CN105291132A - Humanoid robot knee joint capable of realizing active and semi-passive driving - Google Patents

Humanoid robot knee joint capable of realizing active and semi-passive driving Download PDF

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Publication number
CN105291132A
CN105291132A CN201510883917.5A CN201510883917A CN105291132A CN 105291132 A CN105291132 A CN 105291132A CN 201510883917 A CN201510883917 A CN 201510883917A CN 105291132 A CN105291132 A CN 105291132A
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China
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knee joint
semi
rotating shaft
another
drive
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CN201510883917.5A
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CN105291132B (en
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臧希喆
刘义祥
刘鑫宇
赵杰
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Harbin Institute of Technology
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Harbin Institute of Technology
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Abstract

A humanoid robot knee joint capable of realizing active and semi-passive driving relates to a humanoid robot knee joint, and solves the problems that the active knee joint of the existing robot cannot make use of its passive property while walking, has low energy efficiency and the passive knee joint is not driven, the movement of the passive knee joint is uncontrollable, the active and passive knee joints cannot realize dynamic and efficient movement. The humanoid robot knee joint comprises a driving mechanism and a transmission mechanism. The driving mechanism comprises a transmission wheel, a steel wire rope, a first rotation shaft, a first spring bracket, a second spring bracket, an extension spring and two pneumatic artificial muscles. The transmission mechanism comprises a central gear, a planetary gear, a tie bar and a second rotation shaft. The first spring bracket is installed on a thigh above the central gar, and the second spring bracket is installed on a shank under the planetary gear. Two ends of the extension spring are connected with the first spring bracket and the second spring bracket respectively. The humanoid robot knee joint of the present invention is used for a humanoid robot.

Description

A kind of realize initiatively with the anthropomorphic robot knee joint of semi-passive driving
Technical field
The present invention relates to a kind of anthropomorphic robot knee joint, belong to anthropomorphic robot field.
Background technology
The research of body biomechanics shows, human body knee joint waits drive pattern with active and passive, and human body can be assisted to complete the multi-motions such as walking, running, jump.In gait processes, action of going down on one's knees, namely shank bends backward, has usually been driven by musculature; Stretch knee action, namely shank forward rocking motion with stretch, usually rely on the passive power such as inertia to complete, therefore the energy efficiency of human locomotion is very high.When running with jump, knee joint is driven by musculature, to provide enough explosive force and driving force.At present, the knee joint of robot generally can be divided into two kinds---initiatively knee joint and passive knee-joint, and initiatively knee joint utilizes the drive units such as motor to provide driving force needed for motion, but can not utilize its passive characteristic during walking, and energy efficiency is low; Passive knee-joint relies on passive power to realize motion when robot walking, energy efficiency is high, but owing to not driving, its motion is uncontrollable.
Summary of the invention
The present invention is not for utilizing its passive characteristic when solving the active knee joint walking of existing robot, energy efficiency is low, and passive knee-joint does not drive, its motion is uncontrollable, active and passive knee-joint all cannot realize dynamically and the problem of efficient motion, so provide a kind of realize initiatively with the anthropomorphic robot knee joint of semi-passive driving.
The present invention is the technical scheme taked that solves the problem: a kind of realize initiatively with the anthropomorphic robot knee joint of semi-passive driving, it comprises driving mechanism and transmission mechanism; Driving mechanism comprises drive, steel wire rope, the first rotating shaft, first spring support, the second spring support, an extension spring 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 wirerope-winding is on drive, and one end of steel wire rope is connected with the lower end of a Pneumatic artificial muscle, and the other end of steel wire rope is connected with the lower end of another Pneumatic artificial muscle;
Be positioned on the thigh above a central gear and first spring support is installed, be positioned on the shank below a planetary gear and the second spring support is installed, an extension spring is arranged on the side of drive, and the two ends of an extension spring are connected with the first spring support and the second spring support respectively.
The invention has the beneficial effects as follows: the Pneumatic artificial muscle that knee joint of the present invention is arranged by a pair antagonism formula and extension spring drive, and in active drive pattern, are moved by antagonism formula Joint Actuated by Pneumatic Artificial Muscles; At semi-passive motor pattern, driven when going down on one's knees by Pneumatic artificial muscle, extension spring constantly increases with angle of going down on one's knees and is constantly stretched thereupon, storage power; Driving is provided by the restoring force of extension spring when stretching knee.The anthropomorphic robot knee joint that the present invention develops overcomes the kneed shortcoming of traditional robot, active drive and semi-passive driving can be realized, to adapt to the needs of the different motion patterns such as robot walking, running, jump, contribute to robot and realize dynamically, efficiently moving.
The present invention copies the structure of human body knee joint, and 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, Pneumatic artificial muscle has the biomechanics characteristic similar with human muscle, makes knee joint also have flexibility, and by regulating the gas pressure of Pneumatic artificial muscle inside, can regulate kneed flexibility in real time.When can be buffered in motion, 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 of the present inventionly a kind ofly realizes initiatively overall structure schematic diagram kneed with the anthropomorphic robot of semi-passive driving, Fig. 2 be the A of Fig. 1 to schematic diagram, Fig. 3 is the structural representation of detailed description of the invention six.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates, present embodiment a kind of realize initiatively with the anthropomorphic robot knee joint of semi-passive driving, it comprises driving mechanism and transmission mechanism; Driving mechanism comprises drive 11, steel wire rope 12, first rotating shaft 13, first spring support 19, second spring support, 20, extension spring 21 and two Pneumatic artificial muscles 14;
Transmission mechanism comprises a central gear 15, planetary gear 16, tie-rod 17 and the second rotating shaft 18;
Two Pneumatic artificial muscles 14 adopt antagonism formula arrangement to arrange, and the upper end of two Pneumatic artificial muscles 14 is connected with thigh 9; A central gear 15 is packed on thigh 9, and the first rotating shaft 13 is rotatably installed on a central gear 15 by bearing 10;
A planetary gear 16 is packed on shank 1, and the second rotating shaft 18 is rotatably installed on a planetary gear 16 by bearing 10, and central gear 15 engages with planetary gear 16, and the first rotating shaft 13 is connected with the second rotating shaft 18 by a tie-rod 17;
Drive 11 is packed in the first rotating shaft 13, and steel wire rope 12 is wrapped on drive 11, and one end of steel wire rope 12 is connected with the lower end of a Pneumatic artificial muscle 14, and the other end of steel wire rope 12 is connected with the lower end of another Pneumatic artificial muscle 14;
Be positioned on the thigh 9 above a central gear 15 and first spring support 19 is installed, be positioned on the shank 1 below a planetary gear 16 and second spring support 20 is installed, an extension spring 21 is arranged on the side of drive 11, and the two ends of an extension spring 21 are connected with the first spring support 19 and the second spring support 20 respectively.
Detailed description of the invention two: composition graphs 1 and Fig. 2 illustrate, a kind of realization described in present embodiment initiatively also comprises another central gear 15 and another planetary gear 16 with the anthropomorphic robot knee joint of semi-passive driving; Two central gears 15 are arranged on the both sides of drive 11, another central gear 15 is packed on thigh 9, two planetary gears 16 are arranged on the both sides of drive 11, another planetary gear 16 is packed on shank 11, first rotating shaft 13 is rotatably installed on another central gear 15 by bearing 10, second rotating shaft 18 is rotatably installed on another planetary gear 16 by bearing 10, and another central gear 15 engages with another planetary gear 16.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.
Detailed description of the invention three: composition graphs 1 illustrates, a kind of realization described in present embodiment initiatively also comprises another extension spring 21 with the anthropomorphic robot knee joint of semi-passive driving; Another extension spring 21 is arranged on the opposite side of drive 11, and the upper end of another extension spring 21 is connected with the first spring support 19, and the lower end of another extension spring 21 is connected with the second spring support 20.Setting like this, provides enough driving forces when being conducive to semi-passive motor pattern.Other is identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 1 illustrates, a kind of realization described in present embodiment initiatively also comprises another tie-rod 17 with the anthropomorphic robot knee joint of semi-passive driving, two tie-rods 17 are arranged on the both sides of drive 11, and the first rotating shaft 13 is connected with the second rotating shaft 18 by another tie-rod 17.Setting like this, ensures the first rotating shaft and the second rotating shaft stable and reliable operation.Other with specifically implement one, two or three identical.
Detailed description of the invention five: illustrate in conjunction with Fig. 1 and 2, a kind of realization described in present embodiment initiatively also comprises containment vessel 2 with the anthropomorphic robot knee joint of semi-passive driving, and containment vessel 2 is arranged on drive 11.Setting like this, prevents the steel wire rope be wrapped on drive from departing from drive, ensures drive and steel wire rope stable and reliable operation.Other is identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 3 illustrates, a kind of realization described in present embodiment initiatively also comprises controller 23 and magnetic valve 24 with the anthropomorphic robot knee joint of semi-passive driving.Source of the gas 25 adopts mini air compressor, for providing compressed air to Pneumatic artificial muscle 14; The 3 position-5 way magnetic valve that magnetic valve 24 adopts meta to close, can control Pneumatic artificial muscle 14 air inlet, exhaust respectively and close; Controller 23, for transmitting control signal to magnetic valve 24, realizes the break-make of gas circuit.Other with detailed description of the invention one, two, three or five identical.
The course of work: this anthropomorphic robot knee joint can realize active drive and semi-passive driving respectively, two kinds of type of drive to realize principles and methods as follows.When shank 1 and thigh 9 point-blank time be kneed original state, now Pneumatic artificial muscle 14 inside is all filled with a certain amount of gas.In active drive pattern, the driving force of joint motions is provided by two Pneumatic artificial muscles 14, be specially when going down on one's knees, in Fig. 1, the Pneumatic artificial muscle 14 in outside is inflated and is shunk, the Pneumatic artificial muscle 14 of inner side is vented and extends, drive drive 11 and the first rotating shaft 13 to rotate by the pulling force of steel wire rope, and then realize going down on one's knees action; When stretching knee, the Pneumatic artificial muscle 14 of the inner side in Fig. 1 is inflated and is shunk, and the Pneumatic artificial muscle 14 in outside is vented and extends, and drives drive and the first rotating shaft 13 to rotate by the pulling force of steel wire rope, and then realizes stretching knee action.At semi-passive motor pattern, going down on one's knees provides driving force by the Pneumatic artificial muscle 14 of the inner side in Fig. 1, stretch knee and provide driving force by extension spring 21, be specially when going down on one's knees, the Pneumatic artificial muscle 14 of the inner side in Fig. 1 is inflated and is shunk, and the Pneumatic artificial muscle 14 in outside is vented and extends, and drives drive 11 and the first rotating shaft 13 to rotate by the pulling force of steel wire rope 12, along with shank 1 constantly rotates relative to thigh 9, extension spring 21 constantly extends storage power; When stretching knee, the Pneumatic artificial muscle 14 of the inner side in Fig. 1 is vented and extends, and the steel wire rope 12 between the Pneumatic artificial muscle 14 in outside and the Pneumatic artificial muscle 14 of inner side becomes lax, does not reoffer driving force, but provide active force by extension spring 21, drive shank 1 to swing realization and stretch action.
Because Pneumatic artificial muscle 14 has the biomechanics characteristic similar with human muscle, make anthropomorphic robot knee joint of the present invention have certain flexibility, and by regulating the gas pressure of Pneumatic artificial muscle inside, the adjustment to knee joint flexibility can be realized.When two Pneumatic artificial muscle 14 stretching motions, steel wire rope 12 pulls drive 11 and the first rotating shaft 13 to rotate, and driving planetary gear 16 to move around central gear 15 by tie-rod 17, planetary gear 16 around the second rotating shaft 18 also rotation, thus realizes the rotation of shank 1 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 1 constantly changes.

Claims (6)

1. can realize active and an anthropomorphic robot knee joint for semi-passive driving, it is characterized in that: it comprises driving mechanism and transmission mechanism; Driving mechanism comprises drive (11), steel wire rope (12), the first rotating shaft (13), first spring support (19), the second spring support (20), an extension spring (21) and two Pneumatic artificial muscles (14);
Transmission mechanism comprises a central gear (15), planetary gear (16), a tie-rod (17) and second rotating shaft (18);
Two Pneumatic artificial muscles (14) adopt antagonism formula arrangement to arrange, and the upper end of two Pneumatic artificial muscles (14) is connected with thigh (9); A central gear (15) is packed on thigh (9), and the first rotating shaft (13) is rotatably installed on a central gear (15) by bearing (10);
A planetary gear (16) is packed on shank (1), second rotating shaft (18) is rotatably installed on a planetary gear (16) by bearing (10), central gear (15) engages with planetary gear (16), and the first rotating shaft (13) is connected with the second rotating shaft (18) by a tie-rod (17);
Drive (11) is packed in the first rotating shaft (13), steel wire rope (12) is wrapped on drive (11), one end of steel wire rope (12) is connected with the lower end of a Pneumatic artificial muscle (14), and the other end of steel wire rope (12) is connected with the lower end of another Pneumatic artificial muscle (14);
Be positioned on the thigh (9) above a central gear (15) and first spring support (19) is installed, be positioned on the shank (1) below a planetary gear (16) and the second spring support (20) is installed, an extension spring (21) is arranged on the side of drive (11), and the two ends of an extension spring (21) are connected with the first spring support (19) and the second spring support (20) respectively.
2. according to claim 1ly a kind ofly to realize initiatively and the anthropomorphic robot knee joint of semi-passive driving, it is characterized in that: described a kind of realization initiatively also comprises another central gear (15) and another planetary gear (16) with the anthropomorphic robot knee joint of semi-passive driving, two central gears (15) are arranged on the both sides of drive (11), another central gear (15) is packed on thigh (9), two planetary gears (16) are arranged on the both sides of drive (11), another planetary gear (16) is packed on shank (11), first rotating shaft (13) is rotatably installed on another central gear (15) by bearing (10), second rotating shaft (18) is rotatably installed on another planetary gear (16) by bearing (10), another central gear (15) engages with another planetary gear (16).
3. according to claim 2ly a kind ofly to realize initiatively and the anthropomorphic robot knee joint of semi-passive driving, it is characterized in that: described a kind of realization initiatively also comprises another extension spring (21) with the anthropomorphic robot knee joint of semi-passive driving; Another extension spring (21) is arranged on the opposite side of drive (11), the upper end of another extension spring (21) is connected with the first spring support (19), and the lower end of another extension spring (21) is connected with the second spring support (20).
4. a kind of according to claim 1,2 or 3 realize initiatively with the anthropomorphic robot knee joint of semi-passive driving, it is characterized in that: described a kind of realization initiatively also comprises another tie-rod (17) with the anthropomorphic robot knee joint of semi-passive driving, two tie-rods (17) are arranged on the both sides of drive (11), and the first rotating shaft (13) is connected with the second rotating shaft (18) by another tie-rod (17).
5. according to claim 4 a kind of realize initiatively with the anthropomorphic robot knee joint of semi-passive driving; it is characterized in that: described a kind of realization initiatively also comprises containment vessel (2) with the anthropomorphic robot knee joint of semi-passive driving, and containment vessel (2) is arranged on drive (11).
6. a kind of according to claim 1,2,3 or 5 realizes initiatively and the anthropomorphic robot knee joint of semi-passive driving, it is characterized in that: described a kind of realization initiatively also comprises controller (23) and magnetic valve (24) with the anthropomorphic robot knee joint of semi-passive driving.
CN201510883917.5A 2015-12-03 2015-12-03 A kind of anthropomorphic robot knee joint of achievable active and semi-passive driving Active CN105291132B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105945983A (en) * 2016-04-20 2016-09-21 吉林大学 Energy saving damping bionic knee joint for biped walking robot
CN106041998A (en) * 2016-08-08 2016-10-26 江苏捷帝机器人股份有限公司 Multistage rotary and telescopic mechanical arm
CN107160432A (en) * 2017-07-26 2017-09-15 李路路 The mechanical axis bar joint bending free degree of Electromagnetical drive realizes structure
CN110302036A (en) * 2019-07-30 2019-10-08 上海理工大学 A kind of motion of knee joint bio-mechanism that instant center of rotation is variable
CN112890809A (en) * 2021-01-26 2021-06-04 青岛大学附属医院 Knee joint simulation equipment for sports medicine research

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105945983A (en) * 2016-04-20 2016-09-21 吉林大学 Energy saving damping bionic knee joint for biped walking robot
CN106041998A (en) * 2016-08-08 2016-10-26 江苏捷帝机器人股份有限公司 Multistage rotary and telescopic mechanical arm
CN106041998B (en) * 2016-08-08 2018-08-07 江苏捷帝机器人股份有限公司 A kind of Multi-stage rotary concertina type mechanical arm
CN107160432A (en) * 2017-07-26 2017-09-15 李路路 The mechanical axis bar joint bending free degree of Electromagnetical drive realizes structure
CN110302036A (en) * 2019-07-30 2019-10-08 上海理工大学 A kind of motion of knee joint bio-mechanism that instant center of rotation is variable
CN112890809A (en) * 2021-01-26 2021-06-04 青岛大学附属医院 Knee joint simulation equipment for sports medicine research

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