Disarticulation-protected flexible bionic shoulder joint robot and method of use

Abstract

The present application belongs to the field of robot technology, and particularly relates to a dislocatable-protected flexible bionic shoulder joint robot and a use method. The dislocatable-protected flexible bionic shoulder joint robot comprises a bionic frame, a bionic scapula mechanism and a bionic clavicle mechanism are installed on the bionic frame, the bionic scapula mechanism is connected with the bionic clavicle mechanism, and the bionic scapula mechanism is connected with a bionic humerus mechanism through a glenohumeral joint mechanism. The bionic scapula mechanism comprises a bionic scapula, and the bionic scapula is connected with the bionic frame. Through the structure design of rigid-soft coupling, the deep fusion of multi-degree-of-freedom collaborative driving and bionic mechanism, significant improvement is realized in aspects of motion performance, structural characteristics, safety protection and interactive adaptability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robotics, and particularly relates to a dislocation-protectable flexible bionic shoulder joint robot and a use method. BACKGROUND

[0002] In recent years, the field of human-computer interaction has shown a thriving trend. With the progress of technology and the growth of social demand, human-computer collaboration scenarios are increasingly diverse, and higher performance requirements are placed on related equipment. In this context, as a key component of bionic service robots, the performance of the shoulder joint directly affects the safety, comfort, and rehabilitation assistance effect of human-computer interaction. Traditional rigid mechanical joints lack a buffering and adaptive mechanism when facing sudden external forces, which can easily lead to damage to the joint itself, and even damage to surrounding objects.

[0003] Some soft joints have been applied in some specific bionic robot research. The flexible human shoulder joint mechanism disclosed in CN106041892B realizes six degrees of freedom rotation through a two-stage parallel mechanism. However, due to the lack of movement freedom, it cannot reproduce human shoulder raising and other actions involving scapula translation. The series-parallel structure limits the range of motion, and the clavicle structure is not set, which greatly reduces the abduction range of the shoulder joint. At the same time, the mechanism has no bionic dislocation protection mechanism, and the components are easily damaged when subjected to excessive force. The pure mechanical series structure of "fixed platform - first stage platform - second stage platform" has low bionics, and the components lack coordinated movement. The human shoulder joint robot based on a pneumatic soft actuator disclosed in CN116330318A relies on a four-bar linkage structure, mainly rotates, and lacks translational freedom, making it difficult to reproduce human shoulder raising and other actions involving bone translation. The glenohumeral joint is hard connected to the pneumatic muscle through a bellows assembly, and has no dislocation protection mechanism, which can easily cause component damage when overloaded, and has insufficient safety. The double-layer structure of the bellows assembly makes the overall volume larger and less compact, occupying more space. The clavicle mechanism realizes rotation through a Hooke joint and a spherical hinge, but lacks independent translational driving, and the movement form is mainly passive following the scapula mechanism linkage, with limited active adjustment capability. Moreover, the fourth pneumatic muscle only has a single traction function, and cannot achieve precise distribution of multidimensional force. When simulating the complex pitch and rotation compound motion of the human clavicle, the flexibility and bionics are insufficient, and it is difficult to reproduce the coordinated adjustment function of the human clavicle during shoulder movement. Moreover, its driving and movement coordination mechanism is more inclined to mechanical transmission, and the bionic simulation of the coordinated movement of the human clavicle, scapula, and humerus is insufficient, and the action naturalness and adaptability are weak. SUMMARY

[0004] The present application provides a dislocation-protectable flexible bionic shoulder joint robot and a use method to solve the above problems.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A flexible bionic shoulder joint robot with dislocation protection includes a bionic frame on which a bionic scapula mechanism and a bionic clavicle mechanism are mounted. The bionic scapula mechanism is connected to the bionic clavicle mechanism, and the bionic scapula mechanism is connected to a bionic humeral mechanism via a glenohumeral joint mechanism. The bionic scapula mechanism includes a bionic scapula, which is connected to the bionic frame. The glenohumeral joint mechanism includes a glenohumeral joint base, which is fixedly connected to the end of the bionic scapula. The base of the joint is provided with a ball socket, and a bionic humeral head is provided in the ball socket. The bionic humeral head is integrated with the bionic humeral in the bionic humeral mechanism. Two pins are installed in the bionic humeral head, and multiple tension springs are connected to each pin. A humeral traction line is fixedly provided at the other end of the tension spring. The other end of the humeral traction line passes through the bionic humeral head and is fixedly connected to the glenohumeral joint base. Multiple humeral traction lines are distributed around the bionic humeral head and the glenohumeral joint base.

[0007] Furthermore, the middle part of the bionic scapula is connected to the bionic frame via a ball joint, and the upper right corner of the bionic scapula is connected to the bionic clavicle in the bionic clavicle mechanism via a Hooke's hinge. Three scapular pneumatic muscles are fixedly installed on the right side of the bionic frame, and a fixed guide component is installed above the scapular pneumatic muscles. The fixed guide component is fixedly connected to the bionic frame. Scapular traction lines are fixedly installed at the upper end of the scapular pneumatic muscles. The three scapular traction lines pass through the corresponding fixed guide components and are reversed by the corresponding first guide component before connecting to the bionic scapula. The three scapular traction lines and the Hooke's hinge are respectively installed at the four corners of the bionic scapula. The first guide component is fixedly connected to the bionic frame.

[0008] Furthermore, the middle part of the bionic scapula is connected to the slider via a ball joint, the slider is slidably mounted on a vertical slide rail, and the vertical slide rail is fixedly mounted on the bionic frame.

[0009] Further, the bionic clavicle mechanism comprises a bionic clavicle, a right end of the bionic clavicle is connected with a right upper corner of a bionic scapula through a hooke joint, a left end of the bionic clavicle is connected with a rotating shaft through a spherical joint, the rotating shaft is rotatably connected with the bionic frame, a right side of an upper surface of the bionic clavicle is connected with one end of a first pneumatic muscle through a connecting line, the other end of the first pneumatic muscle is connected with an upper part of the bionic frame through a universal joint, a second pneumatic muscle is fixedly arranged on the right side of the bionic frame, a fixed guide part is also arranged above the second pneumatic muscle, an upper end of the second pneumatic muscle is fixedly arranged with a clavicle traction line, the clavicle traction line passes through the corresponding fixed guide part, and is connected with a front surface of the right side of the bionic clavicle after being changed direction by a second guide part, the second guide part is fixedly installed on a supporting column, the supporting column is fixedly connected with the bionic frame, and the universal joint and the second guide part are respectively located above and below the left end of the bionic clavicle.

[0010] Further, the bionic humerus mechanism comprises a bionic humerus, two third pneumatic muscles and two fourth pneumatic muscles are arranged around the bionic humerus, the third pneumatic muscles and the fourth pneumatic muscles are arranged at intervals, one end of the third pneumatic muscles and the fourth pneumatic muscles is connected with the bionic humerus through a connecting line, the other end of the third pneumatic muscles and the fourth pneumatic muscles is connected with an end of the bionic scapula through a connecting line, the third pneumatic muscles are arranged in an inclined manner on the surface of the humerus, and the fourth pneumatic muscles are arranged along the generatrix of the surface of the humerus.

[0011] The use method of the dislocation-protected flexible bionic shoulder joint robot comprises the movement of the bionic clavicle, the movement of the bionic scapula, the movement of the bionic humerus and the dislocation protection mechanism.

[0012] The movement of the bionic clavicle: the bionic clavicle is driven by the first pneumatic muscle and the second pneumatic muscle, and combined with the action of gravity, the bionic clavicle can realize up-down swinging and forward-backward swinging, the setting of the rotating shaft provides a basic swing angle for the up-down swinging of the bionic clavicle, and thus the amplitude of the up-down swinging of the bionic clavicle is increased.

[0013] The movement of the bionic scapula: the bionic scapula has three rotational degrees of freedom and one moving degree of freedom, three scapula pneumatic muscles generate a pulling force difference through inflation / deflation, and apply an unbalanced torque around the ball center of the spherical joint to the bionic scapula; at the same time, the bionic clavicle forms a closed chain constraint with the bionic scapula through the hooke joint, an additional torque generated by the movement of the bionic clavicle participates in synthesis, and finally drives the bionic scapula to realize three degrees of freedom rotation around the ball center of the spherical joint or movement along the vertical slide rail;

[0014] Movement of the bionic humerus: the bionic humerus has three degrees of freedom, which are realized by driving of two third pneumatic muscles and two fourth pneumatic muscles, when the third pneumatic muscle is inflated and the fourth pneumatic muscle is deflated, the third pneumatic muscle changes from an inclined state to a state along the generatrix of the humerus surface, and the fourth pneumatic muscle changes from a state along the generatrix of the humerus surface to an inclined state, the bionic humerus rotates around its own axis, then, when the third pneumatic muscle is deflated and the fourth pneumatic muscle is inflated, the bionic humerus rotates reversely around its own axis, when the length of the fourth pneumatic muscle is unchanged, one of the third pneumatic muscles is inflated and the other third pneumatic muscle is deflated, the bionic humerus swings in the up-down direction, when the length of the third pneumatic muscle is unchanged, one of the fourth pneumatic muscles is inflated and the other fourth pneumatic muscle is deflated, the bionic humerus swings in the front-back direction;

[0015] Dislocation protection mechanism: throughout the entire use process, the dislocation protection mechanism of the glenohumeral joint mechanism always plays a role, under normal working conditions, the multiple humeral traction lines and the tension spring ensure stable force transmission and motion rigidity between the bionic humerus and the bionic scapula; when the external impact force exceeds the set threshold, the tension spring plastically deforms or even breaks, the multiple humeral traction lines cannot maintain the rigid constraint of the bionic humeral head and the ball socket, the bionic humeral head is separated from the ball socket of the glenohumeral joint base, the bionic 'dislocation' is realized, the overload force transmission path is cut off, and the human body or the robot itself is prevented from being damaged; after the overload condition is removed, a new tension spring is replaced, the bionic humeral head is re-embedded in the ball socket of the glenohumeral joint base, and the humeral traction line tension is adjusted, so that the bionic shoulder joint robot can be reset and restored to the normal use state.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] The present application realizes significant improvement in motion performance, structural characteristics, safety protection and interactive adaptability through the deep integration of the structure design of rigid-soft coupling, multi-degree-of-freedom cooperative driving and bionic mechanism.

[0018] The application drives the end of the bionic humerus to achieve a large range of five-degree-of-freedom motion by adopting a multi-degree-of-freedom coupling design in a way of bionic clavicle, bionic scapula, third pneumatic muscle and fourth pneumatic muscle, which significantly improves the motion range compared with traditional mechanisms, and can accurately reproduce complex human shoulder joint actions such as flexion and extension, abduction and adduction, and shoulder raising, to meet the demand of natural cooperation in human-computer interaction. In terms of structure, the bionic scapula mechanism has three rotational degrees of freedom and one translational degree of freedom: the vertical slide rail provides a translational degree of freedom, directly reproducing the linear displacement of the scapula when the human body raises the shoulder; the bionic scapula pneumatic muscle cooperates with the bionic clavicle mechanism to realize three-degree-of-freedom rotation around the ball center of the ball joint by driving the bionic scapula through the tension difference, providing a multi-pose basis for overall motion. The bionic clavicle mechanism expands the abduction range through the "displacement superposition effect": the rotation of the shaft cooperates with the ball joint of the bionic clavicle, generates rotational displacement superposition under the drive of the first pneumatic muscle and the second pneumatic muscle, is transmitted to the bionic scapula through the Hooke joint, and finally significantly improves the abduction angle of the bionic humerus, which is more close to the large range motion characteristics of the human shoulder joint. The three-degree-of-freedom rotation of the bionic humerus mechanism cooperates with the shoulder motion: two third pneumatic muscles and two fourth pneumatic muscles drive the bionic humerus to rotate around the ball socket of the glenohumeral joint base through the tension difference, and form a coupling with the motion of the bionic scapula and the bionic clavicle, to reproduce the complex action trajectory of the human shoulder joint. The motion range is improved by more than 40% compared with traditional rigid joints, and improved by 25% compared with single flexible joints, especially in the "shoulder raising" action involving the translation of the bionic scapula, the rigid guide of the vertical slide rail and the flexible drive of the scapula pneumatic muscle can realize a translation range of ±50mm, which completely covers the operation demand in daily service scenarios.

[0019] The dislocation protection mechanism of this invention is mainly achieved through the glenohumeral joint mechanism. The glenohumeral joint mechanism innovatively adopts a flexible connection scheme of "ball-and-socket + humeral traction line + tension spring." Under normal working conditions, this structure ensures the stability of the connection, guaranteeing effective force transmission and stable movement between the bionic humerus and the bionic scapula. However, when the external impact force exceeds a set threshold, because the elastic coefficient of the tension spring is pre-designed, the spring will undergo plastic deformation or even break. This prevents the humeral traction line from maintaining the rigid constraint of the spherical joint alone, causing the bionic humeral head to dislocate from the ball-and-socket joint base, forming a "dislocation" similar to the human shoulder joint. This instantly cuts off the transmission path of the overload force, thereby preventing rigid collisions from causing damage to the human body or the robot itself. Furthermore, this dislocation action prevents bending deformation of the bionic humerus; subsequent replacement of the tension spring is sufficient to reset the bionic shoulder joint robot, significantly reducing maintenance costs. This design plays a crucial protective role in human-computer interaction and rehabilitation assistance scenarios. When the bionic shoulder joint robot is accidentally impacted by external force or collides with the human body, it can instantly release overload energy to prevent the rigid structure from generating continuous impact force on the human body. In rehabilitation assistance, if the patient's range of motion is too large or abnormal muscle strength causes joint overload, it can also interrupt the abnormal power transmission in time to prevent secondary damage to the patient's limbs. Through this dislocation protection mechanism, passive safety protection for the human body is achieved, improving the safety and reliability of human-computer collaboration.

[0020] This invention achieves compactness and lightweight design by combining rigid and flexible materials and integrating functions, thereby improving motion performance while reducing volume and increasing space utilization. It replaces the traditional motor-gear transmission system with pneumatic muscles, along with lightweight components such as traction cables and tension springs, reducing overall weight and solving the problems of bulkiness and high energy consumption associated with traditional rigid joints. The glenohumeral joint mechanism employs a flexible connection scheme of "ball-and-socket + humeral traction cable + tension spring," saving more than 50% of installation space compared to traditional rigid hinges. The biomimetic clavicle mechanism, through the integrated design of the pivot and ball joint, compresses the space of multi-degree-of-freedom kinematic pairs, avoiding exposed components. This invention reduces redundant components, reserving installation space for other modules of the robot.

[0021] This invention mimics the muscle group drive pattern of the human shoulder joint. Through the coordinated pulling control of the scapular pneumatic muscles, pneumatic muscle number one, pneumatic muscle number two, pneumatic muscle number three, and pneumatic muscle number four, it replicates the multi-directional drive of human muscle groups on the scapula, clavicle, and humerus. Thus, in terms of mechanical structure, it achieves a five-degree-of-freedom motion capability similar to that of the human body, rather than a single pneumatic muscle independently completing five-degree-of-freedom motion. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2Structure schematic view of the bionic scapula mechanism of the present application;

[0024] Figure 3 Connection schematic view of the scapula traction line of the bionic scapula mechanism of the present application;

[0025] Figure 4 Structure schematic view of the bionic clavicle mechanism of the present application;

[0026] Figure 5 Structure schematic view of the glenohumeral joint mechanism of the present application;

[0027] Figure 6 Structure schematic view of the bionic humerus mechanism of the present application;

[0028] Figure 7 Driving schematic view of the bionic humerus of the present application;

[0029] In the figure, bionic frame 1, bionic scapula mechanism 2, bionic clavicle mechanism 3, glenohumeral joint mechanism 4, bionic humerus mechanism 5, bionic scapula 201, hooke joint 202, fixed guide component 203, scapula traction line 204, scapula pneumatic muscle 205, No. 1 guide component 206, vertical slide rail 207, slide block 208, No. 2 pneumatic muscle 301, clavicle traction line 302, support column 303, bionic clavicle 304, No. 1 pneumatic muscle 305, universal joint 306, rotating shaft 307, No. 2 guide component 308, glenohumeral joint base 401, ball socket 402, bionic humerus ball head 403, tension spring 404, pin shaft 405, humerus traction line 406, bionic humerus 501, No. 3 pneumatic muscle 502, No. 4 pneumatic muscle 503. DETAILED DESCRIPTION

[0030] In order to further illustrate the technical solutions of the present application, the present application will be further described by examples below.

[0031] As Figures 1 to 7As shown, the dislocation-protected flexible bionic shoulder joint robot includes a bionic frame 1, a bionic scapula mechanism 2 and a bionic clavicle mechanism 3 are installed on the bionic frame 1, the bionic scapula mechanism 2 is connected with the bionic clavicle mechanism 3, and the bionic scapula mechanism 2 is connected with a bionic humerus mechanism 5 through a glenohumeral joint mechanism 4; the bionic scapula mechanism 2 includes a bionic scapula 201 connected with the bionic frame 1, the glenohumeral joint mechanism 4 includes a glenohumeral joint base 401 fixedly connected with an end of the bionic scapula 201, a ball socket 402 is arranged on the glenohumeral joint base 401, a bionic humerus ball head 403 is arranged in the ball socket 402, the bionic humerus ball head 403 is integrally designed with a bionic humerus 501 in the bionic humerus mechanism 5, two side-by-side arranged pin shafts 405 are installed in the bionic humerus ball head 403, a plurality of tension springs 404 are connected on each pin shaft 405, humerus traction lines 406 are fixedly arranged at the other ends of the tension springs 404, the other ends of the humerus traction lines 406 are fixedly connected with the glenohumeral joint base 401 through the bionic humerus ball head 403, and the plurality of humerus traction lines 406 are distributed around the bionic humerus ball head 403 and the glenohumeral joint base 401.

[0032] The middle part of the bionic scapula 201 is connected with a sliding block 208 in a spherical hinge manner, the sliding block 208 is slidingly arranged on a vertical sliding rail 207, the vertical sliding rail 207 is fixedly installed on the bionic frame 1, the upper right corner of the bionic scapula 201 is connected with a bionic clavicle 304 in the bionic clavicle mechanism 3 through a hooke joint 202, three scapula pneumatic muscles 205 are fixedly arranged on the right side of the bionic frame 1, a fixed guide component 203 is arranged above the scapula pneumatic muscles 205, the fixed guide component 203 is fixedly connected with the bionic frame 1, scapula traction lines 204 are fixedly arranged at the upper ends of the scapula pneumatic muscles 205, the three scapula traction lines 204 pass through the corresponding fixed guide components 203, are reversed through corresponding first guide components 206, and are connected with the bionic scapula 201, the three scapula traction lines 204 and the hooke joint 202 are arranged on the four corners of the bionic scapula 201 respectively, and the first guide components 206 are fixedly connected with the bionic frame 1.

[0033] The bionic clavicle mechanism 3 includes a bionic clavicle 304, the right end of the bionic clavicle 304 is connected with the right upper corner of the bionic scapula 201 through a hooke joint 202, the left end of the bionic clavicle 304 is connected with a rotating shaft 307 in a ball joint manner, the rotating shaft 307 is rotationally connected with the bionic frame 1, the right side of the upper surface of the bionic clavicle 304 is connected with one end of a first pneumatic muscle 305 through a connecting line, the other end of the first pneumatic muscle 305 is connected with the upper part of the bionic frame 1 through a universal joint 306, a second pneumatic muscle 301 is fixedly arranged on the right side of the bionic frame 1, a fixed guide component 203 is also arranged above the second pneumatic muscle 301, the upper end of the second pneumatic muscle 301 is fixedly provided with a clavicle traction line 302, the clavicle traction line 302 passes through the corresponding fixed guide component 203, is connected with the front surface of the right side of the bionic clavicle 304 after being reversed by a second guide component 308, the second guide component 308 is fixedly installed on a supporting column 303, the supporting column 303 is fixedly connected with the bionic frame 1, and the universal joint 306 and the second guide component 308 are located above and below the bionic clavicle 304 left end respectively.

[0034] The bionic humerus mechanism 5 includes a bionic humerus 501, two third pneumatic muscles 502 and two fourth pneumatic muscles 503 are arranged around the bionic humerus 501, the third pneumatic muscles 502 and the fourth pneumatic muscles 503 are arranged at intervals, one end of the third pneumatic muscles 502 and the fourth pneumatic muscles 503 is connected with the bionic humerus 501 through a connecting line, the other end of the third pneumatic muscles 502 and the fourth pneumatic muscles 503 is connected with the end of the bionic scapula 201 through a connecting line, the third pneumatic muscles 502 are arranged in an inclined manner on the humerus surface, and the fourth pneumatic muscles 503 are arranged along the humerus surface generatrix.

[0035] The use method of the dislocation-protectable flexible bionic shoulder joint robot includes the movement of the bionic clavicle 304, the movement of the bionic scapula 201, the movement of the bionic humerus 501 and the dislocation protection mechanism.

[0036] The movement of the bionic clavicle 304: the bionic clavicle 304 is driven by the first pneumatic muscle 305 and the second pneumatic muscle 301, and combines the action of gravity, so that the bionic clavicle 304 can realize up-down swinging and forward-backward swinging, the setting of the rotating shaft 307 provides a basic swing angle for the up-down swinging of the bionic clavicle 304, and further increases the amplitude of the up-down swinging of the bionic clavicle 304;

[0037] Movement of the bionic scapula 201: The bionic scapula 201 has three rotational degrees of freedom and one translational degree of freedom. Three scapula pneumatic muscles 205 generate a tension difference by inflation / deflation, exerting an unbalanced moment on the bionic scapula 201 around the center of the spherical hinge. At the same time, the bionic clavicle 304 forms a closed chain constraint with the bionic scapula 201 through the hooke joint 202, and the additional moment generated by the movement of the bionic clavicle 304 participates in the synthesis, finally driving the bionic scapula 201 to rotate around the center of the spherical hinge or move along the vertical slide rail 207 with three degrees of freedom.

[0038] Movement of the bionic humerus 501: The bionic humerus 501 has three degrees of freedom, which are realized by driving two No. 3 pneumatic muscles 502 and two No. 4 pneumatic muscles 503. When the No. 3 pneumatic muscle 502 is inflated and the No. 4 pneumatic muscle 503 is deflated, the No. 3 pneumatic muscle 502 changes from an inclined state to a state along the humerus surface generatrix, and the No. 4 pneumatic muscle 503 changes from a state along the humerus surface generatrix to an inclined state, and the bionic humerus 501 rotates around its own axis. Then, when the No. 3 pneumatic muscle 502 is deflated and the No. 4 pneumatic muscle 503 is inflated, the bionic humerus 501 rotates in the opposite direction around its own axis. When the length of the No. 4 pneumatic muscle 503 remains unchanged, one of the No. 3 pneumatic muscles 502 is inflated and the other is deflated, the bionic humerus 501 swings in the up-down direction. When the length of the No. 3 pneumatic muscle 502 remains unchanged, one of the No. 4 pneumatic muscles 503 is inflated and the other is deflated, the bionic humerus 501 swings in the front-back direction.

[0039] Dislocation protection mechanism: Throughout the entire use process, the dislocation protection mechanism of the glenohumeral joint mechanism 4 always plays a role. Under normal working conditions, multiple humeral traction lines 406 and tension springs 404 ensure stable force transmission and motion rigidity between the bionic humerus 501 and the bionic scapula 201. When the external impact force exceeds the set threshold, the tension spring 404 plastically deforms or even breaks, and the multiple humeral traction lines 406 cannot maintain the rigid constraint of the bionic humeral head 403 and the ball socket 402, the bionic humeral head 403 is separated from the ball socket 402 of the glenohumeral joint base 401, realizing the bionic "dislocation", cutting off the overload force transmission path, and avoiding damage to the human body or the robot itself. After the overload condition is removed, replace the new tension spring 404, re-embed the bionic humeral head 403 into the ball socket 402 of the glenohumeral joint base 401, adjust the tension of the humeral traction line 406, and the bionic shoulder joint robot can be reset to the normal use state.

[0040] The foregoing merely illustrates the principles of the application and applies only to the particular cases described and illustrated herein. It will be apparent to those skilled in the art that the application can be practiced with modifications and alterations numerous and numerous combinations of the above-described elements and components and in many different embodiments. Accordingly, the application seeks and employs to incorporate all such variations and alterations and combinations thereof as come within the scope of the following claims and equivalents thereof.

[0041] Furthermore, it should be understood that although the present specification has been described in language specific to structural features, methodological acts, or computer structural features, it is to be understood that the application defined in the appended claims can be embodied in other specific forms without the use of structural or methodological acts, specific sequentially ordered steps, or computer structural features.

Claims

1. A disarticulation-protected, flexible, bionic shoulder joint robot, characterized in that: The application relates to a bionic shoulder mechanism, which comprises a bionic frame (1), a bionic scapula mechanism (2) and a bionic clavicle mechanism (3) installed on the bionic frame (1), wherein the bionic scapula mechanism (2) is connected with the bionic clavicle mechanism (3), and the bionic scapula mechanism (2) is connected with a bionic humerus mechanism (5) through a glenohumeral joint mechanism (4). The bionic scapula mechanism (2) comprises a bionic scapula (201) connected with the bionic frame (1), wherein the middle part of the bionic scapula (201) is connected with the bionic frame (1) through a spherical hinge, the upper right corner of the bionic scapula (201) is connected with a bionic clavicle (304) in the bionic clavicle mechanism (3) through a hooke joint (202), three scapula pneumatic muscles (205) are fixedly arranged on the right side of the bionic frame (1), a fixed guide part (203) is arranged above the scapula pneumatic muscles (205) and is fixedly connected with the bionic frame (1), the upper end of each scapula pneumatic muscle (205) is fixedly provided with a scapula traction line (204), the three scapula traction lines (204) pass through the corresponding fixed guide parts (203), are reversed through corresponding first guide parts (206) and are connected with the bionic scapula (201), the three scapula traction lines (204) and the hooke joint (202) are arranged on the four corners of the bionic scapula (201) respectively, and the first guide parts (206) are fixedly connected with the bionic frame (1). The glenohumeral joint mechanism (4) comprises a glenohumeral joint base (401) fixedly connected with the end of the bionic scapula (201), a ball socket (402) arranged on the glenohumeral joint base (401), a bionic humerus ball head (403) arranged in the ball socket (402), the bionic humerus ball head (403) being integrally designed with a bionic humerus (501) in the bionic humerus mechanism (5), two side-by-side arranged pin shafts (405) arranged in the bionic humerus ball head (403), a plurality of tension springs (404) connected with each pin shaft (405), humerus traction lines (406) fixedly arranged at the other ends of the tension springs (404), the other ends of the humerus traction lines (406) penetrating through the bionic humerus ball head (403) and being fixedly connected with the glenohumeral joint base (401), and the plurality of humerus traction lines (406) being distributed around the bionic humerus ball head (403) and the glenohumeral joint base (401). The bionic humerus mechanism (5) comprises a bionic humerus (501), two third pneumatic muscles (502) and two fourth pneumatic muscles (503) are arranged around the bionic humerus (501), the third pneumatic muscles (502) and the fourth pneumatic muscles (503) are arranged at intervals, one end of the third pneumatic muscles (502) and the fourth pneumatic muscles (503) is connected with the bionic humerus (501) through a connecting line, and the other end of the third pneumatic muscles (502) and the fourth pneumatic muscles (503) is connected with the end of the bionic scapula (201) through a connecting line.

2. The dislocatable protected flexible bionic shoulder joint robot according to claim 1, characterized in that: The middle part of the bionic scapula (201) is connected with a sliding block (208) in a spherical hinge mode, the sliding block (208) is slidingly arranged on a vertical sliding rail (207), and the vertical sliding rail (207) is fixedly installed on the bionic frame (1).

3. The dislocatable, protected, flexible, biomimetic shoulder joint robot of claim 2, wherein: The bionic clavicle mechanism (3) comprises a bionic clavicle (304), the right end of the bionic clavicle (304) is connected with the upper right corner of the bionic scapula (201) through a hooke hinge (202), the left end of the bionic clavicle (304) is connected with a rotating shaft (307) in a spherical hinge mode, the rotating shaft (307) is rotatably connected with the bionic frame (1), one end of a first pneumatic muscle (305) is connected with the right side of the upper surface of the bionic clavicle (304) through a connecting line, the other end of the first pneumatic muscle (305) is connected with the upper part of the bionic frame (1) through a universal joint (306), a second pneumatic muscle (301) is fixedly arranged on the right side of the bionic frame (1), a fixed guide component (203) is also arranged above the second pneumatic muscle (301), a clavicle traction line (302) is fixedly arranged at the upper end of the second pneumatic muscle (301), the clavicle traction line (302) passes through the corresponding fixed guide component (203), is reversed through a second guide component (308), and is connected with the front surface of the right side of the bionic clavicle (304), the second guide component (308) is fixedly installed on a supporting column (303), the supporting column (303) is fixedly connected with the bionic frame (1), and the universal joint (306) and the second guide component (308) are located above and below the left end of the bionic clavicle (304) respectively.

4. The dislocatable, protectable, flexible, bionic shoulder joint robot of claim 3, wherein: The third pneumatic muscle (502) is arranged in an inclined mode on the humerus surface, and the fourth pneumatic muscle (503) is arranged along the generatrix of the humerus surface.

5. Method of use of the dislocation-protected flexible bionic shoulder joint robot, based on the dislocation-protected flexible bionic shoulder joint robot of claim 4, characterized in that: The movement of the bionic clavicle (304), the movement of the bionic scapula (201), the movement of the bionic humerus (501) and the dislocation protection mechanism are included. The movement of the bionic clavicle (304): the bionic clavicle (304) can realize up-down swinging and front-back swinging through the driving of the first pneumatic muscle (305) and the second pneumatic muscle (301) and the action of gravity, and the rotating shaft (307) provides a basic swing angle for the up-down swinging of the bionic clavicle (304), thereby increasing the amplitude of the up-down swinging of the bionic clavicle (304). Movement of the bionic scapula (201): The bionic scapula (201) has three rotational degrees of freedom and one translational degree of freedom. Three scapula pneumatic muscles (205) generate a tension difference by inflation / deflation, exerting an unbalanced moment on the bionic scapula (201) around the center of the spherical hinge. At the same time, the bionic clavicle (304) forms a closed chain constraint with the bionic scapula (201) through the Hooke joint (202), and the additional moment generated by the movement of the bionic clavicle (304) participates in the synthesis, finally driving the bionic scapula (201) to rotate around the center of the spherical hinge or move along the vertical slide rail (207) with three degrees of freedom; Movement of the bionic humerus (501): The bionic humerus (501) has three degrees of freedom, which are realized by driving two No. 3 pneumatic muscles (502) and two No. 4 pneumatic muscles (503). When the No. 3 pneumatic muscle (502) is inflated and the No. 4 pneumatic muscle (503) is deflated, the No. 3 pneumatic muscle (502) changes from an inclined state to a state along the surface generatrix of the humerus, and the No. 4 pneumatic muscle (503) changes from a state along the surface generatrix of the humerus to an inclined state, and the bionic humerus (501) rotates around its own axis. Then, when the No. 3 pneumatic muscle (502) is deflated and the No. 4 pneumatic muscle (503) is inflated, the bionic humerus (501) rotates in the opposite direction around its own axis. When the length of the No. 4 pneumatic muscle (503) remains unchanged, one of the No. 3 pneumatic muscles (502) is inflated and the other is deflated, the bionic humerus (501) swings in the up-down direction. When the length of the No. 3 pneumatic muscle (502) remains unchanged, one of the No. 4 pneumatic muscles (503) is inflated and the other is deflated, the bionic humerus (501) swings in the front-back direction. Dislocation protection mechanism: During the entire use process, the dislocation protection mechanism of the glenohumeral joint mechanism (4) always plays a role. Under normal working conditions, multiple humeral traction lines (406) and tension springs (404) ensure stable force transmission and motion rigidity between the bionic humerus (501) and the bionic scapula (201). When the external impact force exceeds the set threshold, the tension spring (404) plastically deforms or even breaks, and the multiple humeral traction lines (406) cannot maintain the rigid constraint of the bionic humeral head (403) and the ball socket (402), and the bionic humeral head (403) is separated from the ball socket (402) of the glenohumeral joint base (401), realizing the bionic "dislocation", cutting off the overload force transmission path, and avoiding damage to the human body or the robot itself. After the overload condition is removed, replace the new tension spring (404), re-embed the bionic humeral head (403) into the ball socket (402) of the glenohumeral joint base (401), adjust the tension of the humeral traction line (406), and the bionic shoulder joint robot can be reset to the normal use state.

Images