CN116276899B

CN116276899B - Robot joint device

Info

Publication number: CN116276899B
Application number: CN202310047538.7A
Authority: CN
Inventors: 杨俊�; 高祥; 郭丹; 王宏伟
Original assignee: Harbin University of Commerce
Current assignee: Harbin University of Commerce
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-08-29
Anticipated expiration: 2043-01-31
Also published as: CN116276899A

Abstract

The application relates to a robot joint, in particular to a robot joint device, which comprises a shoulder seat mechanism and a large arm mechanism capable of horizontally rotating with the shoulder seat mechanism; wherein, big arm mechanism includes: a shaft I connected to the shoulder seat mechanism in a rotating way, a connecting frame fixedly connected to the shaft I, a bending seat fixedly connected to the connecting frame, a base I detachably arranged on the bending seat for realizing position adjustment, the shaft II is fixedly connected to the base I, the connecting seat I is rotatably connected to the shaft II, and the large arm main body is arranged on the connecting seat I; the device also comprises a forearm mechanism which can vertically rotate with the lower part of the main body of the forearm. The shaft seat is used for being arranged on the wearing equipment, so that the shaft II is positioned beside the large tuberosity, and the joint of the small arm mechanism and the large arm mechanism is positioned at the elbow joint of the wearer to form an exoskeleton structure; the telescopic boom is used for adapting users with different arm displays; resistance is applied to rotation of the shaft I, so that hindered experience is realized when the large arm rotates to drive the small arm to horizontally unfold.

Description

Robot joint device

Technical Field

The present application relates to a robot joint, and more particularly, to a robot joint device.

Background

Exoskeleton robots, including mechanical devices worn outside the human body, are of the type used for human-computer interaction in addition to the type that performs the function of supplementing, replacing, or strengthening parts of the body. For the field of human-computer interaction, including enabling a wearer to simulate a sensation in a virtual environment, such as VR wearable devices, standing devices are common, including glasses, helmets, handles, and gloves. But these devices provide more experience in vision, trigger feel and travel, and it is difficult to perceive resistance due to motion in a virtual environment.

Disclosure of Invention

The application provides a robot joint device, which aims to provide resistance for a wearer.

The above object is achieved by the following technical scheme:

a robot joint device comprises a shoulder seat mechanism and a large arm mechanism which can horizontally rotate with the shoulder seat mechanism; wherein, big arm mechanism includes: a shaft I connected to the shoulder seat mechanism in a rotating way, a connecting frame fixedly connected to the shaft I, a bending seat fixedly connected to the connecting frame, a base I detachably arranged on the bending seat for realizing position adjustment, the shaft II is fixedly connected to the base I, the connecting seat I is rotatably connected to the shaft II, and the large arm main body is arranged on the connecting seat I; the device also comprises a forearm mechanism which can vertically rotate with the lower part of the main body of the forearm.

The big arm main part includes the outer arm, sets up straight slot II on the outer arm, and clearance fit is equipped with the mounting hole in the inner arm in the outer arm, passes through the nut group between inner arm and the outer arm mounting hole and the straight slot II realize fixing, and the inner arm lower part rigid coupling has axle III, rotates on axle III to be connected with connecting seat II, forearm mechanism rigid coupling on connecting seat II.

The forearm mechanism comprises a supporting shell fixedly connected to the connecting seat II.

The upper side of the support shell is provided with a notch.

A buckle belt for fastening is arranged in the notch.

The shoulder seat mechanism comprises an axle seat with an upper-lower split type detachable structure, and the axle I is rotatably connected to the axle seat.

One side of the shaft seat, which is far away from the shaft I, is of a semicircular disc structure, and the semicircular disc is provided with a mounting hole.

The left end face rigid coupling of axle bed has spacing pipe, the telescopic cylinder is installed to the right-hand member of axle bed, the expansion end of telescopic cylinder passes the axle bed from right to left, the rigid coupling has pushing part on the movable end of telescopic cylinder, friction part I and friction part II that a left and right sides set up, the upper and lower both sides of friction part I right-hand member respectively rigid coupling is a ladder pole I, clearance fit has an adjusting seat I on the ladder pole I, shoulder on the ladder pole I is located the right side of adjusting seat I, be equipped with the compression spring I that is located between friction part I and the adjusting seat I on the ladder pole I, the front and back both sides of friction part II right-hand member respectively rigid coupling has a ladder pole II, clearance fit has an adjusting seat II on the ladder pole II, be equipped with the mating opening that supplies adjusting seat I clearance fit on the centre of ladder pole II, clearance fit is in spacing pipe, when the expansion end breaks away from friction part I and friction part II breaks away from axle I, be equipped with the extension spring in the spacing pipe.

The bending frame is fixedly connected to the inner arm, a screw is arranged on the bending frame in a clearance fit mode, a nut located below the bending frame is connected to the screw in a threaded mode, a ring portion located above the bottom of the bending frame is fixedly connected to the screw, a compression spring III located between the ring portion and the bottom of the bending frame is sleeved on the screw, and the top of the screw can be in contact with the bottom of the supporting shell.

And a supporting piece for supporting the bottom of the connecting frame is arranged on the shaft seat.

The robot joint device has the beneficial effects that:

the joint device is arranged on wearing equipment by utilizing the shaft seat, so that the shaft II is positioned beside the large nodule, and the joint of the small arm mechanism and the large arm mechanism is positioned at the elbow joint of a wearer to form an exoskeleton structure; the telescopic boom is used for adapting users with different arm displays; resistance is applied to rotation of the shaft I, so that hindered experience is realized when the large arm rotates to drive the small arm to horizontally unfold.

Drawings

FIG. 1 is a schematic view of the overall structure of a robot joint device;

FIG. 2 is a schematic view of the shoulder rest mechanism, shaft I and connecting frame;

FIGS. 3 and 4 are schematic views of part of the structure of FIG. 2;

FIG. 5 is a schematic view of the structure of the support;

FIG. 6 is a schematic view of the structure of the folding seat, the straight slot I, the base I, the shaft II and the connecting seat I;

FIG. 7 is a schematic view of the structure of the outer arm, the straight slot II, the inner arm, the shaft III, the connecting seat II, the supporting shell, the bending frame, the screw and the ring part;

fig. 8 is a schematic view of a portion of the structure of fig. 7.

Detailed Description

A robot joint device comprises a shoulder seat mechanism, a big arm mechanism and a small arm mechanism;

1-3, the shoulder seat mechanism comprises a shaft seat 11, wherein the shaft seat 11 is of an upper-lower split type detachable structure; for easy installation, the axle bed 11 is the semicircle structure far away from one side of axle I12, be equipped with the mounting hole on the semicircle.

Wherein, as shown in fig. 1, 2, 6 and 7, the large arm mechanism comprises: the shaft I12, the upper and lower both ends of the shaft I12 are respectively connected with the upper and lower both ends of the left side of the shaft seat 11 in a rotating way, the connecting frame 13 is fixedly connected on the shaft I12, the bending seat 41 is detachably fixedly connected with the left end of the connecting frame 13, the upper and lower both sides of the bending seat 41 are respectively provided with a straight notch I42, the bending seat 41 is connected with a base I43 in a sliding way, the base I43 and the bending seat 41 are fixed through a bolt and nut component passing through the straight notch I42, and the shaft I44 is fixedly connected at the rear end of the base I43 and the connecting seat I45 is rotationally connected on the shaft II 44;

the large arm mechanism further comprises a telescopic large arm main body fixedly connected to the lower part of the connecting seat I45, and the lower part of the large arm main body is rotationally connected with the small arm mechanism;

the axle seat 11 is used for being installed at the rear side of a large nodule of a shoulder joint of a user, namely, at one side far away from the back, the position of the axle seat 11 can be fixed by being connected with a hard vest sleeved on the back, the hard vest at the back is a conventional hard vest of VR wearing equipment, the application is not improved, the application can be a vest with a customized size according to the body type 3D printing processing of the wearer, at the moment, the axle II 44 is positioned beside the large nodule, and the joint of the forearm mechanism and the forearm mechanism is positioned at the elbow joint of the wearer so as to form an exoskeleton structure; the exoskeleton structure can enable a wearer to realize that the big arm drives the small arm to horizontally rotate through the rotation of the shaft I12, and the user with different arm exhibition can be adapted through the expansion and contraction of the main body of the big arm; the resistance applied to the rotation of the shaft I12 is used for realizing the hindered experience when the big arm rotates to drive the small arm to horizontally spread out, such as the resistance applied to the arm when the object is lifted or the arm is spread out during breaststroke in water;

further, the big arm main body comprises an outer arm 51 fixedly connected to the lower end of the connecting seat I45, a vertical slot II 52 extending up and down is formed in the outer arm 51, an inner arm 53 sliding up and down is arranged in the outer arm 51 in a clearance fit mode, a mounting hole is formed in the upper portion of the inner arm 53, the inner arm 53 and the outer arm 51 penetrate through the mounting hole and the vertical slot II 52 through a nut group to achieve fixation, a shaft III 54 extending backwards is fixedly connected to the lower portion of the inner arm 53, a connecting seat II 55 is connected to the shaft III 54 in a rotating mode, and a small arm mechanism is fixedly connected to the connecting seat II 55.

As shown in fig. 7, the forearm mechanism includes a supporting shell 56 fixedly connected to a connecting seat ii 55.

The upper side of the support shell 56 is provided with a notch, and a fastening strap for fastening is arranged in the notch so as to wrap the forearm in the support shell 56, and the movement of the forearm is realized to drive the support shell 56 to move.

As shown in fig. 2, the shoulder rest mechanism further includes: the left end face of the shaft seat 11 is fixedly connected with four limiting pipes 14, the right end of the shaft seat 11 is provided with a telescopic cylinder 15, the movable end of the telescopic cylinder 15 passes through the shaft seat 11 from right to left, the left side of the movable end of the telescopic cylinder 15 is fixedly connected with a pushing part 16, the telescopic shaft further comprises a left friction part I21 and a right friction part II 24, the left end face of the friction part I21 and the left end face of the friction part II 24 can be in surface contact with the shaft I12 through left movement in a front-back mode, the upper side and the lower side of the right end of the friction part I21 are fixedly connected with a step rod I22 respectively, an adjusting seat I23 is arranged on the step rod I22 in clearance fit, a shoulder part on the step rod I22 is positioned on the right side of the adjusting seat I23, a step rod II 25 is fixedly connected with a step rod II 25 respectively, a tension spring II 26 is arranged on the step rod II 25 in clearance fit with the step rod II, the two step rod II 24 and the adjusting seat II 26 are arranged at the left side of the two ends of the step rod I22, and the two step rod I22 are in clearance fit with the diameter of the step rod I22, and the diameter of the step rod I is in the clearance fit between the two step rod I22 and the two step rod I22, and the two step rod I22 are in the clearance fit with the diameter of the two step rod I22, and the diameter I is in the clearance fit between the two step rod I22 and the two step rod I and the two end of the two step rod I22 and is in the clearance fit; the adjusting seat I23 is of a T-shaped structure, when the telescopic cylinder 15 is started to enable the movable end to move leftwards, the right part of the adjusting seat I23 can be pushed to move leftwards, the adjusting seat I23 pushes the compression spring I on the step rod I22 to move leftwards, so that the friction part I21 contacts the shaft I12, the positive pressure is changed by adjusting the compression amount of the compression spring I, the friction force between the friction part I21 and the shaft I12 is adjusted, the rotation of the shaft I12 is blocked, and stepless adjustment blocking feeling is realized; when the pushing part 16 moves leftwards to push the adjusting seat II 26 to move leftwards, the adjusting seat II 26 drives the friction part II 24 to move leftwards to contact with the shaft I12 by utilizing the compression spring II, and the resistance of the shaft I12 is further greatly increased by increasing the contact area, so that the jumping type adjustment of the resistance is realized, and the blocking feeling is obvious.

As shown in fig. 7 and 8, the shoulder seat mechanism further comprises a bending frame 61 fixedly connected to the inner arm 53, a screw rod 62 is in clearance fit with the bending frame 61, a nut positioned below the bending frame 61 is in threaded connection with the screw rod 62, a ring 63 positioned above the bottom of the bending frame 61 is fixedly connected to the screw rod 62, a compression spring III positioned between the ring 63 and the bottom of the bending frame 61 is sleeved on the screw rod 62, the top of the screw rod 62 can be in contact with the bottom of the supporting shell 56, the upper position and the lower position of the screw rod 62 are adjusted, and the specification of the compression spring III is changed so as to adjust the thrust of the top of the screw rod 62 to the supporting shell 56; when the angle between the support housing 56 and the inner arm 53 is obtuse, the screw 62 helps to lift the support housing 56, reducing the fatigue of the wearer in lifting the aiming handle for a long period of time.

For enhancing stability, the shaft seat 11 is provided with a support member for supporting the bottom of the connecting frame 13, the support member comprises a bearing 31, an upper ring seat 32 and a lower ring seat 33, the upper ring seat 32 is fixedly connected with the outer ring of the bearing 31, the lower ring seat 33 is fixedly connected with the inner ring of the bearing 31, the lower ring seat 33 is fixedly connected with the upper end surface of the bottom of the shaft seat 11, the shaft I12 is positioned in the bearing 31, and the upper ring seat 32 lifts the bottom of the connecting frame 13.

Claims

1. A robot joint device comprises a shoulder seat mechanism and a large arm mechanism which can horizontally rotate with the shoulder seat mechanism; wherein, big arm mechanism includes: the device comprises a shaft I (12) connected to a shoulder seat mechanism in a rotating way, a connecting frame (13) fixedly connected to the shaft I (12), a bending seat (41) fixedly connected to the connecting frame (13), a base I (43) detachably arranged on the bending seat (41) for realizing position adjustment, a shaft II (44) fixedly connected to the base I (43), a connecting seat I (45) rotatably connected to the shaft II (44) and a large arm main body arranged on the connecting seat I (45); the lower arm mechanism can vertically rotate with the lower part of the main body of the big arm;

the shoulder seat mechanism comprises an axle seat (11) with an upper-lower split type detachable structure, and the axle I (12) is rotationally connected to the axle seat (11);

one side of the shaft seat (11) away from the shaft I (12) is of a semicircular disc structure, and a mounting hole is formed in the semicircular disc;

the left end face of the shaft seat (11) is fixedly connected with a limiting pipe (14), the right end of the shaft seat (11) is provided with a telescopic cylinder (15), the movable end of the telescopic cylinder (15) passes through the shaft seat (11) from right to left, the movable end of the telescopic cylinder (15) is fixedly connected with a pushing part (16), a left friction part I (21) and a right friction part II (24) are arranged on the movable end of the telescopic cylinder (15), a step rod I (22) is fixedly connected on the upper side and the lower side of the right end of the friction part I (21), an adjusting seat I (23) is arranged on the step rod I (22), a shoulder part on the step rod I (22) is positioned on the right side of the adjusting seat I (23), a compression spring I positioned between the friction part I (21) and the adjusting seat I (23) is arranged on the step rod I (22), a step rod II (25) is fixedly connected on the front side and the rear side of the right end of the friction part II (24), a step rod II (26) is arranged on the step rod II (25) in a clearance fit mode, a step spring II (26) positioned on the friction part II (24) and the step rod II (26) is arranged on the step rod II) and is in clearance fit with the center of the adjusting seat (14) when the step rod II (14) is in clearance fit with the movable end of the telescopic cylinder (14), the tension spring separates the friction part I (21) and the friction part II (24) from the shaft I (12).

2. The robot joint device according to claim 1, wherein the large arm body comprises an outer arm (51), a straight slot II (52) arranged on the outer arm (51), an inner arm (53) which is in clearance fit with the outer arm (51), a mounting hole is formed in the upper portion of the inner arm (53), the inner arm (53) and the outer arm (51) are fixed through a nut group through the mounting hole and the straight slot II (52), a shaft III (54) is fixedly connected to the lower portion of the inner arm (53), a connecting seat II (55) is rotatably connected to the shaft III (54), and the small arm mechanism is fixedly connected to the connecting seat II (55).

3. The robotic joint device of claim 2, the forearm mechanism comprising a support shell (56) secured to a connection mount ii (55).

4. A robotic joint arrangement according to claim 3, the upper side of the carrier shell (56) being provided with a slot.

5. The robotic joint device of claim 4, wherein a strap for fastening is disposed within the slot.

6. The robot joint device according to claim 2, further comprising a bending frame (61) fixedly connected to the inner arm (53), wherein a screw (62) is in clearance fit with the bending frame (61), a nut positioned below the bending frame (61) is in threaded connection with the screw (62), a ring (63) positioned above the bottom of the bending frame (61) is fixedly connected to the screw (62), a compression spring iii positioned between the ring (63) and the bottom of the bending frame (61) is sleeved on the screw (62), and the top of the screw (62) can be in contact with the bottom of the supporting shell (56).

7. The robot joint device according to claim 1, wherein the shaft seat (11) is provided with a support member for supporting the bottom of the connecting frame (13).