CN105291132B - A kind of anthropomorphic robot knee joint of achievable active and semi-passive driving - Google Patents
A kind of anthropomorphic robot knee joint of achievable active and semi-passive driving Download PDFInfo
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- CN105291132B CN105291132B CN201510883917.5A CN201510883917A CN105291132B CN 105291132 B CN105291132 B CN 105291132B CN 201510883917 A CN201510883917 A CN 201510883917A CN 105291132 B CN105291132 B CN 105291132B
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Abstract
A kind of anthropomorphic robot knee joint of achievable active and semi-passive driving, it is related to a kind of anthropomorphic robot knee joint, to solve to utilize its passive characteristic during existing robot active knee joint walking, energy efficiency is low, and passive knee-joint does not drive, its motion is uncontrollable, and active and passive knee-joint all cannot realize the problem of dynamic and efficient motion, and it includes drive mechanism and drive mechanism；Drive mechanism includes drive, steel wire rope, first rotating shaft, first spring support, a second spring support, an extension spring and two Pneumatic artificial muscles；Drive mechanism includes a central gear, a planetary gear, a tie-rod and the second rotating shaft；On thigh above a central gear, first spring support is installed, second spring support is provided with the shank below a planetary gear, the two ends of an extension spring are connected with the first spring support and second spring support respectively.The present invention is used for anthropomorphic robot.
Description
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 biomechanicses shows, human body knee joint waits drive pattern with active and passive, can assist in people
Body completes the multi-motions such as walking, running, jump.In gait processes, action of going down on one's knees, that is, shank bend backward, generally by flesh
Meat tissue drives and completes；Stretch knee joint action, that is, shank swings forward and stretches, usually rely on the passive power such as inertia and complete, therefore
The energy efficiency of human locomotion is very high.When running with jump, knee joint is driven by muscular tissue, to provide enough outbursts
Power and driving force.At present, the knee joint of robot generally can be divided into two kinds of active knee joints and passive knee-joint, active knee joint
Joint utilizes the driving means such as motor to provide motion required driving force, but can not utilize its passive characteristic, energy during walking
Efficiency is low；Passive knee-joint relies on passive power to realize motion in robot walking, and energy efficiency is high, but due to not driving
Dynamic, its motion is uncontrollable.
Content of the invention
The present invention is to solve to utilize its passive characteristic during existing robot active knee joint walking, and energy efficiency is low,
And passive knee-joint does not drive, its motion is uncontrollable, and active and passive knee-joint all cannot realize dynamic and efficient motion
Problem, and then the anthropomorphic robot knee joint of a kind of achievable active and semi-passive driving is provided.
The present invention is to solve the above problems to adopt the technical scheme that：A kind of apery of achievable active and semi-passive driving
Machine human knee joint, it includes drive mechanism and drive mechanism；Drive mechanism include drive, steel wire rope, first rotating shaft, one
First spring support, a second spring support, an extension spring 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, in
Heart 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, wirerope-winding on drive, one end of steel wire rope and a pneumatic people
The lower end of work muscle connects, and the other end of steel wire rope is connected with the lower end of another Pneumatic artificial muscle；
On thigh above a central gear, first spring support is installed, under a planetary gear
On the shank of side, second spring support is installed, an extension spring is arranged on the side of drive, the two of an extension spring
End is connected with the first spring support and second spring support respectively.
The invention has the beneficial effects as follows：Pneumatic artificial muscle and stretching bullet that knee joint of the present invention is arranged by a pair of antagonism formula
Spring drives, and in active drive pattern, is moved by antagonism formula Joint Actuated by Pneumatic Artificial Muscles；In semi-passive motor pattern, bend
Driven by Pneumatic artificial muscle during knee joint, with angle of going down on one's knees, constantly increase is constantly stretched extension spring therewith, stores energy；Stretch knee joint
When by extension spring restoring force provide drive.The anthropomorphic robot knee joint that the present invention is developed overcomes traditional robot
Kneed shortcoming, it is possible to achieve active drive and semi-passive driving, to adapt to the different fortune such as robot walking, running, jump
The needs of dynamic model formula, contribute to robot and realize dynamic, efficiently motion.
The present invention copies the structure of human body knee joint, and designed apery knee joint adopts Transmission Mechanism of Planetary Gear System, makes
During knee joint rotation, its instantaneous center of rotation also moves therewith；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 can be by adjusting Pneumatic artificial muscle
Internal gas pressure, the kneed flexibility of real-time regulation.Can be buffered in during motion the outer kneed impact of bound pair, no matter exist
All very similar with human body knee joint on articulation structure or drive mechanism.
Brief description
Fig. 1 is that kneed overall structure is shown with the anthropomorphic robot of semi-passive driving for a kind of achievable active of the present invention
Be intended to, Fig. 2 be the A of Fig. 1 to schematic diagram, Fig. 3 is the structural representation of specific embodiment six.
Specific embodiment
Specific embodiment one：Illustrate in conjunction with Fig. 1, a kind of achievable active of present embodiment is imitative with semi-passive driving
Robot human knee joint, it includes drive mechanism and drive mechanism；Drive mechanism includes 12, first turn of drive 11, steel wire rope
Axle 13, first spring support, 20, extension spring 21 of 19, second spring support and two Pneumatic artificial muscles
14；
Drive mechanism includes a central gear 16, tie-rod 17 of 15, planetary gear and the second rotating shaft 18；
Two Pneumatic artificial muscles 14 adopt antagonism formula arrangement to arrange, the upper end of two Pneumatic artificial muscles 14 with big
Lower limb 9 connects；One central gear 15 is packed on thigh 9, and first rotating shaft 13 is rotatably installed in a central gear by bearing
On 15；
One planetary gear 16 is packed on shank 1, and the second rotating shaft 18 is rotatably installed in a planetary gear by bearing
On 16, central gear 15 is engaged with planetary gear 16, and first rotating shaft 13 is connected with the second rotating shaft 18 by a tie-rod 17；
Drive 11 is packed in first rotating shaft 13, and steel wire rope 12 is wrapped on drive 11, one end of steel wire rope 12 with
The lower end of one Pneumatic artificial muscle 14 connects, and the other end of steel wire rope 12 is connected with the lower end of another Pneumatic artificial muscle 14
Connect；
On the thigh 9 of a central gear 15 top, first spring support 19 is installed, positioned at a planet
On the shank 1 of gear 16 lower section, second spring support 20 is installed, an extension spring 21 is arranged on the side of drive 11, one
The two ends of individual extension spring 21 are connected with the first spring support 19 and second spring support 20 respectively.
Specific embodiment two：In conjunction with Fig. 1 and Fig. 2 explanation, the one kind described in present embodiment can achieve active and half quilt
The dynamic anthropomorphic robot knee joint driving also includes another central gear 35 and another planetary gear 36；One central gear
15 are arranged on the both sides of drive 11 with another central gear 35, and another central gear 35 is packed on thigh 9, a row
Star gear 16 and another planetary gear 36 are arranged on the both sides of drive 11, and another planetary gear 36 is packed on shank 1,
First rotating shaft 13 is rotatably installed on another central gear 35 by bearing, and the second rotating shaft 18 is rotatably installed in separately by bearing
On one planetary gear 36, another central gear 35 is engaged with another planetary gear 36.It is arranged such, reduce central gear
With the cooperation of planetary gear gap, keep balance it is ensured that knee joint stable and reliable operation.Other identical with specific embodiment one.
Specific embodiment three：Illustrate in conjunction with Fig. 1, the one kind described in present embodiment can achieve active and semi-passive driving
Anthropomorphic robot knee joint also include another extension spring 31；Another extension spring 31 is arranged on the another of drive 11
Side, the upper end of another extension spring 31 is connected with the first spring support 19, the lower end of another extension spring 31 and the second bullet
Spring bracket 20 connects.It is arranged such, be conducive to during semi-passive motor pattern, providing enough driving forces.Other and specific embodiment party
Formula two is identical.
Specific embodiment four：Illustrate in conjunction with Fig. 1, the one kind described in present embodiment can achieve active and semi-passive driving
Anthropomorphic robot knee joint also include another tie-rod 37, a tie-rod 17 and another tie-rod 37 are arranged on drive 11
Both sides, first rotating shaft 13 is connected with the second rotating shaft 18 by another tie-rod 37.It is arranged such it is ensured that first rotating shaft and second turn
Axle stable and reliable operation.Other identical with being embodied as one, two or three.
Specific embodiment five：Illustrate in conjunction with Fig. 1 and 2, the one kind described in present embodiment can achieve actively with semi-passive
The anthropomorphic robot knee joint driving also includes containment vessel 2, and containment vessel 2 is arranged on drive 11.It is arranged such, prevent from being wound around
Steel wire rope on drive departs from drive it is ensured that drive and steel wire rope stable and reliable operation.Other and specific embodiment party
Formula four is identical.
Specific embodiment six：Illustrate in conjunction with Fig. 3, the one kind described in present embodiment can achieve active and semi-passive driving
Anthropomorphic robot knee joint also include controller 23 and electromagnetic valve 24.Source of the gas 25 adopts mini air compressor, for gas
Dynamic artificial-muscle 14 provides compressed air；Electromagnetic valve 24 adopts the 3 position-5 way electromagnetic valve of middle position closing, can control gas respectively
The air inlet of dynamic artificial-muscle 14, aerofluxuss and closing；Controller 23 is used for sending control signal to electromagnetic valve 24, realizes the logical of gas circuit
Disconnected.Other one with specific embodiment, two, three or five identical.
Work process：This anthropomorphic robot knee joint can realize active drive and semi-passive driving, two kinds of driving sides respectively
Formula to realize principles and methods as follows.When shank 1 and thigh 9 point-blank when be kneed original state, now pneumatic
All it is filled with a certain amount of gas inside artificial-muscle 14.In active drive pattern, provide pass by two Pneumatic artificial muscles 14
The driving force of section motion, when specially going down on one's knees, Pneumatic artificial muscle 14 inflation in outside in Fig. 1 is shunk, the artificial pneumatic of inner side
Muscle 14 aerofluxuss extend, and drive drive 11 and first rotating shaft 13 to rotate by the pulling force of steel wire rope, and then action of realizing going down on one's knees；
When stretching knee joint, Pneumatic artificial muscle 14 inflation of the inner side in Fig. 1 is shunk, and the Pneumatic artificial muscle 14 aerofluxuss elongation in outside is passed through
The pulling force of steel wire rope drives drive and first rotating shaft 13 to rotate, and then realizes stretching knee joint action.In semi-passive motor pattern, go down on one's knees
There is provided driving force by the Pneumatic artificial muscle 14 of the inner side in Fig. 1, stretching knee joint provides driving force by extension spring 21, specially goes down on one's knees
When, Pneumatic artificial muscle 14 inflation of the inner side in Fig. 1 is shunk, and the Pneumatic artificial muscle 14 aerofluxuss elongation in outside, by steel wire
The pulling force of rope 12 drives drive 11 and first rotating shaft 13 to rotate, and constantly rotates relative to thigh 9 with shank 1, extension spring 21
Constantly elongation storage energy；When stretching knee joint, the Pneumatic artificial muscle 14 aerofluxuss elongation of the inner side in Fig. 1, the artificial pneumatic flesh in outside
Steel wire rope 12 between the Pneumatic artificial muscle 14 of meat 14 and inner side becomes lax, does not reoffer driving force, but by stretching bullet
Spring 21 provides active force, drives shank 1 to swing realization and stretches action.
Because Pneumatic artificial muscle 14 has the biomechanics characteristic similar with human muscle, make anthropomorphic robot of the present invention
Knee joint has certain flexibility, and can be realized to knee joint by adjusting the gas pressure within Pneumatic artificial muscle
Flexible adjustment.When two Pneumatic artificial muscle 14 stretching motions, steel wire rope 12 pulls drive 11 to revolve with first rotating shaft 13
Turn, and drive planetary gear 16 to move around central gear 15 by tie-rod 17, planetary gear 16 around the second rotating shaft 18 also rotation, from
And realize the rotation that shank 1 is with respect to thigh 9.According to the transmission principle of planet circular system, the instant rotation of shank 1 thigh 9 relatively
Center is continually changing.
Claims (6)
1. a kind of achievable active and semi-passive driving anthropomorphic robot knee joint it is characterised in that：It includes drive mechanism
And drive mechanism；Drive mechanism includes drive (11), steel wire rope (12), first rotating shaft (13), first spring support
(19) a, second spring support (20), an extension spring (21) and two Pneumatic artificial muscles (14)；
Drive mechanism includes a central gear (15), a planetary gear (16), a tie-rod (17) and the second rotating shaft (18)；
Two Pneumatic artificial muscles (14) adopt antagonism formula arrangement to arrange, the upper end of two Pneumatic artificial muscles (14) with big
Lower limb (9) connects；One central gear (15) is packed on thigh (9), and first rotating shaft (13) is rotatably installed in one by bearing
On central gear (15)；
One planetary gear (16) is packed on shank (1), and the second rotating shaft (18) is rotatably installed in a planet tooth by bearing
On wheel (16), central gear (15) is engaged with planetary gear (16), and first rotating shaft (13) passes through a tie-rod (17) and second turn
Axle (18) connects；
Drive (11) is packed in first rotating shaft (13), and steel wire rope (12) is wrapped on drive (11), steel wire rope (12)
One end is connected with the lower end of a Pneumatic artificial muscle (14), the other end of steel wire rope (12) and another Pneumatic artificial muscle
(14) lower end connects；
On thigh (9) above a central gear (15), first spring support (19) is installed, positioned at a row
Second spring support (20) is provided with the shank (1) below star gear (16), an extension spring (21) is arranged on drive
(11) side, the two ends of an extension spring (21) are connected with the first spring support (19) and second spring support (20) respectively
Connect.
2. the anthropomorphic robot knee joint of a kind of achievable active according to claim 1 and semi-passive driving, its feature
It is：A kind of described achievable active also includes another central gear (35) with the anthropomorphic robot knee joint of semi-passive driving
With another planetary gear (36)；One central gear (15) and another central gear (35) are arranged on the two of drive (11)
Side, another central gear (35) is packed on thigh (9), and a planetary gear (16) and another planetary gear (36) are arranged
In the both sides of drive (11), another planetary gear (36) is packed on shank (1), and first rotating shaft (13) is rotated by bearing
It is arranged on another central gear (35), the second rotating shaft (18) is rotatably installed in another planetary gear (36) by bearing
On, another central gear (35) is engaged with another planetary gear (36).
3. the anthropomorphic robot knee joint of a kind of achievable active according to claim 2 and semi-passive driving, its feature
It is：A kind of described achievable active also includes another extension spring with the anthropomorphic robot knee joint of semi-passive driving
(31)；Another extension spring (31) is arranged on the opposite side of drive (11), the upper end of another extension spring (31) and the
One spring support (19) connects, and the lower end of another extension spring (31) is connected with second spring support (20).
4. the anthropomorphic robot knee joint of a kind of achievable active according to claim 1,2 or 3 and semi-passive driving, its
It is characterised by：A kind of described achievable active also includes another tie-rod with the anthropomorphic robot knee joint of semi-passive driving
(37), a tie-rod (17) and another tie-rod (37) are arranged on the both sides of drive (11), and first rotating shaft (13) is passed through another
Individual tie-rod (37) is connected with the second rotating shaft (18).
5. the anthropomorphic robot knee joint of a kind of achievable active according to claim 4 and semi-passive driving, its feature
It is：A kind of described achievable active also includes containment vessel (2), containment vessel with the anthropomorphic robot knee joint of semi-passive driving
(2) it is arranged on drive (11).
6. the anthropomorphic robot knee joint of a kind of achievable active according to claim 1,2,3 or 5 and semi-passive driving,
It is characterized in that：The anthropomorphic robot knee joint of a kind of described achievable active and semi-passive driving also include controller (23) and
Electromagnetic valve (24).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510883917.5A CN105291132B (en) | 2015-12-03 | 2015-12-03 | A kind of anthropomorphic robot knee joint of achievable active and semi-passive driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510883917.5A CN105291132B (en) | 2015-12-03 | 2015-12-03 | A kind of anthropomorphic robot knee joint of achievable active and semi-passive driving |
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| Publication Number | Publication Date |
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| CN105291132A CN105291132A (en) | 2016-02-03 |
| CN105291132B true CN105291132B (en) | 2017-03-08 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945983B (en) * | 2016-04-20 | 2017-11-07 | 吉林大学 | A kind of energy-saving vibration-damping bionic knee joint for bipod walking robot |
| 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 |
| CN108501036A (en) * | 2018-03-30 | 2018-09-07 | 深圳市丞辉威世智能科技有限公司 | Bionic joint and exoskeleton robot |
| CN109823996A (en) * | 2019-03-28 | 2019-05-31 | 崔明明 | A kind of Retractive leg with bouncing function |
| 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 |
| CN114681261A (en) * | 2020-12-28 | 2022-07-01 | 复旦大学 | Knee joint movement energy storage mechanism with changeable instantaneous center of rotation |
| 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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|---|---|---|---|---|
| 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 |
| EP2172671B1 (en) * | 2007-07-31 | 2012-09-05 | Nabtesco Corporation | Gear device and rotation section structure adapted for industrial robot and 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 |
| CN103271783B (en) * | 2013-05-16 | 2015-04-15 | 清华大学 | Artificial limb knee joint with assistance function |
| 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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