Multi-degree-of-freedom hip joint mechanism suitable for biped moving platform

Abstract

The utility model discloses a multi-degree-of-freedom hip joint mechanism suitable for a biped mobile platform, which comprises a central frame, a central seat, a connecting assembly, a hip joint assembly and two hip joint pitch direction driving assemblies, the hip joint assembly is arranged on the central frame, and the two hip joint pitch direction driving assemblies are both arranged on the hip joint assembly; the hip joint assembly comprises a hip joint roll direction driving module, a hip joint yaw direction driving assembly, two yaw direction large plates, a rotary fixing frame, a gear, an arc guide rail and a plurality of motor installation parts. According to the multi-degree-of-freedom hip joint mechanism suitable for the double-foot moving platform capable of carrying the paraplegia person, by combining the structural design of a robot, ergonomics and human motion characteristics, the joints are driven by motors, the space utilization rate is good, the man-machine coupling degree is good, the activity requirements of the paraplegia patient are met, safety is good, and the robot is suitable for being used for carrying the paraplegia person. The movement is flexible.

Description

TECHNICAL FIELD

[0001] The utility model relates to biped robot technical field especially suitable for multi -freedom degree hip joint mechanism of biped mobile platform. BACKGROUND

[0002] There are many exoskeletons on the market to assist the disabled to walk, which mainly faces the disabled with limb loss or muscle weakness, plays the role of auxiliary support, muscle compensation or lower limb rehabilitation. However, the existing products cannot meet all the needs of the disabled group. For the disabled with high-level paraplegia, there is no other assistive device to meet their daily activities and living needs except for wheelchairs. Although the wheelchair has low cost, is more popular and the related technology is relatively mature, it still has the disadvantage that the disabled need to consume a lot of physical strength to move, and still need the help of others to move in some terrain and situations. In addition, the disabled also face great difficulties in getting on and off the wheelchair independently and living. At present, there is a lack of a device that can be used by the disabled with high-level paraplegia to independently realize daily activities and living. SUMMARY

[0003] The utility model aims at solving the shortcomings in the prior art and provides a multi -freedom degree hip joint mechanism suitable for biped mobile platform.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0005] A multi -freedom degree hip joint mechanism suitable for biped mobile platform, including center frame, center seat, connecting component, hip joint assembly and two hip joint pitch direction drive assemblies, the hip joint assembly is installed on the center frame, two hip joint pitch direction drive assemblies are installed on the hip joint assembly;

[0006] The hip joint assembly includes hip joint roll direction drive module, hip joint yaw direction drive assembly, two yaw direction big plates, rotating fixed frame, gear, circular arc guide rail and a plurality of motor mounting pieces, two hip joint roll direction drive modules are fixedly connected at the left and right ends of the center frame through the motor mounting pieces, the other end of two yaw direction big plates is connected with the front left and right ends of the center frame through four swing frames two by two, two pairs of circular arc guide rails are connected to the upper and lower surfaces of the yaw direction big plates, the yaw direction drive assembly is connected to the circular arc guide rail, the gear is installed on the yaw direction drive assembly and moves coaxially with the yaw direction drive assembly, and the gear is engaged with the side teeth of the yaw direction big plate.

[0007] The hip roll direction driving module is connected with the yaw direction driving module through a connecting assembly, the connecting assembly comprises a hip roll direction driving module flange plate, the hip roll direction driving module flange plate is connected with one end of the yaw direction large plate, the yaw direction large plate is connected with the hip pitch direction driving assembly through the circular arc guide rail, and the circular arc guide rail is driven by the yaw direction driving module through gear meshing with the side teeth of the yaw direction large plate.

[0008] The outer walls of the two roll direction motor frames are fixedly connected with the outer walls of the two hip roll direction driving modules, the outer walls of the two yaw direction large plates are fixedly connected with four swing frames, the outer walls of the upper and lower surfaces of the yaw direction large plate are fixedly connected with the outer walls of the four circular arc guide rails, the outer walls of the two circular arc guide rails are slidably connected with circular arc sliding blocks, the outer wall of the circular arc sliding block is fixedly installed with a gasket, the outer wall of the gasket is fixedly connected with a yaw direction motor frame, the outer wall of the gasket is fixedly connected with an inner ring fixed frame and an outer ring fixed frame, the inner ring fixed frame and the outer ring fixed frame are fixedly connected with a pitch direction motor frame, the inner part of the pitch direction motor frame is fixedly connected with a hip pitch direction driving module, the outer wall of the output end of the hip pitch direction driving module is fixedly connected with a hip pitch direction driving module flange plate, the outer wall of the yaw direction motor frame is fixedly connected with a hip yaw direction driving module, the outer wall of the output end of the hip yaw direction driving module is fixedly connected with a hip yaw direction driving gear, the hip yaw direction driving gear is meshed with the outer wall side tooth box of the yaw direction large plate, and the outer wall of the swing frame is fixedly installed with a cylindrical roller bearing.

[0009] Preferably, the center seat comprises a center frame, a seat cushion, a height adjusting rod, a seat cushion fixing clamp and a control mounting seat, the outer wall of the seat cushion fixing clamp is threadedly connected with a fastening bolt, and the bottom of the seat cushion is fixedly connected with the top of the seat cushion fixing clamp.

[0010] Preferably, a protrusion higher than the surrounding plane is arranged on the blind hole, and a through hole is arranged on the side surface of the protrusion.

[0011] Preferably, a plurality of insertion holes are uniformly arranged on the outer wall of the height adjusting rod.

[0012] Preferably, the yaw direction large plate is fan-shaped.

[0013] Preferably, the center frame is in an I-shaped view and is a hollow structure.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] The multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform for the paraplegic person has the advantages of good space utilization, good man-machine coupling degree, meeting the activity demand of the paraplegic patient, good safety and flexible movement. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme of the utility model, the drawings needed to be used in the following specific embodiment will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to the drawings for the ordinary skilled in the art without paying creative labor.

[0017] Figure 1 A perspective structural schematic view of the multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform is provided for the utility model;

[0018] Figure 2 A side view structural schematic view of the multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform is provided for the utility model;

[0019] Figure 3 A center seat structural schematic view of the multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform is provided for the utility model;

[0020] Figure 4 A center seat side structural schematic view of the multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform is provided for the utility model;

[0021] Figure 5 A hip joint assembly assembly structural schematic view of the multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform is provided for the utility model;

[0022] Figure 6 A hip joint assembly side view structural schematic view of the multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform is provided for the utility model;

[0023] Figure 7 A hip joint assembly explosion perspective structural schematic view of the multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform is provided for the utility model;

[0024] Figure 8 A hip joint assembly local structural schematic view of the multi-degree-of-freedom hip joint mechanism suitable for the biped mobile platform is provided for the utility model;

[0025] Figure 9 This is a schematic diagram of the hip joint pitch direction drive component structure of a multi-degree-of-freedom hip joint mechanism suitable for bipedal mobile platforms proposed in this utility model.

[0026] Figure 10 This is a schematic diagram of the hip joint yaw direction drive module structure of a multi-degree-of-freedom hip joint mechanism suitable for bipedal mobile platforms proposed in this utility model.

[0027] Figure 11 This utility model presents a schematic diagram of a roll direction drive module for a multi-degree-of-freedom hip joint mechanism applicable to a bipedal mobile platform.

[0028] Figure 12 This is a schematic diagram of a large plate structure in the yaw direction for a multi-degree-of-freedom hip joint mechanism suitable for a bipedal mobile platform proposed in this utility model.

[0029] In the diagram: 1. Hip joint roll drive module; 2. Center frame; 3. Control mounting base; 4. Seat cushion; 5. Fastening bolt; 6. Height adjustment rod; 7. Seat cushion fixing clip; 8. Roll motor frame; 9. Yaw plate; 10. Swing frame; 11. Inner ring fixing frame; 12. Hip joint pitch drive module flange; 13. Pitch motor frame; 14. Outer ring fixing frame; 15. Hip joint pitch drive module; 16. Hip joint yaw drive gear; 17. Hip joint yaw drive module; 18. Yaw motor frame; 19. Gasket; 20. Arc slider; 21. Arc guide rail; 22. Cylindrical roller bearing; 23. Hip joint roll drive module flange. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0031] Depend on Figures 1-4 As shown, a multi-degree-of-freedom hip joint mechanism suitable for bipedal mobile platforms is disclosed, including a central frame 2, a central seat, a connecting component, a hip joint assembly, and two hip joint pitch direction drive components. The hip joint assembly is mounted on the central frame 2, and the two hip joint pitch direction drive components are both mounted on the hip joint assembly.

[0032] The hip joint assembly comprises a hip joint roll direction driving module 1, a hip joint yaw direction driving assembly, two yaw direction large plates 9, a rotating fixing frame, a gear, a circular arc guide rail 21 and a plurality of motor mounting pieces. The two hip joint roll direction driving modules 1 are fixedly connected to the left and right ends of the center frame 2 through the motor mounting pieces. The other ends of the two yaw direction large plates 9 are connected to the front left and right ends of the center frame 2 through four swing frames 10 two by two oppositely. Two pairs of circular arc guide rails 21 are connected to the upper and lower surfaces of the yaw direction large plate 9. The yaw direction driving assembly is connected to the circular arc guide rail 21. The gear is mounted on the yaw direction driving assembly and moves coaxially with the yaw direction driving assembly. The driver of the hip joint pitch direction driving assembly is a motor which directly outputs power through a flange plate to drive the hip joint to move in the pitch direction. The gear is engaged with the side teeth of the yaw direction large plate 9.

[0033] The hip joint roll direction driving module 1 is connected to the yaw direction driving module through a connecting assembly. The connecting assembly comprises a hip joint roll direction driving module flange plate 23 which is connected to one end of the yaw direction large plate 9. The yaw direction large plate 9 is connected to the hip joint pitch direction driving assembly through the circular arc guide rail 21. The circular arc guide rail 21 is driven by the yaw direction driving module through the gear and the side teeth of the yaw direction large plate 9.

[0034] The hip joint roll direction driving module 1 comprises a motor assembly, an input shaft connected to the motor assembly, a harmonic reducer connected to the input shaft and a flange plate connected to the harmonic reducer. The flange plate is connected to the yaw direction large plate. The hip joint yaw direction driving module outputs motion to the pitch direction driving module through the gear and the yaw direction large plate.

[0035] The two ends of the center frame 2 are fixedly connected with roll direction motor frames 8, the outer walls of the two roll direction motor frames 8 are fixedly connected with the outer walls of the two hip joint roll direction driving modules 1, the outer walls of the two yaw direction large plates 9 are fixedly connected with four swing frames 10, the two yaw direction large plates 9 are fixedly connected with the outer walls of the four swing frames 10, the outer walls of the two yaw direction large plates 9 are fixedly connected with the outer walls of the four circular arc guide rails 21, the outer walls of the two circular arc guide rails 21 are slidably connected with circular arc sliding blocks 20, the outer walls of the circular arc sliding blocks 20 are fixedly connected with gaskets 19, the outer walls of the gaskets 19 are fixedly connected with yaw direction motor frames 18, the outer walls of the gaskets 19 are fixedly connected with inner ring fixed frames 11 and outer ring fixed frames 14, the inner ring fixed frames 11 and the outer ring fixed frames 14 are fixedly connected with pitch direction motor frames 13, the inner parts of the pitch direction motor frames 13 are fixedly connected with hip joint pitch direction driving modules 15, the output end outer walls of the hip joint pitch direction driving modules 15 are fixedly connected with hip joint pitch direction driving module flanges 12, the outer walls of the yaw direction motor frames 18 are fixedly connected with hip joint yaw direction driving modules 17, the output end outer walls of the hip joint yaw direction driving modules 17 are fixedly connected with hip joint yaw direction driving gears 16, the hip joint yaw direction driving gears 16 are meshed with the outer wall side edge tooth boxes of the yaw direction large plates 9, the outer walls of the swing frames 10 are fixedly connected with cylindrical roller bearings 22, the center seat comprises the center frame 2, the seat cushion 4, the height adjusting rod 6, the seat cushion fixed clamp 7, the control mounting seat 3, the outer wall of the seat cushion fixed clamp 7 is threadedly connected with a fastening bolt 5, the bottom of the seat cushion 4 is fixedly connected with the top of the seat cushion fixed clamp 7, the blind hole is provided with a protrusion higher than the surrounding plane, the protrusion side is provided with a through hole for fixing the height adjusting rod, the two ends of the center frame 2 are fixedly connected with the roll direction motor frames 8, the height adjusting rod 6 is clamped and fixed on the outer wall of the seat cushion fixed clamp 7, the outer wall of the height adjusting rod 6 is uniformly provided with a plurality of insertion holes, the yaw direction large plate 9 is fan-shaped, one end of which is provided with a rectangular area and five circular holes, the other end is provided with six circular holes, and two groups of circular holes are opened on the fan surface; the swing frame 10 is basically in the shape of “L”, both sides of which are provided with reinforcing ribs, the inner side of the upper end of the “L” type is provided with a stepped shaft, the stepped shaft is provided with a hole, the stepped shaft is in the left and right cylinders at the front end of the center frame, the horizontal plane of the lower end of the “L” type is provided with a threaded hole connected with the yaw direction large plate 9, the center frame 2 is in the shape of an I-beam when viewed from above, the left and right ends of the front horizontal bar are provided with cylinders parallel to the reference ground, the left and right ends of the rear horizontal bar are provided with circular holes, the center frame 2 is a hollow structure, the outer wall of the center frame 2 is provided with a blind hole, a through hole for accommodating the height adjusting rod 6, the height adjusting rod 6 is fixed in the blind hole of the center frame 2 by means of an existing movable bolt, and the blind hole is used for accommodating the control mounting seat 3.

[0036] The movement locus of the hip joint yaw direction driving gear 16 is a 0-120° circular arc, the movement locus circular arc and the center axes of the hip joint roll direction driving module 1, the hip joint pitch direction driving module 15 intersect at a point, meet the ergonomics requirements, the rotation axes of the mechanism in the roll direction, the yaw direction and the pitch direction intersect on the hip joint of the human body, the movement performance is good, each movement axis is powered by an independent motor, and power support can be provided for paraplegic patients.

[0037] The yaw direction motor frame 18 is inward to the equipment, and the distance from the center axis of the hip joint roll direction driving module 1 is about 70mm; according to relevant data, the hip width of an adult male with a height of 170cm is about 321mm, and in the activity space, the user will not be too crowded.

[0038] The inner ring radius of the yaw direction large plate 9 is 116mm; according to relevant data, the elbow width of an adult male with a height of 170cm in a sitting position is 422mm, which can limit the hip joint dislocation of the human body and prevent the elbow part from being stuck when the human body is relaxed.

[0039] The preferred embodiments disclosed above are only used to help describe the utility model. The preferred embodiments do not describe all the details and limit the utility model to the specific implementation. Apparently, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principle and practical application of the utility model, so that the technical personnel in the technical field can well understand and use the utility model. The utility model is limited by the claims and the whole scope and equivalents.

Claims

1. A multi-degree-of-freedom hip joint mechanism suitable for bipedal mobile platforms, characterized in that, It includes a central frame (2), a central seat, a connecting component, a hip joint component, and two hip joint pitch direction drive components. The hip joint component is mounted on the central frame (2), and both hip joint pitch direction drive components are mounted on the hip joint component. The hip joint assembly includes a hip joint roll drive module (1), a hip joint yaw drive assembly, two yaw plates (9), a rotating fixing frame, gears, arc guide rails (21), and several motor mounting parts. The two hip joint roll drive modules (1) are fixedly connected to the left and right ends of the center frame (2) through the motor mounting parts. The other ends of the two yaw plates (9) are connected to the left and right ends of the center frame (2) through four swing frames (10) facing each other. The two pairs of arc guide rails (21) are connected to the upper and lower surfaces of the yaw plates (9). The yaw drive assembly is connected to the arc guide rails (21). The gear is mounted on the yaw drive assembly and moves coaxially with the yaw drive assembly. The gear meshes with the side teeth of the yaw plates (9). The hip joint roll direction drive module (1) is connected to the yaw direction drive module through a connecting component. The connecting component includes a hip joint roll direction drive module flange (23). The hip joint roll direction drive module flange (23) is connected to one end of the yaw direction plate (9). The yaw direction plate (9) is connected to the hip joint pitch direction drive component through the arc guide rail (21). The arc guide rail (21) is driven by the yaw direction drive module through gear meshing with the side teeth of the yaw direction plate (9). Both ends of the central frame (2) are fixedly connected to roll direction motor frames (8). The outer walls of the two roll direction motor frames (8) are fixedly connected to the outer walls of the two hip joint roll direction drive modules (1). The outer walls of the two yaw direction large plates (9) are fixedly connected to four swing frames (10). The four swing frames (10) are fixedly connected to the outer walls of the central frame (2) in pairs. The upper and lower surfaces of the yaw direction large plate (9) are fixedly connected to the outer walls of four arc guide rails (21). The outer walls of the two arc guide rails (21) are slidably connected to arc sliders (20). The outer walls of the arc sliders (20) are fixedly installed with shims (19). The outer walls of the shims (19) are fixedly connected to yaw direction motor frames (18). The outer walls of the shims (19) are fixedly connected to inner ring fixing frames (11) and outer ring fixing frames. The frame (14) has a pitch direction motor frame (13) fixedly connected to the inner ring fixed frame (11) and the outer ring fixed frame (14). The pitch direction motor frame (13) has a hip joint pitch direction drive module (15) fixedly connected inside. The output end of the hip joint pitch direction drive module (15) has a hip joint pitch direction drive module flange (12) fixedly connected to the outer wall. The yaw direction motor frame (18) has a hip joint yaw direction drive module (17) fixedly connected to the outer wall. The output end of the hip joint yaw direction drive module (17) has a hip joint yaw direction drive gear (16) fixedly connected to the outer wall. The hip joint yaw direction drive gear (16) meshes with the side gearbox of the outer wall of the yaw direction plate (9). The swing frame (10) has a cylindrical roller bearing (22) fixedly installed on the outer wall.

2. The multi-degree-of-freedom hip joint mechanism suitable for bipedal mobile platforms according to claim 1, characterized in that, The center seat includes a center frame (2), a seat cushion (4), a height adjustment rod (6), a seat cushion fixing clip (7), and a control mounting base (3). The outer wall of the seat cushion fixing clip (7) is threaded with a fastening bolt (5), and the bottom of the seat cushion (4) is fixedly connected to the top of the seat cushion fixing clip (7).

3. A multi-degree-of-freedom hip joint mechanism suitable for a bipedal mobile platform according to claim 2, characterized in that, The blind hole has a protrusion that is higher than the surrounding plane, and the side of the protrusion has a through hole. Both ends of the central frame (2) are fixedly connected to the roll direction motor frame (8).

4. A multi-degree-of-freedom hip joint mechanism suitable for a bipedal mobile platform according to claim 2, characterized in that, The height adjustment rod (6) is clamped and fixed on the outer wall of the seat cushion fixing clip (7), and the outer wall of the height adjustment rod (6) is evenly provided with multiple insertion holes.

5. A multi-degree-of-freedom hip joint mechanism suitable for a bipedal mobile platform according to claim 1, characterized in that, The large plate (9) in the yaw direction is fan-shaped.

6. A multi-degree-of-freedom hip joint mechanism suitable for a bipedal mobile platform according to claim 1, characterized in that, The central frame (2) is I-shaped when viewed from above, and the central frame (2) is a hollow structure.

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