CN106143665A - Trunk mechanism of a kind of flexible robot - Google Patents
Trunk mechanism of a kind of flexible robot Download PDFInfo
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- CN106143665A CN106143665A CN201510191733.2A CN201510191733A CN106143665A CN 106143665 A CN106143665 A CN 106143665A CN 201510191733 A CN201510191733 A CN 201510191733A CN 106143665 A CN106143665 A CN 106143665A
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- waist
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Abstract
The invention discloses trunk mechanism of a kind of flexible robot, including trunk skeleton, trunk skeleton includes upper limb support skeleton, knee joint waist supporting skeleton and lower limb support frame, set gradually the most from top to bottom, wherein be rotatably connected between upper limb support skeleton, knee joint waist supporting skeleton waist joint, and be rotatably connected between knee joint waist supporting skeleton, lower limb support frame knee joint.This trunk mechanism includes upper limb support skeleton, knee joint waist supporting skeleton, lower limb support frame, connected by waist joint, knee joint respectively and realize rotating, therefore this trunk structure can form the waist of class people, knee bend structure, it is different from existing most of column robots trunk, can be applicable to the trunk design of home-services robot, make the action of going down on one's knees of bending over of robot class people, on the basis of this can the related development of extreme enrichment robot future feature, have a wide range of applications.
Description
Technical field
The present invention relates to a kind of robot, particularly to trunk mechanism of a kind of flexible robot.
Background technology
Existing household machine people is relatively simple for structure, and its trunk major part is column shape structure, acts primarily as
Support and fixing head or the effect of arm, owing to there is no the anthropoid waist of class or knee structure, because nothing
The image of Buddha mankind equally have bending, the function leaning forward or swinging back, and the most also cannot realize needs as the mankind
Bend over the compound action that just can complete.And although industrial robot has the effect of comptocormia, but
Its complex structural designs, relatively costly, it is impossible to be grafted directly in the Robot Design of home services.
Summary of the invention
The trunk great majority that it is an object of the invention to overcome the household machine people in the presence of prior art are
Column shape, does not have the above-mentioned deficiency of the 26S Proteasome Structure and Function of bending, it is provided that a kind of flexible robot trunk
Mechanism.
In order to realize foregoing invention purpose, the invention provides techniques below scheme:
Trunk mechanism of a kind of flexible robot, including trunk skeleton, described trunk skeleton includes from top to bottom
Upper limb support skeleton, knee joint waist supporting skeleton and the lower limb support frame set gradually, described upper limb support skeleton,
Be rotatably connected between knee joint waist supporting skeleton waist joint, between described knee joint waist supporting skeleton, lower limb support frame
Be rotatably connected knee joint.
This trunk mechanism includes upper limb support skeleton, knee joint waist supporting skeleton, lower limb support frame, distinguishes two-by-two
Realizing rotating by waist joint, knee joint, therefore this trunk structure can form subhuman waist, knee
Warp architecture.This mechanism is different from existing most of column robots trunk, can be applicable to home services
The trunk design of robot, makes the action of going down on one's knees of bending over of robot class people, on the basis of this can pole
The related development of big abundant robot future feature, has a wide range of applications.
Preferably, described waist joint include connecting described upper limb support skeleton, knee joint waist supporting skeleton waist humorous
Ripple decelerator, described waist harmonic speed reducer one end is fitted with synchronizing wheel, and the described wheel that synchronizes is by waist unidirectional current
Machine drives and rotates.
This waist joint uses waist harmonic speed reducer, coordinates and synchronizes wheel and waist DC motor Driver, it is possible to has
The control upper limb support skeleton of effect rotates against with knee joint waist supporting skeleton.
Preferably, the output shaft of described waist direct current generator is connected with described Tong Bu wheel by belt, described waist
Portion's direct current generator be arranged in parallel with the dislocation of described waist harmonic speed reducer.
Waist direct current generator be arranged in parallel with the dislocation of waist harmonic speed reducer, same flat relative to being horizontally installed on
Face, it is possible to effectively utilize the space of trunk structure, reduces trunk mechanism and occupies space in horizontal.
Preferably, described knee joint include connecting described knee joint waist supporting skeleton, lower limb support frame knee humorous
Ripple decelerator, described knee harmonic speed reducer one end is fitted with synchronizing wheel, and the described wheel that synchronizes is by knee unidirectional current
Machine drives and rotates.
This knee joint uses knee harmonic speed reducer, coordinates and synchronizes wheel and knee DC motor Driver, it is possible to has
Effect, accurately control lower limb support frame rotate against with knee joint waist supporting skeleton.
Preferably, the output shaft of described knee direct current generator is connected with described Tong Bu wheel by belt, described knee joint
Portion's direct current generator be arranged in parallel with the dislocation of described knee harmonic speed reducer.
Knee direct current generator be arranged in parallel with the dislocation of knee harmonic speed reducer, same flat relative to being horizontally installed on
Face, it is possible to effectively utilize the space of trunk structure, reduces trunk mechanism and occupies space in horizontal.
Preferably, described upper limb support skeleton includes that left upper extremity gripper shoe that two panels is parallel to each other and right upper extremity prop up
Fagging, is laterally fixed with connector between described left upper extremity gripper shoe and right upper extremity gripper shoe.
Left upper extremity gripper shoe that upper limb support skeleton is parallel to each other by arranging two panels and right upper extremity gripper shoe, and
The two is laterally fixed with connector, on the basis of proof strength, is effectively reduced the weight of upper limb support skeleton
Amount, improves the bending efficiency of upper limb support skeleton.
Preferably, described knee joint waist supporting skeleton includes left knee joint lumbal branch fagging that two panels is parallel to each other and right knee joint lumbal branch
Fagging.
Left knee joint lumbal branch fagging that knee joint waist supporting skeleton is parallel to each other by arranging two panels and right knee joint lumbal branch fagging,
On the basis of proof strength and stability, it is effectively reduced the weight of knee joint waist supporting skeleton, improves knee joint waist supporting
The bending efficiency of skeleton.
Preferably, described lower limb support frame includes that left lower extremity gripper shoe that two panels is parallel to each other and right lower extremity prop up
Fagging.
Left lower extremity gripper shoe that lower limb support frame is parallel to each other by arranging two panels and right lower extremity gripper shoe,
On the basis of proof strength and stability, it is effectively reduced the weight of lower limb support frame, improves lower limb and support
The bending efficiency of skeleton.
Preferably, described upper limb support skeleton, knee joint waist supporting skeleton and lower limb support frame are aluminium alloy plate,
Can effectively alleviate the weight of trunk mechanism.
Compared with prior art, beneficial effects of the present invention:
1, trunk mechanism of one of the present invention flexible robot, including upper limb support skeleton, knee joint waist supporting
Skeleton, lower limb support frame, connected by waist joint, knee joint respectively and realize rotating, therefore this trunk knot
Structure can form the waist of class people, knee bend structure, and it is different from existing most of column robots body
Dry, can be applicable to the trunk design of home-services robot, make the action of going down on one's knees of bending over of robot class people,
On the basis of this can the related development of extreme enrichment robot future feature, have a wide range of applications；
2, the waist shutdown of this trunk mechanism, knee joint are respectively by waist harmonic speed reducer, knee harmonic reduction
Device coordinates and synchronizes wheel, the rotation of DC motor Driver upper limb support skeleton, knee joint waist supporting skeleton, efficiency is higher,
Good reliability；
3, the upper limb support skeleton of this trunk mechanism, knee joint waist supporting skeleton and lower limb support frame are all by a left side
Right two gripper shoes are formed by connecting, and on the basis of proof strength and stability, are effectively reduced the weight of trunk,
Improve the bending efficiency of trunk.
Accompanying drawing illustrates:
Fig. 1 is the use schematic diagram of trunk mechanism of a kind of flexible robot of the present invention；
Fig. 2 is the structural representation of Tu1Zhong trunk mechanism；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the right view of Fig. 2；
Fig. 5 is schematic diagram during trunk means flex in Fig. 4；
Fig. 6 is the U-shaped assembling unit structure schematic diagram used in waist joint or knee joint in Fig. 1.
Labelling in figure:
1, upper limb support skeleton, 11, left upper extremity gripper shoe, 12, right upper extremity gripper shoe, 13, connector,
2, knee joint waist supporting skeleton, 21, left knee joint lumbal branch fagging, 22, right knee joint lumbal branch fagging, 3, lower limb support frame,
31, left lower extremity gripper shoe, 32, right lower extremity gripper shoe, 4, waist joint, 41, waist harmonic speed reducer, 42,
Synchronize wheel, 43, belt, 44, waist direct current generator, 45, U-shaped molectron, 5, knee joint, 51, knee joint
Portion's harmonic speed reducer, 52, synchronize wheel, 53, belt, 54, knee direct current generator, 55, connector, 56,
U-shaped molectron.
Detailed description of the invention
Below in conjunction with test example and detailed description of the invention, the present invention is described in further detail.But should be by
This is interpreted as that the scope of the above-mentioned theme of the present invention is only limitted to below example, all real based on present invention institute
Existing technology belongs to the scope of the present invention.
As Figure 1-4, trunk mechanism of a kind of flexible robot, including trunk skeleton, trunk skeleton includes
Upper limb support skeleton 1, knee joint waist supporting skeleton 2 and lower limb support frame 3, set gradually the most from top to bottom,
Wherein be rotatably connected between upper limb support skeleton 1, knee joint waist supporting skeleton 2 waist joint 4, knee joint waist supporting skeleton
2, be rotatably connected between lower limb support frame 3 knee joint 5.
Above-mentioned waist joint 4 includes connecting upper limb support skeleton 1, the waist harmonic reduction of knee joint waist supporting skeleton 2
Device 41, waist harmonic speed reducer 41 one end is fitted with synchronizing wheel 42, synchronizes wheel 42 by waist direct current generator 44
Drive and rotate.The output shaft of waist direct current generator 44 is by belt 43 and the connection of Tong Bu wheel 42, waist direct current
Motor 44 be arranged in parallel with waist harmonic speed reducer 41 dislocation.
Wherein upper limb support skeleton 1 includes left upper extremity gripper shoe 11, the right upper extremity gripper shoe that two panels is parallel to each other
12, laterally it is fixed with connector 13, connector 13 between left upper extremity gripper shoe 11 and right upper extremity gripper shoe 12
Be responsible for left upper extremity gripper shoe 11, right upper extremity gripper shoe 12 lower end fixing, the spiral shell at connector about 13 two ends
Aliging with the screw of left upper extremity gripper shoe 11, right upper extremity gripper shoe 12 lower end in hole, is screwed.
Above-mentioned knee joint 5 includes connecting knee joint waist supporting skeleton 2, the knee harmonic reduction of lower limb support frame 3
Device 51, knee harmonic speed reducer 51 one end is fitted with synchronizing wheel 52, synchronizes wheel 52 by knee direct current generator 54
Drive and rotate.Knee direct current generator 54 be arranged in parallel, relative to laterally with knee harmonic speed reducer 51 dislocation
It is arranged on same plane, it is possible to effectively utilize the space of trunk structure, reduces trunk mechanism and occupy in horizontal
Space.
Knee joint waist supporting skeleton 2 includes left knee joint lumbal branch fagging 21 that two panels is parallel to each other and right knee joint lumbal branch fagging 22.
The lower end of left knee joint lumbal branch fagging 21 is screwed at the upper right side punching of connector 55, right knee joint lumbal branch
The lower end of fagging 22 is screwed at the left upper end punching of connector in Fig. 1 55, i.e. knee joint waist supporting
Skeleton 2 is secured in the way of plane being perpendicular on connector 55.
Lower limb support frame 3 includes left lower extremity gripper shoe 31 and the right lower extremity gripper shoe 32 that two panels is parallel to each other.
Two pieces of gripper shoes keep 20cm parallel, and left lower extremity gripper shoe 31 and right lower extremity gripper shoe 32 are respectively aligned to chassis
Center screw is fixed, and forms inertia end.Lead between lower limb support frame 3 and knee joint waist supporting skeleton 2
Cross connector 55 to be attached.At the top circular hole of right lower extremity gripper shoe 32, the bottom righthand side with connector 55 is round
It is directed at hole, is screwed, form flange arrangement, the top hollow part of left lower extremity gripper shoe 31 and company
To it at the lower-left end circle punching of fitting 55, leaving certain distance between the two, distance size is closed according to knee joint
Depending on the size of the knee harmonic speed reducer 51 of joint.
Above-mentioned connector 55 with the connected mode of knee joint waist supporting skeleton 2 is: left knee joint lumbal branch fagging 21 times
End be screwed at the upper right side punching of connector 55, the lower end of right knee joint lumbal branch fagging 22 be connected
Being screwed at the left upper end punching of part 55, i.e. knee joint waist supporting skeleton 2 is to be perpendicular on connector 55
The mode of plane is secured to.
Knee joint waist supporting skeleton 2 with the connected mode of upper limb support skeleton 1 is: the lower end of right upper extremity gripper shoe 12
It is directed at at right knee joint lumbal branch fagging 22 upper end punching at punching, and is fixed by screw, form another
Flange arrangement, the annexation between lower end and the left knee joint lumbal branch fagging 21 of left upper extremity gripper shoe 11 is with connecting
Part 55 lower-left end is similar with the annexation on left lower extremity gripper shoe 31 top, i.e. left upper extremity gripper shoe 11 lower end
Punching at be directed at the punching of left knee joint lumbal branch fagging 21 upper end, distance between the two and left lower extremity support
Distance between plate 31 with connector 55 is consistent, this is because knee joint choose with waist two joint as model humorous
Ripple decelerator.
Owing to knee joint, waist joint all use " direct current generator+harmonic speed reducer " structure.Waist joint 4:
Waist direct current generator 44 is fixed on robot trunk skeleton by U combination shape part 45, i.e. U group in Fig. 6
The upper part closing shape part 45 is screwed between knee joint waist supporting skeleton 2, waist direct current generator 44
Fixed by the upper part of the lower member of U row molectron 45 and screw with U row molectron 45, thus
Realize direct current generator to be fixed between knee joint waist supporting skeleton 2.Waist harmonic speed reducer 41 is screwed in
Between left upper extremity gripper shoe 11 lower end and left knee joint lumbal branch fagging 21 upper end, waist harmonic speed reducer 41 external toothing
With Tong Bu wheel 42 nested encryptions, synchronize wheel 42 with waist direct current generator 44 output shaft steering wheel by belt 43
It is attached, thus constitutes waist joint 4.
Knee joint 5: be similar to waist joint 4, knee direct current generator 51 is fixed by U row molectron 56
On robot lower limb support frame 3, knee harmonic speed reducer 51 is screwed in left support plate 11
Between lower end and left lower extremity gripper shoe 31 upper end, the output shaft steering wheel of knee direct current generator 54 passes through belt 43
Wheel 52 Tong Bu with knee is connected, and synchronizes wheel 52 and knee harmonic speed reducer 51 external toothing nested encryptions, thus
Form knee motion joint.Right upper extremity gripper shoe 12 lower end and right knee joint lumbal branch fagging 22 upper end, right knee joint lumbal branch
Fagging 22 lower end is all attached by flange bearing with right lower extremity gripper shoe 32 upper end, and bearing centre with
The corresponding harmonic speed reducer line of centres keeps and chassis keeping parallelism.
Distance between left upper extremity gripper shoe 11, right upper extremity gripper shoe 12 and left lower extremity gripper shoe 31, bottom right
Distance between limb gripper shoe 32 is identical, and the collateral fagging of left upper extremity 12 keeps hanging down with left lower extremity gripper shoe 32
Straight on the same straight line on chassis, the distance between knee joint waist supporting skeleton 2 is according to used knee unidirectional current
Depending on the size dimension of machine 541 and knee harmonic speed reducer 51.
When again trunk mechanism being assemblied in robot, as shown in Figure 1,5, the trunk mechanism of robot and the end
The perpendicular relation of dish, and the lower limb support frame 3 on trunk becomes vertically fixing connection status with chassis.Consider
To profile and the whole machine balancing of robot, the waist of robot i.e. waist joint 4, it is possible to achieve upper limb support
The inclination of 30 ° before and after skeleton 1；Knee i.e. knee joint 5, it is possible to achieve front and back 15 ° of knee joint waist supporting skeleton 2
Inclination, and both be synchronized with the movement can be realized by control method, use different profile and control method,
Robot can realize before and after waist 90 °, the motion of 45 ° before and after knee.
This trunk mechanism is different from existing most of column robots trunk, can be applicable to home services machine
The trunk design of people, makes the action of going down on one's knees of bending over of robot class people, on the basis of this can be the richest
The related development of rich robot future feature, has a wide range of applications.
Claims (9)
1. a trunk mechanism of flexible robot, including trunk skeleton, it is characterised in that described trunk skeleton
Including the upper limb support skeleton (1) set gradually from top to bottom, knee joint waist supporting skeleton (2) and lower limb support rib
Frame (3), be rotatably connected between described upper limb support skeleton (1), knee joint waist supporting skeleton (2) waist joint (4),
Be rotatably connected between described knee joint waist supporting skeleton (2), lower limb support frame (3) knee joint (5).
Trunk mechanism of one the most according to claim 1 flexible robot, it is characterised in that described waist
Joint (4) includes connecting described upper limb support skeleton (1), the waist harmonic reduction of knee joint waist supporting skeleton (2)
Device (41), described waist harmonic speed reducer (41) one end is fitted with synchronizing wheel (42), and described synchronization takes turns (42)
Driven by waist direct current generator (44) and rotate.
Trunk mechanism of one the most according to claim 2 flexible robot, it is characterised in that described waist
The output shaft of portion's direct current generator (44) is connected with described Tong Bu wheel (42) by belt (43), and described waist is straight
Stream motor (44) be arranged in parallel with the dislocation of described waist harmonic speed reducer (41).
Trunk mechanism of one the most according to claim 1 flexible robot, it is characterised in that described knee joint
Joint (5) includes connecting described knee joint waist supporting skeleton (2), the knee harmonic reduction of lower limb support frame (3)
Device (51), described knee harmonic speed reducer (51) one end is fitted with synchronizing wheel (52), and described synchronization takes turns (52)
Driven by knee direct current generator (54) and rotate.
Trunk mechanism of one the most according to claim 4 flexible robot, it is characterised in that described knee joint
The output shaft of portion's direct current generator (54) is connected with described Tong Bu wheel (52) by belt (53), and described knee is straight
Stream motor (54) be arranged in parallel with the dislocation of described knee harmonic speed reducer (51).
6. according to the arbitrary described trunk mechanism of one flexible robot of claim 1-5, it is characterised in that
Described upper limb support skeleton (1) includes that left upper extremity gripper shoe (11) that two panels is parallel to each other and right upper extremity support
Plate (12), is laterally fixed with connector between described left upper extremity gripper shoe (11) and right upper extremity gripper shoe (12)
(13)。
7. according to the arbitrary described trunk mechanism of one flexible robot of claim 1-5, it is characterised in that
Described knee joint waist supporting skeleton (2) includes left knee joint lumbal branch fagging (21) that two panels is parallel to each other and right knee joint waist supporting
Plate (22).
8. according to the arbitrary described trunk mechanism of one flexible robot of claim 1-5, it is characterised in that
Described lower limb support frame (3) includes that left lower extremity gripper shoe (31) that two panels is parallel to each other and right lower extremity support
Plate (32).
Trunk mechanism of one the most according to claim 1 flexible robot, it is characterised in that on described
Limb support frame (1), knee joint waist supporting skeleton (2) and lower limb support frame (3) are aluminium alloy plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510191733.2A CN106143665A (en) | 2015-04-21 | 2015-04-21 | Trunk mechanism of a kind of flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510191733.2A CN106143665A (en) | 2015-04-21 | 2015-04-21 | Trunk mechanism of a kind of flexible robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106143665A true CN106143665A (en) | 2016-11-23 |
Family
ID=58057857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510191733.2A Pending CN106143665A (en) | 2015-04-21 | 2015-04-21 | Trunk mechanism of a kind of flexible robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106143665A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605710A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Robot with inclinable waist |
| CN111230923A (en) * | 2020-03-23 | 2020-06-05 | 河海大学常州校区 | Service robot trunk and service robot thereof |
| CN112932891A (en) * | 2021-01-14 | 2021-06-11 | 电子科技大学 | A rehabilitation device for hemiplegia patient position of sitting trunk training |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110605710A (en) * | 2018-06-14 | 2019-12-24 | 中瑞福宁机器人（沈阳）有限公司 | Robot with inclinable waist |
| CN111230923A (en) * | 2020-03-23 | 2020-06-05 | 河海大学常州校区 | Service robot trunk and service robot thereof |
| CN112932891A (en) * | 2021-01-14 | 2021-06-11 | 电子科技大学 | A rehabilitation device for hemiplegia patient position of sitting trunk training |
| CN112932891B (en) * | 2021-01-14 | 2022-06-14 | 电子科技大学 | A rehabilitation device for hemiplegia patient position of sitting trunk training |
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