CN105291131A - Flexibility-adjustable humanoid knee joint - Google Patents
Flexibility-adjustable humanoid knee joint Download PDFInfo
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- CN105291131A CN105291131A CN201510882947.4A CN201510882947A CN105291131A CN 105291131 A CN105291131 A CN 105291131A CN 201510882947 A CN201510882947 A CN 201510882947A CN 105291131 A CN105291131 A CN 105291131A
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Abstract
The invention relates to a flexible humanoid knee joint, in particular to a flexibility-adjustable humanoid knee joint. The problems that most knee joints of existing traditional humanoid robots are articulated single-shaft joints, the rotating centers are fixed, motors and reducers are mostly adopted as driving devices, flexibility lacks, and impact of the outside on the knee joints cannot be buffered in the moving process can be solved. The flexibility-adjustable humanoid knee joint comprises a driving mechanism and a transmission mechanism. The driving mechanism comprises a transmission wheel, a metal rope, a first rotating shaft and two pneumatic artificial muscles. The transmission mechanism comprises a central gear, a planetary gear, a tie bar and a second rotating shaft. The upper ends of the two pneumatic artificial muscles are connected with a thigh; the central gear is fixedly mounted on the thigh, the planetary gear is fixedly mounted on a shank, and the central gear and the planetary gear are engaged; the first rotating shaft is connected with the second rotating shaft through the tie bar; the transmission wheel is fixedly mounted on the first rotating shaft, and the metal rope is wound on the transmission wheel. The flexibility-adjustable humanoid knee joint is applied to a humanoid robot.
Description
Technical field
The present invention relates to a kind of flexible apery knee joint, belong to anthropomorphic robot field.
Background technology
Anthropomorphic robot is one of study hotspot of robot field, and the articulation structure of human body and drive mechanism have important reference value for the research of anthropomorphic robot.Human body knee joint is made up of femur, shin bone, ACL, posterior cruciate ligament of knee etc., realizes joint motions by the contraction of musculature and diastole.When knee joint rotates, its instantaneous center of rotation moves thereupon, and track is close to J-shaped curve; In addition, the impact of outer bound pair knee joint and human body when the flexibility that musculature has contributes to kicking motion, protection human body escapes injury.But in traditional anthropomorphic robot, knee joint is mostly hinged uniaxial joint, and center of rotation is fixed; And the motor acceleration and deceleration device that adopts, as drive unit, lacks flexibility, is easily subject to the infringement of foreign impacts, there is very large difference with human body knee joint more.
Summary of the invention
The present invention is that the knee joint solving existing traditional anthropomorphic robot is mostly hinged uniaxial joint, center of rotation is fixed, and the motor acceleration and deceleration device that adopts as drive unit more, lack flexibility, the problem of outer bound pair knee joint impact during motion cannot be buffered in, and then a kind of apery knee joint with adjustable flexibility is provided.
The present invention is the technical scheme taked that solves the problem: a kind of apery knee joint with adjustable flexibility, and it comprises driving mechanism and transmission mechanism; Driving mechanism comprises drive, metallic cable, the first rotating shaft and two Pneumatic artificial muscles; Transmission mechanism comprises a central gear, planetary gear, a tie-rod and second rotating shaft;
Two Pneumatic artificial muscles adopt antagonism formula arrangement to arrange, and the upper end of two Pneumatic artificial muscles is connected with thigh;
A central gear is packed on thigh, and the first rotating shaft is rotatably installed on a central gear by bearing;
A planetary gear is packed on shank, and the second rotating shaft is rotatably installed on a planetary gear by bearing, and central gear engages with planetary gear, and the first rotating shaft is connected with the second rotating shaft by a tie-rod;
Drive is packed in the first rotating shaft, and metallic cable is wrapped on drive, and one end of metallic cable is connected with the lower end of one of them Pneumatic artificial muscle, and the other end of metallic cable is connected with the lower end of another Pneumatic artificial muscle.
The invention has the beneficial effects as follows: the present invention copies the structure of human body knee joint, designed apery knee joint adopts Transmission Mechanism of Planetary Gear System, and when knee joint is rotated, its instantaneous center of rotation also moves thereupon; Copy the drive mechanism of human synovial, the Pneumatic artificial muscle driving that designed apery knee joint is arranged by a pair antagonism formula, Pneumatic artificial muscle has the biomechanics characteristic similar with human muscle, knee joint is made to have flexibility, and by regulating the gas pressure of Pneumatic artificial muscle inside, kneed flexibility can be regulated in real time.The apery knee joint that the present invention develops overcomes the kneed shortcoming of traditional robot, can kicking motion time the outer kneed impact of bound pair, all very similar with human body knee joint on articulation structure or drive mechanism.
Accompanying drawing explanation
Fig. 1 is a kind of kneed overall structure schematic diagram of apery with adjustable flexibility of the present invention, Fig. 2 is the apery knee joint instantaneous center of rotation track schematic diagram that the present invention has adjustable flexibility, Fig. 3 is the partial enlarged drawing of Fig. 2, and Fig. 4 is the syndeton schematic diagram of detailed description of the invention six.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates, a kind of apery knee joint with adjustable flexibility of present embodiment, it comprises driving mechanism and transmission mechanism; Driving mechanism comprises drive 1, metallic cable 2, first rotating shaft 3 and two Pneumatic artificial muscles 4; Transmission mechanism comprises a central gear 5, planetary gear 6, tie-rod 7 and the second rotating shaft 8;
Two Pneumatic artificial muscles 4 adopt antagonism formula arrangement to arrange, and the upper end of two Pneumatic artificial muscles 4 is connected with thigh 9;
A central gear 5 is packed on thigh 9, and the first rotating shaft 3 is rotatably installed on a central gear 5 by bearing 10;
A planetary gear 6 is packed on shank 11, and the second rotating shaft 8 is rotatably installed on a planetary gear 6 by bearing 10, and central gear 5 engages with planetary gear 6, and the first rotating shaft 3 is connected with the second rotating shaft 8 by a tie-rod 7;
Drive 1 is packed in the first rotating shaft 3, and metallic cable 2 is wrapped on drive 1, and one end of metallic cable 2 is connected with the lower end of one of them Pneumatic artificial muscle 4, and the other end of metallic cable 2 is connected with the lower end of another Pneumatic artificial muscle 4.
Detailed description of the invention two: composition graphs 1 illustrates, the metallic cable 2 of present embodiment is steel wire rope.Setting like this, structural strength is large, stable and reliable operation.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 illustrates, a kind of flexible apery knee joint described in present embodiment also comprises another central gear 5 and another planetary gear 6; Two central gears 5 are just to setting, another central gear 5 is packed on thigh 9, two planetary gears 6 are just to setting, another planetary gear 6 is packed on shank 11, first rotating shaft 3 is rotatably installed on another central gear 5 by bearing 10, second rotating shaft 8 is rotatably installed on another planetary gear 6 by bearing 10, and another central gear 5 engages with another planetary gear 6.Setting like this, reduces central gear and planetary gear matched in clearance, keeps balance, ensures knee joint stable and reliable operation.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 1 illustrates, a kind of flexible apery knee joint described in present embodiment also comprises the both sides that another tie-rod 7, two tie-rods 7 are arranged on drive 1, and the first rotating shaft 3 is connected with the second rotating shaft 8 by another tie-rod 7.Setting like this, ensures the first rotating shaft and the second rotating shaft stable and reliable operation.Other is with specifically to implement three identical.
Detailed description of the invention five: composition graphs 1 illustrates, described in present embodiment, a kind of flexible apery knee joint also comprises containment vessel 12, and containment vessel 12 is arranged on drive 1.Setting like this, prevents the metallic cable be wrapped on drive from departing from drive, ensures drive and metallic cable stable and reliable operation.Other with detailed description of the invention one, two or four identical.
Detailed description of the invention six: composition graphs 4 illustrates, described in present embodiment, a kind of flexible apery knee joint also comprises controller 13 and magnetic valve 14.Source of the gas 15 adopts mini air compressor, for providing compressed air to Pneumatic artificial muscle 4; The 3 position-5 way magnetic valve that magnetic valve 14 adopts meta to close, can control Pneumatic artificial muscle 4 air inlet, exhaust respectively and close; Controller 13, for transmitting control signal to magnetic valve 14, realizes the break-make of gas circuit.Other with detailed description of the invention one, two or four identical.
The course of work: because Pneumatic artificial muscle has the biomechanics characteristic similar with human muscle, makes apery knee joint of the present invention have certain flexibility, and by regulating the gas pressure of Pneumatic artificial muscle inside, can realize the adjustment to knee joint flexibility.When two Pneumatic artificial muscle 4 stretching motions, steel wire rope 2 pulls drive 1 and the first rotating shaft 3 to rotate, and driving planetary gear 6 to move around central gear 5 by tie-rod 7, planetary gear 6 around the second rotating shaft 8 also rotation, thus realizes the rotation of shank 11 relative to thigh 9.According to the transmission principle of planet circular system, the instantaneous center of rotation of the relative thigh 9 of shank 11 constantly changes, and the curve K in Fig. 2 and Fig. 3 shows the track of shank 11 relative to shank instantaneous center of rotation in the process of thigh 9 90-degree rotation.
Claims (6)
1. there is an apery knee joint for adjustable flexibility, it is characterized in that: it comprises driving mechanism and transmission mechanism; Driving mechanism comprises drive (1), metallic cable (2), the first rotating shaft (3) and two Pneumatic artificial muscles (4); Transmission mechanism comprises a central gear (5), planetary gear (6), a tie-rod (7) and second rotating shaft (8);
Two Pneumatic artificial muscles (4) adopt antagonism formula arrangement to arrange, and the upper end of two Pneumatic artificial muscles (4) is connected with thigh (9);
A central gear (5) is packed on thigh (9), and the first rotating shaft (3) is rotatably installed on a central gear (5) by bearing (10);
A planetary gear (6) is packed on shank (11), second rotating shaft (8) is rotatably installed on a planetary gear (6) by bearing (10), central gear (5) engages with planetary gear (6), and the first rotating shaft (3) is connected with the second rotating shaft (8) by a tie-rod (7);
Drive (1) is packed in the first rotating shaft (3), metallic cable (2) is wrapped on drive (1), one end of metallic cable (2) is connected with the lower end of one of them Pneumatic artificial muscle (4), and the other end of metallic cable (2) is connected with the lower end of another Pneumatic artificial muscle (4).
2. a kind of apery knee joint with adjustable flexibility according to claim 1, is characterized in that: metallic cable (2) is steel wire rope.
3. a kind of apery knee joint with adjustable flexibility according to claim 1 and 2, is characterized in that: the flexible apery knee joint of described one also comprises another central gear (5) and another planetary gear (6); Two central gears (5) are just to setting, another central gear (5) is packed on thigh (9), two planetary gears (6) are just to setting, another planetary gear (6) is packed on shank (11), first rotating shaft (3) is rotatably installed on another central gear (5) by bearing (10), second rotating shaft (8) is rotatably installed on another planetary gear (6) by bearing (10), and another central gear (5) engages with another planetary gear (6).
4. a kind of apery knee joint with adjustable flexibility according to claim 3, it is characterized in that: the flexible apery knee joint of described one also comprises another tie-rod (7), two tie-rods (7) are arranged on the both sides of drive (1), and the first rotating shaft (3) is connected with the second rotating shaft (8) by another tie-rod (7).
5. a kind of apery knee joint with adjustable flexibility according to claim 1,2 or 4; it is characterized in that: the flexible apery knee joint of described one also comprises containment vessel (12), and containment vessel (12) is arranged on drive (1).
6. a kind of apery knee joint with adjustable flexibility according to claim 1,2 or 4, is characterized in that: the flexible apery knee joint of described one also comprises controller (13) and magnetic valve (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510882947.4A CN105291131B (en) | 2015-12-03 | 2015-12-03 | A kind of apery knee joint with adjustable flexibility |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510882947.4A CN105291131B (en) | 2015-12-03 | 2015-12-03 | A kind of apery knee joint with adjustable flexibility |
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| Publication Number | Publication Date |
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| CN105291131A true CN105291131A (en) | 2016-02-03 |
| CN105291131B CN105291131B (en) | 2017-03-08 |
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| CN201510882947.4A Active CN105291131B (en) | 2015-12-03 | 2015-12-03 | A kind of apery knee joint with adjustable flexibility |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538339A (en) * | 2016-02-23 | 2016-05-04 | 中国计量学院 | Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint |
| CN106182078A (en) * | 2016-08-31 | 2016-12-07 | 中国科学院深圳先进技术研究院 | The exoskeleton robot knee joint driven it is wound around based on line |
| CN108356848A (en) * | 2018-03-30 | 2018-08-03 | 天津理工大学 | Pneumatic artificial muscle and servo motor combination drive joint |
| CN108858147A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of pneumatic muscles driving primate bio-robot |
| CN110666832A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Rope-driven swing joint module |
| CN113332096A (en) * | 2021-06-03 | 2021-09-03 | 江苏大学 | Pure mechanical drive's portable knee joint rehabilitation tempers device |
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| US5728172A (en) * | 1992-09-29 | 1998-03-17 | Otto Bock Orthopadische Industrie Besitz-Und Verwaltungs Kg | Hinge joint in orthopaedic prostheses and ortheses |
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| US20100199796A1 (en) * | 2007-07-31 | 2010-08-12 | Nabtesco Corporation | Gear device and turning portion structure of industrial robot using the gear device |
| CN201631597U (en) * | 2010-01-19 | 2010-11-17 | 东华大学 | Device for realizing joint swinging movement through gear mechanism |
| CN102247260A (en) * | 2011-06-23 | 2011-11-23 | 天津科技大学 | Line angle driving lower limb walking aid |
| CN103707951A (en) * | 2013-12-23 | 2014-04-09 | 东北大学 | Two-leg robot leg mechanism based on driving of artificial muscles |
| CN104398323A (en) * | 2014-11-12 | 2015-03-11 | 南京工程学院 | Knee external skeleton power-assisted mechanism based on pneumatic muscle |
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2015
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Patent Citations (8)
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| US5728172A (en) * | 1992-09-29 | 1998-03-17 | Otto Bock Orthopadische Industrie Besitz-Und Verwaltungs Kg | Hinge joint in orthopaedic prostheses and ortheses |
| CN1883994A (en) * | 2006-07-10 | 2006-12-27 | 东北大学 | Human-imitating double-foot robot artificial leg |
| US20100199796A1 (en) * | 2007-07-31 | 2010-08-12 | Nabtesco Corporation | Gear device and turning portion structure of industrial robot using the gear device |
| JP2009095957A (en) * | 2007-10-19 | 2009-05-07 | Nsk Ltd | Joint module and legged robot |
| CN201631597U (en) * | 2010-01-19 | 2010-11-17 | 东华大学 | Device for realizing joint swinging movement through gear mechanism |
| CN102247260A (en) * | 2011-06-23 | 2011-11-23 | 天津科技大学 | Line angle driving lower limb walking aid |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538339A (en) * | 2016-02-23 | 2016-05-04 | 中国计量学院 | Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint |
| CN106182078A (en) * | 2016-08-31 | 2016-12-07 | 中国科学院深圳先进技术研究院 | The exoskeleton robot knee joint driven it is wound around based on line |
| CN106182078B (en) * | 2016-08-31 | 2018-10-23 | 中国科学院深圳先进技术研究院 | Exoskeleton robot knee joint based on line winding driving |
| CN108356848A (en) * | 2018-03-30 | 2018-08-03 | 天津理工大学 | Pneumatic artificial muscle and servo motor combination drive joint |
| CN108356848B (en) * | 2018-03-30 | 2023-09-29 | 天津理工大学 | Pneumatic artificial muscle and servo motor hybrid driving joint |
| CN108858147A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of pneumatic muscles driving primate bio-robot |
| CN110666832A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Rope-driven swing joint module |
| CN113332096A (en) * | 2021-06-03 | 2021-09-03 | 江苏大学 | Pure mechanical drive's portable knee joint rehabilitation tempers device |
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| CN105291131B (en) | 2017-03-08 |
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