CN207429346U - The side-sway joint of polypody power-assisted healing robot - Google Patents
The side-sway joint of polypody power-assisted healing robot Download PDFInfo
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- CN207429346U CN207429346U CN201720295713.4U CN201720295713U CN207429346U CN 207429346 U CN207429346 U CN 207429346U CN 201720295713 U CN201720295713 U CN 201720295713U CN 207429346 U CN207429346 U CN 207429346U
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- 230000035876 healing Effects 0.000 title claims abstract description 24
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- 210000001694 thigh bone Anatomy 0.000 claims abstract description 48
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- 210000003141 lower extremity Anatomy 0.000 abstract description 11
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Abstract
A kind of side-sway joint of polypody power-assisted healing robot, including electric pushrod driver, the Waistband structure of robot and the revolute pair of electric pushrod driver are connected, connects the nearly thigh bone of robot and the revolute pair of electric pushrod driver and the revolute pair of connection Waistband structure and nearly thigh bone；Stepper motor installs motor geometrical clamp on piece, motor geometrical clamp on piece is provided with fixed circular hole, fixed pin shaft passes through fixed circular hole to be connected on Waistband structure, one end of stepper motor output shaft and leading screw connects, leading screw and leading screw sleeve connection, spherical plain bearing rod end one end passes through port nut and leading screw sleeve clearance fit, the spherical plain bearing rod end other end is equipped with end circular hole, end circular hole is connected to the top of nearly thigh bone with end part pin axle, the circular hole of leading screw sleeve and sliding block is interference fitted, sliding block is slideably sleeved on guide rail, and guide rail is fixed intermediate plate with motor and fixed.The utility model balance is preferably, energy use efficiency is higher, is effectively applicable to the elderly and the power-assisted rehabilitation of lower limb disability person.
Description
Technical field
The utility model is related to robot field, especially a kind of side-sway joint of power-assisted healing robot.
Background technology
With the rapid development of modern science and technology, the application of robot is not merely confined to industrial circle, but progressively should
For fields such as agricultural, medical treatment and services.The application of robot gradually becomes more diversified and complicates.This practicality
New is a wearable bionic 6-leg pedipulator, its major function is to extend human body lower limbs motor function, application
It is the elderly and lower limb disability person, final goal is to realize that application recovers normal walking ability.This requires six sufficient machines
People is flexibly and safe as people's leg.And there are balance difficulty height, gait planning are difficult for two traditional sufficient exoskeleton robots
The movement of people's leg is agreed with so that easily interfering the inherent defect caused in damage etc. structure with perfection, these shortcomings cause
The exoskeleton robot of two foots temporarily cannot preferably meet today's society demand.
At present, domestic and international scientific research institution has now been developed a variety of power-assisting robots, wherein with two sufficient ectoskeleton power-assisted machines
It is artificial main, and in terms of polypody power-assisted healing robot it is a blank.
The research of ectoskeleton power-assisting robot starts from the U.S. of the 1960s, and earliest achievement in research is AM General
The Hardiman exoskeleton systems of company's research and development, can lifting heavy easily mainly using drive and control of electric machine.On lower limb
Exoskeleton robot, 2004, the lower limb exoskeleton robot (Berkeley that Univ California-Berkeley develops
Lower extremity exoskeleton, BLEEX), it is Advanced Research Projects office of U.S. Department of Defense (DARPA) EHPA projects
The First of development can bear a heavy burden and the exoskeleton robot with mobile power.BLEEX exoskeleton robots are by power-equipment, the back of the body
Packet mode stent, 2 bionic mechanical powered leg compositions, using hydraulic-driven, hydraulic pump energy sources is in its Backpack type stent
Hydraulic Power Transmission System and box miniature air speed sensing instrument.But this exoskeleton robot is short there are cruising time, power generator
Walking step state is influenced, the problems such as balance is weak.
Ectoskeleton technology is still in phase of basic research, China's state natural sciences fund and science and technology supporting project in China
Also gradually concern, the research of development exoskeleton robot.On October 15th, 2016 is handed over by He Fu artificial intelligence group joint Shanghai
The six foots walking robot in parallel that logical university researches and develops jointly formally exposes in Pudong, Shanghai, and has carried out manned walk around stake and drilled
Show.The exceedingly difficult movements such as carrying, avoidance, upper and lower cat ladder can be achieved with walking in six football association of robot, but it uses hydraulic-driven,
Pressure fluid is easily revealed, and work noise is larger, and energy use efficiency is low, and transmission speed is low, be not suitable for for the elderly and
The power-assisted rehabilitation of lower limb disability person.
The content of the invention
In order to overcome, the balance of existing exoskeleton robot is poor, energy use efficiency is relatively low, can not be suitable for old age
The deficiency of the power-assisted rehabilitation of people and lower limb disability person, a kind of balance of the utility model offer is preferable, energy use efficiency is higher,
It is effectively applicable to the side-sway joint of the polypody power-assisted healing robot of the power-assisted rehabilitation of the elderly and lower limb disability person.
Technical solution is used by the utility model solves its technical problem：
A kind of side-sway joint of polypody power-assisted healing robot, the side-sway joint include electric pushrod driver, one
Connect the Waistband structure of robot and the revolute pair of electric pushrod driver, the nearly thigh bone and electric pushrod of a connection robot
The revolute pair of driver and the revolute pair of a connection Waistband structure and nearly thigh bone；The electric pushrod driver include sliding block,
Guide rail, stepper motor, leading screw, leading screw sleeve and spherical plain bearing rod end, the stepper motor installs motor geometrical clamp on piece, described
Motor geometrical clamp on piece is provided with fixed circular hole, and fixed pin shaft is hingedly connected at through the fixed circular hole composition on Waistband structure,
The output shaft of the stepper motor and one end of leading screw connect, the leading screw and leading screw sleeve connection, the spherical plain bearing rod end
One end by port nut and leading screw sleeve clearance fit, the other end of the spherical plain bearing rod end is equipped with end circular hole, institute
The top that end circular hole is hingedly connected at nearly thigh bone with end part pin axle composition is stated, the circular hole interference of the leading screw sleeve and sliding block is matched somebody with somebody
It closes, the sliding block is slideably sleeved on guide rail, and the guide rail is fixed intermediate plate with the motor and is fixedly connected.
The technical concept of the utility model is：Polypody power-assisted healing robot with galleyworm (such as spider) be prototype,
From structurally and functionally being imitated, there is 6 Form of Bionics Mechanical Legs and multiple degree of freedom, help human body continuous by driver
Carry out the similar actions such as walk, climb, going upstairs.With the utility model device, elderly and infirm and lower limb can be helped residual
Disease person rapidly takes action as the young man of health.As a wearable new light weight robot.It is not only assisted in
Disabled person recovers locomotor activity, is expected to avoid patient to give birth to pressure sore when being sitting in for a long time on wheelchair, while can also improve the heart
Dirty health status, the intensity that exercises one's muscles alleviate depression etc..It puts on its people and can realize and easily walk, keep away completely
Exempt from situation that is vacillating and staggering, stopping when walking.Meanwhile its realization will mitigate family and society caused by aging and part disability
It can pressure.
The utility model is the wearable design of belt type, and six independent Form of Bionics Mechanical Legs are around connection because using six sufficient structures
Design, can preferably solve the unavoidable balance sex chromosome mosaicism of two biped robots, have good protect in stability and security
Barrier.One biggest advantage of Hexapod Robot is that the requirement to road surface of walking is very low, it can be with across obstacle, sand of passing by
The Special Roads such as ground, marsh, the design for being accordingly used in rehabilitation power-assisting robot are very suitable, can preferably be realized upstairs
The obstacle crossing functions such as ladder.And a large amount of degree of freedom can make the movement of robot more flexible possessed by the foot of robot, to recessed
The adaptability of the landform of convex injustice is stronger.The foothold of six sufficient formula mobile robots is discrete, with the contact area on ground
It is smaller, optimal supporting point can be selected on accessible ground, even if extremely irregular on surface, by stringent
The supporting point of foot is selected, can also be walked freely.Meanwhile this equipment, compared to hydraulic-driven, is had using driving stepper motor
Small, technology maturation is simple in structure, pollution-free, and low energy consumption, and signal transfers the advantages that rapid and easy to automate.
The beneficial effects of the utility model are mainly manifested in：1st, the polypody power-assisted healing robot involved by the utility model
With six mechanical bionic legs and 18 degree of freedom, every leg all includes two buckling joints, so as to realize buckling
Movement, therefore the utility model can realize the functions such as standing, holding balance, walking that human body lower limbs mainly undertake；2nd, use
Electric pushrod driver drives, and can generate enough high thrusts, cradle head realizes movement, and low energy consumption, signal for stepper motor
It transfers rapid and easy to automate；3rd, the utility model uses modularized design, and six mechanical bionic legs are independent mutually, lead to
It crosses master chip and coordinates control, simple and compact for structure, easy to process, assembling and repairing easy maintenance, cost are relatively low.
Description of the drawings
Fig. 1 is the utility model polypody power-assisted healing robot overall structure 3 d effect graph.
Fig. 2 is the utility model polypody power-assisted healing robot Waistband structure-Form of Bionics Mechanical Legs module 3 d effect graph.
Fig. 3 is the utility model polypody power-assisted healing robot Waistband structure-lateral structural representation of Form of Bionics Mechanical Legs module
Figure.
Fig. 4 is the bending joint 3 d effect graph in the utility model polypody power-assisted healing robot stand leg portion.
The bending joint principle schematic diagram of Fig. 5 legs.
Fig. 6 is the top view of Fig. 5.
Fig. 7 is the structure diagram of the electric pushrod driver in the utility model polypody power-assisted healing robot.
Fig. 8 is the side-sway joint structure three-dimensional design sketch in the utility model polypody power-assisted healing robot.
Fig. 9 is the side-sway joint structure diagram in the utility model polypody power-assisted healing robot.
Figure 10 is the measurements of the chest, waist and hips design sketch that Waistband structure connects in the utility model polypody power-assisted healing robot.
Figure 11 is the structure diagram that Waistband structure connects in the utility model polypody power-assisted healing robot.
Specific embodiment
The utility model is further described below in conjunction with the accompanying drawings.
With reference to Fig. 1~Figure 11, a kind of side-sway joint of polypody power-assisted healing robot, the side-sway joint includes electronic push away
The revolute pair of bar driver, the Waistband structure of connection robot and electric pushrod driver, connection robot it is near
Thigh bone and the revolute pair of electric pushrod driver and the revolute pair of a connection Waistband structure and nearly thigh bone；The electric pushrod drives
Dynamic device includes sliding block, guide rail, stepper motor, leading screw, leading screw sleeve and spherical plain bearing rod end, and the stepper motor installation motor is consolidated
Clamp on piece, the motor geometrical clamp on piece are provided with fixed circular hole, and fixed pin shaft forms hinge connection through the fixed circular hole
On Waistband structure, the output shaft of the stepper motor and one end of leading screw connect, and the leading screw and leading screw sleeve connection are described
One end of spherical plain bearing rod end is equipped with by port nut and leading screw sleeve clearance fit, the other end of the spherical plain bearing rod end
End circular hole, the end circular hole are hingedly connected at the top of nearly thigh bone, the leading screw sleeve and sliding block with end part pin axle composition
Circular hole interference fit, the sliding block is slideably sleeved on guide rail, and the guide rail is fixed intermediate plate and fixed with the motor to be connected
It connects.
The polypody power-assisted healing robot that the bending joint of the present embodiment is realized, the robot include 5 He of Waistband structure
Form of Bionics Mechanical Legs, the Waistband structure 5 connect form ring-like belt two-by-two, and the Waistband structure 5 is connected with Form of Bionics Mechanical Legs, institute
It states Form of Bionics Mechanical Legs and passes through side including nearly thigh bone 3, middle thigh bone 1 and remote thigh bone 10, the upper end of the Waistband structure 5 and nearly thigh bone 3
Joint connection is put, is connected between the nearly thigh bone 3 and the rear end of 1 epiphysis of middle leg by the first bending joint, the middle leg
Bone 1 is connected with the upper end of the remote thigh bone 10 by the second bending joint.
Further, first bending joint includes 4, connection the first electric pushrods drives of the first electric pushrod driver
The revolute pair of dynamic device and nearly thigh bone, one be connected the first electric pushrod driver and be connected nearly leg with the revolute pair of middle thigh bone and one
Revolute pair between the lower end of bone and middle thigh bone.
The first electric pushrod driver 4 includes the first sliding block, the first guide rail, the first stepper motor, the first leading screw, the
One leading screw sleeve and the first spherical plain bearing rod end, the first motor geometrical clamp on piece of the first stepper motor installation, described first
Motor geometrical clamp on piece is provided with the first circular hole, and the first axis pin forms first axle through first circular hole and is connected to nearly thigh bone
On, the output shaft of first stepper motor is connected with one end of the first leading screw, and first leading screw and the first leading screw sleeve connect
It connects, one end of first spherical plain bearing rod end passes through port nut and the first leading screw sleeve clearance fit, first rod end
The other end of oscillating bearing is equipped with the second circular hole, and second circular hole and the second axis pin form second hinge and be connected to middle thigh bone
Rear end；The circular hole of the first leading screw sleeve and the first sliding block is interference fitted, and first sliding block is slideably sleeved on first
On guide rail, first guide rail is fixed intermediate plate with first motor and is fixedly connected.
Second bending joint include the second electric pushrod drivers of connection of the second electric pushrod driver 8, one with
During the revolute pair of middle thigh bone, the revolute pair of connection the second electric pushrod driver and a middle thigh bone or remote thigh bone and one are connected
Revolute pair between the front end of thigh bone and remote thigh bone.
The second electric pushrod driver 8 includes the second sliding block, the second guide rail, the second stepper motor, the second leading screw, the
Two leading screw sleeves and the second spherical plain bearing rod end, the second motor geometrical clamp on piece of the second stepper motor installation, described second
Motor geometrical clamp on piece is provided with the 3rd circular hole, and the 3rd axis pin forms third hinge through the 3rd circular hole and is connected to middle thigh bone
On, the output shaft of second stepper motor is connected with one end of the second leading screw, and second leading screw and the second leading screw sleeve connect
It connects, one end of second spherical plain bearing rod end passes through port nut and the second leading screw sleeve clearance fit, second rod end
The other end of oscillating bearing is equipped with the 4th circular hole, and the 4th circular hole and the 4th axis pin form the 4th and be hingedly connected at remote middle thigh bone
Upper end；The circular hole of the second leading screw sleeve and the second sliding block is interference fitted, and second sliding block is slideably sleeved on the
On two guide rails, second guide rail is fixed intermediate plate with second motor and is fixedly connected.
The side-sway joint includes 7, connection Waistband structures of the 3rd electric pushrod driver and the 3rd electric pushrod drives
The revolute pair of dynamic device, the revolute pair and a connection Waistband structure of the nearly thigh bone of a connection and the 3rd electric pushrod driver and near
The revolute pair of thigh bone.
The 3rd electric pushrod driver 7 includes the 3rd sliding block, the 3rd guide rail, the 3rd stepper motor, the 3rd leading screw, the
Three leading screw sleeves and the 3rd spherical plain bearing rod end, the 3rd motor geometrical clamp on piece of the 3rd stepper motor installation, the described 3rd
Motor geometrical clamp on piece is provided with the 5th circular hole, and the 5th axis pin forms the 5th through the 5th circular hole and is hingedly connected at Waistband structure
On, the output shaft of the 3rd stepper motor is connected with one end of the 3rd leading screw, and the 3rd leading screw and the 3rd leading screw sleeve connect
It connects, one end of the 3rd spherical plain bearing rod end passes through port nut and the 3rd leading screw sleeve clearance fit, the 3rd rod end
The other end of oscillating bearing is equipped with the 6th circular hole, and the 6th circular hole and the 6th axis pin form the 4th and be hingedly connected at nearly thigh bone
The circular hole interference fit of top, the 3rd leading screw sleeve and the 3rd sliding block, the 3rd sliding block are slideably sleeved on the 3rd
On guide rail, the 3rd guide rail is fixed intermediate plate with the 3rd motor and is fixedly connected.
The Waistband structure and Form of Bionics Mechanical Legs are six, and each Waistband structure is in 120 ° of angles, the annular belt
In regular hexagon, the angle of the Waistband structure is connected with Form of Bionics Mechanical Legs.It is of course also possible to it is other structures form.Institute
It states Waistband structure and is connected two-by-two by bolt assembly 32 and form ring-like belt.
The layout of each structure of robot of the present embodiment is using galleyworm as reference, such as Fig. 1, on the whole into regular hexagon,
It is formed by connecting by six separate modulars, each module includes a Waistband structure 5 and a Form of Bionics Mechanical Legs, with reference to Fig. 2.It is most upper
Hold the angle that Waistband structure is one 120 degree, two length of side 125mm of angle.Far the long 850mm of thigh bone, the middle long 560mm of thigh bone, nearly thigh bone are long
440mm.Every first bending joint of pedipulator and the second bending joint and side-sway joint rotational angle range are all at 0~60 degree.
The utility model is related to polypody power-assisted healing robot six waistbands-leg module in used 18 bases in total
In the cradle head (12 bending joints, 6 side-sway joints) of electric pushrod driver.Bending joint can realize that pedipulator exists
Its curvature movement planar, be the important composition component of the utility model, therefore bending joint is described in detail,
First bending joint is identical with the structure of the second bending joint.With reference to Fig. 4~6, by taking the second bending joint as an example, described second
Bending joint includes the revolute pair 11 of a second electric pushrod driver of connection 8 and middle thigh bone 1, and a connection second is electronic to be pushed away
The revolute pair 12 of bar driver 8 and remote thigh bone 10, the revolute pair 13 of thigh bone 1 and remote thigh bone 10 in a connection.With reference to Fig. 7, institute
The the second electric pushrod driver stated includes the second sliding block 14,15, two the second motors of the second guide rail fix intermediate plate 18 and 20, the
Two stepping motor 19, second shaft coupling 22, the second leading screw 23, the second leading screw sleeve 24 and the second spherical plain bearing rod end 26.Wherein
Two the second motors are fixed intermediate plates 18,20 and are fixedly connected by 4 soket head cap screws 21 with the second stepper motor 19, further through the
Three circular holes 17 form hinge-connection with axis pin, are connected on middle thigh bone 1.Second leading screw 23 passes through second shaft coupling 22 and second
Motor shaft 16 connects, and the second leading screw sleeve 24 is threadedly coupled with its second internal leading screw 23, and the second motor shaft 16 rotates
When the second leading screw 23 is driven to rotate so that the second leading screw sleeve 24 moves axially.Second spherical plain bearing rod end 27, one end leads to
26 and second leading screw sleeve clearance fit of second port nut is crossed, the 4th circular hole 28 of the other end forms hinge revolute pair by axis pin
It is connected with remote thigh bone 10.Described second sliding block, 14 one end coordinates with the second guide rail 15, should be with clearance fit is combined into, and the other end passes through
Circular hole is interference fitted with the second leading screw sleeve 24, and the second guide rail 15 is fixedly connected on the second motor and fixes on intermediate plate 18,20, plays
It is provided a supporting role to the second leading screw 23.During work, the elongation of the second electric pushrod driver, 10 inside of middle thigh bone 1 and remote thigh bone
Angle becomes smaller, and the second electric pushrod driver shortens, and middle thigh bone 1 becomes larger with remote 10 inner angle of thigh bone.It electronic is pushed away based on second
The angle range of second bending joint of bar driver is 0 °~60 °, simple in structure, and good, the flexible movements of rigidity have larger
Implementary value.
Every pedipulator of the utility model polypody power-assisted healing robot can not only realize that buckling (bending) moves, and
And it can realize that side-sway moves.The side-sway joint based on electric pushrod driver utility model.With reference to Fig. 8 and Fig. 9, the side
Putting joint includes the revolute pair 30 of connection 5 and a 3rd electric pushrod driver 7 of Waistband structure, nearly 3 He of thigh bone of connection
The revolute pair 31 of the revolute pair 29 of 3rd electric pushrod driver 7, a connection Waistband structure 5 and nearly thigh bone 3.Described the 3rd
7 structure of electric pushrod driver and operation principle are identical with the second electric pushrod driver, and its rear end passes through the 5th circular hole and pin
Axis forms hinge revolute pair 30, and front end forms hinge revolute pair 29 by the 6th circular hole and axis pin.During work, the 3rd electric pushrod
Driver elongates or shortens, and revolute pair 31 is driven to rotate, realizes the side-sway function of machine.Based on the 3rd electric pushrod driver
The angle range of side-sway joint is 0 °~60 °, simple in structure, and good, the flexible movements of rigidity have larger implementary value.
The utility model is related to polypody power-assisted healing robot Waistband structure between connection with reference to Figure 10.Six waists
Band structure is sequentially connected with by bolt group can form regular hexagon fuselage.Its is simple in structure, and rigidity is good, is readily disassembled repair.
The drive system of the utility model and control measuring system include power supply, stepper motor, control card, industrial personal computer, super
Sonic sensor and computer software.
Claims (1)
1. a kind of side-sway joint of polypody power-assisted healing robot, it is characterised in that：The side-sway joint drives including electric pushrod
The revolute pair of dynamic device, the Waistband structure of connection robot and electric pushrod driver, the nearly thigh bone of a connection robot
With the revolute pair of electric pushrod driver and the revolute pair of a connection Waistband structure and nearly thigh bone；The electric pushrod driver
Including sliding block, guide rail, stepper motor, leading screw, leading screw sleeve and spherical plain bearing rod end, the stepper motor installs motor geometrical clamp
On piece, the motor geometrical clamp on piece are provided with fixed circular hole, and fixed pin shaft is hingedly connected at waist through the fixed circular hole composition
On band structure, the output shaft of the stepper motor and one end of leading screw connect, the leading screw and leading screw sleeve connection, the rod end
One end of oscillating bearing is equipped with end by port nut and leading screw sleeve clearance fit, the other end of the spherical plain bearing rod end
Circular hole, the end circular hole are hingedly connected at the circle on the top of nearly thigh bone, the leading screw sleeve and sliding block with end part pin axle composition
Hole is interference fitted, and the sliding block is slideably sleeved on guide rail, and the guide rail is fixed intermediate plate with the motor and is fixedly connected.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106943281A (en) * | 2017-03-24 | 2017-07-14 | 浙江工业大学 | The side-sway joint of polypody power-assisted healing robot |
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| CN106943281A (en) * | 2017-03-24 | 2017-07-14 | 浙江工业大学 | The side-sway joint of polypody power-assisted healing robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |