CN211867855U - SEA mechanism and four-bar knee joint structure - Google Patents
SEA mechanism and four-bar knee joint structure Download PDFInfo
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- CN211867855U CN211867855U CN202020516586.8U CN202020516586U CN211867855U CN 211867855 U CN211867855 U CN 211867855U CN 202020516586 U CN202020516586 U CN 202020516586U CN 211867855 U CN211867855 U CN 211867855U
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Abstract
The application discloses SEA mechanism and four-bar knee joint structure. The SEA mechanism comprises a flange plate, a guide rod, an output rod, a driving part, a plurality of baffle plates and a plurality of springs. A plurality of baffles are arranged at intervals along a preset direction, and the spring is arranged between two adjacent baffles. The guide rod is fixed on the flange plate, and the plurality of baffle plates are arranged on the guide rod in a sliding mode along the preset direction. The output rod is arranged on one baffle and penetrates through the rest baffles in a sliding manner along the preset direction. The driving part drives one of the baffles to move along the preset direction, and the spring between the baffles drives the baffle provided with the output rod to move so that the output rod outputs power to the preset direction. The technical scheme that this application provided can solve the great traditional rehabilitation robot of current rigidity, brings the problem of very big potential safety hazard to the rehabilitation process with patient's human-computer interaction.
Description
Technical Field
The application relates to the technical field of rehabilitation robots, in particular to an SEA mechanism and a four-bar knee joint structure.
Background
In the course of the rapid development of the modern technology level, robots are required to meet the increasing demands of physical contact with people and the environment.
The traditional rehabilitation robot generally adopts a rigid structure to ensure the high-speed and high-precision performance of the robot. Under the working condition, the safety of people and the environment is seriously threatened as long as the traditional rehabilitation robot with higher rigidity has misoperation.
SUMMERY OF THE UTILITY MODEL
The application provides an SEA mechanism and four-bar linkage knee joint structure, it can solve the great traditional rehabilitation robot of current rigidity, brings very big potential safety hazard's problem to the rehabilitation process with patient's human-computer interaction.
In a first aspect, an embodiment of the present invention provides an SEA mechanism, including:
the device comprises a flange plate, a guide rod, an output rod, a driving part, a plurality of baffle plates and a plurality of springs;
the plurality of baffle plates are arranged at intervals along a preset direction, and the spring is arranged between two adjacent baffle plates;
the guide rod is fixed on the flange plate, and the plurality of baffle plates are slidably arranged on the guide rod along the preset direction;
the output rod is fixed on one baffle and can penetrate through the other baffles in a sliding manner along the preset direction;
the driving part drives one of the baffles to move along the preset direction, and the spring between the baffles drives the baffle provided with the output rod to move so that the output rod outputs power to the preset direction.
In the scheme, the SEA mechanism capable of flexibly outputting power is provided. In the SEA mechanism, a driving portion generates power, and an output rod outputs the power to the outside. The driving part generates power output linearly to drive one baffle to move along the preset direction, and the springs are arranged among the baffles, so that the power can be flexibly transmitted to the rest baffles through the springs, the final power is output by the output rod, and meanwhile, when the output rod receives external force, the springs can also buffer the external force. When the SEA mechanism is applied to a rehabilitation robot, the SEA mechanism can provide flexible force outwards, and can buffer the external force, so that the robot can be safely in contact with the environment and human in physics.
Optionally, in one possible embodiment, the driving part comprises a ball screw, a motor, and a ball nut;
the motor is arranged on the flange plate, an output shaft of the motor is connected with the ball screw, and the ball nut is arranged on one baffle and matched with the ball screw.
Optionally, in one possible embodiment, the SEA mechanism further comprises a fixing plate;
one end of the ball screw is arranged on the fixed plate through a bearing, and one end of the guide rod is fixed on the fixed plate;
the output end of the output rod penetrates through the fixing plate.
Alternatively, in one possible embodiment, the number of baffles is three, with the ball nut provided on the baffle in the middle.
Alternatively, in one possible embodiment, one end of the output rod is clamped to the end stop by a collar.
Optionally, in a possible embodiment, the number of the guide rods is two, and the number of the output rods is two;
the guide rods and the output rods are uniformly distributed on the baffle at intervals.
Alternatively, in one possible embodiment, the spring is fixed between the two connected shutters by a nut, and the spring is sleeved on the output rod.
In a second aspect, an embodiment of the present invention provides a four-bar knee joint structure, including:
a housing;
a loaded U-shaped hinge;
an input connecting rod;
a knee joint power output block; and
the SEA mechanism of any of the preceding embodiments;
the shell is arranged on the flange plate, the load U-shaped hinge is arranged on the end face of the shell, and the load U-shaped hinge is hinged with the knee joint power output block through the first hinge rod and the second hinge rod; the input connecting rod is hinged with the knee joint power output block;
the output rod is hinged with the input connecting rod.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a perspective view of the SEA mechanism of the present embodiment at a first viewing angle;
fig. 2 is a perspective view of the SEA mechanism of the present embodiment at a second viewing angle;
FIG. 3 is a perspective view of the four-bar linkage knee joint structure of the present embodiment from a first perspective;
fig. 4 is a perspective view of the four-bar linkage knee joint structure in the present embodiment from a second perspective.
Icon: 10-SEA mechanism; 11-a flange plate; 12-a guide bar; 13-an output rod; 14-a drive section; 15-a baffle; 16-a spring; 17-fixing the plate; 18-a bearing; 19 a-a first linear bearing; 19 b-a second linear bearing; 130-a retainer ring; 131-a hinged plate; 140-ball screw; 141-a motor; 142-a ball nut;
20-a four-bar knee joint configuration; 21-a housing; 22-load U-hinge; 23-input connecting rod; 24-knee joint power output block; 220-a first hinge lever; 221-second hinge lever.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The present embodiment provides an SEA mechanism 10, which can solve the problem that the conventional rehabilitation robot with high rigidity brings great potential safety hazard to the rehabilitation process of human-computer interaction with a patient. Wherein SEA is a Series Elastic Actuator (Series Elastic Actuator).
Referring to fig. 1, fig. 1 is a perspective view of an SEA mechanism 10 according to the present embodiment at a first viewing angle.
The plurality of baffles 15 are arranged at intervals along a preset direction, and the spring 16 is arranged between two adjacent baffles 15. The guide bar 12 is fixed to the flange 11, and a plurality of shutters 15 are slidably provided to the guide bar 12 in a predetermined direction. Note that the predetermined direction refers to the axial direction of the guide bar 12.
In this embodiment, the output rod 13 is fixed to the baffle 15 at the bottom end, and the output rod 13 slidably penetrates through the other baffles 15 along the preset direction.
In the present embodiment, the driving portion 14 drives the baffles 15 located in the middle (see below, the number of the baffles 15 is three in the present embodiment) to move in the preset direction, and the springs 16 between the baffles 15 drive the baffles 15 provided with the output rods 13 to move, so that the output rods 13 output power in the preset direction.
In other embodiments, the specific positions of the flap 15 fixed to the output rod 13 and the flap 15 driven by the driving portion 14 are not limited, and it is sufficient to ensure that the flap 15 fixed to the output rod 13 and the flap 15 driven by the driving portion 14 are not the same flap 15, so that the spring 16 can flexibly convert the power output by the driving portion 14.
In the above solution, an SEA mechanism 10 capable of flexibly outputting power is provided. In the SEA mechanism 10, the driving portion 14 generates power, and the output rod 13 outputs the power to the outside. The driving part 14 generates power output linearly to drive one of the baffles 15 to move along a preset direction, and because springs 16 are arranged among the baffles 15, the power is flexibly transmitted to the other baffles 15 through the springs 16, and finally the power is output by the output rod 13, and meanwhile, when the output rod 13 receives external force, the springs 16 can buffer the external force. When the SEA mechanism 10 is applied to a rehabilitation robot, the SEA mechanism 10 provides a flexible force to the outside, and can buffer the external force, thereby ensuring that the robot can be safely in contact with the environment and human in physics.
Alternatively, in one possible embodiment, the driving part 14 includes a ball screw 140, a motor 141, and a ball nut 142.
The motor 141 is disposed on the flange 11, an output shaft of the motor 141 is connected to the ball screw 140, and the ball nut 142 is disposed on one of the baffles 15 and is engaged with the ball screw 140.
It should be noted that the driving portion 14 provided in this embodiment is a screw linear driving mechanism, which drives the baffle 15 to move along a preset direction through the rotation of the motor 141 and the cooperation of the ball screw 140 and the ball nut 142, and has the characteristics of accurate displacement control amount and stable movement. In other embodiments, the driving portion 14 may be other devices capable of outputting linear motion, such as an air cylinder, a hydraulic cylinder, and the like.
Referring back to fig. 1, SEA mechanism 10 further includes a mounting plate 17. One end of the ball screw 140 is provided to the fixed plate 17 through the bearing 18, one end of the guide bar 12 is fixed to the fixed plate 17, and the ball screw 140 and the guide bar 12 are supported by the fixed plate 17 so that the driving part 14 can stably drive the barrier 15 to move in the preset direction. It should be noted that the guide rod 12 is connected to each baffle 15 through a first linear bearing 19a to ensure that each baffle 15 moves smoothly in the preset direction.
The output end of the output rod 13 penetrates the fixing plate 17 to conveniently output power to the outside. Here, the output rod 13 is supported by the fixed plate 17 through the second linear bearing 19b to secure the output direction of the output rod 13.
Referring to fig. 2, fig. 2 is a perspective view of the SEA mechanism 10 of the present embodiment at a second viewing angle.
In the SEA mechanism 10 according to the present embodiment, the number of the shutters 15 is three, the number of the guide rods 12 is two, the number of the output rods 13 is two, and the number of the springs 16 is four.
Two guide rods 12 are arranged on the flange plate 11 at an included angle of 180 degrees, three baffle plates 15 are uniformly arranged on the two guide rods 12 at intervals, and the baffle plate 15 positioned in the middle is provided with a ball nut 142 to be transmitted through a ball screw 140, so that the baffle plate can move along a preset direction.
The two output rods 13 are respectively clamped to the baffle 15 at the end through a retaining ring 130 (see fig. 1) (taking the present embodiment as an example, the output rods 13 are clamped to the baffle 15 at the bottom end through the retaining ring), wherein the two output rods 13 and the two guide rods 12 are respectively spaced uniformly, so that the output rods 13 can uniformly output the power transmitted by the baffle 15.
The spring 16 is fixed between the two connected baffles 15 through a nut, and the spring 16 is sleeved on the output rod 13.
In other embodiments, the number of the shutter 15, the guide rod 12, the output rod 13, and the spring 16 is not limited, and may be adjusted as necessary.
It should be noted that the present embodiment further provides a four-bar knee joint structure 20.
Referring to fig. 3 and 4, fig. 3 is a perspective view of the four-bar linkage knee joint structure 20 in the present embodiment from a first viewing angle, and fig. 4 is a perspective view of the four-bar linkage knee joint structure 20 in the present embodiment from a second viewing angle.
The four-bar knee joint structure 20 includes a housing 21, a load-bearing U-hinge 22, an input connecting rod 23, a knee joint power take-off block 24, and the SEA mechanism 10 provided above.
The housing 21 is provided on the flange 11 and shields the structures of the SEA mechanism 10, such as the guide rod 12, the damper 15, the ball screw 140, and the output rod 13.
The load U-shaped hinge 22 is arranged on the end face of the shell 21, and the load U-shaped hinge 22 is hinged with the knee joint power output block 24. Referring to fig. 4, the load U-shaped hinge 22 is hinged to two positions of the knee joint power output block 24 through a first hinge lever 220 and a second hinge lever 221. The load U-shaped hinge 22, the first hinge lever 220, the second hinge lever 221, and the knee joint power take-off block 24 constitute a four-bar linkage.
Referring to fig. 4, one end of the input connecting rod 23 is hinged to the knee joint power output block 24, and the other end of the input connecting rod 23 is hinged to the knee joint power output block 24, and the hinged position thereof refers to the position a marked in fig. 4.
The output rod 13 is in transmission connection with the input connecting rod 23 to complete the input and output of power so as to pull the knee joint power output block 24 to move. Wherein, referring to fig. 4, the top ends of the two output rods 13 are connected to a hinge plate 131, and the hinge plate 131 is hingedly connected to the input connecting rod 23.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. An SEA mechanism, comprising:
the device comprises a flange plate, a guide rod, an output rod, a driving part, a plurality of baffle plates and a plurality of springs;
the plurality of baffle plates are arranged at intervals along a preset direction, and the spring is arranged between two adjacent baffle plates;
the guide rod is fixed on the flange plate, and the plurality of baffle plates are slidably arranged on the guide rod along a preset direction;
the output rod is fixed on one of the baffles and can slidably penetrate through the rest baffles along a preset direction;
the driving part drives one of the baffles to move along the preset direction, and the springs between the baffles drive the baffles provided with the output rods to move, so that the output rods output power to the preset direction.
2. The SEA mechanism of claim 1,
the driving part comprises a ball screw, a motor and a ball nut;
the motor is arranged on the flange plate, an output shaft of the motor is connected with the ball screw, and the ball nut is arranged on one of the baffles and matched with the ball screw.
3. The SEA mechanism of claim 2,
the SEA mechanism further comprises a fixing plate;
one end of the ball screw is arranged on the fixed plate through a bearing, and one end of the guide rod is fixed on the fixed plate;
the output end of the output rod penetrates through the fixing plate.
4. The SEA mechanism of claim 2,
the number of the baffle plates is three, and the ball nut is arranged on the baffle plate positioned in the middle.
5. The SEA mechanism of claim 1,
one end of the output rod is clamped on the baffle at the end part through a retainer ring.
6. The SEA mechanism of claim 1,
the number of the guide rods is two, and the number of the output rods is two;
the guide rods and the output rods are uniformly distributed on the baffle at intervals.
7. The SEA mechanism of claim 1,
the spring is fixed between the two connected baffles through a nut, and the spring is sleeved on the output rod.
8. A four-bar knee joint structure comprising:
a housing;
a loaded U-shaped hinge;
an input connecting rod;
a knee joint power output block; and
the SEA mechanism of any one of claims 1-7;
the shell is arranged on the flange plate, the load U-shaped hinge is arranged on the end face of the shell and is hinged with the knee joint power output block through a first hinge rod and a second hinge rod; the input connecting rod is hinged with the knee joint power output block;
the output rod is hinged with the input connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020516586.8U CN211867855U (en) | 2020-04-10 | 2020-04-10 | SEA mechanism and four-bar knee joint structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020516586.8U CN211867855U (en) | 2020-04-10 | 2020-04-10 | SEA mechanism and four-bar knee joint structure |
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| Publication Number | Publication Date |
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| CN211867855U true CN211867855U (en) | 2020-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020516586.8U Active CN211867855U (en) | 2020-04-10 | 2020-04-10 | SEA mechanism and four-bar knee joint structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113456322A (en) * | 2021-06-30 | 2021-10-01 | 吉林大学 | Bionic knee joint based on motor drive |
| CN113456321A (en) * | 2021-06-30 | 2021-10-01 | 吉林大学 | Bionic active knee joint |
| CN113799109A (en) * | 2021-09-03 | 2021-12-17 | 华中科技大学 | Single-spring series elastic driver and robot |
-
2020
- 2020-04-10 CN CN202020516586.8U patent/CN211867855U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113456322A (en) * | 2021-06-30 | 2021-10-01 | 吉林大学 | Bionic knee joint based on motor drive |
| CN113456321A (en) * | 2021-06-30 | 2021-10-01 | 吉林大学 | Bionic active knee joint |
| CN113456321B (en) * | 2021-06-30 | 2022-06-21 | 吉林大学 | Bionic active knee joint |
| CN113799109A (en) * | 2021-09-03 | 2021-12-17 | 华中科技大学 | Single-spring series elastic driver and robot |
| CN113799109B (en) * | 2021-09-03 | 2022-11-11 | 华中科技大学 | Single-spring series elastic driver and robot |
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