CN102198664A - Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair - Google Patents
Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair Download PDFInfo
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- CN102198664A CN102198664A CN2011101364849A CN201110136484A CN102198664A CN 102198664 A CN102198664 A CN 102198664A CN 2011101364849 A CN2011101364849 A CN 2011101364849A CN 201110136484 A CN201110136484 A CN 201110136484A CN 102198664 A CN102198664 A CN 102198664A
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Abstract
The invention discloses a two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with a central spherical pair. The bionic ankle joint is mainly characterized in that: a straight output rod is fixed below a supporting hemispherical nest, a bulb is arranged in the straight output rod, the upper part of the bulb is connected with a columnar body bracket push rod, and the push rod is provided with a through hole, the section of which is rectangular; an outer tooth semicircular fork passes through the through hole, and the lower end of the outer tooth semicircular fork is connected with the supporting hemispherical nest; two ends of a supporting roller are placed in the through hole of the body bracket push rod, and the supporting roller is contacted with the circular inner surface of the semicircular fork; a support is arranged outside the body bracket push rod, a lead screw is arranged on the support, and a sliding block is arranged on the lead screw; the sliding block is connected with the upper end of a pull rod through an upper composite hinge fork frame; the upper composite hinge fork frame is connected with the upper end of the pull rod; and the lower end of the pull rod is connected with the outer wall of the supporting hemispherical nest through a lower composite hinge fork frame. The structure is simple and compact, and the motion of limbs is faster, flexible, smooth and continuous, so that the shape, the structure, the motion, the mechanics and the function of the bionic ankle joint are furthest close to the actual conditions of the human beings.
Description
Technical field
The present invention relates to a kind of anthropomorphic robot, particularly the anthropomorphic robot biomimetic ankle.
Background technology
At present, in worldwide, people have developed a large amount of various anthropomorphic robots.Investigating existing anthropomorphic robot finds: its body configuration nearly all is the configuration of series connection, and promptly robot multi-freedom joint is that a plurality of single revolute pairs (or moving sets) series connection constitutes.This serial configured in control than being easier to realization, and simple in structure, still, exist major defect: often become the load of higher level's driver as the weight of subordinate's driver, thereby reduced driving force; To secondary combination joint such as wrist, the ankle-joint of doing more physical exercises, its motor function is only worked as at several specific directions (actuator axis) and physiognomy, and occurs obvious micromotion on all the other directions, and its flexibility, accuracy and stability have big gap with the people; The secondary series connection joint size that takes up room of doing more physical exercises is big and rigidity is little; Limb function is incomplete, to reasonable compensating motion, adjusting robot balance, finishes posture changing and guarantees that the functions such as stable operation of robot are all undesirable.
Parallel institution is as the part of mechanism set, has rigidity height, bearing capacity height, speed height, drive motors on frame and make the advantages that a series of serial mechanism did not have such as light weight of movable part.In recent years, along with people to parallel institution theoretical research and application study progressively deeply, some begin to consider parallel institution is incorporated in the research of anthropomorphic robot ankle-joint.
2009, people such as the Yu Zhiwei of Harbin Engineering University, Wang Liquan, at " biped robot's ankle-joint optimal design in parallel " (mechanical engineering journal, the 45th volume o. 11th) in the literary composition, proposed a kind of ankle-joint in parallel mechanism, this joint comprises foot, shank, two guide rods and two connecting rods, and by a Hooke hinge, two moving sets, 4 spherical pairs are formed by connecting.Wherein the Hooke hinge has around preceding x axle and side direction z axle 2DOF and rotates as the power supporter of ankle-joint.Size is big but this mechanism takes up room, kinematic pair too much, complex structure.
The configuration of existing humanoid robot is mainly single series connection form, limited some joints in parallel are undesirable aspect complex structure, performance, technical indicator, bionical level is lower on form and function, with people's actual requirement bigger gap is arranged, and can not satisfy actual needs fully.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, bulk is little, the robot bionic ankle-joint of the two-freedom sphere parallel connection with center spherical pair of the bionical human virtual condition of being on close level.The present invention mainly is made up of centre of support spherical pair side chain, side-sway side chain and pitching side chain three parts.Described centre of support spherical pair side chain comprises support hemisphere nest, straight take-off lever, bulb and body rack push rod.Wherein, supporting the hemisphere nest is interior concave spherical surface and the revolving body of the centre of sphere on axis of rotation, and its upper surface is all vertical with axis of rotation with the lower surface.This support hemisphere nest lower surface and cylindrical straight take-off lever upper end connect firmly, and the axis of this straight take-off lever passes the center of support hemisphere nest and overlaps with the gyroaxis that supports the hemisphere nest, and straight take-off lever lower end can connect firmly with the sole upper surface.The interior concave spherical surface that supports the hemisphere nest is provided with bulb, both centers overlap and constitute spherical pair, can realize the rotation of three directions, and this bulb top and cylindricality body rack push rod lower end connect firmly, the axis of this body rack push rod is crossed the bulb central point, and its upper end can connect firmly with human body thigh (frame).This body rack push rod is provided with and runs through two side, the rectangular through hole in cross section.Described side-sway side chain comprises external tooth semicircle camber fork, and two of backing roll and external tooth semicircle camber fork downside are supported bearing pin.Wherein, the rectangular through-hole that the external tooth semicircle camber fork of semicircle symmetrical structure passes the body rack push rod, the mid-plane of its axial width with by the planar quadrature that axis constituted of leading screw, body rack push rod, external tooth semicircle camber fork supports bearing pins formation with support hemisphere nest by two in the lower end and is rotationally connected, this two axis that supports bearing pin is positioned on the straight line and crosses the centre of sphere that supports the hemisphere nest, and is parallel with the upper surface of supporting the hemisphere nest simultaneously.Short cylindrical shape backing roll two ends rotational support is on the front and rear wall of body rack push rod rectangular through-hole, this backing roll contacts with the circular arc inner surface of external tooth semicircle camber fork, both axis are parallel and be positioned at the axis of leading screw and the plane that body rack push rod axis is constituted, simultaneously, realize oppositely supporting with the axis normal of body rack push rod.Electric rotating machine drives external tooth semicircle camber fork by the external tooth engagement and drives ball-and-socket, realizes side rolling (Roll) motion of ball-and-socket and take-off lever and sole.Described pitching side chain comprises bearing, slide block, leading screw, last compound hinges crotch, pull bar top, pull bar lower part and following compound hinges crotch.Be provided with bearing outside above-mentioned body rack push rod, this bearing has a bar shaped connecting plate, and it is fixed on the body rack push rod, and the width center line of this bar shaped connecting plate is parallel with the axis of body rack push rod.In this bar shaped connecting plate two ends vertical fixing two journal stirrups are arranged, the two ends of leading screw link to each other with two journal stirrups by revolute pair, and leading screw axis and body rack push rod shaft line parallel simultaneously again with the axis of above-mentioned backing roll in same plane.On above-mentioned leading screw, link to each other with slide block by screw pair.The upper end on this slide block and pull bar top by a T font anyhow the last compound hinges crotch of two revolute pair axis quadratures be connected, the vertical revolute pair axis that should go up the compound hinges crotch is by slide block center and leading screw axis perpendicular quadrature, and is positioned at the plane that leading screw, body rack push rod axis are constituted; The secondary upper end for two ends symmetry and pull bar top of another lateral rotation forms and is rotationally connected.This pull bar is two sections, and is middle by directly connecting along the axial rotation of pull bar length direction is secondary.The lower end of this pull bar lower part is connected with the following compound hinges crotch of support hemisphere nest outer wall by the perpendicular two revolute pair axis quadratures of a T font Guang, a vertical revolute pair axis of this time compound hinges crotch is by supporting the center of hemisphere nest, and with the side-sway side chain in two of external tooth semicircle camber fork lower end to support the bearing pin common axis perpendicular, and parallel with the upper surface of supporting the hemisphere nest; The secondary lower end for two ends symmetry and pull bar lower part of another lateral rotation forms and is rotationally connected.Slide block is driven by motor, leading screw and realizes moving back and forth, and drives pull bar, ball-and-socket and take-off lever and finishes sole pitching (Pitch) motion.
From the bionic structure angle, the present invention is approaching to greatest extent human virtual condition on structural form.Wherein, centre of support spherical pair side chain is equivalent to the inferior articular surface of human tibia and the fossa glenoid of " Jiong " shape that inside and outside ankle-joint face makes jointly, holds trochlea of talus (ball and socket joint) and constitutes ankle-joint; The pitching side chain is equivalent to the heel of human body and the heel string between the shank.From the motion biomimetics angle, find through contrast: the decapacitation of human body ankle-joint is received in shank, outside the abduction, and self can finish with sufficient root is fulcrum, and it is fulcrum that the dorsiflex of lifting of cocking the foot reaches with the toe, and the sole of the foot that sufficient root upwards lifts is bent (range of movement 15
0-30
0/ 30
0-45
0) and around turning up from heel to the toe trunnion axis, in turn over (range of movement 15
0-25
0/ 30
0-45
0).And working space of the present invention is: around with two of external tooth semicircle camber fork support bearing pins common axis and around with this common axis with plane, body rack push rod axis place is perpendicular and swing that cross the axis of the centre of sphere is ± 47
0More than; Cover the range of movement of actual human body ankle-joint fully.From the function bionics angle, when the present invention rotated when the motor-driven leading screw, slide block can move up and down, affect pull bar to move up and down, support the hemisphere nest and rotate around two common axis that support bearing pin, realizes the sole elevating movement; And another motor-driven external tooth semicircle camber is pitched when swinging, and drives support hemisphere nest, straight take-off lever and sole and realizes that side-sway moves, and two motor linkages can be realized the repertoire of human ankle-joint.Simultaneously, when take-off lever is subjected to entad pressure, power load through sole, straight take-off lever, support hemisphere nest, the through body rack push rod (being frame) of bulb, reach complete discharge, increased displacement of the lines rigidity simultaneously; When sole or straight take-off lever were subjected to deviating from centre of sphere pulling force, power load was born jointly by side-sway side chain and pitching side chain respectively.So far, invent a kind of ankle-joint anthropomorphic robot requirement, highly bionical that satisfies fully, promptly had the anthropomorphic robot biomimetic ankle of the two-freedom sphere parallel connection of center spherical pair.
The present invention compared with prior art has following advantage:
The present invention is approaching to greatest extent human virtual condition on form, structure, motion, mechanics and function; Has advantages such as exceeding constraint, big rigidity, big working space (attainable working space is more a lot of greatly than the actual motion scope of people leg) and uninstall feature; This articulation structure is simple, compact, driver is arranged in parallel on body, has alleviated the limbs load, has improved limbs driving force, operational capacity; Make the motion of limbs quick more, flexible, continuously level and smooth, improve limbs and coordinate and the posture changing ability, particularly big rigidity makes bearing capacity increase, the kinetic stability raising of limbs.
In a word, this biomimetic ankle for the coordination ability and the attitude of the maneuverability that improves anthropomorphic robot, operational capacity, bearing capacity, kinetic stability, limb motion change, the control performance of motion is significant and be worth.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
In the three-dimensional simplified schematic diagram of the biomimetic ankle of the two-freedom sphere parallel connection with center spherical pair shown in Figure 1, supporting hemisphere nest 1 is interior concave spherical surface and the revolving body of the centre of sphere on axis of rotation, and its upper surface is all vertical with axis of rotation with the lower surface.This support hemisphere nest lower surface and cylindrical straight take-off lever 2 upper ends connect firmly, and the axis of this straight take-off lever passes the center of support hemisphere nest and overlaps with the gyroaxis that supports the hemisphere nest, and straight take-off lever lower end and sole 3 upper surfaces connect firmly.Be provided with bulb 4 in the interior concave spherical surface of support hemisphere nest, both centers overlap and constitute spherical pairs, and this bulb top and cylindricality body rack push rod 5 lower ends connect firmly, and the axis of this body rack push rod is crossed the bulb central point, and its upper end connects firmly with human body thigh (frame).This body rack push rod is provided with and runs through two side, the rectangular through hole in cross section.External tooth semicircle camber fork 6 rectangular through-hole of passing the body rack push rod of semicircle symmetrical structure, the mid-plane of its axial width with by the planar quadrature that axis constituted of leading screw 7, body rack push rod, external tooth semicircle camber fork supports bearing pins 8 formations with support hemisphere nest by two in the lower end and is rotationally connected, this two axis that supports bearing pin is positioned on the straight line and crosses the centre of sphere that supports the hemisphere nest, and is parallel with the upper surface of supporting the hemisphere nest simultaneously.Short cylindrical shape backing roll 9 two ends rotational support are on the front and rear wall of body rack push rod rectangular through-hole, this backing roll contacts with the circular arc inner surface of external tooth semicircle camber fork, both axis are parallel and be positioned at the axis of leading screw and the plane that body rack push rod axis is constituted, simultaneously with the axis normal of body rack push rod.Be provided with bearing 10 outside above-mentioned body rack push rod, this bearing has a bar shaped connecting plate, and it is fixed on the body rack push rod, and the width center line of this bar shaped connecting plate is parallel with the axis of body rack push rod.In this bar shaped connecting plate two ends vertical fixing two journal stirrups are arranged, the two ends of leading screw link to each other with two journal stirrups by revolute pair, and leading screw axis and body rack push rod shaft line parallel simultaneously again with the axis of above-mentioned backing roll in same plane.On above-mentioned leading screw, link to each other with slide block by screw pair.The upper end on this slide block and pull bar top by a T font anyhow the last compound hinges crotch 13 of two revolute pair axis quadratures be connected, the vertical revolute pair axis that should go up the compound hinges crotch is by slide block 11 centers and leading screw axis perpendicular quadrature, and is positioned at the plane that leading screw, body rack push rod axis are constituted; The secondary upper end for two ends symmetry and pull bar top 12 ｀ of another lateral rotation forms and is rotationally connected.This pull bar is two sections, and is middle by directly connecting along the axial rotation of pull bar length direction is secondary.The lower end of this pull bar lower part 12 is connected with the following compound hinges crotch 14 of support hemisphere nest outer wall by the perpendicular two revolute pair axis quadratures of a T font Guang, a vertical revolute pair axis of this time compound hinges crotch is by supporting the center of hemisphere nest, and with the side-sway side chain in two of external tooth semicircle camber fork lower end to support the bearing pin common axis perpendicular, and parallel with the upper surface of supporting the hemisphere nest; The secondary lower end for two ends symmetry and pull bar lower part of another lateral rotation forms and is rotationally connected.
Claims (1)
1. robot bionic ankle-joint with two-freedom sphere parallel connection of center spherical pair, it is characterized in that: supporting the hemisphere nest is interior concave spherical surface and the revolving body of the centre of sphere on axis of rotation, its upper surface is all vertical with axis of rotation with the lower surface, this support hemisphere nest lower surface and cylindrical straight take-off lever upper end connect firmly, the axis of this straight take-off lever passes the center of support hemisphere nest and overlaps with the gyroaxis that supports the hemisphere nest, be provided with bulb in the interior concave spherical surface of support hemisphere nest, both centers overlap and constitute spherical pair, this bulb top and cylindricality body rack push rod lower end connect firmly, the axis of this body rack push rod is crossed the bulb central point, this body rack push rod is provided with and runs through the two side, the through hole that the cross section is rectangular, the rectangular through-hole that the external tooth semicircle camber fork of semicircle symmetrical structure passes the body rack push rod, the mid-plane of its axial width with by leading screw, the planar quadrature that axis constituted of body rack push rod, external tooth semicircle camber fork supports bearing pins formation with support hemisphere nest by two in the lower end and is rotationally connected, this two axis that supports bearing pin is positioned on the straight line and crosses the centre of sphere that supports the hemisphere nest, parallel with the upper surface of supporting the hemisphere nest simultaneously, short cylindrical shape backing roll two ends rotational support is on the front and rear wall of body rack push rod rectangular through-hole, this backing roll contacts with the circular arc inner surface of external tooth semicircle camber fork, both axis are parallel and be positioned at the axis of leading screw and the plane that body rack push rod axis is constituted, simultaneously with the axis normal of body rack push rod, outside above-mentioned body rack push rod, be provided with bearing, this bearing has a bar shaped connecting plate, it is fixed on the body rack push rod, and the width center line of this bar shaped connecting plate is parallel with the axis of body rack push rod, in this bar shaped connecting plate two ends vertical fixing two journal stirrups are arranged, the two ends of leading screw link to each other with two journal stirrups by revolute pair, and leading screw axis and body rack push rod shaft line parallel simultaneously again with the axis of above-mentioned backing roll in same plane, on above-mentioned leading screw, link to each other with slide block by screw pair, the upper end on this slide block and pull bar top by a T font anyhow the last compound hinges crotch of two revolute pair axis quadratures be connected, the vertical revolute pair axis that should go up the compound hinges crotch passes through slide block center and leading screw axis perpendicular quadrature, and is positioned at leading screw, in the plane that body rack push rod axis is constituted; The secondary upper end for two ends symmetry and pull bar top of another lateral rotation forms and is rotationally connected, this pull bar is two sections, middle by directly connecting along the axial rotation of pull bar length direction is secondary, the lower end of this pull bar lower part is connected with the following compound hinges crotch of support hemisphere nest outer wall by the perpendicular two revolute pair axis quadratures of a T font Guang, a vertical revolute pair axis of this time compound hinges crotch is by supporting the center of hemisphere nest, and with the side-sway side chain in two of external tooth semicircle camber fork lower end to support the bearing pin common axis perpendicular, and parallel with the upper surface of supporting the hemisphere nest; The secondary lower end for two ends symmetry and pull bar lower part of another lateral rotation forms and is rotationally connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110136484 CN102198664B (en) | 2011-05-25 | 2011-05-25 | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair |
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| CN 201110136484 CN102198664B (en) | 2011-05-25 | 2011-05-25 | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair |
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| CN102198664B CN102198664B (en) | 2013-06-05 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104161610A (en) * | 2014-08-03 | 2014-11-26 | 浙江大学 | Ankle joint for external skeleton buffering and power assisting |
| CN104908060A (en) * | 2015-06-03 | 2015-09-16 | 燕山大学 | Five-degree-of-freedom parallel-series bionic shoulder joint |
| CN104999472A (en) * | 2015-06-03 | 2015-10-28 | 燕山大学 | Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade |
| CN105751239A (en) * | 2014-12-15 | 2016-07-13 | 哈尔滨市三和佳美科技发展有限公司 | Universal robot joint |
| CN108407918A (en) * | 2018-04-25 | 2018-08-17 | 江南大学 | A kind of gas balance robot |
| CN109940658A (en) * | 2019-04-12 | 2019-06-28 | 合肥工业大学 | A kind of mechanical wrist of built-in spherical joint |
| CN113002651A (en) * | 2019-12-18 | 2021-06-22 | 杭州萤石软件有限公司 | Foot type wall-climbing robot |
| CN113154309A (en) * | 2020-01-07 | 2021-07-23 | 施耐宝公司 | Pivoting, rotating lighting device |
| CN114148428A (en) * | 2021-12-10 | 2022-03-08 | 北京理工大学 | Multifunctional damping foot structure of robot |
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| CN1351924A (en) * | 2001-12-21 | 2002-06-05 | 清华大学 | Ankle joint driving structure device for anthropomorphic robot |
| CN101306534A (en) * | 2008-05-29 | 2008-11-19 | 燕山大学 | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface |
| CN101334063A (en) * | 2008-05-29 | 2008-12-31 | 燕山大学 | Super large workspace spherical face hinge |
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2011
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1351924A (en) * | 2001-12-21 | 2002-06-05 | 清华大学 | Ankle joint driving structure device for anthropomorphic robot |
| CN101306534A (en) * | 2008-05-29 | 2008-11-19 | 燕山大学 | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface |
| CN101334063A (en) * | 2008-05-29 | 2008-12-31 | 燕山大学 | Super large workspace spherical face hinge |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104161610A (en) * | 2014-08-03 | 2014-11-26 | 浙江大学 | Ankle joint for external skeleton buffering and power assisting |
| CN104161610B (en) * | 2014-08-03 | 2016-07-06 | 浙江大学 | The ankle joint of ectoskeleton buffering power-assisted |
| CN105751239A (en) * | 2014-12-15 | 2016-07-13 | 哈尔滨市三和佳美科技发展有限公司 | Universal robot joint |
| CN104908060A (en) * | 2015-06-03 | 2015-09-16 | 燕山大学 | Five-degree-of-freedom parallel-series bionic shoulder joint |
| CN104999472A (en) * | 2015-06-03 | 2015-10-28 | 燕山大学 | Series-parallel type five-freedom-degree bionic shoulder joint linked with shoulder blade |
| CN104908060B (en) * | 2015-06-03 | 2016-05-18 | 燕山大学 | Five degree of freedom the bionical shoulder joint of connecting |
| CN108407918A (en) * | 2018-04-25 | 2018-08-17 | 江南大学 | A kind of gas balance robot |
| CN108407918B (en) * | 2018-04-25 | 2023-12-01 | 江南大学 | Gas balance robot |
| CN109940658A (en) * | 2019-04-12 | 2019-06-28 | 合肥工业大学 | A kind of mechanical wrist of built-in spherical joint |
| CN113002651A (en) * | 2019-12-18 | 2021-06-22 | 杭州萤石软件有限公司 | Foot type wall-climbing robot |
| CN113154309A (en) * | 2020-01-07 | 2021-07-23 | 施耐宝公司 | Pivoting, rotating lighting device |
| CN114148428A (en) * | 2021-12-10 | 2022-03-08 | 北京理工大学 | Multifunctional damping foot structure of robot |
| CN114148428B (en) * | 2021-12-10 | 2022-10-21 | 北京理工大学 | Multifunctional damping foot structure of robot |
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