CN118123887A - Knee joint mechanism based on active and passive combined adjustment, knee joint method based on active and passive combined adjustment and robot - Google Patents
Knee joint mechanism based on active and passive combined adjustment, knee joint method based on active and passive combined adjustment and robot Download PDFInfo
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- CN118123887A CN118123887A CN202410299156.8A CN202410299156A CN118123887A CN 118123887 A CN118123887 A CN 118123887A CN 202410299156 A CN202410299156 A CN 202410299156A CN 118123887 A CN118123887 A CN 118123887A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 211
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 37
- 238000013016 damping Methods 0.000 claims abstract description 36
- 210000000689 upper leg Anatomy 0.000 claims abstract description 22
- 244000309466 calf Species 0.000 claims abstract description 6
- 210000002414 leg Anatomy 0.000 claims description 21
- 210000003141 lower extremity Anatomy 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 241001227561 Valgus Species 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Abstract
Knee joint mechanism, method and robot based on initiative and passive joint regulation relate to knee joint field. The knee joint mechanism based on active and passive combined adjustment comprises a first connecting mechanism for connecting thighs, a second connecting mechanism for connecting calves, at least one connecting plate, a flexible transmission mechanism connected with the first connecting mechanism and the connecting plate, a passive adjusting mechanism connected with the connecting plate and the flexible transmission mechanism, and an active adjusting mechanism connected with the second connecting mechanism and the flexible transmission mechanism; the flexible transmission mechanism can synchronously rotate when the first connection mechanism rotates relative to the second connection mechanism; the passive adjusting mechanism can adjust the damping force when the first connecting mechanism rotates relative to the second connecting mechanism; the active adjusting mechanism can drive the flexible transmission mechanism to rotate so as to adjust the damping force when the first connecting mechanism rotates relative to the second connecting mechanism. Knee joint mechanism based on active and passive combined adjustment, method and robot can actively and passively adjust rotation damping force to adapt to use requirements.
Description
Technical Field
The application relates to the field of knee joints, in particular to a knee joint mechanism based on active and passive combined adjustment, a method and a robot.
Background
The lower limb rehabilitation robot is a robot device for assisting a patient in lower limb rehabilitation training, and can provide targeted rehabilitation training by interacting with the lower limb of the patient, thereby helping the patient recover the movement function, improving the muscle strength and coordination and promoting the rehabilitation process of the patient.
Knee joint is the most critical component in the lower limb rehabilitation robot, not only is accurate positioning and load required, but also has good buffering and damping performances, with the continuous development of the research of the knee joint of the lower limb rehabilitation robot, the elastic deformation performance of the knee joint is further developed, and on the basis, a knee joint test prototype with good elasticity, flexibility and active and passive functions is successfully developed.
However, the existing design of the flexible knee joint in the lower limb rehabilitation robot also has the problems of excessively complex structural design, insufficient compactness and the like, so that the mechanism is excessively large in size, damping adjustment cannot be well completed, and the requirements of the lower limb rehabilitation robot in the forms of walking, sitting, squatting, ascending and descending stairs and the like cannot be met.
Disclosure of Invention
The application aims to provide a knee joint mechanism based on active and passive combined adjustment, a method and a robot, which have simple and compact structure and can actively and passively adjust the damping force during rotation so as to meet the use requirement.
The application is realized in the following way:
the application provides a knee joint mechanism based on active and passive combined adjustment, which comprises:
a first connection mechanism for connecting the thigh;
a second connecting mechanism for connecting the lower leg;
At least one connection plate;
The flexible transmission mechanism is respectively connected with the first connection mechanism and the connecting plate and is used for synchronously rotating when the first connection mechanism rotates relative to the second connection mechanism;
the passive adjusting mechanism is respectively connected with the connecting plate and the flexible transmission mechanism and is used for adjusting the damping force when the first connecting mechanism rotates relative to the second connecting mechanism;
The active adjusting mechanism is respectively connected with the second connecting mechanism and the flexible transmission mechanism and is used for driving the flexible transmission mechanism to rotate so as to adjust the damping force of the first connecting mechanism when rotating relative to the second connecting mechanism.
In some alternative embodiments, the first connection mechanism includes a first leg connector for connecting the thigh, a first connection rod connected with the first leg connector, and a second connection rod arranged perpendicular to and connected with the first connection rod, the second connection rod connecting the flexible transmission mechanism.
In some alternative embodiments, the connecting plate is provided with an arc-shaped guide groove, the flexible transmission mechanism comprises a connecting shaft with one end arranged in the guide groove in a sliding manner and at least two first rotating parts arranged on two sides of the connecting shaft, each first rotating part is connected with a rotatable rotating shaft, the two rotating shafts are respectively hinged with the connecting shaft through at least one second rotating part, the second connecting rod is connected with the connecting shaft, and the two first rotating parts are respectively connected with the passive adjusting mechanism.
In some alternative embodiments, the connecting shaft is connected with a roller which rolls in the guide groove.
In some alternative embodiments, the passive adjustment mechanism includes at least two first springs, each second rotational member being coupled to the connection plate by at least one first spring.
In some alternative embodiments, the active adjusting mechanism comprises a screw rod, a motor for driving the screw rod to rotate, a screw rod sleeve arranged on the screw rod through a thread sleeve, and two adjusting rods, wherein one ends of the two adjusting rods are hinged with the screw rod sleeve, the other ends of the two adjusting rods are respectively hinged with the two rotating shafts, and the motor is connected with the connecting plate.
In some alternative embodiments, the second connection mechanism includes a second leg connector for connecting the lower leg, a third connecting rod connected to the second leg connector, and a fourth connecting rod disposed perpendicular to and connected to the third connecting rod, the fourth connecting rod connecting the connecting plates.
In some alternative embodiments, the fourth connecting rod is connected with the connecting plate through a deflection adjusting mechanism, the deflection adjusting mechanism comprises an outer sleeve and a plurality of adjusting plates arranged in the outer sleeve, and two sides of each adjusting plate are respectively connected with the outer sleeve through at least one second spring; one end of the fourth connecting rod extends into the outer sleeve and is connected with each adjusting plate, and the outer sleeve is connected with the passive adjusting mechanism.
The application also provides a knee joint mechanism joint adjustment method based on initiative and passive, which comprises the following steps:
The first connecting mechanism and the second connecting mechanism are respectively connected with the thigh and the shank;
The flexible transmission mechanism is respectively connected with the first connection mechanism and the connection plate, and is driven to synchronously rotate when the first connection mechanism rotates relative to the second connection mechanism
A passive adjusting mechanism respectively connected with the connecting plate and the flexible transmission mechanism is used for adjusting the damping force when the first connecting mechanism rotates relative to the second connecting mechanism;
And an active adjusting mechanism connected with the second connecting mechanism and the flexible transmission mechanism respectively is used for driving the flexible transmission mechanism to rotate so as to adjust the damping force of the first connecting mechanism when rotating relative to the second connecting mechanism.
The application also provides a robot which comprises the knee joint mechanism based on the active and passive combined adjustment.
The beneficial effects of the application are as follows: according to the knee joint mechanism, the knee joint mechanism and the knee joint method based on the active and passive combined adjustment and the robot, provided by the application, the thigh and the calf are connected by using the first connecting mechanism and the second connecting mechanism respectively, the flexible transmission mechanism is arranged to synchronously rotate when the first connecting mechanism rotates relative to the second connecting mechanism, the passive adjusting mechanism is used for adjusting the damping force when the first connecting mechanism rotates relative to the second connecting mechanism, and the active adjusting mechanism is used for driving the flexible transmission mechanism to rotate so as to adjust the damping force when the first connecting mechanism rotates relative to the second connecting mechanism, so that the purpose of adjusting the active and passive damping force is better realized by a simple and compact mechanism, and the requirements of the lower limb rehabilitation robot in the forms of walking, sitting, squatting, going up and down stairs and the like can be met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a knee joint mechanism based on a combination of active and passive adjustment according to an embodiment of the present application when connected to the thigh and the calf;
FIG. 2 is a schematic view of a knee joint mechanism based on a combination of active and passive adjustment according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of a knee joint mechanism based on active and passive combined adjustment according to an embodiment of the present application, when a connecting plate is omitted;
FIG. 4 is a schematic illustration of the connection plates in the knee joint mechanism based on the combined active and passive adjustment according to the embodiment of the present application;
fig. 5 is a schematic view of a partial structure of a knee joint mechanism based on active and passive combined adjustment according to an embodiment of the present application, when omitting a first connection mechanism, a second connection mechanism and a connection plate;
FIG. 6 is a schematic cross-sectional view of a deflection adjustment mechanism in a knee joint mechanism based on a combination of active and passive adjustment provided in accordance with an embodiment of the present application;
Fig. 7 is a schematic diagram of a partial structure of a knee joint mechanism based on combined active and passive adjustment, in which an outer sleeve is omitted and then connected with a fourth connecting rod and a screw rod;
FIG. 8 is a force analysis schematic diagram of a variable damping structure based on pretightening force in a knee joint mechanism based on active and passive combined adjustment according to an embodiment of the present application;
Fig. 9 is a schematic diagram illustrating a force analysis of a variable damping structure based on a lever structure in a knee joint mechanism based on active and passive combined adjustment according to an embodiment of the present application.
In the figure: 100. a first connection mechanism; 110. a first leg link; 120. a first connecting rod; 130. a second connecting rod; 140. thigh; 200. a second connection mechanism; 210. a second leg link; 220. a third connecting rod; 230. a fourth connecting rod; 240. a lower leg; 300. a connecting plate; 310. a guide groove; 400. a flexible transmission mechanism; 410. a connecting shaft; 420. a first rotating member; 430. a rotating shaft; 440. a second rotating member; 450. a roller; 500. a passive adjustment mechanism; 510. a first spring; 520. a spring seat; 600. an active adjustment mechanism; 610. a screw rod; 620. a motor; 630. a screw rod sleeve; 640. an adjusting rod; 650. a reinforcing rod; 700. a deflection adjusting mechanism; 710. an outer sleeve; 720. an adjusting plate; 730. and a second spring.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the product of the application, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The knee joint mechanisms, methods, and robots of the present application based on active and passive joint adjustment are described in further detail below with reference to the examples.
As shown in fig. 1, 2, 3,4, 5, 6 and 7, the embodiment of the present application provides a knee joint mechanism based on active and passive combined adjustment, which includes a first connection mechanism 100 for connecting a thigh 140, a second connection mechanism 200 for connecting a calf 240, a pair of oppositely disposed connection plates 300, a flexible transmission mechanism 400, a passive adjustment mechanism 500, an active adjustment mechanism 600 and a deflection adjustment mechanism 700, the flexible transmission mechanism 400 being used for synchronous rotation when the first connection mechanism 100 rotates relative to the second connection mechanism 200; the passive adjustment mechanism 500 is used for adjusting the damping force when the first connection mechanism 100 rotates relative to the second connection mechanism 200; the active adjusting mechanism 600 is used for driving the flexible transmission mechanism 400 to rotate so as to adjust the damping force when the first connecting mechanism 100 rotates relative to the second connecting mechanism 200. The deflection adjusting mechanism 700 is used for driving the second connecting mechanism 200 which axially rotates around the lower leg 240 to reversely rotate and reset;
The first connecting mechanism 100 includes a first leg connecting member 110 for being sleeved on and connected to the thigh 140, a first connecting rod 120 connected with the first leg connecting member 110, and a second connecting rod 130 arranged perpendicular to and connected with the first connecting rod 120.
The two connecting plates 300 are respectively provided with arc-shaped guide grooves 310 which are symmetrically arranged, the flexible transmission mechanism 400 comprises a connecting shaft 410 with two ends respectively inserted into the guide grooves 310 on the two connecting plates 300 and two U-shaped first rotating members 420 which are symmetrically arranged on two sides of the connecting shaft 410, two ends of the connecting shaft 410 are respectively connected with rotatable rollers 450, the two rollers 450 are respectively arranged in the two guide grooves 310 in a rolling mode, two ends of each first rotating member 420 are respectively rotatably sleeved on one rotating shaft 430, the two rotating shafts 430 are respectively hinged with the connecting shaft 410 through two second rotating members 440, and the second connecting rods 130 are connected with the connecting shaft 410.
The passive adjustment mechanism 500 includes two first springs 510, and a spring seat 520 is connected to a middle portion of each second rotating member 440, and one ends of the two first springs 510 are respectively connected to the two spring seats 520.
The active adjusting mechanism 600 comprises a motor 620, a screw rod 610, a screw rod sleeve 630 and two adjusting rods 640, wherein two sides of the motor 620 are respectively connected with the two connecting plates 300, the screw rod 610 is connected with an output shaft of the motor 620, the screw rod sleeve 630 is sleeved on the screw rod 610 through threads, one ends of the two adjusting rods 640 are respectively hinged with the screw rod sleeve 630, and the other ends of the two adjusting rods 640 are respectively hinged with the two rotating shafts 430; the motor 620 is connected to a first spring 510.
The second connection mechanism 200 includes a second leg link 210 for being sleeved and connected to the lower leg 240, a third link 220 connected to the second leg link 210, and a fourth link 230 arranged perpendicular to and connected to the third link 220.
The fourth connecting rod 230 is connected with the connecting plates 300 through a deflection adjusting mechanism 700, the deflection adjusting mechanism 700 comprises an outer sleeve 710, two sides of which are respectively connected with the two connecting plates 300, and four adjusting plates 720 arranged in the outer sleeve 710, and two sides of each adjusting plate 720 are respectively connected with the inner wall of the outer sleeve 710 through two second springs 730; one end of the fourth connecting rod 230 far from the third connecting rod 220 penetrates through one end of the outer sleeve 710 and then is connected with each adjusting plate 720, the four adjusting plates 720 are arranged at intervals along the circumferential direction of the fourth connecting rod 230, and the outer sleeve 710 is connected with the other first spring 510; one end of the screw rod 610 far from the motor 620 rotatably penetrates the other end of the outer sleeve 710, and a reinforcing rod 650 arranged in parallel with the screw rod 610 is hinged between the outer sleeve 710 and the motor 620.
The embodiment of the application also provides a knee joint mechanism joint adjustment method based on the initiative and the passivity, which is realized by adopting the knee joint mechanism based on the initiative and the passivity joint adjustment, and comprises the following steps:
Connecting the first and second connection mechanisms 100 and 200 to the user's thighs 140 and calves 240, respectively; specifically, the second leg connector 210 of the second connection mechanism 200 is sleeved and connected to the lower leg 240, and the first leg connector 110 of the first connection mechanism 100 is sleeved and connected to the thigh 140, so that the knee joint at the joint between the thigh 140 and the lower leg 240 is located at the side of the two connection plates 300;
When the user stretches the lower leg 240 to rotate the lower leg 240 around the knee joint with respect to the thigh 140, the lower leg 240 drives the second leg link 210, the third link 220 and the fourth link 230 to rotate, at this time, since the thigh 140 is not moved, the first leg link 110, the first link 120 and the second link 130 connected to the thigh 140 remain stationary, so that the fourth link 230 sequentially drives the outer sleeve 710 of the deflection adjusting mechanism 700, the two link plates 300 and the motor 620 of the active adjusting mechanism 600 to rotate with respect to the link shaft 410 of the flexible transmission mechanism 400 connected to the second link 130, so that the corresponding two first springs 510 are respectively pressed and stretched by the rotating outer sleeve 710 and the motor 620, and then both ends of the link shaft 410 are respectively driven to move along the guide grooves 310 on the two link plates 300 by the pressed and stretched two first springs 510, thereby rapidly and stably adapting to the stretching posture adjustment of the lower leg 240 and feeding back by the flexible transmission mechanism 400, and when the lower leg 240 rotates with respect to the thigh 140, the corresponding two first springs 510 are pressed and stretched more and the corresponding two first springs 510 are pulled more, so that the rehabilitation is assisted by the elastic force of the thigh 140 is achieved by the corresponding upper leg 140.
Meanwhile, the user can control the motor 620 of the active adjusting mechanism 600 to start to drive the screw rod 610 to rotate, so that the screw rod sleeve 630 sleeved on the screw rod 610 moves along the screw rod 610, thereby driving the two adjusting rods 640 to move along the screw rod 610 by using the screw rod sleeve 630, driving the two rotating shafts 430 to synchronously move when the two adjusting rods 640 move, driving the two rotating shafts 430 to drive the connected second rotating member 440 and the connecting shaft 410 to move, finally enabling the connecting shaft 410 to move along the two guide grooves 310 to rotate, and driving the corresponding spring seats 520 to rotate through the two first rotating members 420 to respectively compress and stretch the two first springs 510, so as to adjust the elastic potential energy of the two first springs 510, and changing the damping force of the elastic potential energy of the two first springs 510 on the rotation of the lower leg 240 relative to the thigh 140.
The fourth connecting rod 230 is connected with the connecting plate 300 through the deflection adjusting mechanism 700, when a user forcefully rotates the lower leg 240 around the axis of the lower leg, the fourth connecting rod 230 is driven to rotate through the second leg connecting piece 210 and the third connecting rod 220, so that the fourth connecting rod 230 drives each adjusting plate 720 to rotate, compress and stretch each corresponding second spring 730, damage to the legs caused by impact force generated when the lower leg 240 rotates is avoided, the movable requirements of the human lower leg 240 for varus 0-45 degrees and valgus 0-35 degrees are met, the problem that the knee joint in the turnover surface is excessively stressed is solved, after the user stops rotating the lower leg with force, each adjusting plate 720 is driven to reversely rotate and reset through the corresponding second springs 730 compressed and stretched, and the fourth connecting rod 230, the third connecting rod 220 and the second leg connecting piece 210 are driven to reversely move and reset by the lower leg of the user.
The embodiment of the application also provides a robot which comprises the knee joint mechanism based on the combined active and passive adjustment and a conventional connecting component connected with the knee joint mechanism based on the combined active and passive adjustment.
The knee joint mechanism, the method and the robot based on the active and passive combined adjustment combine the variable damping structure based on the pretightening force as shown in fig. 8 and the variable damping structure based on the lever structure as shown in fig. 9, wherein the variable damping structure based on the pretightening force determines the initial damping of the elastic element by controlling the initial pretightening force of the elastic element in the flexible joint, and the rotation angle displacement of the flexible joint is converted into the linear displacement of the elastic element by utilizing the cam or groove structure on the basis, so that the damping of the flexible joint is adjusted, and the knee joint mechanism has the advantages of compact structure, smaller volume, large output torque, relatively simple torque and position control, easiness in processing and manufacturing the structure, convenience in maintenance, realization of standardization of parts, reduction of manufacturing cost and the like; the damping-variable structure based on the lever structure adopts a pair of linear springs to symmetrically adjust the two ends of the lever structure and adjusts the action point of the external force applied to the lever structure, so that the damping adjustment of the flexible joint is realized, and the position of the linear springs is adjusted under the condition that the length of the lever is very short, so that the absolute damping adjustment of the flexible joint can be finished without the help of the elastic element, and the weight is reduced while the damping-variable structure is simplified.
The knee joint mechanism, the knee joint mechanism and the knee joint method based on active and passive combined adjustment and the robot provided by the embodiment of the application organically combine the passive adjustment mechanism 500, the active adjustment mechanism 600 and the flexible transmission mechanism 400, overcome the defects of small damping adjustment range and low fine degree of a variable damping structure based on pretightening force, overcome the defects of low compactness of the variable damping structure based on a lever structure and small damping adjustment amplitude, realize breakthrough of real-time feedback and dynamic adjustment of a flexible joint, and have the advantages of compact structure, small volume, light weight, capability of actively completing absolute damping adjustment of the flexible joint, large damping adjustment range and the like.
In addition, the active adjusting function can be achieved by combining the equivalent cam mechanism of the flexible transmission mechanism 400 and the active adjusting mechanism 600 to actively change the pretightening force structure, and meanwhile, the problems of cam mechanism abrasion and overturning force in the lever structure in the pretightening force damping scheme are effectively solved. Specifically, when the screw sleeve 630 drives the two adjusting rods 640 to move along the screw 610, the first spring 510 can only stretch and compress along the axial direction when being stressed, so that the problem of overturning force in the lever structure is solved; in addition, when the connecting shaft 410 drives the two rollers 450 to slide in the guide groove 310, the change of the included angle between the stress direction of the first spring 510 and the adjusting rod 640 can be realized, and the change is equivalent to the change of the curvature radius of the cam mechanism, so that the problem of abrasion of the cam mechanism is solved.
The embodiments described above are some, but not all embodiments of the application. The detailed description of the embodiments of the application is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Claims (10)
1. A knee joint mechanism based on a combination of active and passive adjustment, comprising:
a first connection mechanism for connecting the thigh;
a second connecting mechanism for connecting the lower leg;
At least one connection plate;
the flexible transmission mechanism is respectively connected with the first connecting mechanism and the connecting plate and is used for synchronously rotating when the first connecting mechanism rotates relative to the second connecting mechanism;
The passive adjusting mechanism is respectively connected with the connecting plate and the flexible transmission mechanism and is used for adjusting the damping force when the first connecting mechanism rotates relative to the second connecting mechanism;
The active adjusting mechanism is respectively connected with the second connecting mechanism and the flexible transmission mechanism and is used for driving the flexible transmission mechanism to rotate so as to adjust the damping force of the first connecting mechanism relative to the second connecting mechanism when rotating.
2. The knee joint mechanism based on combined active and passive adjustment according to claim 1, wherein the first connection mechanism comprises a first leg connector for connecting a thigh, a first connection rod connected with the first leg connector, and a second connection rod arranged perpendicular to and connected with the first connection rod, the second connection rod being connected with the flexible transmission mechanism.
3. The knee joint mechanism based on combined active and passive adjustment according to claim 2, wherein the connecting plate is provided with an arc-shaped guide groove, the flexible transmission mechanism comprises a connecting shaft with one end slidingly arranged in the guide groove and at least two first rotating parts arranged on two sides of the connecting shaft, each first rotating part is connected with a rotatable rotating shaft, the two rotating shafts are respectively hinged with the connecting shaft through at least one second rotating part, the second connecting rod is connected with the connecting shaft, and the two first rotating parts are respectively connected with the passive adjustment mechanism.
4. A knee joint mechanism based on combined active and passive adjustment according to claim 3, wherein the connecting shaft is connected with a roller which rolls in the guide groove.
5. A knee joint mechanism based on a combination of active and passive adjustment according to claim 3, wherein the passive adjustment mechanism comprises at least two first springs, each of the second rotational members being connected to the connection plate by at least one of the first springs.
6. The knee joint mechanism based on combined active and passive adjustment according to claim 3, wherein the active adjustment mechanism comprises a screw rod, a motor for driving the screw rod to rotate, a screw rod sleeve sleeved on the screw rod through threads, and two adjusting rods, one ends of the two adjusting rods are hinged to the screw rod sleeve, the other ends of the two adjusting rods are respectively hinged to the two rotating shafts, and the motor is connected with the connecting plate.
7. The knee joint mechanism based on combined active and passive adjustment according to claim 1, wherein the second connection mechanism comprises a second leg connector for connecting a calf, a third connecting rod connected to the second leg connector, and a fourth connecting rod arranged perpendicular to and connected to the third connecting rod, the fourth connecting rod connecting the connecting plates.
8. The knee joint mechanism based on combined active and passive adjustment according to claim 7, wherein the fourth connecting rod is connected with the connecting plate through a deflection adjustment mechanism, the deflection adjustment mechanism comprises an outer sleeve and a plurality of adjustment plates arranged in the outer sleeve, and two sides of each adjustment plate are respectively connected with the outer sleeve through at least one second spring; one end of the fourth connecting rod extends into the outer sleeve and is connected with each adjusting plate, and the outer sleeve is connected with the passive adjusting mechanism.
9. The knee joint mechanism joint adjustment method based on the initiative and the passivity is characterized by comprising the following steps of:
The first connecting mechanism and the second connecting mechanism are respectively connected with the thigh and the shank;
The flexible transmission mechanism is respectively connected with the first connection mechanism and the connection plate, and the flexible transmission mechanism is driven to synchronously rotate when the first connection mechanism rotates relative to the second connection mechanism
A passive adjusting mechanism respectively connected with the connecting plate and the flexible transmission mechanism is used for adjusting the damping force when the first connecting mechanism rotates relative to the second connecting mechanism;
And driving the flexible transmission mechanism to rotate by using an active adjusting mechanism respectively connected with the second connecting mechanism and the flexible transmission mechanism so as to adjust the damping force of the first connecting mechanism when rotating relative to the second connecting mechanism.
10. A robot comprising a knee joint mechanism based on a combined active and passive adjustment according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410299156.8A CN118123887A (en) | 2024-03-15 | 2024-03-15 | Knee joint mechanism based on active and passive combined adjustment, knee joint method based on active and passive combined adjustment and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410299156.8A CN118123887A (en) | 2024-03-15 | 2024-03-15 | Knee joint mechanism based on active and passive combined adjustment, knee joint method based on active and passive combined adjustment and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118123887A true CN118123887A (en) | 2024-06-04 |
Family
ID=91233970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410299156.8A Pending CN118123887A (en) | 2024-03-15 | 2024-03-15 | Knee joint mechanism based on active and passive combined adjustment, knee joint method based on active and passive combined adjustment and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118123887A (en) |
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2024
- 2024-03-15 CN CN202410299156.8A patent/CN118123887A/en active Pending
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