CN207693860U - The bending joint of polypody power-assisted healing robot - Google Patents
The bending joint of polypody power-assisted healing robot Download PDFInfo
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- CN207693860U CN207693860U CN201720296707.0U CN201720296707U CN207693860U CN 207693860 U CN207693860 U CN 207693860U CN 201720296707 U CN201720296707 U CN 201720296707U CN 207693860 U CN207693860 U CN 207693860U
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Abstract
A kind of revolute pair between the bending joint of polypody power-assisted healing robot, including electric pushrod driver, the revolute pair of connection electric pushrod driver and top thigh bone, the revolute pair of connection electric pushrod driver and lower part thigh bone and the lower end and lower part thigh bone that connect top thigh bone；Stepper motor is installed in motor fixing clip, fixed circular hole is provided in motor fixing clip, fixed pin shaft passes through fixed circular hole to be connected on the thigh bone of lower part, one end of stepper motor output shaft and leading screw connects, leading screw and leading screw sleeve connection, by port nut and leading screw sleeve clearance fit, the spherical plain bearing rod end other end is equipped with end circular hole for spherical plain bearing rod end one end, and end circular hole is connected to end part pin axle on the thigh bone of top；The circular hole of leading screw sleeve and sliding block is interference fitted, and sliding block is slideably sleeved on guide rail, and guide rail is fixedly connected with motor fixing clip.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 bending 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 gradually answers
For fields such as agricultural, medical treatment and services.The application of robot gradually becomes more diversified and complicates.This practicality
Novel is a wearable bionic 6-leg pedipulator, its major function is extension human body lower limbs motor function, application
It is the elderly and lower limb disability person, final goal is to realize that application restores 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
Agree with the movement of people's leg so that being easy to happen the inherent defect interfered and caused in damage etc. structure with perfection, these disadvantages make
The exoskeleton robot of two foots temporarily cannot preferably meet today's society demand.
Currently, scientific research institution has now been developed a variety of power-assisting robots both at home and abroad, 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, mainly use drive and control of electric machine, can lifting heavy easily.About 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 holder, 2 bionic mechanical powered leg compositions, using hydraulic-driven, hydraulic pump energy sources are in its Backpack type holder
Hydraulic Power Transmission System and box miniature air speed sense instrument.But this exoskeleton robot is short there are cruise duration, 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 easy leakage, 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.
Invention content
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 bending joint of the polypody power-assisted healing robot of the power-assisted rehabilitation of the elderly and lower limb disability person.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of bending joint of polypody power-assisted healing robot, the bending joint include electric pushrod driver, one
Connect electric pushrod driver and the revolute pair of top thigh bone, a revolute pair for connecting electric pushrod driver and lower part thigh bone
Revolute pair between the lower end and lower part thigh bone of a connection top thigh bone；The electric pushrod driver includes sliding block, leads
Rail, stepper motor, leading screw, leading screw sleeve and spherical plain bearing rod end, the stepper motor are installed in motor fixing clip, the electricity
Fixed circular hole is provided in machine fixing clip, fixed pin shaft passes through the fixed circular hole composition to be hingedly connected on the thigh bone of lower part, institute
One end of the output shaft and leading screw of stating stepper motor connects, the leading screw and leading screw sleeve connection, the spherical plain bearing rod 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, described for one end
End circular hole is hingedly connected at end part pin axle composition on the thigh bone of top；The circular hole of the leading screw sleeve and sliding block is interference fitted,
The sliding block is slideably sleeved on guide rail, and the guide rail is fixedly connected with the motor fixing clip.
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 novel light weight robot.It is not only assisted in
Disabled person restores locomotor activity, is expected to that patient is avoided to give birth to pressure sore because 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, alleviation depression etc..It puts on its people to may be implemented easily to walk, keep away completely
Exempt from vacillating and staggering, the case where 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 safety
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 possessed by the foot of robot can make the movement of robot more flexible, 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 for selecting foot, can also walk freely.Meanwhile this equipment is driven using stepper motor, compared to hydraulic-driven, is had
Small, technology maturation is simple in structure, pollution-free, and low energy consumption, and signal transmits the advantages that rapid and easy to automate.
The beneficial effects of the utility model are mainly manifested in：1, 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 functions such as standing, holding balance, the walking that human body lower limbs mainly undertake may be implemented in the utility model；2, it uses
Electric pushrod driver drives, and can generate enough high thrusts, cradle head realizes movement, and low energy consumption, signal for stepper motor
It transmits rapid and easy to automate；3, 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, assembly 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 the legs Fig. 5.
Fig. 6 is the vertical view of Fig. 5.
Fig. 7 is the structural schematic 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 structural schematic 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 structural schematic diagram that Waistband structure connects in the utility model polypody power-assisted healing robot.
Specific implementation mode
The utility model is further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Figure 11, a kind of bending joint of polypody power-assisted healing robot, the bending joint includes electronic pushes away
Bar driver, a connection electric pushrod driver connect electric pushrod driver with the revolute pair of top thigh bone, one under
Revolute pair between the revolute pair of portion's thigh bone and the lower end and lower part thigh bone of a connection top thigh bone；The electric pushrod driving
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 fixed
On intermediate plate, fixed circular hole is provided in the motor fixing clip, fixed pin shaft passes through the fixed circular hole composition to be hingedly connected at
On the thigh bone of lower part, the output shaft of the stepper motor and one end of leading screw connect, the leading screw and leading screw sleeve connection, the bar
Hold one end of oscillating bearing by port nut and leading screw sleeve clearance fit, the other end of the spherical plain bearing rod end is equipped with end
Portion's circular hole, the end circular hole are hingedly connected at end part pin axle composition on the thigh bone of top；The circle of the leading screw sleeve and sliding block
Hole is interference fitted, and the sliding block is slideably sleeved on guide rail, and the guide rail is fixedly connected with the motor fixing clip.
The polypody power-assisted healing robot that the bending joint of the present embodiment is realized, the robot includes 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 connect with Form of Bionics Mechanical Legs, institute
It includes nearly thigh bone 3, middle thigh bone 1 and remote thigh bone 10 to state Form of Bionics Mechanical Legs, and the Waistband structure 5 and the upper end of nearly thigh bone 3 pass through side
Joint connection is put, is connected by the first bending joint between the nearly thigh bone 3 and the rear end of 1 epiphysis of middle leg, the middle leg
Bone 1 is connect with the upper end of the remote thigh bone 10 by the second bending joint.
Further, first bending joint includes that 4, first electric pushrods of connection of the first electric pushrod driver drive
Dynamic device connect the first electric pushrod driver with the revolute pair of nearly thigh bone, one and connect 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, first stepper motor are installed in first motor fixing clip, and described first
The first circular hole is provided in motor fixing clip, the first axis pin passes through first circular hole to constitute first axle and is connected to nearly thigh bone
On, the output shaft of first stepper motor is connect 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 constitute 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 fixedly connected with the first motor fixing clip.
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 connect
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, second stepper motor are installed in the second motor fixing clip, and described second
Third circular hole is provided in motor fixing clip, third axis pin passes through the third circular hole to constitute third hinge and is connected to middle thigh bone
On, the output shaft of second stepper motor is connect 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 constitute 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 fixedly connected with the second motor fixing clip.
The side-sway joint includes that 7, connection Waistband structures of third electric pushrod driver and third electric pushrod drive
The revolute pair of dynamic device, the revolute pair and a connection Waistband structure of the nearly thigh bone of a connection and third electric pushrod driver and close
The revolute pair of thigh bone.
The third electric pushrod driver 7 includes third sliding block, third guide rail, third stepper motor, third leading screw, the
Three leading screw sleeves and third spherical plain bearing rod end, the third stepper motor are installed in third motor fixing clip, the third
The 5th circular hole is provided in motor fixing clip, the 5th axis pin passes through the 5th circular hole to constitute the 5th and is hingedly connected at Waistband structure
On, the output shaft of the third stepper motor is connect with one end of third leading screw, and the third leading screw connects with third leading screw sleeve
It connects, one end of the third spherical plain bearing rod end passes through port nut and third leading screw sleeve clearance fit, the third 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 constitute the 4th and be hingedly connected at nearly thigh bone
The circular hole on top, the third leading screw sleeve and third sliding block is interference fitted, and the third sliding block is slideably sleeved on third
On guide rail, the third guide rail is fixedly connected with the third motor fixing clip.
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 connect with Form of Bionics Mechanical Legs.It is of course also possible to be 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 at 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
End Waistband structure is one 120 degree of angle, 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 may be implemented pedipulator and exist
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 as 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 15, two the second sliding block 14, the second guide rail the second motor fixing clips 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 motor fixing clips 18,20 are fixedly connected by 4 soket head cap screws 21 with the second stepper motor 19, further through
Three circular holes 17 constitute 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, the rotation of the second motor shaft 16
When drive the second leading screw 23 rotate so that the second leading screw sleeve 24 move axially.Second spherical plain bearing rod end 27, one end are logical
Second port nut 26 and the second leading screw sleeve clearance fit are crossed, the 4th circular hole 28 of the other end constitutes hinge revolute pair by axis pin
It is connect 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 and the second leading screw sleeve 24 are interference fitted, and the second guide rail 15 is fixedly connected in the second motor fixing clip 18,20, plays
It is provided a supporting role to the second leading screw 23.When 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 10 inner angle of remote 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.
Buckling (bending) movement not only may be implemented in every pedipulator of the utility model polypody power-assisted healing robot, and
And side-sway movement may be implemented.Based on electric pushrod driver utility model side-sway joint.With reference to Fig. 8 and Fig. 9, the side
Pendulum joint includes the revolute pair 30 of connection a Waistband structure 5 and third electric pushrod driver 7, nearly 3 He of thigh bone of a connection
The revolute pair 29 of third electric pushrod driver 7, the revolute pair 31 of connection a Waistband structure 5 and nearly thigh bone 3.The third
7 structure of electric pushrod driver and operation principle are identical as the second electric pushrod driver, and its rear end passes through the 5th circular hole and pin
Axis constitutes hinge revolute pair 30, and front end constitutes hinge revolute pair 29 by the 6th circular hole and axis pin.When work, third electric pushrod
Driver elongates or shortens, and drives revolute pair 31 to rotate, realizes the side-sway function of machine.Based on third 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 referring to Fig.1 0.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, surpass
Sonic sensor and computer software.
Claims (1)
1. a kind of bending joint of polypody power-assisted healing robot, it is characterised in that：The bending joint includes that electric pushrod drives
Dynamic device, a connection electric pushrod driver connect electric pushrod driver and middle thigh bone with the revolute pair of nearly thigh bone, one
Revolute pair between revolute pair and the lower end and middle thigh bone of the nearly thigh bone of a connection；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 is installed in motor fixing clip, described
Fixed circular hole is provided in motor fixing clip, fixed pin shaft passes through the fixed circular hole composition to be hingedly connected at nearly thigh bone or remote leg
On bone, 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 joint
Justified equipped with end by port nut and leading screw sleeve clearance fit, the other end of the spherical plain bearing rod end one end of bearing
Hole, the end circular hole are hingedly connected at end part pin axle composition on middle thigh bone or nearly thigh bone；The leading screw sleeve and sliding block
Circular hole is interference fitted, and the sliding block is slideably sleeved on guide rail, and the guide rail is fixedly connected with the motor fixing clip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720296707.0U CN207693860U (en) | 2017-03-24 | 2017-03-24 | The bending joint of polypody power-assisted healing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720296707.0U CN207693860U (en) | 2017-03-24 | 2017-03-24 | The bending joint of polypody power-assisted healing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106974806A (en) * | 2017-03-24 | 2017-07-25 | 浙江工业大学 | The bending joint of polypody power-assisted healing robot |
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- 2017-03-24 CN CN201720296707.0U patent/CN207693860U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106974806A (en) * | 2017-03-24 | 2017-07-25 | 浙江工业大学 | The bending joint of polypody power-assisted healing robot |
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