CN105538339A - Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint - Google Patents
Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint Download PDFInfo
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- CN105538339A CN105538339A CN201610097028.0A CN201610097028A CN105538339A CN 105538339 A CN105538339 A CN 105538339A CN 201610097028 A CN201610097028 A CN 201610097028A CN 105538339 A CN105538339 A CN 105538339A
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- joint
- fixed seat
- upper fixed
- spur gear
- pivot pin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
The invention belongs to the technical field of bionic robots, particularly relates to an antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint. The knee joint comprises a first upper fixing seat, a second upper fixing seat, a lower fixing seat, an arc-shaped gear rack, a position limiting block, a joint seat, a first shaft pin, a second shaft pin, a joint shaft, a first straight gear, a second straight gear, a first bearing, a second bearing, a first pneumatic muscle, a second pneumatic muscle, an I-type connector and a joint support. The knee joint disclosed by the invention is driven by the pneumatic muscles, and has the advantages of being simple in structure, energy-saving and good in flexibility. According to the bionic knee joint, swing of the joint support realized by pulling of pneumatic muscles is superposed with that of the joint seat realized by gear transmission, so that the pivot angle range of the joint is expanded. Meanwhile, the knee joint well simulates the characteristic that the knee joint of a human can only swing at the single side, so that the knee joint is worthy of application.
Description
Technical field
The invention belongs to bio-robot technical field, the large corner bionic knee joint of change rotating shaft of particularly a kind of antagonism formula pneumatic muscles driving.
Background technology
Traditional cradle head generally adopts the design of fixed-axis rotation, and bionical characteristic is outstanding not.The joint of humans and animals is different from this fixed-axis rotation mode when rotating, but under muscle and tendon pull, impels and close internode two cartilage end face generation relative sliding.Due to the curvature more complicated of cartilage end face, therefore this rotation in humans and animals joint can regard a kind of rotating manner of rotating shaft position in change as, namely becomes axis of rotation.Existing joint drive mode is generally motor and drives, and this type of drive installs deceleration device additional due to needs, makes mechanism's complexity too fat to move.Joint often makes motor be in the running status of frequent acceleration and deceleration, inefficiency in swing process simultaneously.In addition, motor, as a kind of rigidity driving element, causes the bionical poor performance in motor-driven joint.Pneumatic muscles is as a kind of novel pneumatic executive component, axial shrinkage can be realized after inflation and be radially expanded, there is very strong biological muscles characteristic, have that power-weight ratio is high simultaneously, fast response time, the advantage such as with low cost, have a wide range of applications in the field such as robot, bionic mechanical.
The joint that current employing pneumatic muscles drives mostly is antagonism formula and parallel.Because the shrinkage factor of pneumatic muscles is limited, make the pivot angle scope in joint very limited, and do not reach the bionical effect in human and animal joint.Through finding the literature search of prior art, Chinese patent literature [application number: 201310460748.5] discloses the change rotating shaft bionic joint that a kind of pneumatic muscles drives, comprise stack shell, upper flange is installed with on the upside of stack shell, stack shell side is equipped with the first flexible link assembly, opposite side is equipped with the second flexible link assembly, the 3rd flexible link assembly is equipped with on the downside of stack shell, in stack shell, upside is provided with elastic component, be provided with the curved edge rotating disk with indent side arc in stack shell, curved edge rotating disk is fixed with lower flange.This design has good bionical characteristic, but mechanism design is more complicated, and operationally curved edge rotating disk and elastic component are sliding friction, makes to control difficulty larger.
Summary of the invention
Object of the present invention is exactly the shortcomings and deficiencies for prior art, proposes the large corner bionic knee joint of change rotating shaft that a kind of antagonism formula pneumatic muscles drives.
For solving the problem, present invention employs following technical scheme: it comprises the first upper fixed seat, the second upper fixed seat, lower fixed seat, arc-shaped rack, limited block, socket joint, the first pivot pin, the second pivot pin, joint shaft, the first spur gear, the second spur gear, clutch shaft bearing, the second bearing, the first pneumatic muscles, the second pneumatic muscles, I type joint and knuckle support.Socket joint is provided with between first upper fixed seat and the second upper fixed seat, one end of socket joint is hinged by the first pivot pin and the first upper fixed seat, the second upper fixed seat, one end of first pneumatic muscles is connected with I type joint, and is hinged by the first pivot pin and the first upper fixed seat and the second upper fixed seat equally.One end of knuckle support is hinged by joint shaft and socket joint, be provided with clutch shaft bearing between joint shaft and socket joint and joint shaft and knuckle support affixed.One end of second pneumatic muscles is connected with I type joint and is hinged by the other end of the second pivot pin and socket joint, and the other end of the first pneumatic muscles, the second pneumatic muscles and knuckle support is all affixed with lower fixed seat.The two ends of joint shaft are connected with the first spur gear respectively, and the two ends of the second pivot pin are respectively arranged with the second spur gear, are provided with the second bearing between the second spur gear and the second pivot pin, and the first spur gear engages with the second spur gear.Hollow out in the middle part of the first described upper fixed seat and the second upper fixed seat, is the arc surface that is the center of circle with the first pivot pin by the hollow out face on the left of the second spur gear, and arc surface is provided with some internal tooth form tooth bar in the arc-shaped.The reference radius of arc-shaped rack equals with the first pivot pin to the distance of the second pivot pin and the second spur gear reference radius sum, and arc-shaped rack engages with the second spur gear.Also limited block is provided with between the first upper fixed seat and the second upper fixed seat and above socket joint.
The present invention adopts pneumatic muscles to drive, and has the advantages such as simple, the energy-conservation and compliance of mechanism is good.Joint is under different corners, and the position of joint shaft is also changing, and its track is a circular arc.Pneumatic muscles pulls realized knuckle support swing effect to swing effect with the socket joint that gear drive causes and superposes, and adds the pivot angle scope in joint.For knee joint, namely achieve the terrain clearance that joint end is higher, be conducive to the action such as obstacle detouring, climbing.Simultaneously the present invention well simulates human knee joint can only the characteristic of one-sided swing, is worth application.
Accompanying drawing explanation
Fig. 1 is the front view in joint;
Fig. 2 is the part sectioned view in joint;
Fig. 3 is the partial left side view in joint;
Fig. 4 is joint operation schematic diagram.
In figure, the 101, first upper fixed seat; 102, the second upper fixed seat; 1a, arc-shaped rack; 1b, limited block; 2, socket joint; 301, the first pivot pin; 302, the second pivot pin; 4, joint shaft; 501, the first spur gear; 502, the second spur gear; 601, clutch shaft bearing; 602, the second bearing; 701, the first pneumatic muscles; 702, the second pneumatic muscles; 8, I type joint; 9, knuckle support.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described further.
As shown in Figure 1, Figure 2 and Figure 3, the present invention includes the first upper fixed seat 101, second upper fixed seat 102, lower fixed seat 103, arc-shaped rack 1a, limited block 1b, socket joint 2, first pivot pin 301, second pivot pin 302, joint shaft 4, first spur gear 501, second spur gear 502, clutch shaft bearing 601, second bearing 602, first pneumatic muscles 701, second pneumatic muscles 702, I type joint 8 and knuckle support 9.Socket joint 2 is provided with between first upper fixed seat 101 and the second upper fixed seat 102, one end of socket joint 2 is hinged by the first pivot pin 301 and the first upper fixed seat 101, second upper fixed seat 102, one end of first pneumatic muscles 701 is connected with I type joint 8, and is hinged by the first pivot pin 301 and the first upper fixed seat 101 and the second upper fixed seat 102 equally.One end of knuckle support 9 is hinged by joint shaft 4 and socket joint 2, is provided with clutch shaft bearing 601 and joint shaft 4 is affixed with knuckle support 9 between joint shaft 4 and socket joint 2.One end of second pneumatic muscles 702 is connected with I type joint 8 and is hinged with the other end of socket joint 2 by the second pivot pin 302, and the other end of the first pneumatic muscles 701, second pneumatic muscles 702 and knuckle support 9 is all affixed with lower fixed seat 103.The two ends that the two ends of joint shaft 4 are connected with the first spur gear 501, second pivot pin 302 are respectively respectively arranged with between the second spur gear 502, second spur gear 502 and the second pivot pin 302 and are provided with the second bearing 602.Hollow out in the middle part of the first described upper fixed seat 101 and the second upper fixed seat 102, is the arc surface that is the center of circle with the first pivot pin 301 by the hollow out face on the left of the second spur gear 502, and arc surface is provided with some internal tooth form tooth bar 1a in the arc-shaped.The reference radius of arc-shaped rack 1a equals with the distance of the first pivot pin 301 to the second pivot pin 302 and the second spur gear 502 reference radius sum, and arc-shaped rack 1a engages with the second spur gear 502.Between the first upper fixed seat 101 and the second upper fixed seat 102 and be also provided with limited block 1b above socket joint 2.
The course of work of apparatus of the present invention: first given first pneumatic muscles 701 and the inner same pressure of the second pneumatic muscles 702, make joint be in vertical state.Then increase the first pneumatic muscles 701 air pressure inside gradually, reduce the second pneumatic muscles 702 air pressure inside gradually, knuckle support 9 will be axle center counter-clockwise swing with joint shaft 4 simultaneously.Due to joint shaft 4 and the first spur gear 501 and knuckle support 9 all affixed, therefore drive first spur gear 501 rotates counterclockwise by the swing of knuckle support 9, thus the second spur gear 502 be engaged with is rotated clockwise, the second last spur gear 502 is engagement rotation on arc-shaped rack 1a, makes whole socket joint 2 with the first pivot pin 301 for axle center counter-clockwise swing.As shown in Figure 4, the swing effect of the socket joint 2 that the first pneumatic muscles 701 and the second pneumatic muscles 702 pull the swing effect of realized knuckle support 9 and gear drive to cause superposes, and adds the pivot angle scope in joint.For knee joint, namely achieve the terrain clearance that joint end is higher, be conducive to the action such as obstacle detouring, climbing.Limited block 1b not only plays the effect fixing the first upper fixed seat 101, second upper fixed seat 102, puts with in limit socket joint 2, namely makes joint can only counter-clockwise swing, thus allow joint possess human knee joint can only the characteristic of one-sided swing.
The above is only a preferred embodiment of the present invention, every without departing from the spirit and scope of the present invention to the various changes and improvements that the present invention does, and all can not surmount the scope that appended claims defines.
Claims (1)
1. the large corner bionic knee joint of change rotating shaft of antagonism formula pneumatic muscles driving, comprises the first upper fixed seat (101), second upper fixed seat (102), lower fixed seat (103), arc-shaped rack (1a), limited block (1b), socket joint (2), first pivot pin (301), second pivot pin (302), joint shaft (4), first spur gear (501), second spur gear (502), clutch shaft bearing (601), second bearing (602), first pneumatic muscles (701), second pneumatic muscles (702), I type joint (8) and knuckle support (9), it is characterized in that: be provided with socket joint (2) between the first upper fixed seat (101) and the second upper fixed seat (102), one end of socket joint (2) is by the first pivot pin (301) and the first upper fixed seat (101), second upper fixed seat (102) is hinged, and one end of the first pneumatic muscles (701) is connected with I type joint (8), and same by the first pivot pin (301) and the first upper fixed seat (101), second upper fixed seat (102) is hinged, one end of knuckle support (9) is hinged by joint shaft (4) and socket joint (2), be provided with clutch shaft bearing (601) between joint shaft (4) and socket joint (2) and joint shaft (4) and knuckle support (9) affixed, one end of second pneumatic muscles (702) is connected with I type joint (8) and is hinged by the other end of the second pivot pin (302) with socket joint (2), and the other end of the first pneumatic muscles (701), the second pneumatic muscles (702) and knuckle support (9) is all affixed with lower fixed seat (103), the two ends of joint shaft (4) are connected with the first spur gear (501) respectively, the two ends of the second pivot pin (302) are respectively arranged with the second spur gear (502), be provided with the second bearing (602) between second spur gear (502) and the second pivot pin (302), the first spur gear (501) engages with the second spur gear (502), described the first upper fixed seat (101) and the second upper fixed seat (102) middle part hollow out, the arc surface that hollow out face by the second spur gear (502) left side is is the center of circle with the first pivot pin (301), and arc surface is provided with some internal tooth form tooth bar in the arc-shaped (1a), the reference radius of arc-shaped rack (1a) equals with the first pivot pin (301) to the distance of the second pivot pin (302) and the second spur gear (502) reference radius sum, and arc-shaped rack (1a) engages with the second spur gear (502), limited block (1b) is also provided with between the first upper fixed seat (101) and the second upper fixed seat (102) and above socket joint (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610097028.0A CN105538339B (en) | 2016-02-23 | 2016-02-23 | The change rotating shaft big corner bionic knee joint of antagonism formula pneumatic muscles driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610097028.0A CN105538339B (en) | 2016-02-23 | 2016-02-23 | The change rotating shaft big corner bionic knee joint of antagonism formula pneumatic muscles driving |
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| CN105538339A true CN105538339A (en) | 2016-05-04 |
| CN105538339B CN105538339B (en) | 2017-09-29 |
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| CN201610097028.0A Expired - Fee Related CN105538339B (en) | 2016-02-23 | 2016-02-23 | The change rotating shaft big corner bionic knee joint of antagonism formula pneumatic muscles driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003139A (en) * | 2016-06-30 | 2016-10-12 | 泰马克精密铸造（苏州）有限公司 | Mechanical arm C-shaft turnover mechanism |
| CN110281276A (en) * | 2019-06-28 | 2019-09-27 | 北京理工大学 | A kind of shock proof robot Arm structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003139A (en) * | 2016-06-30 | 2016-10-12 | 泰马克精密铸造（苏州）有限公司 | Mechanical arm C-shaft turnover mechanism |
| CN110281276A (en) * | 2019-06-28 | 2019-09-27 | 北京理工大学 | A kind of shock proof robot Arm structure |
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| Publication number | Publication date |
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| CN105538339B (en) | 2017-09-29 |
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Granted publication date: 20170929 |