CN217805014U - Bionic hip joint mechanism - Google Patents

Abstract

The utility model belongs to the technical field of bionic robot, a bionical hip joint mechanism is related to, through setting up shank connection structure, hip bearing structure and truck connection structure, and truck connection structure passes through the third motor and connects and control hip bearing structure and below part rotation, form first degree of freedom control, hip bearing structure can pass through second motor control shank connection structure horizontal hunting, form second degree of freedom control, shank connection structure can pass through first motor control shank connection structure and below part swing back and forth, form third degree of freedom control. The bionic hip joint mechanism adopts a worm gear and worm form for transmission, the stepping motor can be self-locked to keep the action posture, the mechanism can be prevented from falling down and being damaged when the power is off, and meanwhile, as the bionic hip joint mechanism has three orthogonal degrees of freedom which are mutually independent, coupling does not exist between the degrees of freedom, the control is simple and reliable, the action is flexible and changeable, and the gait action of human can be better simulated.

Description

Bionic hip joint mechanism

Technical Field

The utility model relates to a bionical robot technical field especially relates to a bionical hip joint mechanism.

Background

With the continuous development of the robot technology, the biped robot technology develops rapidly, and as a high-level development stage of the robot technology, the biped robot technology is a leading-edge technical field integrating multiple subjects such as mechanism kinematics, dynamics, materials science, computer technology, modern control theory, bionics and the like. The hip joint has a plurality of independent degrees of freedom, is the joint with the most complex structure and the most complex control in the biped robot, and is used as the middle joint for connecting the upper limb and the lower limb, so that the hip joint is bound to bear large load, and the stability and the reliability of the whole robot are directly influenced.

In the early development stage of the biped robot, hip joints are mostly directly driven by high-power torque motors, postures are kept only by motor locked-rotor torque, and the hip joints are mostly in a tandem stacking structure and have a larger difference with the human hip joint structure; in the existing biped robot, the hip joint structure is simplified, the structure weight is reduced, but the number of degrees of freedom is reduced, so that the flexibility degree and the working range of the hip joint are limited, the action track of the mechanism is relatively fixed and single, even the degrees of freedom of the knee joint and the ankle joint are required to assist in adjusting the posture, and the control difficulty is increased.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a bionical hip joint mechanism for solve the problem that leads to influencing robot flexibility degree and working range at the bottom of the hip joint degree of freedom of robot among the prior art.

In order to achieve one or a part or all of the above or other purposes, the present invention provides a bionic hip joint mechanism, comprising: a leg connection structure, a hip support structure, and a torso connection structure; the leg connection structure includes: the first motor, the leg connecting seat, the first worm wheel and the spline shaft; the hip support structure comprises: the second motor, the hip supporting seat, the hip rotating seat, the second worm and the second worm wheel; the trunk connection structure includes: a third motor and a hip mount; wherein, the first and the second end of the pipe are connected with each other,

the middle part of the first worm wheel is provided with a first spline through hole, the leg connecting seat is provided with a groove, and two opposite side walls of the groove are respectively provided with a first through hole and a second through hole; the hip rotating seat is provided with two alternate connecting arms, and the two alternate connecting arms are respectively provided with a second spline through hole and a third spline through hole; one end of the spline shaft sequentially penetrates through the second spline through hole, the first spline through hole, the second through hole and the third spline through hole to fixedly connect the hip rotating seat with the first worm wheel, and the leg connecting seat is movably connected with the first worm wheel;

the first worm is arranged on the leg connecting seat and located at one end of the groove, a driving shaft of the first motor is connected with the first worm, and the first worm is meshed with the first worm wheel;

the hip supporting seat is hinged with the hip rotating seat, the second worm wheel is arranged at the top of the hip rotating seat, the plane of the second worm wheel is vertical to the plane of the first worm wheel, the second worm is arranged on the hip supporting seat, a driving shaft of the second motor is connected with the second worm, and the second worm is meshed with the second worm wheel;

the third motor is connected to the hip support, and the output end of the third motor is connected to the hip support seat.

Further, the leg connecting structure further includes: a first gear and a second gear; the leg connecting seat comprises a bottom plate and a box seat, and the bottom plate is spliced on the bottom side of the box seat;

the groove bottom side wall is provided with a first center hole and a first offset hole, the bottom plate is provided with a corresponding second center hole and a second offset hole, the first gear is arranged between the first center hole and the second center hole, an output shaft of the first motor penetrates through the second center hole and is connected with the first gear, the second gear is arranged between the first offset hole and the second offset hole, the first worm bottom end penetrates through the second offset hole and is connected with the second gear, and the first gear is meshed with the second gear.

Further, the leg connecting structure further includes: the first embedding sleeve, the second embedding sleeve, the third embedding sleeve and the fourth embedding sleeve are arranged in the shell;

a first positioning boss and a second positioning boss are respectively arranged on two sides of the first gear, and the first bushing is arranged in the first central hole and is sleeved with the first positioning boss; the second bushing is arranged in the second central hole and is sleeved with the second positioning boss;

the third embedded sleeve is arranged in the first offset hole, is sleeved with the first worm and abuts against one side of the second gear; the fourth insert sleeve is arranged in the second offset hole, is sleeved with the first worm and abuts against the other side of the second gear.

Further, the cabinet base includes: a box body and a box cover; wherein the content of the first and second substances,

the groove is positioned on the box body, two side walls opposite to the groove are respectively provided with a first lower semicircular hole and a second lower semicircular hole, and the box cover is provided with a first upper semicircular hole and a second upper semicircular hole; the first through hole is formed by splicing the first upper semicircular hole and the first lower semicircular hole, and the second through hole is formed by splicing the second upper semicircular hole and the second lower semicircular hole;

still be equipped with first pilot hole on the case lid, be equipped with first antifriction bearing in the first pilot hole, first worm top is connected first antifriction bearing.

Further, the leg connecting structure further includes: a fifth bushing and a sixth bushing; one side of the first worm wheel is provided with a third positioning boss, the other side is provided with a fourth positioning boss, wherein,

the fifth bushing is arranged in the first through hole and is sleeved with the third positioning boss; the sixth bushing is arranged in the second through hole and is sleeved with the fourth positioning boss.

Further, the hip support structure further comprises: a first limit screw and a second limit screw; one end of the spline shaft is provided with a first screw hole, the other end of the spline shaft is provided with a second screw hole, the first limiting screw is connected with the first screw hole, and the second limiting screw is connected with the second screw hole.

Further, the hip support structure further comprises: a first hip bearing plate and a second hip bearing plate; wherein the content of the first and second substances,

the first hip bearing plate is provided with a first arc-shaped rail and a plurality of first bolt holes, the second hip bearing plate is provided with a second arc-shaped rail and a plurality of second bolt holes, one side of the hip bearing seat is provided with a plurality of third bolt holes, and the other side of the hip bearing seat is provided with a plurality of fourth bolt holes; the plurality of first bolt holes are respectively connected with the corresponding third bolt holes through bolts, and the plurality of second bolt holes are respectively connected with the corresponding fourth bolt holes through bolts;

at least one first supporting shaft is arranged on one side of the hip rotating seat, and a second rolling bearing is arranged on the first supporting shaft; at least one second supporting shaft is arranged on the other side of the hip rotating seat, and a third rolling bearing is arranged on the second supporting shaft; the second rolling bearing is connected with the first arc-shaped track in a sliding mode, and the third rolling bearing is connected with the second arc-shaped track in a sliding mode.

Furthermore, the hip supporting seat is of a hollow structure, an inner arc structure is arranged at the bottom of the hip supporting seat, an arc groove is formed in the inner arc structure, the middle of the inner arc structure penetrates through the hollow structure, and a first worm inner hole and a second worm inner hole are respectively formed in two opposite side walls of the hollow structure; a fourth rolling bearing is arranged on the first worm inner hole, a fifth rolling bearing is arranged on the second worm inner hole, a first baffle is arranged on the outer side of the first worm inner hole, a second baffle is arranged on the outer side of the second worm inner hole, one end of the second worm is connected with the fourth rolling bearing, and the other end of the second worm is connected with the fifth rolling bearing and penetrates out of the second baffle;

a motor positioning groove is further formed in the hollow structure and located above the second worm, the second motor is mounted in the motor positioning groove, an output shaft of the second motor extends out of the side wall of the hip supporting seat, a third gear is connected to the output shaft, a fourth gear is fixed to one end, penetrating out of the second baffle, of the second worm, and the third gear is meshed with the fourth gear.

Further, the hip bearing block comprises: an upper hip bearing seat and a lower hip bearing seat; the hollow structure is formed by splicing the upper hip bearing seat and the lower hip bearing seat.

Further, the trunk connection structure further includes: the thrust bearing, the sixth rolling bearing and the connecting plate; the hip support is provided with a second assembling hole, a limiting ring is arranged in the second assembling hole, the thrust bearing is arranged above the second assembling hole and abuts against the limiting ring, the output end of the third motor is connected with the connecting plate, and the output end is arranged above the second assembling hole and abuts against the thrust bearing;

the top of the hip upper bearing seat is provided with a connecting shaft, the sixth rolling bearing is sleeved with the connecting shaft, the connecting shaft is arranged below the second assembling hole, sequentially penetrates through the limiting ring and the thrust bearing and is connected with the connecting plate.

Implement the embodiment of the utility model provides a, will have following beneficial effect:

the utility model provides a bionical hip joint mechanism, through setting up shank connection structure, hip bearing structure and truck connection structure, and truck connection structure passes through the third motor and connects and control hip bearing structure and below part rotation, form first degree of freedom control, hip bearing structure can be through second motor control shank connection structure horizontal hunting, form second degree of freedom control, shank connection structure can be through first motor control shank connection structure and below part swing back and forth, form third degree of freedom control. The bionic hip joint mechanism adopts worm and gear transmission, so that the reduction ratio is large, the structure is compact, the transmission is stable and reliable, the bearing capacity is high, the first motor, the second motor and the third motor all use stepping motors, the self-locking can be realized to keep the action posture, the mechanism can be prevented from falling down and being damaged during power failure, meanwhile, as the three orthogonal degrees of freedom which are independent of each other are provided, no coupling exists between the degrees of freedom, the control is simple and reliable, the action is flexible and changeable, and the gait action of human can be better simulated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Wherein:

fig. 1 is an exploded view of a bionic hip joint mechanism according to an embodiment of the present invention;

FIG. 2 is another perspective of FIG. 1;

fig. 3 is a schematic structural view of a bionic hip joint mechanism according to an embodiment of the present invention;

fig. 4 is a structural cross-sectional view of a bionic hip joint mechanism in one embodiment of the invention;

fig. 5 is a cross-sectional view of a bionic hip joint mechanism in another embodiment of the invention;

fig. 6 is a cross-sectional view of a bionic hip joint mechanism according to another embodiment of the invention;

FIG. 7 is an enlarged view taken at A of FIG. 6;

fig. 8 is a cross-sectional view of a bionic hip joint mechanism according to yet another embodiment of the present invention;

FIG. 9 is an enlarged view at B of FIG. 8;

fig. 10 is a schematic structural view of a box base according to an embodiment of the present invention;

fig. 11 is an exploded view of the structure of the base of the case according to an embodiment of the present invention;

FIG. 12 is a schematic view of the hip bearing mount according to an embodiment of the present invention;

FIG. 13 is another view of FIG. 12;

figure 14 is a schematic view of a hip mount according to an embodiment of the present invention;

fig. 15 is a schematic structural view of a hip swivel according to an embodiment of the present invention.

Reference numerals:

1. a leg connecting structure; 11. a first motor; 12. a leg connecting base; 12a, a bottom plate; 12a1, a second center hole; 12a2, a second offset hole; 12b, a box base; 12b3, a box body; 12b31, a first center hole; 12b32, a first offset hole; 12b4, a box cover; 12b41, a first fitting hole; 121. a groove; 122. a first through hole; 123. a second through hole; 13. a first worm; 14. a first worm gear; 141. a third positioning boss; 142. a fourth positioning boss; 14a, a fifth bushing; 14b, a sixth bushing; 15. a spline shaft; 16. a first gear; 16a, a first bushing; 16b, a second insert; 17. a second gear; 17a, a third inlay; 17b, a fourth bushing;

2. a hip support structure; 21. a second motor; 21a, a third gear; 21b, a third limit screw; 22. a hip bearing seat; 2a, a hip upper bearing seat; 2a1, a connecting shaft; 2b, a lower hip bearing; 221. an inner arc structure; 2211. an arc groove; 222. a first worm inner bore; 223. a second worm inner bore; 224. a first baffle plate; 225. a second baffle; 226. a motor positioning groove; 23. a hip swivel base; 231. a connecting arm; 2311. a second spline through hole; 2312. a third spline through hole; 232. a first support shaft; 233. a second rolling bearing; 234. a second support shaft; 235. a third rolling bearing; 24. a second worm; 24a, a fourth gear; 24b, a fourth limit screw; 241. a fourth rolling bearing; 242. a fifth rolling bearing; 25. a second worm gear; 26. a first limit screw; 27. a second limit screw; 28. a first hip bearing plate; 281. a first arcuate track; 29. a second hip bearing plate; 291. a second arcuate track;

3. a torso connection structure; 31. a third motor; 32. a hip support; 321. a second assembly hole; 3211. a limiting ring; 33. a thrust bearing; 34. a sixth rolling bearing; 35. a connecting plate.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "including" and "having," and any variations thereof, in the description and claims of the invention and the above description of the drawings are intended to cover non-exclusive inclusions.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Moreover, the terms "first," "second," and the like are used to distinguish between different objects and are not to be construed as indicating or implying relative importance.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

Referring to fig. 1 to 15, a first embodiment of the present application proposes a biomimetic hip joint mechanism including: a leg connection structure 1, a hip support structure 2 and a trunk connection structure 3; the leg portion connecting structure 1 includes: the leg connecting seat comprises a first motor 11, a leg connecting seat 12, a first worm 13, a first worm wheel 14 and a spline shaft 15; the hip support structure 2 comprises: a second motor 21, a hip bearing seat 22, a hip rotation seat 23, a second worm 24 and a second worm wheel 25; the trunk connection structure 3 includes: a third motor 31 and a hip bracket 32; wherein the content of the first and second substances,

a first spline through hole is formed in the middle of the first worm wheel 14, the leg connecting seat 12 is provided with a groove 121, and a first through hole 122 and a second through hole 123 are respectively formed in two opposite side walls of the groove 121; the hip rotating seat 23 is provided with two alternate connecting arms 231, and the two alternate connecting arms 231 are respectively provided with a second spline through hole 2311 and a third spline through hole 2312; one end of the spline shaft 15 sequentially passes through the second spline through hole 2311, the first through hole 122, the first spline through hole, the second through hole 123 and the third spline through hole 2312 to fixedly connect the hip rotary seat 23 and the first worm wheel 14, and the leg connecting seat 12 is movably connected with the first worm wheel 14;

the first worm 13 is arranged on the leg connecting seat 12 and positioned at one end of the groove 121, the driving shaft of the first motor 11 is connected with the first worm 13, and the first worm 13 is meshed with the first worm wheel 14;

the hip supporting seat 22 is hinged with the hip rotating seat 23, the second worm wheel 25 is arranged at the top of the hip rotating seat 23, the plane of the second worm wheel 25 is vertical to the plane of the first worm wheel 14, the second worm 24 is arranged on the hip supporting seat 22, the driving shaft of the second motor 21 is connected with the second worm 24, and the second worm 24 is meshed with the second worm wheel 25;

the third motor 31 is connected to the hip bracket 32, and its output is connected to the hip bearing 22.

In this embodiment, the motors may be self-locking stepping motors. When the bionic hip joint mechanism is assembled on a robot, the leg connecting structure 1 is used for connecting a leg mechanism of the bionic robot, and the trunk connecting structure 3 is used for connecting a trunk of the bionic robot. Through the connection and matching of the parts, the bionic hip joint mechanism has three degrees of freedom orthogonal to one point, namely pitching forwards and backwards, swinging left and right and autorotation; the pitching degree of freedom is driven by the first motor 11 to drive the first worm 13 to rotate, and the first worm 13 can revolve around the first worm wheel 14 while rotating due to the fact that the first worm wheel 14 is fixedly connected with the hip rotary seat 23 through the spline shaft 15, so that the leg connecting structure 1 is driven to pitch forwards and backwards; the side-sway degree of freedom is driven by the second motor 21 to drive the second worm 24 to rotate, the second worm gear 25 is driven to rotate through the transmission of the second worm 24, and the hip rotating seat 23 can rotate around the hip supporting seat 22 due to the articulation of the hip supporting seat 22 and the hip rotating seat 23, so that the leg connecting structure 1 does the action of side sway left and right; the rotation freedom degree is driven by the third motor 31, the output end of the third motor may be a flange structure, the flange structure is connected with the hip bearing seat 22, and the third motor 31 drives the hip bearing seat 22 and the components below the hip bearing seat to rotate. Because the first motor 11 and the second motor 21 in the bionic hip joint mechanism are both driven in a worm gear form, the reduction ratio in the bionic hip joint mechanism is large, the structure is compact, the transmission is stable and reliable, the bearing capacity is high, the stepping motor can be self-locked to keep the action posture, the mechanism can be prevented from falling down and being damaged when the power is cut off, meanwhile, as the transmission structures of the three motors are not coupled (namely, the coupling does not exist between the degrees of freedom of each motor), the bionic hip joint mechanism has three degrees of freedom which are orthogonal to one point and are mutually independent, the control is simple and reliable, the action is flexible and variable, and the gait action of human can be better simulated.

To above-mentioned bionical hip joint mechanism, the utility model discloses still provide the second embodiment, wherein, shank connection structure 1 still includes: a first gear 16 and a second gear 17; leg connecting base 12 comprises a bottom plate 12a and a box base 12b, and bottom plate 12a is spliced on the bottom side of box base 12 b;

a first central hole 12b31 and a first offset hole 12b32 are arranged on the bottom side wall of the groove 121, a corresponding second central hole 12a1 and a second offset hole 12a2 are arranged on the bottom plate 12a, the first gear 16 is arranged between the first central hole 12b31 and the second central hole 12a1, the output shaft of the first motor 11 penetrates through the second central hole 12a1 and is connected with the first gear 16, the second gear 17 is arranged between the first offset hole 12b32 and the second offset hole 12a2, the bottom end of the first worm 13 penetrates through the second offset hole 12a2 and is connected with the second gear 17, and the first gear 16 is meshed with the second gear 17.

In the present embodiment, the first central hole 12b31 is located at the position where the leg structure is connected, i.e. behind the leg of the person, and in the case of the leg being vertical, the first central hole 12b31 is located on the extension line of the leg. The first motor 11 is arranged at the position of a leg, the front and back pitching of the leg connecting seat 12 is controlled by the transmission of the first gear 16 and the second gear 17 and the cooperation of the first worm 13, and the structural arrangement enables the whole gravity center of the bionic hip joint mechanism to be on the extension line of the leg or close to the position, so that the gait action of human beings can be better simulated after the bionic hip joint mechanism is applied to a bionic robot. Specifically, since the first worm wheel 14 is fixed to the hip rotation base 23 through the spline shaft 15, and the first worm wheel 14 is movably connected to the leg link base 12, when the first motor 11 rotates and the other motors are not moved, the first worm 13 is driven by the first motor 11 to rotate, and since the first worm wheel 14 is fixed, the first worm 13 also revolves around the first worm wheel 14 while rotating, and the front and back pitching of the leg link base 12 is driven by the revolution of the first worm 13. It should be noted that, the utility model discloses can be connected through the flat key between axis and the gear, as to the quantity that sets up of flat key, can set for as required.

To above-mentioned bionical hip joint mechanism, the utility model discloses still provide the third embodiment, wherein, shank connection structure 1 still includes: a first insert 16a, a second insert 16b, a third insert 17a and a fourth insert 17b;

a first positioning boss and a second positioning boss are respectively arranged on two sides of the first gear 16, and the first insert 16a is arranged in the first central hole 12b31 and is sleeved with the first positioning boss; the second insert 16b is arranged in the second central hole 12a1 and is sleeved with the second positioning boss;

the third insert 17a is disposed in the first offset hole 12b32, and is fitted over the first worm 13 and abuts against one side of the second gear 17; the fourth insert 17b is disposed in the second offset hole 12a2, and is fitted over the first worm 13 and abuts against the other side of the second gear 17.

In the present embodiment, the first, second, third and fourth inserts 16a, 16b, 17a and 17b compensate the size of the respective gear coupling portions while increasing the wear resistance of the corresponding joints.

To above-mentioned bionical hip joint mechanism, the utility model discloses still provide the fourth embodiment, wherein, the case seat 12b includes: a case body 12b3 and a case cover 12b4; wherein, the first and the second end of the pipe are connected with each other,

the groove 121 is positioned on the box body 12b3, two opposite side walls of the groove 121 are respectively provided with a first lower semicircular hole and a second lower semicircular hole, and the box cover 12b4 is provided with a first upper semicircular hole and a second upper semicircular hole; the first through hole 122 is formed by splicing a first upper semicircular hole and a first lower semicircular hole, and the second through hole 123 is formed by splicing a second upper semicircular hole and a second lower semicircular hole;

the box cover 12b4 is further provided with a first assembly hole 12b41, a first rolling bearing is arranged in the first assembly hole 12b41, and the top end of the first worm 13 is connected with the first rolling bearing.

In this embodiment, the box 12b3 is formed by splicing a plate and two sidewalls alternately arranged on the plate, the two sidewalls alternately arranged are two opposite sidewalls of the groove 121, or a block structure hollows out a groove 121 from the middle, and the first lower semicircular hole and the second lower semicircular hole are respectively arranged on the two opposite sidewalls of the groove 121. The box cover 12b4 is adapted to the box body 12b3, that is, the box cover 12b4 has a structure adapted to the first lower semicircular hole and the second lower semicircular hole, that is, "the first upper semicircular hole and the second upper semicircular hole", the first upper semicircular hole and the first lower semicircular hole are spliced to form a first through hole 122, and the second upper semicircular hole and the second lower semicircular hole are spliced to form a second through hole 123. The box cover 12b4 can also connect the first upper semicircular hole and the second upper semicircular hole through a block-shaped connecting structure, the block-shaped connecting structure is provided with a first assembly hole 12b41, a first rolling bearing is arranged in the first assembly hole 12b41, and the top end of the first worm 13 is connected with the first rolling bearing, so that the running stability of the first worm 13 is improved.

To above-mentioned bionical hip joint mechanism, the utility model discloses still provide the fifth embodiment, wherein, shank connection structure 1 still includes: a fifth insert 14a and a sixth insert 14b; one side of the first worm wheel 14 is provided with a third positioning boss 141, and the other side is provided with a fourth positioning boss 142, wherein,

the fifth insert 14a is disposed in the first through hole 122 and is fitted over the third positioning boss 141; the sixth insert 14b is disposed in the second through hole 123 and is fitted over the fourth positioning boss 142.

In this embodiment, because the first worm wheel 14 is relatively thin, and the third positioning boss 141 and the fourth positioning boss 142 are provided, the stress condition of the first worm wheel 14 when the bionic hip joint mechanism operates can be improved, that is, the third positioning boss 141 and the fourth positioning boss 142 are increased to bear direct stress on the wheel piece of the first worm wheel 14 when the bionic hip joint mechanism operates, deformation of the first worm wheel 14 due to too large stress is avoided, and the service life of the whole bionic hip joint mechanism is prolonged.

To above-mentioned bionical hip joint mechanism, the utility model discloses still provide the sixth embodiment, wherein, hip bearing structure 2 still includes: a first limit screw 26 and a second limit screw 27; one end of the spline shaft 15 is provided with a first screw hole, the other end of the spline shaft is provided with a second screw hole, the first limit screw 26 is connected with the first screw hole, and the second limit screw 27 is connected with the second screw hole.

In this embodiment, the spline shaft 15 is provided with a first screw hole and a second screw hole at two axial ends thereof, the first limit screw 26 and the second limit screw 27 are respectively connected to different two ends of the spline shaft 15, and the caps of the first limit screw 26 and the second limit screw 27 are larger than the diameter of the spline shaft 15, so that the first limit screw 26 and the second limit screw 27 are respectively screwed into two axial ends of the spline shaft 15, and the spline shaft 15 is axially fixed. The spline shaft 15 may be a rectangular spline shaft 15 or an involute spline shaft 15, and in this example, a rectangular spline shaft 15 having a six-key distribution is used.

To above-mentioned bionical hip joint mechanism, the utility model discloses still put forward the seventh embodiment, wherein, hip bearing structure 2 still includes: a first hip bearing plate 28 and a second hip bearing plate 29; wherein the content of the first and second substances,

the first hip bearing plate 28 is provided with a first arc-shaped rail 281 and a plurality of first bolt holes, the second hip bearing plate 29 is provided with a second arc-shaped rail 291 and a plurality of second bolt holes, one side of the hip bearing seat 22 is provided with a plurality of third bolt holes, and the other side is provided with a plurality of fourth bolt holes; the plurality of first bolt holes are respectively connected with the corresponding third bolt holes through bolts, and the plurality of second bolt holes are respectively connected with the corresponding fourth bolt holes through bolts;

at least one first supporting shaft 232 is arranged on one side of the hip rotary seat 23, and a second rolling bearing 233 is arranged on the first supporting shaft 232; at least one second supporting shaft 234 is arranged on the other side of the hip rotary seat 23, and a third rolling bearing 235 is arranged on the second supporting shaft 234; the second rolling bearing 233 is slidably connected to the first arc rail 281, and the third rolling bearing 235 is slidably connected to the second arc rail 291.

In the present embodiment, the number of the second rolling bearing 233 and the number of the third rolling bearing 235 may be any number, and the number may be the same or different. Both rolling bearings may be replaced by ball bearings or sliding bearings or the like. When the second rolling bearing 233 and the third rolling bearing 235 are all plural, they are distributed in an arc track, specifically, the plural second rolling bearings 233 are distributed and adapted to the first arc track 281, and the plural third rolling bearings 235 are distributed and adapted to the second arc track 291.

In view of the above-mentioned bionic hip joint mechanism, the present invention further provides an eighth embodiment, wherein the hip supporting seat 22 has a hollow structure, the bottom of the hip supporting seat 22 is provided with an inner arc structure 221, the inner arc structure 221 is provided with an arc groove 2211, the middle position of the inner arc structure 221 penetrates through the hollow structure, and the two opposite side walls of the hollow structure are respectively provided with a first worm inner hole 222 and a second worm inner hole 223; a fourth rolling bearing 241 is arranged on the first worm inner hole 222, a fifth rolling bearing 242 is arranged on the second worm inner hole 223, a first baffle 224 is arranged on the outer side of the first worm inner hole 222, a second baffle 225 is arranged on the outer side of the second worm inner hole 223, one end of the second worm 24 is connected with the fourth rolling bearing 241, and the other end of the second worm 24 is connected with the fifth rolling bearing 242 and penetrates out of the second baffle 225;

a motor positioning groove 226 is further arranged in the hollow structure, the motor positioning groove 226 is positioned above the second worm 24, the second motor 21 is mounted in the motor positioning groove 226, an output shaft of the second motor 21 extends out of the side wall of the hip bearing seat 22, a third gear 21a is connected to the output shaft, a fourth gear 24a is fixed to one end, penetrating out of the second baffle 225, of the second worm 24, and the third gear 21a is meshed with the fourth gear 24 a.

In this embodiment, the hip bearing seat 22 has a hollow structure, which means that the interior of the hip bearing seat 22 is hollow, the inner arc structure 221 is adapted to the arc structure, the arc groove 2211 is a groove formed on the arc surface of the inner arc, and the arc groove 2211 is actually divided into two sections because the middle portion of the inner arc structure 221 penetrates the hollow structure. With the above-described arrangement, after the second worm 24 is mounted, the second worm 24 can mesh with the second worm wheel 25 at the penetration. The first and second retainers 224 and 225 may limit the fourth and fifth rolling bearings 241 and 242, respectively. The second motor 21 can be fixed in the motor positioning groove 226 by bolts, screws, etc., and the third gear 21a and the fourth gear 24a can be axially fixed by screws, for example, the third gear 21a is connected to the output shaft of the second motor 21 by a flat key, and a third limit screw 21b is screwed into the shaft end of the output shaft of the second motor 21, so that the third gear 21a is axially fixed; the fourth gear 24a is connected to the second worm 24 via a flat key, and a fourth limit screw 24b is screwed into the shaft end of the second worm 24, so that the fourth gear 24a is axially fixed. The transmission principle of the second motor 21 to the second worm 24 through the third gear 21a and the fourth gear 24a is similar to the transmission principle of the first motor 11 to the first worm 13 through the first gear 16 and the second gear 17, and is not described again.

To above-mentioned bionical hip joint mechanism, the utility model discloses still provide the ninth embodiment, wherein, hip bearing 22 includes: a hip upper bearing seat 2a and a hip lower bearing seat 2b; the hollow structure is formed by splicing the upper hip bearing seat 2a and the lower hip bearing seat 2 b.

In this embodiment, since the hip bearing seat 22 is a hollow structure and is assembled and manufactured by the hip upper bearing seat 2a and the hip lower bearing seat 2b, the production difficulty is low, and the installation of the internal parts of the whole structure is facilitated.

To above-mentioned bionical hip joint mechanism, the utility model discloses still provide the tenth embodiment, wherein, truck connection structure 3 still includes: a thrust bearing 33, a sixth rolling bearing 34, and a connecting plate 35; the hip bracket 32 is provided with a second assembly hole 321, a limit ring 3211 is arranged in the second assembly hole 321, the thrust bearing 33 is arranged above the second assembly hole 321 and is abutted against the limit ring 3211, the output end of the third motor 31 is connected with the connecting plate 35, and the output end is arranged above the second assembly hole 321 and enables the connecting plate 35 to be abutted against the thrust bearing 33;

the top of the hip upper bearing seat 2a is provided with a connecting shaft 2a1, a sixth rolling bearing 34 is sleeved with the connecting shaft 2a1, and the connecting shaft 2a1 is arranged below the second assembling hole 321, sequentially passes through the limiting ring 3211 and the thrust bearing 33, and is connected with a connecting plate 35.

In the present embodiment, the thrust bearing 33 helps to reduce friction and stress, and at the same time, enables rotation between the third motor 31 and other components, so that the metal components can work smoothly, thereby increasing durability thereof, and the thrust bearing 33 used in the present embodiment is a rolling bearing. The connecting plate 35 may be a structure similar to a flange, and is connected to the connecting shaft 2a1 at the top of the hip upper bearing seat 2a through the structure, so that the third motor 31 drives the hip upper bearing seat 2a to rotate, and drives the components below the hip upper bearing seat 2a to rotate. The third motor 31 is also provided with a self-locking function for keeping the posture for a long time.

It is to be understood that the above-described embodiments are merely exemplary of the invention, and are not intended to limit the scope of the invention. The present invention may be embodied in many different forms and, on the contrary, these embodiments are provided so that this disclosure will be thorough and complete. While the invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. All utilize the equivalent structure that the content of the utility model discloses a specification and attached drawing was done, direct or indirect application is in other relevant technical field, all is in the same way the utility model discloses within the patent protection scope.

Claims (10)

1. A biomimetic hip joint mechanism, comprising: a leg connection structure, a hip support structure, and a torso connection structure; the leg connecting structure includes: the first motor, the leg connecting seat, the first worm wheel and the spline shaft; the hip support structure comprises: the second motor, the hip supporting seat, the hip rotating seat, the second worm and the second worm wheel; the trunk connection structure includes: a third motor and a hip mount; wherein the content of the first and second substances,

the middle part of the first worm wheel is provided with a first spline through hole, the leg connecting seat is provided with a groove, and two opposite side walls of the groove are respectively provided with a first through hole and a second through hole; the hip rotating seat is provided with two alternate connecting arms, and the two alternate connecting arms are respectively provided with a second spline through hole and a third spline through hole; one end of the spline shaft sequentially penetrates through the second spline through hole, the first spline through hole, the second through hole and the third spline through hole to fixedly connect the hip rotating seat with the first worm wheel, and the leg connecting seat is movably connected with the first worm wheel;

the first worm is arranged on the leg connecting seat and located at one end of the groove, a driving shaft of the first motor is connected with the first worm, and the first worm is meshed with the first worm wheel;

the hip supporting seat is hinged with the hip rotating seat, the second worm wheel is arranged at the top of the hip rotating seat, the plane to which the second worm wheel belongs is vertical to the plane to which the first worm wheel belongs, the second worm is arranged on the hip supporting seat, the driving shaft of the second motor is connected with the second worm, and the second worm is meshed with the second worm wheel;

the third motor is connected to the hip support, and the output end of the third motor is connected to the hip support seat.

2. The biomimetic hip joint mechanism according to claim 1, wherein the leg connection structure further comprises: a first gear and a second gear; the leg connecting seat comprises a bottom plate and a box seat, and the bottom plate is spliced on the bottom side of the box seat;

the groove bottom side wall is provided with a first center hole and a first offset hole, the bottom plate is provided with a corresponding second center hole and a second offset hole, the first gear is arranged between the first center hole and the second center hole, an output shaft of the first motor penetrates through the second center hole and is connected with the first gear, the second gear is arranged between the first offset hole and the second offset hole, the first worm bottom end penetrates through the second offset hole and is connected with the second gear, and the first gear is meshed with the second gear.

3. The biomimetic hip joint mechanism according to claim 2, wherein the leg connection structure further comprises: the first embedding sleeve, the second embedding sleeve, the third embedding sleeve and the fourth embedding sleeve are arranged in the first embedding sleeve;

a first positioning boss and a second positioning boss are respectively arranged on two sides of the first gear, and the first bushing is arranged in the first central hole and is sleeved with the first positioning boss; the second bushing is arranged in the second central hole and is sleeved with the second positioning boss;

the third embedded sleeve is arranged in the first offset hole, is sleeved with the first worm and abuts against one side of the second gear; the fourth insert sleeve is arranged in the second offset hole, is sleeved with the first worm and abuts against the other side of the second gear.

4. The biomimetic hip joint mechanism according to claim 2, wherein the pod holder comprises: a box body and a box cover; wherein the content of the first and second substances,

the groove is positioned on the box body, two side walls opposite to the groove are respectively provided with a first lower semicircular hole and a second lower semicircular hole, and the box cover is provided with a first upper semicircular hole and a second upper semicircular hole; the first through hole is formed by splicing the first upper semicircular hole and the first lower semicircular hole, and the second through hole is formed by splicing the second upper semicircular hole and the second lower semicircular hole;

still be equipped with first pilot hole on the case lid, be equipped with first antifriction bearing in the first pilot hole, first worm top is connected first antifriction bearing.

5. The biomimetic hip joint mechanism of claim 4, wherein the leg connection structure further comprises: a fifth bushing and a sixth bushing; one side of the first worm wheel is provided with a third positioning boss, the other side is provided with a fourth positioning boss, wherein,

the fifth bushing is arranged in the first through hole and is sleeved with the third positioning boss; the sixth bushing is arranged in the second through hole and is sleeved with the fourth positioning boss.

6. The biomimetic hip-joint mechanism according to claim 1, wherein the hip support structure further comprises: a first limit screw and a second limit screw; one end of the spline shaft is provided with a first screw hole, the other end of the spline shaft is provided with a second screw hole, the first limiting screw is connected with the first screw hole, and the second limiting screw is connected with the second screw hole.

7. The biomimetic hip-joint mechanism according to claim 1, wherein the hip support structure further comprises: a first hip bearing plate and a second hip bearing plate; wherein the content of the first and second substances,

the first hip bearing plate is provided with a first arc-shaped rail and a plurality of first bolt holes, the second hip bearing plate is provided with a second arc-shaped rail and a plurality of second bolt holes, one side of the hip bearing seat is provided with a plurality of third bolt holes, and the other side of the hip bearing seat is provided with a plurality of fourth bolt holes; the plurality of first bolt holes are respectively connected with the corresponding third bolt holes through bolts, and the plurality of second bolt holes are respectively connected with the corresponding fourth bolt holes through bolts;

at least one first supporting shaft is arranged on one side of the hip rotating seat, and a second rolling bearing is arranged on the first supporting shaft; at least one second supporting shaft is arranged on the other side of the hip rotating seat, and a third rolling bearing is arranged on the second supporting shaft; the second rolling bearing is connected with the first arc-shaped track in a sliding mode, and the third rolling bearing is connected with the second arc-shaped track in a sliding mode.

8. The bionic hip joint mechanism according to claim 7, wherein the hip supporting seat has a hollow structure, an inner arc structure is arranged at the bottom of the hip supporting seat, an arc groove is arranged on the inner arc structure, the middle position of the inner arc structure penetrates through the hollow structure, and a first worm inner hole and a second worm inner hole are respectively arranged on two opposite side walls of the hollow structure; a fourth rolling bearing is arranged on the first worm inner hole, a fifth rolling bearing is arranged on the second worm inner hole, a first baffle is arranged on the outer side of the first worm inner hole, a second baffle is arranged on the outer side of the second worm inner hole, one end of the second worm is connected with the fourth rolling bearing, and the other end of the second worm is connected with the fifth rolling bearing and penetrates out of the second baffle;

a motor positioning groove is further formed in the hollow structure and located above the second worm, the second motor is mounted in the motor positioning groove, an output shaft of the second motor extends out of the side wall of the hip supporting seat, a third gear is connected to the output shaft, a fourth gear is fixed to one end, penetrating out of the second baffle, of the second worm, and the third gear is meshed with the fourth gear.

9. The biomimetic hip joint mechanism according to claim 8, wherein the hip bearing mount comprises: an upper hip bearing seat and a lower hip bearing seat; the hollow structure is formed by splicing the upper hip bearing seat and the lower hip bearing seat.

10. The biomimetic hip joint mechanism according to claim 9, wherein the torso connection structure further comprises: the thrust bearing, the sixth rolling bearing and the connecting plate; the hip support is provided with a second assembling hole, a limiting ring is arranged in the second assembling hole, the thrust bearing is arranged above the second assembling hole and abuts against the limiting ring, the output end of the third motor is connected with the connecting plate, and the output end is arranged above the second assembling hole and abuts against the thrust bearing;

the top of the hip upper bearing seat is provided with a connecting shaft, the sixth rolling bearing is sleeved with the connecting shaft, the connecting shaft is arranged below the second assembling hole, sequentially penetrates through the limiting ring and the thrust bearing and is connected with the connecting plate.

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