CN201564637U - Joint assisting power adjusting device - Google Patents
Joint assisting power adjusting device Download PDFInfo
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- CN201564637U CN201564637U CN2009201882297U CN200920188229U CN201564637U CN 201564637 U CN201564637 U CN 201564637U CN 2009201882297 U CN2009201882297 U CN 2009201882297U CN 200920188229 U CN200920188229 U CN 200920188229U CN 201564637 U CN201564637 U CN 201564637U
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- joint
- limbs
- adjusting device
- moment
- cam
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Abstract
The utility model relates to a joint assisting power adjusting device. The joint assisting power adjusting device relates to a limb 1 and a limb 2 which are hinged with each other through a joint rotating shaft; the joint assisting power adjusting device comprises a moment adjusting device used for adjusting the rotating moment of a joint; two ends of the moment adjusting device are fixedly connected to the limb 1 and the limb 2 respectively; the moment adjusting device is a rotary joint power assisting mechanism comprising a cam and an elastic component; the effective profile curve of the cam is obtained according to an auxiliary moment function and the application of numeric iteration, so that the joint assisting power adjusting device adopts a rigidity-changeable torsion elasticity device adjusting the rotating moment of the joint through the cam, so as to ensure that the peak value of the rotating moment of the joint can be reduced and the valley value of the rotating moment of the joint is improved. Therefore, the utility model has the advantages that a motor with smaller power and maximum twisting moment can be used, to reduce the dead weight of a joint mechanism and save energy consumption; or the driving moment of an artificial limb wearer is reduced, to save more labor force.
Description
Technical field
This utility model relates to joint assistance adjusting device, is used to reduce the peak torque that the joint drives, belong to mechanism design, robotics field and and human body recovery mechanism, can be applicable to walking robot and intelligent artificial limb knee joint.
Background technology
At present, the design of low-power consumption walking mechanism is the basis of human walking mechanism of research and the reasonable walking mechanism of exploitation, and wherein the kneed design of walking robot is crucial.
In the prior art, the kneed driving of robot mainly is directly to utilize driving arrangements such as motor to carry out active drive, that is: in the robot ambulation process, kneed angle is controlled by driving arrangements such as motors fully, and in a kneed walking period, kneed turning moment exists peak value and valley, and when selecting drive motors for use, obviously be to determine according to peak value, therefore, the problem that this driving method exists is to select drive motors relatively conservative, and the weight of motor is one of key component of walking mechanism weight, cause mechanism's operation power consumption big indirectly, be not suitable for the research and the application of current walking mechanism.
The utility model content
This utility model is at the deficiencies in the prior art, joint assistance adjusting device is provided, to regulate the moment that the joint drives, make peak value reduce, and valley improves, thereby can select power and the littler motor of peak torque, alleviate the articulation mechanism deadweight, save energy consumption, perhaps make the prosthesis wearer driving moment reduce, more laborsaving.
For realizing above technical purpose, this utility model will be taked following technical scheme:
A kind of joint assistance adjusting device, relate to limbs one and limbs two, and limbs one and limbs two are hinged by the joint rotating shaft, comprise the moment regulating device that is used to reduce joint turning moment peak value, and the two ends of this moment regulating device are fixedly connected on respectively on limbs one and the limbs two.
Described moment regulating device comprises cam, elastomeric element and rigid element, described cam is fixedly mounted on the limbs one, fixedly connected with elastomeric element with limbs one respectively in the two ends of rigid element, the other end of elastomeric element is then fixedlyed connected with limbs two, and the part table body of rigid element is on the cam contour face.
Also be connected with rigid connector between the described elastomeric element and second fixed part.
Moment regulating device also includes the installation locating rack, this installation locating rack is made up of first fixed part that is hinged and second fixed part, described cam is installed on the limbs one by first fixed part, elastomeric element then is installed on the limbs two by second fixed part, and rigid element then is installed on the limbs one by first fixed part.
Also be connected with rigid connector between the described elastomeric element and second fixed part.
Described rigid element is rope form or lamellar.
Rigid element is a steel wire rope.
Described elastomeric element is extension spring.
Described first fixed part and second fixed part all are the panel beating frame.
According to above technical scheme, can realize following beneficial effect:
1. this utility model is connected a moment regulating device on the limbs one of forming the joint and limbs two, this moment regulating device can reduce joint turning moment peak value, also improve joint turning moment valley simultaneously, thereby can select the less motor of power and peak torque, alleviate the articulation mechanism deadweight, save energy consumption, perhaps make the prosthesis wearer driving moment reduce, more laborsaving;
2. moment regulating device described in the utility model comprises cam, elastomeric element and rigid element, cam is fixed on the limbs one, and elastomeric element is with after rigid element is connected, fixedly connected with limbs with limbs one respectively in two ends, and the part table body of rigid element is on the contoured surface of cam, when the joint rotation, be that limbs two are when limbs one rotation, the straight line that elastomeric element and rigid element are linked to be will roll along the cam contour face, make the arm of force of elastic force change, the power value of this elastic force also can change simultaneously, promptly this moment regulating device provides the auxiliary torque of an expectation to the joint rotation, joint rotating moment peak value can be reduced, the less motor of power and peak torque can be selected thus, energy efficient;
3. moment regulating device also comprises the installation locating rack, it comprises first fixed part and second fixed part that is hinged, and cam is fixedly mounted on the limbs one by first fixed part, elastomeric element then is installed on the limbs two by second fixed part, rigid element then is installed on the limbs one by first fixed part, therefore, the installation of more convenient this moment regulating device of this mode on limbs is easy to promote and carries out;
The method for designing of described cam effective contour surface curve, key step is: the elastic force initial value of at first setting elastomeric element, to obtain one group of cam envelope, used one group of ray of cam center to scan the cam envelope then, thereby obtain a series of cam profile curve point coordinates values to be verified, then obtain the pairing elastomeric element amount of elastic deformation of these cam profile curve point coordinates values to be verified, can try to achieve each pairing elastomeric element elastic force of cam profile curve point coordinates value to be verified, whether the check elastomeric element elastic force of asking satisfies iterated conditional at last: if the satisfied cam profile curve point coordinates value of then this iteration being obtained to be verified is as the cam profile curve point coordinates value of reality; If do not satisfy then one group of elastomeric element elastic force of trying to achieve with this iteration as the elastic force initial value, to obtain one group of new cam envelope, loop iteration like this goes down, till satisfying iterated conditional.
Hence one can see that, effective cam contour surface curve described in the utility model can carry out respective design in the required torque of out of phase according to the robot knee joint, can be according to the designed different different respective cams contour line of knee joint torque function curve design for the uniform machinery people; Different knee joint torque function curve for the different machines people also can carry out the design of respective cams profile, thereby has increased the motility and the versatility of this patent.
Description of drawings
Fig. 1 is that this utility model is θ in the joint anglec of rotation
iThe time structural representation;
Fig. 2 is that this utility model is θ in the joint anglec of rotation
jThe time structural representation;
Fig. 3 is the flow chart that this utility model cam contour surface curve obtains;
Wherein, limbs one 1 fixed connecting pieces 2 rigid elements 3 cams 4 joint rotating shafts 5 elastomeric elements 6 rigid connectors 7 limbs 28.
The specific embodiment
Explain the technical solution of the utility model below with reference to accompanying drawing.
As shown in Figure 1, joint assistance adjusting device described in the utility model, relate to limbs 1 and limbs 28, and limbs 1 and limbs 28 are hinged by joint rotating shaft 5, comprise the moment regulating device that is used to reduce joint turning moment peak value, the two ends of this moment regulating device are fixedly connected on respectively on limbs 1 and the limbs 28, joint assistance adjusting device described in the present embodiment is mainly used in knee joint, then the two ends of moment regulating device are fixedly connected on respectively on thigh and the shank, it comprises cam 4, elastomeric element 6 and rigid element 3, described cam 4 is fixedly mounted on the limbs 1, fixedly connected with elastomeric element 6 with limbs 1 respectively in the two ends of rigid element 3, and it is connected on the limbs 1 by fixed connecting piece 2, the other end of elastomeric element 6 is then fixedlyed connected with limbs 28, and the part table body of rigid element 3 is on cam 4 contoured surfaces, and in addition described elastomeric element 6 is extension spring.
For making things convenient for the installation of this utility model on limbs 1 and limbs 28, then moment regulating device also includes the installation locating rack, this installation locating rack is made up of first fixed part that is hinged and second fixed part, and first fixed part and second fixed part all are the panel beating frame, described cam 4 is installed on the limbs 1 by first fixed part, elastomeric element 6 then is installed on the limbs 28 by second fixed part, 3 of rigid elements are installed on the limbs 1 by first fixed part, promptly earlier cam 4 is fixedly mounted on first fixed part, elastomeric element 6 then is fixedly connected on respectively on first fixed part and second fixed part with rigid element 3 formed connector two ends, and with the part table body of rigid element 3 contoured surface around cam 4, described rigid element 3 is rope form or lamellar, this utility model is selected steel wire rope for use, also is connected with rigid connector 7 between the elastomeric element 6 and second fixed part in addition.
During use, first fixed part is installed on the thigh, and second fixed part is installed on the shank, in human body or robot gait processes, locating rack is installed will be rotated along with kneed rotatablely moving, different elastic deformations then can take place around cam 4 in elastomeric element 6, and the elastic force that each rotation initial elasticity parts 6 is produced is all to there being the corresponding arm of force, thereby this device can provide a moment values, so that kneed turning moment is adjusted, that is: make kneed turning moment peak value reduce, and valley improves, thereby can select power and the littler motor of peak torque, alleviate the knee-joint mechanism deadweight, save the walking energy consumption, perhaps make the prosthesis wearer driving moment reduce, walking is more laborsaving.
The acquisition methods of cam 4 effective contour surface curves described in the utility model, flow chart as shown in Figure 3, it is according to the auxiliary torque function, use the anti-cam 4 effective contour surface curves of asking of method of numerical value iteration, this effective contour surface curve is the set at elastomeric element 6 place straight lines and cam 4 point of contacts in the articulations digitorum manus rotary course, key step is: the elastic force initial value of at first setting elastomeric element 6, to obtain one group of cam 4 envelope, used one group of ray at cam 4 centers to scan cam 4 envelopes then, thereby obtain a series of cam to be verified 4 contour curve point coordinates values, then obtain pairing elastomeric element 6 amount of elastic deformation of these cam 4 contour curve point coordinates values to be verified, can try to achieve the pairing elastomeric element 6 elastic force value of calculation of each cam to be verified 4 contour curve point coordinates value, whether last testing elastic parts 6 elastic force value of calculation satisfy iterated conditional: if the satisfied cam to be verified 4 contour curve point coordinates values of then this iteration being obtained are as the cam 4 contour curve point coordinates values of reality; If do not satisfy then one group of elastomeric element, the 6 elastic force value of calculation of trying to achieve with this iteration as the elastic force initial value, to obtain one group of new cam 4 envelope, loop iteration like this goes down, till satisfying iterated conditional.
Specifically, in conjunction with Fig. 1 to 3, these cam 4 effective contour surface curves obtain and may further comprise the steps:
(1) the elastic force initial value of setting elastomeric element 6 is f
0, set up cam 4 disjunctor coordinate systems, choose n discrete angle position θ simultaneously
i(i=1,2,3, Ln) as the data fitting desired value, then with initial value f
0Compose respectively and give and rotational angle theta
iCorresponding elastic force f
(i, 1)(i=1,2,3, Lj, L, n), f
(i, 1)Represent rotational angle theta in the 1st iteration
iCorresponding elastic force, a among the figure
(i, k)Represent rotational angle theta in the k time iteration
iThe corresponding elastomeric element 6 place straight lines and the point of contact of cam 4;
(2), choose expectation assistance torque value τ according to the target that reduces the driving moment peak value
i, in this utility model, the realizability through research cam 4 effective contour surface curves adopts linear auxiliary torque τ
i=τ
0+ k
aθ
i,, ask for and rotational angle theta according to the elastic force value that obtains in (1)
iCorresponding elastic force arm of force d
(i, 1)=τ
i/ f
(i, 1), d wherein
(i, 1)Represent rotational angle theta in the 1st iteration
iThe corresponding elastic force arm of force;
Utilize the SimMechanics module among the Simmulink to set up the dynamics simulation model of leading leg, obtain cycle stability walking swing time dependent curve of phase stage motion of knee joint angle and the time dependent curve of corresponding knee joint driving torque, satisfy knee joint expectation auxiliary torque design principle simultaneously: (1) is because linear function is simple relatively, so auxiliary torque is designed to linearity, i.e. τ
i=τ
0+ k
aθ
i(2) along with the increase of motion of knee joint angle, auxiliary torque reduces gradually; (3) guarantee that knee joint forward maximum drive torque has significantly and reduce, and restriction knee joint negative sense maximum drive torque increase; (4) add auxiliary torque after, the peak torque of knee joint driving torque has obviously and reduces; (5), when the motion of knee joint angle is identical, provide identical auxiliary torque in different time points; (6) auxiliary torque just is, and greater than zero, is counterclockwise, and the relation function that then can obtain auxiliary torque and motion of knee joint angle is:
τ
i(θ)＝-0.147θ
knee+18.6298，15°≤θ
knee≤72°
And the time dependent function of motion of knee joint is as follows:
θ
kne(t)＝19648t
3-4864t
2-13t-25，0≤t≤T
Therefore, the time dependent relation function of cycle stability walking swing phase stage auxiliary torque:
τ
i(t)＝2847.4t
3-710.2t
2-2.3t+15，0≤t≤T
τ wherein
i(t) be auxiliary torque, unit is Nm; θ
Knee(t) be the motion of knee joint angle, unit is degree; T is the time, and unit is s; T=0.26s is the swing phase cycle;
(3) according to d
(i, 1)Obtain the arm of force point A corresponding with it
(i, 1)Coordinate [x in cam 4 disjunctor coordinate systems
(i, 1), y
(i, 1)], obtain the fixed connection point B between the corresponding elastomeric element 6 and second fixed part simultaneously
(i, 1)With respect to the coordinate of cam 4 disjunctor coordinate systems [x '
(i, 1), y '
(i, 1)], then can obtain a series of envelopes according to following formula:
B among Fig. 1
(i, k)Represent rotational angle theta in the k time iteration
iCorresponding elastomeric element 6 and the coordinate of the fixed connection point between second fixed part in cam 4 disjunctor coordinate systems; And the B among Fig. 2
(j, k)Represent rotational angle theta in the k time iteration
jCorresponding elastomeric element 6 and the coordinate of the fixed connection point between second fixed part in cam 4 disjunctor coordinate systems;
(4) envelope of using the ray of cam 4 disjunctor coordinate origins that above-mentioned steps is obtained scans, to obtain the point coordinates value of corresponding cam to be verified 4 contour lines;
(5) the cam to be verified 4 contour line point coordinates values that obtain according to (4) step are obtained its pairing elastomeric element 6 amount of elastic deformation, and then obtain corresponding elastic force f
(i, 1)'=ε [l
(i, 1)-l
0], (i=1,2,3, Ln), wherein, ε is the elastic stiffness coefficient, l
(i, 1)It is rotational angle theta in the 1st iteration
iCorresponding amount of elastic deformation, l
0Then be the former length of spring;
(6) check the f ' that is obtained
(i, 1)Whether satisfy iterated conditional, i.e. max{|f '
(i, 1)-f
0|＜Δ, wherein, Δ is the iterated conditional value, if satisfy iterated conditional, then cam 4 contour line corresponding point coordinates to be verified are actual cam 4 contour line point coordinates in the step (4), if do not satisfy iterated conditional, then return (2) step, and with f '
(i, 1)As elastomeric element 6 initial values, obtain new cam 4 envelopes, so loop iteration goes down, up to f '
(i, k)Satisfy till the iterated conditional f '
(i, k)Rotational angle theta in the k time iteration that expression is obtained
iCorresponding elastic force, k=1,2,3, L n.
The actual cam 4 contour line point matches of (7) (6) step being obtained obtain this effective contour surface curve equation:
y＝6.2563x
2-0.0475x-0.0161，(0.013299≤x≤0.03232)
This section of being obtained is cam 4 contour curves effectively, promptly in the rotary course of joint, and that section cam 4 contour lines that steel wire rope is fitted in the motion of knee joint angular range.
Claims (8)
1. joint assistance adjusting device, relate to limbs one and limbs two, and limbs one and limbs two are hinged by the joint rotating shaft, it is characterized in that, comprise the moment regulating device that is used to reduce joint turning moment peak value, the two ends of this moment regulating device are fixedly connected on respectively on limbs one and the limbs two.
2. joint assistance adjusting device according to claim 1, it is characterized in that, described moment regulating device comprises cam, elastomeric element and rigid element, described cam is fixedly mounted on the limbs one, fixedly connected with elastomeric element with limbs one respectively in the two ends of rigid element, the other end of elastomeric element is then fixedlyed connected with limbs two, and the part table body of rigid element is on the cam contour face.
3. joint assistance adjusting device according to claim 2 is characterized in that, also is connected with rigid connector between described elastomeric element and the limbs two.
4. joint assistance adjusting device according to claim 2, it is characterized in that, moment regulating device also includes the installation locating rack, this installation locating rack is made up of first fixed part that is hinged and second fixed part, described cam is installed on the limbs one by first fixed part, elastomeric element then is installed on the limbs two by second fixed part, and rigid element then is installed on the limbs one by first fixed part.
5. joint assistance adjusting device according to claim 2 is characterized in that described rigid element is rope form or lamellar.
6. joint assistance adjusting device according to claim 5 is characterized in that, rigid element is a steel wire rope.
7. joint assistance adjusting device according to claim 4 is characterized in that, described first fixed part and second fixed part all are the panel beating frame.
8. joint assistance adjusting device according to claim 2 is characterized in that, described elastomeric element is extension spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201882297U CN201564637U (en) | 2009-10-13 | 2009-10-13 | Joint assisting power adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201882297U CN201564637U (en) | 2009-10-13 | 2009-10-13 | Joint assisting power adjusting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201564637U true CN201564637U (en) | 2010-09-01 |
Family
ID=42656917
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201882297U Expired - Fee Related CN201564637U (en) | 2009-10-13 | 2009-10-13 | Joint assisting power adjusting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201564637U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107874875A (en) * | 2016-09-29 | 2018-04-06 | 香港中文大学 | Power type type ankle-foot prosthesis |
-
2009
- 2009-10-13 CN CN2009201882297U patent/CN201564637U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107874875A (en) * | 2016-09-29 | 2018-04-06 | 香港中文大学 | Power type type ankle-foot prosthesis |
| US10406000B2 (en) | 2016-09-29 | 2019-09-10 | The Chinese University Of Hong Kong | Ankle-foot prosthesis device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100901 Termination date: 20121013 |