain range during walking, i.e. the first arm 40 and the second arm 60 have a maximum angle and a minimum angle.
In this way, the wearer adjusts the initial included angle α between the first arm 40 and the second arm 60 according to the standing position and the knee extension angle, and makes the first arm 40 and the second arm 60 move only in steps according to the shape of the wearer, so that the robot joint mechanism can adapt to the knee extension degrees of different wearers, and has a wider application range.
In one embodiment, the adjustment mechanism 70 includes a ratchet 71 rotatably disposed on the mount 10, the adjustment arm 50 disposed on the ratchet 71, the rotational axis of the ratchet 71 coinciding with the second axis, and a locking assembly disposed on the mount 10 for limiting the rotation of the ratchet 71.
Specifically, the ratchet 71 is rotatably mounted on the mounting frame 10 through an axis, and the adjusting arm 50 is fixed on a side of the ratchet 71 facing away from the mounting frame 10, and since the rotation axis of the ratchet 71 coincides with the second axis and the adjusting arm 50 is fixed on the ratchet 71, when the restriction of the locking assembly to the ratchet 71 is released, an operator can operate the adjusting arm 50 around the second axis, thereby adjusting the length of the adjustable distance L and the initial angle α between the first arm 40 and the second arm 60, and after 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 at the hinge 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 of the first support arm 40 and the second support arm 60, so that the operation is simple and convenient.
In one embodiment, the mounting frame 10 is provided with a housing 11, and the ratchet 71 extends into the housing 11. The locking assembly includes a first pawl 72, a first elastic member 73, a second pawl 74 and a second elastic member 75, the first pawl 72 and the second pawl 74 are both rotatably disposed in the housing 11 and respectively engaged with the ratchet 71, and the first pawl 72 and the second pawl 74 are opposite in rotation stopping direction. The first elastic member 73 is for applying a force to the first pawl 72 that prevents it from coming off the ratchet wheel 71, and the second elastic member 75 is for applying a force to the second pawl 74 that prevents it from coming off the ratchet wheel 71.
Because the first pawl 72 and the second pawl 74 rotate in opposite directions to the ratchet 71, when the ratchet 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, so that the ratchet 71 is locked.
In one embodiment, the first pawl 72 and the second pawl 74 are symmetrically disposed on both sides of the ratchet wheel 71, and 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 coincides with the rotation axis of the second pawl 74, and 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, the operator only needs to dial the dial block 78, and 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, and the locking state of the ratchet 71 is released, at this time, the position of the adjusting arm 50 can be rotated and adjusted at will, so as to adapt to the knee joint extension degrees of different wearers. After the adjustment, the wearer only needs to release the shifting block 78, the first pawl 72 and the second pawl 74 are reset under the action of the first elastic member 73 and the second elastic member 75, respectively, the ratchet 71 is locked again, and accordingly, the position of the adjustment arm 50 is also locked.
In addition, the ratchet 71 and the first pawl 72 and the second pawl 74 are matched with each other, so that the position of the adjusting arm 50 can be finely adjusted, and the application range of the adjusting mechanism 70 is improved.
In one embodiment, the first support arm 40 has an L-shaped structure, the first support 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 support 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 support arm 40 and the second support 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 robot joint structure.
In one embodiment, for ease of wearing, the second arm body 42 is provided with a calf wearing member 81, the end of the second arm 60 remote from the first arm 40 is extended to form an extension arm 61, and the extension arm 61 is provided with a thigh wearing member 82. The robot joint structure is provided with a plurality of mounting holes on the first support arm 40 and the second support arm 60, so as to facilitate the mounting of different positions of the thigh wearing piece 82 and the shank wearing piece 81, and adapt to wearers with different leg lengths. Meanwhile, the robot joint structure adopts the carbon plate and the titanium alloy as main manufacturing materials, so that the overall weight is greatly reduced, and the energy consumption of a wearer in the use process is reduced, so that the robot joint structure is suitable for more users and has 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 seat 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 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 first slide plate 21 and the second slide plate 22 are respectively connected to both ends of the first spring 24, the second slide plate 22 and the third slide plate 23 are respectively connected to both ends of the second spring 25, and each connecting rod 26 is respectively connected to the first slide plate 21 and the third slide plate 23.
The first arm 41 is hinged with the connecting rod 26, the first support arm 40 is hinged with the second support arm 60, the second support arm 60 is hinged with the adjusting arm 50, and the ratchet 71 is hinged with the mounting frame 10 through bearings.
The drive mechanism 30 includes a drive motor 31, a coupling, a speed reducer, a screw 32, and a nut 33. The driving motor 31, the coupling, the speed reducer and the screw rod 32 are sequentially connected in a transmission mode, the driving motor 31, the coupling and the speed reducer are all arranged in the installation frame 10, the screw rod 32 is arranged in the guide frame 12 and is rotationally connected with the supporting seat 13, and the nut 33 is arranged on the second sliding plate 22 and penetrates through the screw rod 32.
The design can maintain high internal compliance during most of the gait cycle of the humanoid robot by connecting the first spring 24 and the second spring 25 in series to transmit force, while maintaining the ability to provide peak force, and has the advantages of light weight, compact structure, large output force range, and the like.
The robot joint is used for straightening action to specifically explain the working principle as follows:
the driving motor 31 is connected through a coupler and is decelerated through a speed reducer, the rotation motion is transmitted to the screw rod 32, the screw rod 32 rotates to drive the nut 33 to slide downwards along the guide frame 12, the movement is transmitted 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 downward movement of the nut 33, the elastic support 20 is driven to move downwards integrally, the first support arm 40 is hinged with the connecting rod 26, so that the position of the first axis moves downwards, the first support arm 40 rotates clockwise around the first axis, and in this way, the second support arm 60 also can adaptively adjust the position until the second support arm 60 and the second arm body 42 are approximately straight, and straightening action is completed.
The robot joint is used for bending action to specifically explain the working principle as follows:
the driving motor 31 is connected through a coupler and is decelerated through a speed reducer, the rotation motion is transmitted to the screw rod 32, the screw rod 32 rotates to drive the nut 33 to slide upwards along the guide frame 12, the movement is transmitted 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 upward movement of the nut 33, the elastic support 20 is driven to move upwards as a whole, the first support arm 40 is hinged with the connecting rod 26, so that the position of the first axis moves upwards, the first support arm 40 rotates anticlockwise around the first axis, and therefore, the second support arm 60 also can adaptively adjust the position, and the included angle between the second support arm 60 and the second arm body 42 changes, so that bending motion 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 for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (7)
1. The utility model provides a robot joint structure which characterized in that: comprising the following steps:
a mounting frame;
an elastic bracket movably disposed on the mounting frame;
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 part of the first support arm and the elastic support is recorded as a first axis;
the adjusting arm is hinged with the mounting frame, and the axis of the hinged position of the adjusting arm and the mounting frame is recorded 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 interval between the third axis and the second axis is marked as an adjustable interval 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 frame and is used for adjusting the position of the fourth axis so as to realize the length of the adjustable interval L and the angle adjustment of the initial included angle alpha;
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 rotation axis of the ratchet wheel coincides with the second axis, and the locking assembly is arranged on the mounting frame and used for limiting the steering of the ratchet wheel.
2. The robotic joint structure of claim 1, wherein: the mounting frame is provided with a shell, and the ratchet wheel stretches into the shell;
the locking assembly comprises a first pawl, a first elastic piece, a second pawl and a second elastic piece, wherein 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 direction of the first pawl is opposite to that of the second pawl;
the first elastic member is used for exerting a force for preventing the first pawl from being separated from the ratchet wheel, and the second elastic member is used for exerting a force for preventing the second pawl from being separated from the ratchet wheel.
3. The robotic joint structure of claim 2, wherein: the first pawl and the second pawl are symmetrically arranged at 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 rotation axis of the second intermittent gear coincides with the rotation axis of the second pawl, the second pawl is provided with a shifting block, and the shifting block extends out of the shell.
4. A robotic joint structure as claimed in any one of claims 1-3, wherein: the first support arm is L-shaped, the first support arm includes first arm body and second arm body, first arm body with the elastic support articulates, the second support arm articulates in first arm body with the corner that the second arm body is connected.
5. The robotic joint structure of claim 4, wherein: the leg wearing piece is arranged on the second arm body, an extension arm is formed by extending one end of the second support arm far away from the first support arm, and the extension arm is provided with the thigh wearing piece.
6. A robotic joint structure as claimed in any one of claims 1-3, 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, wherein the first sliding plate, the second sliding plate and the third sliding plate are 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.
7. The robotic joint structure of claim 6, wherein: the driving mechanism comprises a driving motor, a coupler, a speed reducer, a screw rod and a nut;
the driving motor, the coupler, the speed reducer and the screw rod are sequentially in transmission connection, the driving motor, the coupler and the speed reducer are all arranged in the mounting frame, the screw rod is arranged in the guide frame and is rotationally connected with the supporting seat, and the nut is arranged on the second sliding plate and penetrates through the screw rod.
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| CN202210428475.5A CN114750135B (en) | 2022-04-22 | 2022-04-22 | Robot joint structure |
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| CN114750135B true CN114750135B (en) | 2024-02-23 |
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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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