CN105291131B - A kind of apery knee joint with adjustable flexibility - Google Patents
A kind of apery knee joint with adjustable flexibility Download PDFInfo
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- CN105291131B CN105291131B CN201510882947.4A CN201510882947A CN105291131B CN 105291131 B CN105291131 B CN 105291131B CN 201510882947 A CN201510882947 A CN 201510882947A CN 105291131 B CN105291131 B CN 105291131B
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- apery
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Abstract
A kind of apery knee joint with adjustable flexibility, it is related to a kind of flexibility apery knee joint, hinged uniaxial joint is mostly with the knee joint solving existing tradition anthropomorphic robot, center of rotation is fixed, and adopt motor acceleration and deceleration device as driving means more, lack flexibility it is impossible to be buffered in the problem of outer bound pair knee joint impact during motion, it includes drive mechanism and drive mechanism；Drive mechanism includes drive, metallic cable, first rotating shaft and two Pneumatic artificial muscles；Drive mechanism includes a central gear, a planetary gear, a tie-rod and the second rotating shaft；The upper end of two Pneumatic artificial muscles is connected with thigh；One central gear is packed on thigh, and a planetary gear is packed on shank, and central gear is engaged with planetary gear, and first rotating shaft is connected with the second rotating shaft by a tie-rod；Drive is packed in first rotating shaft, and metallic cable is wrapped on drive.The present invention is used for anthropomorphic robot.
Description
Technical field
The present invention relates to a kind of flexibility 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 are for apery
The research of robot has important reference value.Human body knee joint is by femur, tibia, anterior cruciate ligament, posterior cruciate ligament etc.
Composition, realizes joint motions by the contraction and diastole of muscular tissue.During knee joint rotation, its instantaneous center of rotation moves therewith
Dynamic, track is close to J-shaped curve；Additionally, the flexibility that muscular tissue has contributes to outer bound pair knee joint and people during kicking motion
The impact of body, protection human body escapes injury.However, in traditional anthropomorphic robot, knee joint is mostly hinged uniaxial joint,
Center of rotation is fixed；And adopt motor acceleration and deceleration device as driving means more, lack flexibility, easily damaged by foreign impacts
, there is very big difference with human body knee joint in evil.
Content of the invention
The present invention is that the knee joint solving existing tradition anthropomorphic robot is mostly hinged uniaxial joint, and center of rotation is solid
Fixed, and adopt motor acceleration and deceleration device as driving means more, lack flexibility it is impossible to be buffered in outer bound pair knee joint impact during motion
Problem, and then provide a kind of apery knee joint with adjustable flexibility.
The present invention is to solve the above problems to adopt the technical scheme that：A kind of apery knee joint with adjustable flexibility, it
Including drive mechanism and drive mechanism；Drive mechanism includes drive, metallic cable, first rotating shaft and two Pneumatic artificial muscles；
Drive mechanism includes a central gear, a planetary gear, a tie-rod and the second rotating shaft；
Two Pneumatic artificial muscles adopt antagonism formula arrangement to arrange, and the upper end of two Pneumatic artificial muscles is with thigh even
Connect；
One central gear is packed on thigh, and first rotating shaft is rotatably installed on a central gear by bearing；
One planetary gear is packed on shank, and the second rotating shaft is rotatably installed on a planetary gear by bearing, and one
Individual central gear is engaged with a planetary gear, and first rotating shaft is connected with the second rotating shaft by a tie-rod；
Drive is packed in first rotating shaft, and metallic cable is wrapped on drive, one end of metallic cable and one of gas
The lower end of dynamic artificial-muscle connects, 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, and designed apery knee joint adopts
Transmission Mechanism of Planetary Gear System, when so that knee joint is rotated, its instantaneous center of rotation also moves therewith；Copy the driving machine of human synovial
Reason, the Pneumatic artificial muscle driving that designed apery knee joint arrange by a pair of antagonism formula, Pneumatic artificial muscle has and people
The biomechanics characteristic that body muscle is similar to, makes knee joint have flexibility, and can be by adjusting within Pneumatic artificial muscle
Gas pressure, the kneed flexibility of real-time regulation.The apery knee joint that the present invention is developed overcomes traditional robot knee joint and closes
The shortcoming of section, can kicking motion when the outer kneed impact of bound pair, on articulation structure or drive mechanism all with people
Body knee joint is very similar.
Brief description
Fig. 1 is a kind of kneed overall structure diagram of apery with adjustable flexibility of the present invention, and Fig. 2 is present invention tool
There is the apery knee joint instantaneous center of rotation track schematic diagram of adjustable flexibility, Fig. 3 is the partial enlarged drawing of Fig. 2, and Fig. 4 is concrete reality
Apply the attachment structure schematic diagram of mode six.
Specific embodiment
Specific embodiment one：Illustrate in conjunction with Fig. 1, a kind of apery knee joint with adjustable flexibility of present embodiment,
It includes drive mechanism and drive mechanism；Drive mechanism includes drive 1, metallic cable 2, first rotating shaft 3 and two artificial pneumatics
Muscle 4；Drive mechanism includes a central gear 6, tie-rod 7 of 5, planetary gear and the second rotating shaft 8；
Two Pneumatic artificial muscles 4 adopt the setting of antagonism formula arrangement, the upper end of two Pneumatic artificial muscles 4 and thigh
9 connections；
One central gear 5 is packed on thigh 9, and first rotating shaft 3 is rotatably installed in a central gear 5 by bearing
On；
One planetary gear 6 is packed on shank 11, and the second rotating shaft 8 is rotatably installed in a planetary gear 6 by bearing
On, a central gear 5 is engaged with a planetary gear 6, and first rotating shaft 3 is connected with the second rotating shaft 8 by a tie-rod 7；
Drive 1 is packed in first rotating shaft 3, and metallic cable 2 is wrapped on drive 1, one end of metallic cable 2 and wherein
The lower end of individual Pneumatic artificial muscle 4 connects, and the other end of metallic cable 2 is connected with the lower end of another Pneumatic artificial muscle 4.
Specific embodiment two：Illustrate in conjunction with Fig. 1, the metallic cable 2 of present embodiment is steel wire rope.It is arranged such, structure
Intensity is big, stable and reliable operation.Other identical with specific embodiment one.
Specific embodiment three：Illustrate in conjunction with Fig. 1, a kind of apery knee joint with adjustable flexibility described in present embodiment
Also include another central gear 25 and another planetary gear 16；One central gear 5 and another central gear 25 are just right
Setting, another central gear 25 is packed on thigh 9, a planetary gear 6 and another planetary gear 16 just to setting, separately
One planetary gear 16 is packed on shank 11, and first rotating shaft 3 is rotatably installed on another central gear 25 by bearing, the
Two rotating shafts 8 are rotatably installed on another planetary gear 16 by bearing, another central gear 25 and another planetary gear 16
Engagement.It is arranged such, reduce central gear and the cooperation of planetary gear gap, keep balance it is ensured that knee joint stable and reliable operation.
Other identical with specific embodiment one or two.
Specific embodiment four：Illustrate in conjunction with Fig. 1, a kind of apery knee joint with adjustable flexibility described in present embodiment
Also include another tie-rod 17, a tie-rod 7 and another tie-rod 17 are arranged on the both sides of drive 1, and first rotating shaft 3 is passed through another
One tie-rod 17 is connected with the second rotating shaft 8.It is arranged such it is ensured that first rotating shaft and the second rotating shaft stable and reliable operation.Other with
It is embodied as three identical.
Specific embodiment five：Illustrate in conjunction with Fig. 1, a kind of apery knee joint with adjustable flexibility described in present embodiment
Also include containment vessel 12, containment vessel 12 is arranged on drive 1.It is arranged such, prevent the metallic cable being wrapped on drive from taking off
From drive it is ensured that drive and metallic cable stable and reliable operation.Other one with specific embodiment, two or four identical.
Specific embodiment six：Illustrate in conjunction with Fig. 4, a kind of apery knee joint with adjustable flexibility described in present embodiment
Also include controller 13 and electromagnetic valve 14.Source of the gas 15 adopts mini air compressor, for providing compression to Pneumatic artificial muscle 4
Air；Electromagnetic valve 14 adopts the 3 position-5 way electromagnetic valve of middle position closing, can control Pneumatic artificial muscle 4 air inlet, aerofluxuss respectively
And closing；Controller 13 is used for sending control signal to electromagnetic valve 14, realizes the break-make of gas circuit.Other and specific embodiment
First, two or four is identical.
Work process：Because Pneumatic artificial muscle has the biomechanics characteristic similar with human muscle, the present invention is made to imitate
Human knee joint has certain flexibility, and can realize knee joint is closed by adjusting the gas pressure within Pneumatic artificial muscle
The flexible adjustment of section.When two Pneumatic artificial muscle 4 stretching motions, steel wire rope 2 pulls drive 1 to rotate with first rotating shaft 3,
And by tie-rod 7 drive planetary gear 6 move around central gear 5, planetary gear 6 around the second rotating shaft 8 also rotation, thus realizing little
Lower limb 11 is with respect to the rotation of thigh 9.According to the transmission principle of planet circular system, the instantaneous center of rotation of shank 11 thigh 9 relatively is not
Disconnected change, the curve K in Fig. 2 and Fig. 3 shows shank 11 during ratating 90 degrees with respect to thigh 9 in shank instant rotation
The track of the heart.
Claims (6)
1. a kind of apery knee joint with adjustable flexibility it is characterised in that：It includes drive mechanism and drive mechanism；Driving machine
Structure includes drive (1), metallic cable (2), first rotating shaft (3) and two Pneumatic artificial muscles (4)；Drive mechanism is included in one
Heart gear (5), a planetary gear (6), a tie-rod (7) and the second rotating shaft (8)；
Two Pneumatic artificial muscles (4) adopt the setting of antagonism formula arrangement, the upper end of two Pneumatic artificial muscles (4) and thigh
(9) connect；
One central gear (5) is packed on thigh (9), and first rotating shaft (3) is rotatably installed in a central gear by bearing
(5) on；
One planetary gear (6) is packed on shank (11), and the second rotating shaft (8) is rotatably installed in a planetary gear by bearing
(6) on, a central gear (5) is engaged with a planetary gear (6), and first rotating shaft (3) passes through a tie-rod (7) and second turn
Axle (8) connects；
Drive (1) is packed in first rotating shaft (3), and metallic cable (2) is wrapped on drive (1), one end of metallic cable (2) with
The lower end connection of one of Pneumatic artificial muscle (4), the other end of metallic cable (2) and another Pneumatic artificial muscle (4)
Lower end connects.
2. a kind of apery knee joint with adjustable flexibility according to claim 1 it is characterised 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 it is characterised in that：Described one kind
The apery knee joint with adjustable flexibility also includes another central gear (25) and another planetary gear (16)；One center
, just to setting, another central gear (25) is packed on thigh (9), a row for gear (5) and another central gear (25)
, just to setting, another planetary gear (16) is packed on shank (11) for star gear (6) and another planetary gear (16), and first
Rotating shaft (3) is rotatably installed on another central gear (25) by bearing, and the second rotating shaft (8) is rotatably installed in separately by bearing
On one planetary gear (16), another central gear (25) is engaged with another planetary gear (16).
4. a kind of apery knee joint with adjustable flexibility according to claim 3 it is characterised in that：Described one kind has
The apery knee joint of adjustable flexibility also includes another tie-rod (17), and a tie-rod (7) and another tie-rod (17) are arranged on biography
The both sides of driving wheel (1), first rotating shaft (3) is connected with the second rotating shaft (8) by another tie-rod (17).
5. a kind of apery knee joint with adjustable flexibility according to claim 1,2 or 4 it is characterised in that：Described one
The apery knee joint that kind has adjustable flexibility also includes 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 it is characterised in that：Described one
The apery knee joint that kind has adjustable flexibility also includes controller (13) and electromagnetic 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105291131A CN105291131A (en) | 2016-02-03 |
| CN105291131B true CN105291131B (en) | 2017-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510882947.4A Active CN105291131B (en) | 2015-12-03 | 2015-12-03 | A kind of apery knee joint with adjustable flexibility |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538339B (en) * | 2016-02-23 | 2017-09-29 | 中国计量学院 | The change rotating shaft big corner bionic knee joint of antagonism formula pneumatic muscles driving |
| 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 |
| 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 |
| CN113332096A (en) * | 2021-06-03 | 2021-09-03 | 江苏大学 | Pure mechanical drive's portable knee joint rehabilitation tempers device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4232602C2 (en) * | 1992-09-29 | 1995-01-12 | Bock Orthopaed Ind | Joint in orthopedic prostheses and orthoses |
| CN100436237C (en) * | 2006-07-10 | 2008-11-26 | 东北大学 | Human-imitating double-foot robot artificial leg |
| CN101772657B (en) * | 2007-07-31 | 2012-08-08 | 纳博特斯克株式会社 | 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 |
| CN102247260B (en) * | 2011-06-23 | 2012-10-03 | 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 |
| CN104398323B (en) * | 2014-11-12 | 2016-06-01 | 南京工程学院 | A kind of knee joint exoskeleton power-assisted mechanism based on pneumatic muscles |
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- 2015-12-03 CN CN201510882947.4A patent/CN105291131B/en active Active
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