CN101439513B - Combination drive gesture representation robot with multiple kinds of joints - Google Patents
Combination drive gesture representation robot with multiple kinds of joints Download PDFInfo
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- CN101439513B CN101439513B CN2007101903621A CN200710190362A CN101439513B CN 101439513 B CN101439513 B CN 101439513B CN 2007101903621 A CN2007101903621 A CN 2007101903621A CN 200710190362 A CN200710190362 A CN 200710190362A CN 101439513 B CN101439513 B CN 101439513B
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Abstract
The invention relates to a posture representation robot for compound drive of various joints. The robot takes an air pump as a power source, drives rotation of the joints of a plurality of structures by a plurality of drive modes such as expanding muscle in a pneumatic manner, dragging ropes by a cylinder and the like, and belongs to the application technical field of robots and mechanical-electrical integration. Similar to human beings, the joints are distributed in ten regions of the robot, that is, the neck region, the lumbar region, the hip, the knees, the ankles, the shoulder regions, the elbows, the wrists, the finger roots and the inter-knuckles and the like, and the joints in the regions can be concluded as seven structures: that is, a muscle joint with three degrees of rotational freedom a, a muscle joint with three degrees of rotational freedom b, a spring muscle joint with one degree of rotational freedom c, a bending muscle joint with one degree of rotational freedom d, a rope traction joint with one degree of rotational freedom e, a rope traction joint with two degrees of rotational freedom f and a rope traction joint with one degree of rotational freedom g. The robot can be taken as a model robot, a traffic police robot, a service robot, a housework robot and an entertainment robot.
Description
Technical field:
The present invention relates to the gesture representation robot in the multiple class of a kind of compound driving joint, it is power source that this robot adopts air pump, with multiple type of drive such as pneumatic expansion muscle and cylinder pull rope lines, drives the rotation in various joints; As the service class robot that is used for the tertiary industry, specifically can be used as: the Robot model of fashionable dress performance, the traffic police robot of point duty, the service robot of on-the-spot reception and the housework amusement robot of domestic. applications belong to the applied technical field of robot, electromechanical integration.
Background technology:
Existing robots all adopts electric device (as motor, electromagnet), and electric device directly acts on rotation or straight line moves.The artificial joint type of machine of the present invention " class people " formula robot adopts gas pressure, directly drives the rotation of various joints with pneumatic expansion muscle, or air cylinder driven pull rope, pull rope drive the rotation of various joints again.The kind in joint has 7 kinds, and the robot architecture is similar to the mankind, the joint be distributed in robot neck, waist, hip, knee, ankle, shoulder, ancon, wrist, refer between root and dactylus etc. can finish more attitude performance in ten positions.
Summary of the invention:
The gesture representation robot in the multiple class of the compound driving of the present invention joint is power with compressed air, because of this " class people;, the formula robot is subjected to the restriction in space, adopts pneumatic expansion muscle directly to drive and two kinds of type of drive such as the compound driving of rope yarn (the anthropoid tendon of class) of cylinder traction; There are a rotational freedom joint, two rotational freedom joints and three three kinds of rotational freedom forms such as rotational freedom joint in the joint; Relating to the joint that is similar to the mankind has: the joint at ten positions such as neck joint 1, waist joint 2, hip joint 3, knee joint 4, ankle joint 5, shoulder joint 6, elbow joint 7, wrist joint 8, metacarpophalangeal joints 9 and articulations digitorum manus 10.
Main solution of the present invention is achieved in that
As shown in Figure 1, the head of gesture representation robot is connected with vertebrae by neck joint 1, and the lower end of vertebrae is connected with waist joint 2, the horizontal hipbone that one of the lower end installation of waist joint 2 and waist joint 2 are vertical; The two ends of horizontal hipbone respectively form lower limb, that is: the two ends of horizontal hipbone respectively connect a hip joint 3, the lower end of each hip joint 3 all connects thigh, the thigh lower end connects knee joint 4, the lower end of knee joint 4 connects focile, the lower end connecting pin ankle-joint 5 of focile, the lower end connecting pin metacarpal bone frame in ankle joint 5; Below vertebrae top, neck joint 1, have that shoulder blade is vertical with vertebrae to be installed, the two ends of shoulder blade respectively form a upper limbs, that is: a shoulder joint 6 is respectively installed at the two ends of shoulder blade, the lower end of each shoulder joint 6 all is connected with upper arm bone, elbow joint 7 is installed in the lower end of upper arm bone, the lower end of elbow joint 7 is connected with the underarm bone, a wrist joint 8 is installed in the lower end of underarm bone, the palm skeleton is installed in the lower end of wrist joint 8, five fingers all are connected with the palm skeleton by metacarpophalangeal joints 9, connect by articulations digitorum manus 10 between the maniphalanx; The joint at these ten positions of gesture representation robot in the multiple class of compound driving joint reduces the joint of seven kinds of structures respectively, specifically:
As shown in Figure 2, workbench a5 and base platform a4 are equilateral triangle, and three identical little equilateral triangles are excised at the place again at three angles, form the hexagon with three long limits, three minor faces; The minor face two ends of base platform a4 respectively are equipped with a ball pivot a2, these two ball pivot a2 are connected with the end of two expansion muscle a1 respectively again, the other end of these two expansion muscle a1 is connected with another one ball pivot a2 respectively again, this ball pivot a2 is fixed on the two ends, long limit of workbench a5, and this joint has six expansion muscle a1 and 12 ball pivot a2; Circumscribed circle circle centre position at base platform a4 and workbench a5 vertically has been connected universal ball joint a3, forms three rotational freedom muscle joint a by above-mentioned part.
Shown in accompanying drawing 3,4, vertical sectional shape is that the elastic bellows a8 of " V ", " U ", " Ω " shape (4 in accompanying drawing provides " V " shape structure) is by on the ripple bayonet socket that revolves chuck a7 and be clamped in headstock a6 and tailstock a9,3 screwed holes that ball pivot a2 is installed are all arranged, the enclosed cavity that elastic bellows a8, headstock a6 and tailstock a9 constitute on the end face of headstock a6 and tailstock a9; Gas enters the cavity of elastic bellows a8 by union elbow a10, and union elbow a10 is threaded on the tailstock a9, and sealing ring a11 sealing is arranged between union elbow a10 and the tailstock a9; Constitute expansion muscle a1 by above-mentioned part.
Wherein: ball pivot a2 structure as shown in Figure 5, the installation of universal ball joint a3 is as shown in Figure 6.
As shown in Figure 7, workbench b5 and base platform b4 are equilateral triangle, and three identical little equilateral triangles are excised at the place again at three angles, form the hexagon with three long limits, three minor faces; The minor face two ends of base platform b4 respectively are equipped with a ball pivot b2, these two ball pivot b2 are connected with the end of two expansion muscle b1 respectively again, the other end of these two expansion muscle b1 is connected with another one ball pivot b2 respectively again, this ball pivot b2 is fixed on the two ends, long limit of workbench b5, and this joint has six expansion muscle b1 and 12 ball pivot b2; Circumscribed circle circle centre position at base platform b4 and workbench b5 vertically is connected universal ball joint b3, forms three rotational freedom spring muscle joint b by above-mentioned part.
As shown in Figure 8, vertical sectional shape is that the elastic bellows b8 of " V ", " U ", " Ω " shape (8 in accompanying drawing provides " V " shape structure) is by on the ripple bayonet socket that revolves chuck b7 and be clamped in headstock b6 and tailstock b9,3 screwed holes that ball pivot b2 is installed are all arranged, the enclosed cavity that elastic bellows b8, headstock b6 and tailstock b9 constitute on the end face of headstock b6 and tailstock b9; Union elbow b10 is threaded on the tailstock b9, and sealing ring b11 sealing is arranged between union elbow b10 and tailstock b9, and gas enters the cavity of elastic bellows b8 by union elbow b10; Compression spring b12 is placed in the interstitial hole of headstock b6 and tailstock b9, constitutes spring muscle b1 by above-mentioned part.
When three rotational freedom spring muscle joint b of assembling, the compression spring b12 in each spring muscle b1 is compressive state, plays the bumper and absorbing shock effect.
As shown in Figure 9, vertical sectional shape is that the elastic bellows c8 of " V ", " U ", " Ω " shape (9 in accompanying drawing provides " V " shape structure) is by on the ripple bayonet socket that revolves chuck c7 and be clamped in headstock c6 and tailstock c9, the screwed hole that hinge c4 is installed is all arranged, the enclosed cavity that elastic bellows c8, headstock c6 and tailstock c9 constitute on the end face of headstock c6 and tailstock c9; Gas enters the cavity of elastic bellows c8 by pipe joint c10, and pipe joint c10 is threaded on the tailstock c9, and sealing ring c11 sealing is arranged between pipe joint c10 and the tailstock c9; Compression spring c12 is placed in the interstitial hole of headstock b6 and tailstock b9; Limiting plate c1 is fixed on by screw on the loose-leaf of loose-leaf hinge c2, guarantees that loose-leaf hinge c2 can not rotate counterclockwise when stretching the position again; Torsion spring c3 is housed in the middle of the mandrel of loose-leaf hinge c2, on the side of being separately fixed at, the two pages of ends plate c5 of loose-leaf hinge c2, two square plate c5 all with the support fixed installation of hinge c4, another support of two hinge c4 is installed in respectively on the end face of headstock c6 and tailstock c9, between the installation end face of hinge c4 support and headstock c6, hinge c4 support and tailstock c9 sealing gasket c13 is arranged all, form a rotational freedom spring muscle joint c by above-mentioned part.
Loose-leaf hinge c2 structure as shown in Figure 10, accompanying drawing 11 is the right view of torsion spring c3, accompanying drawing 12 is the front view of torsion spring c3.
Shown in accompanying drawing 13,14, vertical sectional shape is that the two ends of the elastic bellows d7 of " V ", " U ", " Ω " shape (14 in accompanying drawing provides " V " shape structure) are clamped on the ripple bayonet socket of headstock d1 and tailstock d8 the enclosed cavity that elastic bellows d7, headstock d1 and tailstock d8 constitute respectively by clip d4; Gas enters the cavity of elastic bellows d7 by union elbow d11, and flexible pipe d10 is connected on the union elbow d11, and union elbow d11 is threaded on the tailstock d8, and sealing ring d9 sealing is arranged between union elbow d11 and the tailstock d8; Two loose-leaf ends of loose-leaf hinge d6 are fixed on headstock d1 and the tailstock d8 by screw, loose-leaf hinge d6 and headstock d1, and loose-leaf hinge d6 and tailstock d8 between all accompany adjusting pad d2 and bone d3, change adjusting pad d2 and can regulate the moment of flexure that elastic bellows d7 acts on loose-leaf hinge d6; On the mandrel of loose-leaf hinge d6 torsion spring d5 is housed, during torsion spring d5 free state, stretch in the joint, forms the crooked muscle joint d of a rotational freedom by above-mentioned part.
As shown in Figure 15, upper mounting plate e7 and lower platform e5 are equilateral triangle, and three identical little equilateral triangles are excised at the place again at three angles, form the hexagon with three long limits, three minor faces; A pair of ball pivot e1 is installed in the two ends, long limit of upper mounting plate e7 respectively with screw; Two pull rope e2 are separately fixed at this on the ball pivot e1, and the other end of these two pull rope e2 passes the pilot hole e3 that lower platform e5 goes up corresponding minor face two ends respectively, is separately fixed on the piston rod of minitype cylinder e6 again; This joint have three to (six) ball pivot e1, three to (six roots of sensation) pull rope e2 and six minitype cylinder e6; Circumscribed circle circle centre position at upper mounting plate e7 and lower platform e5 vertically has been connected universal ball joint e4, forms three rotational freedom rope yarn traction joint e by above-mentioned part.
Pull rope e2 is fixedlyed connected form as shown in Figure 16 with ball pivot e1, and pull rope e2 passes the hole of ball pivot e1 and fixes with the holding screw of bulb end.
As shown in Figure 17, ball pivot f2 is installed on the roundlet platform f1 with screw respectively, and three ball pivot f2,120 ° of symmetries on roundlet platform f1 are installed; Pull rope f3 passes the hole of ball pivot f2 and is fixed in the hole with the holding screw of bulb end, the other end of the pull rope f3 that is connected with this ball pivot f2 passes the pairing pilot hole of the last 120 ° of symmetrical distributions of big round platform f5 respectively, is fixed on the piston rod of minitype cylinder f6 again; This joint has three ball pivot f2, three pull rope f3 and three minitype cylinder f6; Circle centre position at roundlet platform f1 and big round platform f5 vertically has been connected universal ball joint f4, forms two rotational freedom rope yarn traction joint f by above-mentioned part.
As shown in Figure 18, guide wheel g5 is installed in the middle part of the mandrel of loose-leaf hinge g7, and two identical torsion spring g6 are installed on the mandrel of loose-leaf hinge g7 respectively, the both sides of guide wheel g5; The end of pull rope g1 passes the Kong Houyong pintle hook lock g2 locking on the support g8, and support g8 is screwed on the side loose-leaf of loose-leaf hinge g7; The other end of pull rope g1 through guide wheel g5 guiding back, pass the Kong Houyong pintle hook lock g2 locking on the piston rod of minitype cylinder g3; Wrap in the outer gripping sleeve g4 of minitype cylinder g3 cylinder sleeve and minitype cylinder g3 is fixed on the opposite side loose-leaf of loose-leaf hinge g7, form a rotational freedom rope yarn traction joint g by above-mentioned part with screw.
Compared with the prior art the present invention has the following advantages:
The gesture representation robot in the multiple class of the compound driving of the present invention joint is power with compressed air, and type of drive adopts expansion muscle directly to drive and two kinds of type of drive such as the indirect driving of cylinder traction rope yarn down; There are a rotational freedom joint, two rotational freedom joints and three three kinds of free degree forms such as rotational freedom joint in multiple class joint.Relating to the joint that is similar to the mankind has: ten kinds of kinds such as neck joint 1, waist joint 2, hip joint 3, knee joint 4, ankle joint 5, shoulder joint 6, elbow joint 7, wrist joint 8, metacarpophalangeal joints 9 and articulations digitorum manus 10; Integrate, the joint of gesture representation robot has seven kinds of structures.
The joint of the gesture representation robot in the multiple class of compound driving joint is many, and the free degree is many, and therefore the action of the attitude of performance is many; With compressed air is power, adopt expansion muscle directly to drive and the cylinder traction under rope yarn drive indirectly, the behavior act agility, control system is simple, infrastructure cost is cheap; When adopting lithium battery power supply, low pressure gas pump work, very little to personal safety harm.
Description of drawings:
Fig. 1 is the structure diagram of the gesture representation robot in the multiple class of compound driving joint
Fig. 2 is the structure diagram of three rotational freedom muscle joint a of gesture representation robot
Fig. 3 is the A-A cutaway view of expansion muscle a1 of three rotational freedom muscle joint a of gesture representation robot
Fig. 4 is the front view of expansion muscle a1 of three rotational freedom muscle joint a of gesture representation robot
Fig. 5 is the structure chart of ball pivot a2 of three rotational freedom muscle joint a of gesture representation robot
Fig. 6 is the installation diagram of universal ball joint a3 of three rotational freedom muscle joint a of gesture representation robot
Fig. 7 is the structure diagram of three rotational freedom spring muscle joint b of gesture representation robot
Fig. 8 is the structure chart of spring muscle b1 of three rotational freedom spring muscle joint b of gesture representation robot
Fig. 9 is the structure diagram of a rotational freedom spring muscle joint c of gesture representation robot
Figure 10 is the structure chart of loose-leaf hinge c2 of a rotational freedom spring muscle joint c of gesture representation robot
Figure 11 is the right view of torsion spring c3 of a rotational freedom spring muscle joint c of gesture representation robot
Figure 12 is the front view of torsion spring c3 of a rotational freedom spring muscle joint c of gesture representation robot
Figure 13 is the A-A cutaway view of the crooked muscle joint d of a rotational freedom of gesture representation robot
Figure 14 is the front view of the crooked muscle joint d of a rotational freedom of gesture representation robot
Figure 15 is the structure diagram of three rotational freedom rope yarn traction joint e of gesture representation robot
Figure 16 is that the pull rope e2 of three rotational freedom rope yarns traction joint e of gesture representation robot is fixedlyed connected form with ball pivot e1
Figure 17 is the structure diagram of two rotational freedom rope yarn traction joint f of gesture representation robot
Figure 18 is the structure chart of a rotational freedom rope yarn traction joint g of gesture representation robot
The specific embodiment:
Be the operation principle of the present invention and the course of work below:
Three rotational freedom muscle joint a as shown in Figure 2, three expansion muscle a1 at interval inflate simultaneously, and remaining three expansion muscle a1 exits simultaneously, and then workbench a5 rotates with respect to base platform a4.Any one or two adjacent expansion muscle a1 inflate simultaneously, and remaining expansion muscle a1 responsively exits, and then workbench a5 is that rotate at the center with respect to base platform a4, with the spherical hinge of universal ball joint a3; Otherwise, keep the chamber pressure of six expansion muscle a1 identical, then the joint is returned to workbench a5 and is parallel to base platform a4 and original state in relative rotation not.
Three rotational freedom spring muscle joint b as shown in Figure 7, its operation principle is identical with aforesaid three rotational freedom muscle joint a, just in its expansion muscle b1 how compression spring b12, need to be used to the ankle joint of damping.
A rotational freedom spring muscle joint c as shown in Figure 9, gas enters the cavity of elastic bellows c8, the elongation of elastic bellows c8 linear expansion, thus the effect that overcomes torsion spring c3 rotates counterclockwise loose-leaf hinge c2, and the joint is stretched; Limiting plate c1 guarantees that loose-leaf hinge c2 can not rotate counterclockwise again when stretching the position; The cavity exhaust of elastic bellows c8 leans on the effect of torsion spring c3 that loose-leaf hinge c2 is clockwise rotated, and makes arthrogryposis.
The crooked muscle joint d of a rotational freedom as shown in Figure 14, gas enters the cavity of elastic bellows d7, owing to be subjected to the restriction of loose-leaf hinge d6, the bending of elastic bellows d7 compliance, the effect that makes loose-leaf hinge d6 overcome torsion spring d5 rotates counterclockwise, and makes the joint constantly crooked; The cavity of elastic bellows d7 is not inflated, and then the joint keeps angle of bend; Otherwise the cavity exhaust of elastic bellows d7 leans on the effect of torsion spring d5 that the joint is stretched.
Three rotational freedom rope yarn traction joint e as shown in Figure 15, minitype cylinder e6 draws any one or two adjacent pull rope e2, remaining pull rope e2 correspondingly loosens, and then upper mounting plate e7 is that rotate at the center with respect to lower platform e5, with the spherical hinge of universal ball joint e4; Otherwise the active force of six minitype cylinder e6 is identical, and then the joint is returned to original state.Three pull rope e2 are at interval drawn by minitype cylinder e6 simultaneously, and remaining pull rope e2 correspondingly loosens simultaneously, and then upper mounting plate e7 rotates with respect to lower platform e5.
Two rotational freedom rope yarn traction joint f as shown in Figure 17, minitype cylinder f6 draws any one or two pull rope f3, remaining pull rope f3 correspondingly loosens, and then roundlet platform f1 is that rotate at the center with respect to big round platform f5, with the spherical hinge of universal ball joint f4; Otherwise minitype cylinder f6 active force is identical, and then the joint is returned to original state.
A rotational freedom rope yarn traction joint g as shown in Figure 18, the piston rod of minitype cylinder g3 is withdrawn in cylinder, and the active force that driving pull rope g1 overcomes torsion spring g6 stretches the joint; The piston rod of minitype cylinder g3 stretches out, and loosens pull rope g1, leans on the active force of torsion spring g6 to make arthrogryposis.
Claims (1)
1. the gesture representation robot in the multiple class of a compound driving joint, it is characterized in that: the head of robot is connected with vertebrae by neck joint (1), the lower end of vertebrae is connected with waist joint (2), and a horizontal hipbone vertical with waist joint (2) is installed in the lower end of waist joint (2); The two ends of horizontal hipbone respectively form lower limb, that is: the two ends of horizontal hipbone respectively connect a hip joint (3), the lower end of each hip joint (3) all connects thigh, the thigh lower end connects knee joint (4), the lower end of knee joint (4) connects focile, the lower end connecting pin ankle-joint (5) of focile, the lower end connecting pin metacarpal bone frame of ankle joint (5); On vertebrae top, below the neck joint (1), have that shoulder blade is vertical with vertebrae to be installed, the two ends of shoulder blade respectively form a upper limbs, that is: a shoulder joint (6) is respectively installed at the two ends of shoulder blade, the lower end of each shoulder joint (6) all is connected with upper arm bone, elbow joint (7) is installed in the lower end of upper arm bone, the lower end of elbow joint (7) is connected with the underarm bone, a wrist joint (8) is installed in the lower end of underarm bone, the palm skeleton is installed in the lower end of wrist joint (8), five fingers all are connected with the palm skeleton by metacarpophalangeal joints (9), connect by articulations digitorum manus (10) between the maniphalanx; The joint at these ten positions of gesture representation robot in the multiple class of compound driving joint reduces the joint of seven kinds of structures respectively, specifically:
Neck joint (1), waist joint (2), hip joint (3) and shoulder joint (6) all are three rotational freedom muscle joints (a), ankle joint (5) is three rotational freedom spring muscle joints (b), knee joint (4) is a rotational freedom spring muscle joint (c), elbow joint (7) is the crooked muscle joint (d) of a rotational freedom, wrist joint (8) is three rotational freedom rope yarn traction joints (e), metacarpophalangeal joints (9) are two rotational freedom rope yarn traction joints (f), and articulations digitorum manus (10) is a rotational freedom rope yarn traction joint (g); The structure in seven kinds of joints is:
1) structure in three rotational freedom muscle joints (a) is: workbench (a5) and base platform (a4) are equilateral triangle, and three identical little equilateral triangles are excised at the place again at three angles, form the hexagon with three long limits, three minor faces; The minor face two ends of base platform (a4) respectively are equipped with a ball pivot (a2), these two ball pivots (a2) are connected with an end of two expansion muscles (a1) respectively again, the other end of these two expansion muscles (a1) is connected with another one ball pivot (a2) respectively again, this ball pivot (a2) is fixed on the two ends, long limit of workbench (a5), and this joint has six expansion muscles (a1) and 12 ball pivots (a2); Circumscribed circle circle centre position at base platform (a4) and workbench (a5) vertically has been connected universal ball joint (a3);
The structure of the expansion muscle (a1) in three rotational freedom muscle joints (a) is: vertical sectional shape is that the elastic bellows (a8) of " V ", " U " or " Ω " shape is by on the ripple bayonet socket that revolves chuck (a7) and be clamped in headstock (a6) and tailstock (a9), three screwed holes that ball pivot (a2) is installed are all arranged on the end face of headstock (a6) and tailstock (a9), and elastic bellows (a8), headstock (a6) and tailstock (a9) constitute enclosed cavity; Gas enters the cavity of elastic bellows (a8) by union elbow (a10), and union elbow (a10) is threaded on the tailstock (a9), and sealing ring (a11) sealing is arranged between union elbow (a10) and the tailstock (a9);
2) structure in three rotational freedom spring muscle joints (b) is: workbench (b5) and base platform (b4) are equilateral triangle, and three identical little equilateral triangles are excised at the place again at three angles, form the hexagon with three long limits, three minor faces; The minor face two ends of base platform (b4) respectively are equipped with a ball pivot (b2), these two ball pivots (b2) are connected with an end of two expansion muscles (b1) respectively again, the other end of these two expansion muscles (b1) is connected with another one ball pivot (b2) respectively again, this ball pivot (b2) is fixed on the two ends, long limit of workbench (b5), and this joint has six expansion muscles (b1) and 12 ball pivots (b2); Circumscribed circle circle centre position at base platform (b4) and workbench (b5) vertically is connected universal ball joint (b3);
The structure of the expansion muscle (b1) in three rotational freedom spring muscle joints (b) is: vertical sectional shape is that the elastic bellows (b8) of " V ", " U " or " Ω " shape is by on the ripple bayonet socket that revolves chuck (b7) and be clamped in headstock (b6) and tailstock (b9), three screwed holes that ball pivot (b2) is installed are all arranged on the end face of headstock (b6) and tailstock (b9), and elastic bellows (b8), headstock (b6) and tailstock (b9) constitute enclosed cavity; Union elbow (b10) is threaded on the tailstock (b9), and sealing ring (b11) sealing is arranged between union elbow (b10) and tailstock (b9); Compression spring (b12) is placed in the interstitial hole of headstock (b6) and tailstock (b9);
3) structure in a rotational freedom spring muscle joint (c) is: vertical sectional shape is that the elastic bellows (c8) of " V ", " U " or " Ω " shape is by on the ripple bayonet socket that revolves chuck (c7) and be clamped in headstock (c6) and tailstock (c9), the screwed hole that installation hinge (c4) all arranged on the end face of headstock (c6) and tailstock (c9), elastic bellows (c8), headstock (c6) and tailstock (c9) constitute enclosed cavity; Gas enters the cavity of elastic bellows (c8) by pipe joint (c10), and pipe joint (c10) is threaded on the tailstock (c9), and sealing ring (c11) sealing is arranged between pipe joint (c10) and the tailstock (c9); Compression spring (c12) is placed in the interstitial hole of headstock (c6) and tailstock (c9); Limiting plate (c1) is fixed on by screw on the loose-leaf of loose-leaf hinge (c2), guarantees that loose-leaf hinge (c2) can not rotate counterclockwise when stretching the position again; Torsion spring (c3) is housed in the middle of the mandrel of loose-leaf hinge (c2), on the side of being separately fixed at, the two pages of ends plate (c5) of loose-leaf hinge (c2), two square plates (c5) all with support fixed installation of hinge (c4), another support of two hinges (c4) is installed in respectively on the end face of headstock (c6) and tailstock (c9), between the installation end face of hinge (c4) support and headstock (c6), hinge (c4) support and tailstock (c9) sealing gasket (c13) is arranged all;
4) structure in a crooked muscle joint of rotational freedom (d) is: vertical sectional shape is that the two ends of the elastic bellows (d7) of " V ", " U " or " Ω " shape are clamped on the ripple bayonet socket of headstock (d1) and tailstock (d8) by clip (d4) respectively, and elastic bellows (d7), headstock (d1) and tailstock (d8) constitute enclosed cavity; Gas enters the cavity of elastic bellows (d7) by union elbow (d11), flexible pipe (d10) is connected on the union elbow (d11), union elbow (d11) is threaded on the tailstock (d8), and sealing ring (d9) sealing is arranged between union elbow (d11) and the tailstock (d8); Two loose-leaf ends of loose-leaf hinge (d6) are fixed on headstock (d1) and the tailstock (d8) by screw, loose-leaf hinge (d6) and headstock (d1), and loose-leaf hinge (d6) and tailstock (d8) between all accompany adjusting pad (d2) and bone (d3), replacing adjusting pad (d2) can be regulated the moment of flexure that elastic bellows (d7) acts on loose-leaf hinge (d6); Torsion spring (d5) is housed on the mandrel of loose-leaf hinge (d6), and during torsion spring (d5) free state, stretch in the joint;
5) structure in three rotational freedom rope yarn traction joints (e) is: upper mounting plate (e7) and lower platform (e5) are equilateral triangle, and three identical little equilateral triangles are excised at the place again at three angles, form the hexagon with three long limits, three minor faces; A pair of ball pivot (e1) is installed in the two ends, long limit of upper mounting plate (e7) respectively with screw; Two pull ropes (e2) are separately fixed at this on the ball pivot (e1), and the other end of these two pull ropes (e2) passes the pilot hole (e3) that lower platform (e5) is gone up corresponding minor face two ends respectively, is separately fixed on the piston rod of minitype cylinder (e6) again; This joint have three to (six) ball pivots (e1), three to (six roots of sensation) pull rope (e2) and six minitype cylinders (e6); Circumscribed circle circle centre position at upper mounting plate (e7) and lower platform (e5) vertically has been connected universal ball joint (e4);
6) structure in two rotational freedom rope yarn traction joints (f) is: ball pivot (f2) is installed on the little round platform (f1) with screw respectively, and three ball pivots (f2) are installed in the last 120 ° of symmetries of little round platform (f1); Pull rope (f3) passes the hole of ball pivot (f2) and is fixed in the hole with the holding screw of bulb end, the other end of the pull rope (f3) that is connected with this ball pivot (f2) passes the pairing pilot hole of the last 120 ° of symmetrical distributions of big round platform (f5) respectively, is fixed on the piston rod of minitype cylinder (f6) again; This joint has three ball pivots (f2), three pull ropes (f3) and three minitype cylinders (f6); Circle centre position at little round platform (f1) and big round platform (f5) vertically has been connected universal ball joint (f4);
7) structure in rotational freedom rope yarn traction joint (g) is: guide wheel (g5) is installed in the middle part of the mandrel of loose-leaf hinge (g7), and two identical torsion springs (g6) are installed on the mandrel of loose-leaf hinge (g7) respectively, the both sides of guide wheel (g5); One end of pull rope (g1) passes Kong Houyong pintle hook lock (g2) locking on the support (g8), and support (g8) is screwed on a side loose-leaf of loose-leaf hinge (g7); The other end of pull rope (g1) through guide wheel (g5) guiding back, pass Kong Houyong pintle hook lock (g2) locking on the piston rod of minitype cylinder (g3); Wrapping in the outer gripping sleeve (g4) of minitype cylinder (g3) cylinder sleeve is fixed on minitype cylinder (g3) on the opposite side loose-leaf of loose-leaf hinge (g7) with screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101903621A CN101439513B (en) | 2007-11-19 | 2007-11-19 | Combination drive gesture representation robot with multiple kinds of joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101903621A CN101439513B (en) | 2007-11-19 | 2007-11-19 | Combination drive gesture representation robot with multiple kinds of joints |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101439513A CN101439513A (en) | 2009-05-27 |
| CN101439513B true CN101439513B (en) | 2010-09-29 |
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| CN2007101903621A Expired - Fee Related CN101439513B (en) | 2007-11-19 | 2007-11-19 | Combination drive gesture representation robot with multiple kinds of joints |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
| JP6717797B2 (en) * | 2017-11-30 | 2020-07-08 | ファナック株式会社 | Striatal fixation method |
| CN109262594B (en) * | 2018-11-19 | 2020-10-27 | 西安交通大学 | Power-assisted exoskeleton hip joint structure |
| CN109730731A (en) * | 2019-03-20 | 2019-05-10 | 重庆医科大学附属第二医院 | A kind of novel traction device suitable for ankle arthroscopy operation |
| CN109940636A (en) * | 2019-04-02 | 2019-06-28 | 广州创梦空间人工智能科技有限公司 | Humanoid robot for commercial performance |
| CN110497387A (en) * | 2019-08-28 | 2019-11-26 | 华南理工大学 | The artificial skeleton and muscle framework and its design method of a kind of bionical anthropomorphic robot |
| CN111067683B (en) * | 2019-11-30 | 2021-09-07 | 九江市宏德防雷技术有限公司 | Adjustable support for repairing human body joints |
| CN113146581B (en) * | 2021-04-27 | 2022-03-08 | 嘉兴学院 | Robot system based on pneumatic muscle and cylinder redundancy |
| CN113199454A (en) * | 2021-06-22 | 2021-08-03 | 北京航空航天大学 | Wheeled mobile intelligent logistics operation robot system |
| CN114055512A (en) * | 2021-11-08 | 2022-02-18 | 南方科技大学 | Driving joint and driving device |
| CN115465382B (en) * | 2022-10-10 | 2024-08-13 | 吉林大学 | Passive biped robot with bionic hip joint and ankle joint |
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