CN105945983B - A kind of energy-saving vibration-damping bionic knee joint for bipod walking robot - Google Patents
A kind of energy-saving vibration-damping bionic knee joint for bipod walking robot Download PDFInfo
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- CN105945983B CN105945983B CN201610247421.3A CN201610247421A CN105945983B CN 105945983 B CN105945983 B CN 105945983B CN 201610247421 A CN201610247421 A CN 201610247421A CN 105945983 B CN105945983 B CN 105945983B
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- Prior art keywords
- condyle
- bionical
- femur
- roller
- connector
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Abstract
The invention discloses a kind of energy-saving vibration-damping bionic knee joint for bipod walking robot, including bionical femur, bionical shin bone and bionical kneecap；Cylinder is connected on condyle of femur connector by air cylinder support, kneed to stretch knee motion by cylinder actively acting completion.Bionical condyle of femur is contacted by the first slide rail with the 3rd roller, realize support and guide effect of the meniscal component to bionical condyle of femur, roll to simulate the motion that human knee joint becomes instantaneous in the second slide rail by the second roller simultaneously, there are two limit of sports record positions in the second slide rail, to realize the limitation to motion of knee joint scope.Patella component simulates mankind's kneecap by motion of first roller in the first slide rail, can increase acting force arm of the cylinder power output in knee motion is being stretched, play a part of energy-conservation.The present invention by introduce bionical condyle of femur, bionical kneecap, meniscal component achieve knee joint become instantaneous motion, low energy consumption, high shock-absorbing capacity beneficial effect.
Description
Technical field
The invention belongs to robot field, and in particular to a kind of bionical knee of energy-saving vibration-damping for bipod walking robot is closed
Section.
Background technology
Bipod walking robot is sufficiently close to due to its form and motion mode with the mankind, suitably in the living environment of the mankind
In be operated, complete the tasks such as complex road condition walking, carrying heavy goods.Therefore, in recent years about bipod walking robot
Research work receive significant attention.However, more than the knee design of current bipod walking robot by the way of being hinged,
Although largely meeting rotational motion free degree requirement of the machine human knee joint in sagittal plane, current
When being mechanically hinged knee joint progress flexion and extension, its instantaneous centre of rotation position almost keeps constant, so that joint
Motion and its stability fully rely on external drive input to be kept, and this largely causes during walking movement
The increase of joint energy consumption, move it is unnatural；Meanwhile, the articulated manner of perfect rigidity is also unfavorable for kneed damping, reduces
The stability of robot ambulation.
Human knee joint, is to construct most complicated joint in all joints of human body.It is by femur medial and lateral condyle and shin bone
The structure composition such as medial and lateral condyle and kneecap, it is main to play transmission load, absorb vibrations and bear the important function of pressure.Its
In, kneecap provides important biomechanical function for knee joint：It is in whole motion process by extending quadriceps muscle of thigh
The arm of force helps knee joint to stretch.Meniscus in knee joint, except support function outside, also with cushioning effect, and one can be absorbed
Fixed load concussion.As described above, the motion mode of human body knee joint is mechanically hinged kneed rotation mode with existing
Differ widely, it is a kind of instantaneous motion of change.Research shows that during going down on one's knees and stretching knee, human body knee joint instantaneously rotates
The track at center is the curve of similar " J " shape, and this causes in motion process, with kneed gradually flexing, mainly
The acting force arm for being responsible for stretching the quadriceps muscle of thigh of knee motion constantly increases, and this is probably that human body stretches the important original that knee acts high-effective and labour-saving
Because, and the knee design of current bipod walking robot is less to this consideration.
The kneed present Research of above-mentioned bipod walking robot and the superior bio architectural feature of human body knee joint are taken a broad view of,
It is badly in need of a kind of bionic knee joint for effectively improving bipod walking robot walking stability, naturality and energy conservation characteristic.
The content of the invention
The invention aims to high energy consumption, the motion for solving existing bipod walking robot knee joint presence are unnatural
With damping performance it is undesirable the problem of, and provide a kind of bionic knee joint for bipod walking robot, the bionic knee joint
Make its motion more natural while the joint motions energy consumption of bipod walking robot is improved with damping performance.
The present invention includes bionical femur, bionical shin bone and bionical kneecap；
Described bionical femur includes condyle of femur connector, cylinder, bionical condyle of femur, and bionical condyle of femur is connected through a screw thread
Mode and condyle of femur connector be connected, air cylinder support is connected on condyle of femur connector by the first nut；Cylinder passes through gas
Cylinder cylinder barrel is connected on air cylinder support threadably.
Described bionical shin bone includes tibial condyle component, tibial condyle connector, meniscal component, and the second roller and second connect
Spindle formation revolute pair, the second connecting shaft is connected by the 3rd nut and tibial condyle component.Tibial condyle component is symmetrical by four
The soket head cap screw of distribution is connected on tibial condyle connector.Supporting plate is connected by the 4th nut and tibial condyle connector.Four
Group meniscal component is symmetrical, and roller pole is slidably connected with tibial condyle connector, supporting plate formation, tibial condyle connector,
Supporting plate pair roller pole, which is played, to be oriented to and spacing effect；Bearing pin is connected with roller pole, and the 3rd roller revolves with bearing pin formation
Turn pair, elastic potential energy is converted into the kinetic energy that roller pole prolongs axial movement by compression spring by back-up ring and supporting plate.
Described bionical kneecap includes the first extension spring, patella component, the second extension spring.Wherein, the first stretching bullet
The two ends of spring are connected with cylinder connector, the first patellar components respectively, here, mode and cylinder that cylinder connector is connected through a screw thread
Piston is connected.Second extension spring is symmetrical, and two ends are connected with the second patellar components, bleed screw respectively, here, same right
The mode that the bleed screw of distribution is connected through a screw thread is claimed to be connected with tibial condyle connector.First patellar components, the second kneecap structure
Part is hinged with the first connecting shaft respectively, the first symmetrical roller and the first connecting shaft formation revolute.Meanwhile, patella component
Determination of all parts of patella component with respect to assembly relation is completed by axle sleeve, the second nut, here, the second nut passes through screw thread
The mode of connection is connected with the first connecting shaft.
Described bionical condyle of femur, tibial condyle component, the first roller, the material of the second roller and the 3rd roller are POM works
Engineering plastics.
Working process and principle of the invention：
In specific implementation process, bionical condyle of femur is contacted by the first slide rail with the 3rd roller, realizes meniscus group
Support and guide effect of the part to bionical condyle of femur, while rolling to realize approximating anatomy in the second slide rail by the second roller
The instantaneous J-shaped curved trajectory of knee joint, completion is gone down on one's knees, stretches knee motion, and the second slide rail has two limit of sports record positions, comes
Realize the limitation to going down on one's knees, stretching knee range of movement.Patella component simulates people by motion of first roller in the first slide rail
The effect of body kneecap, can increase acting force arm of the cylinder power output in knee motion is stretched, and then in equal joint moment demand
Under, reduce cylinder driving output, play a part of energy-conservation.Here, the application of the first roller, is changed into rolling by sliding friction and rubs
Wipe, the flexibility in joint can be effectively improved, energy expenditure is reduced.Bionic knee joint is during knee is stretched, and cylinder is actively done
Work(, completes to stretch knee action by the contraction of cylinder piston.When biped robot keeps midstance, bionic knee joint, which is in, stretches knee
Extreme position, it is necessary to which cylinder is in packing state to maintain knee joint stable location and pose.And during going down on one's knees, close cylinder
Air pressure is inputted, and the gravity for fully relying on bionical shin bone part completes passive action of going down on one's knees.Due to double feet walking in the process of walking
Machine human knee joint movement angle of being gone down on one's knees in sagittal plane is smaller, therefore the present invention is by the passive kneebend model of bionic knee joint
Enclose and be designed as 0-90 °.
Beneficial effects of the present invention：
1st, condyle of femur uses Bionic Design, can make bionic knee joint it is instantaneous during going down on one's knees and stretching knee realize with
The similar movement locus of human body knee joint, improves the naturality of joint motions.
2nd, meniscal component takes roller supporting to design, and substantially reduces friction, helps to reduce kneed energy consumption, together
When due to the introducing of spring in meniscal component, improve the bumper and absorbing shock ability of bionic knee joint.
3rd, bionical kneecap in whole motion process by extending the arm of force of cylinder action power, in equal joint moment demand
Under can reduce cylinder driving output, play energy-conserving action.
4th, in the present invention, bionical condyle of femur, tibial condyle component, the first roller, the second roller, the 3rd roller use POM
Engineering plastics make, and self-lubricating property is excellent, so as to reduce friction, improve knee joint flexibility.
Brief description of the drawings
Structural representations of the Fig. 1 for the present invention in the case where stretching knee state completely.
Fig. 2 is Fig. 1 right view.
Fig. 3 is Fig. 1 upward view.
Fig. 4 is Fig. 3 A-A views.
Structural representations of the Fig. 5 for the present invention under state of going down on one's knees completely.
Fig. 6 is schematic perspective view of the present invention.
Wherein：1- condyle of femur connectors；2- cylinders；21- cylinder barrels；22- cylinder pistons；The nuts of 3- first；4- cylinders
Support；5- cylinder connectors；The extension springs of 6- first；7- patella components；The patellar components of 71- first；72- axle sleeves；73- first is rolled
Wheel；The connecting shafts of 74- first；The nuts of 75- second；The patellar components of 76- second；The bionical condyles of femur of 8-；The slide rails of 81- first；82- second
Slide rail；The extension springs of 9- second；The rollers of 10- second；The nuts of 11- the 3rd；The connecting shafts of 12- second；13- tibial condyle components；14- shins
Bone condyle connector；15- meniscal components；The rollers of 151- the 3rd；152- bearing pins；153- roller poles；154- back-up rings；155- compresses
Spring；16- supporting plates；The nuts of 17- the 4th；18- soket head cap screws；19- bleed screws.
Embodiment
Refer to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the present embodiment includes bionical femur, bionical shin bone and imitated
Raw kneecap；
Described bionical femur includes condyle of femur connector 1, cylinder 2 and bionical condyle of femur 8, and bionical condyle of femur 8 passes through spiral shell
The mode of line connection is connected with condyle of femur connector 1, and air cylinder support 4 is connected on condyle of femur connector 1 by the first nut 3；
Cylinder 2 is connected on air cylinder support 4 threadably by cylinder barrel 21；
Described bionical shin bone includes tibial condyle component 13, tibial condyle connector 14 and meniscal component 15；Second roller
10 and the second formation revolute pair of connecting shaft 12, the second connecting shaft 12 is connected by the 3rd nut 11 with tibial condyle component 13, shin bone
Condyle component 13 is connected on tibial condyle connector 14 by four symmetrical soket head cap screws 18, and supporting plate 16 passes through the 4th
Nut 17 is connected with tibial condyle connector 14；Four groups of meniscal components 15 are symmetrical, roller pole 153 and tibial condyle connector
14th, the formation of supporting plate 16 is slidably connected, and tibial condyle connector 14 and the pair roller pole 153 of supporting plate 16 play guiding and spacing
Effect；Bearing pin 152 is connected with roller pole 153, and the 3rd roller 151 passes through with the formation revolute pair of bearing pin 152, compression spring 155
Elastic potential energy is converted into the kinetic energy of roller pole 153 axially movable by back-up ring 154 with supporting plate 16；
Described bionical kneecap includes the first extension spring 6, the extension spring 9 of patella component 7 and second；First extension spring
6 two ends are connected with the patellar components 71 of cylinder connector 5 and first respectively, mode and cylinder that cylinder connector 5 is connected through a screw thread
Piston 22 is connected, and a pair of second extension springs 9 are symmetrical, and two ends connect with the second patellar components 76 and bleed screw 19 respectively
Connect, the mode that symmetrical a pair of bleed screws 19 are connected through a screw thread is connected with tibial condyle connector 14, the first kneecap structure
Part 71, the second patellar components 76 are hinged with the first connecting shaft 74 respectively, the first symmetrical roller 73 and the first connecting shaft 74
Form revolute pair；Patella component 7 completes patella component 7 with respect to assembly relation by symmetrical axle sleeve 72, the second nut 75
Determination, mode that the second nut 75 is connected through a screw thread is connected with the first connecting shaft 74.
Bionical condyle of femur 8 is contacted by the first slide rail 81 with the 3rd roller 151, realizes meniscal component 15 to bionical femur
The support and guide effect of condyle 8, while rolling to realize approximating anatomy's knee joint in the second slide rail 82 by the second roller 10
Instantaneous J-shaped curved trajectory, completion is gone down on one's knees, stretches knee motion, and the second slide rail 82 has two limit of sports record positions, to realize
Limitation to going down on one's knees, stretching knee range of movement；Patella component 7 simulates people by motion of first roller 73 in the first slide rail 81
The effect of body kneecap, can increase acting force arm of the power output of cylinder 2 in knee motion is stretched, and then in equal joint moment demand
Under, reduce cylinder driving output, play a part of energy-conservation.Here, the application of the first roller 73, is changed into rolling by sliding friction and rubs
Wipe, can so effectively improve the flexibility in joint, reduce energy expenditure.Bionic knee joint is during knee is stretched, and cylinder 2 is led
Dynamic acting, completes to stretch knee action by the contraction of cylinder piston 22.When biped robot keeps midstance, at bionic knee joint
In the extreme position for stretching knee, it is necessary to which cylinder 2 is in packing state to maintain knee joint stable location and pose.And during going down on one's knees,
The input of the air pressure of cylinder 2 is closed, the gravity for fully relying on bionical shin bone part completes passive action of going down on one's knees.
Described bionical condyle of femur 8, tibial condyle component 13, the first roller 73, the material of the second roller 10 and the 3rd roller 151
Matter is POM engineering plastics.
Claims (3)
1. a kind of energy-saving vibration-damping bionic knee joint for bipod walking robot, it is characterised in that：Including bionical femur, bionical
Shin bone and bionical kneecap；
Described bionical femur includes condyle of femur connector (1), cylinder (2) and bionical condyle of femur (8), and bionical condyle of femur (8) is led to
The mode and condyle of femur connector (1) for crossing threaded connection are connected, and air cylinder support (4) is connected in condyle of femur by the first nut (3)
On connector (1)；Cylinder (2) is connected on air cylinder support (4) threadably by cylinder barrel (21)；
Described bionical shin bone includes tibial condyle component (13), tibial condyle connector (14) and meniscal component (15)；Second rolling
(10) and the second connecting shaft (12) formation revolute pair are taken turns, the second connecting shaft (12) passes through the 3rd nut (11) and tibial condyle component
(13) it is connected, tibial condyle component (13) is connected in tibial condyle connector (14) by four symmetrical soket head cap screws (18)
On, supporting plate (16) is connected by the 4th nut (17) and tibial condyle connector (14)；Four groups of meniscal components (15) are symmetrically divided
Cloth, roller pole (153) and tibial condyle connector (14), supporting plate (16) formation are slidably connected, tibial condyle connector (14) and
Supporting plate (16) pair roller pole (153), which is played, to be oriented to and spacing effect；Bearing pin (152) is connected with roller pole (153), the
Three rollers (151) are turned elastic potential energy by back-up ring 154 and supporting plate 16 with bearing pin (152) formation revolute pair, compression spring 155
Turn to the kinetic energy of roller pole (153) axially movable；
Described bionical kneecap includes the first extension spring (6), patella component (7) and the second extension spring (9)；First stretching bullet
The two ends of spring (6) are connected with cylinder connector (5) and the first patellar components (71) respectively, and cylinder connector (5) is connected through a screw thread
Mode and cylinder piston (22) are connected, and a pair of second extension springs (9) are symmetrical, two ends respectively with the second patellar components (76)
With bleed screw (19) connection, the mode that symmetrical a pair of bleed screws (19) are connected through a screw thread and tibial condyle connector
(14) it is connected, the first patellar components (71), the second patellar components (76) are hinged with the first connecting shaft (74) respectively, symmetrical
First roller (73) and the first connecting shaft (74) formation revolute pair；Patella component (7) passes through symmetrical axle sleeve (72), second
Nut (75) completes determination of the patella component (7) with respect to assembly relation, mode that the second nut (75) is connected through a screw thread and the
One connecting shaft (74) is connected.
2. a kind of energy-saving vibration-damping bionic knee joint for bipod walking robot according to claim 1, its feature exists
In：Described bionical condyle of femur (8) is contacted by the first slide rail (81) with the 3rd roller (151), realizes meniscal component (15)
Support and guide effect to bionical condyle of femur (8), roll to realize closely by the second roller (10) in the second slide rail (82)
Like the J-shaped curved trajectory that human body knee joint is instantaneous, completion is gone down on one's knees, stretches knee motion, and the second slide rail (82) has two motions
Extreme position, to realize the limitation to going down on one's knees, stretching knee range of movement；Patella component (7) is slided by the first roller (73) first
Move to simulate the effect of Human Patella in rail (81).
3. a kind of energy-saving vibration-damping bionic knee joint for bipod walking robot according to claim 1, its feature exists
In：Described bionical condyle of femur (8), tibial condyle component (13), the first roller (73), the second roller (10) and the 3rd roller
(151) material is POM engineering plastics.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610247421.3A CN105945983B (en) | 2016-04-20 | 2016-04-20 | A kind of energy-saving vibration-damping bionic knee joint for bipod walking robot |
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| CN201610247421.3A CN105945983B (en) | 2016-04-20 | 2016-04-20 | A kind of energy-saving vibration-damping bionic knee joint for bipod walking robot |
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| CN105945983B true CN105945983B (en) | 2017-11-07 |
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| CN113524254A (en) * | 2021-07-12 | 2021-10-22 | 吉林大学 | Bionic condyle type knee joint |
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| CN108100071B (en) * | 2017-12-05 | 2020-04-28 | 常州大学 | Robot knee joint based on line contact magnetic adsorption |
| CN108145743B (en) * | 2017-12-05 | 2020-09-08 | 常州大学 | Dedicated two degree of freedom flexible knee joints of humanoid robot |
| CN107838942B (en) * | 2017-12-05 | 2020-08-14 | 常州大学 | Novel industrial robot knee joint that shocks resistance |
| CN108542559B (en) * | 2018-03-07 | 2020-01-10 | 吉林大学 | Flexible impact-resistant bionic tension-compression body knee joint |
| CN108527436B (en) * | 2018-05-11 | 2021-01-15 | 吉林大学 | High-speed stable joint imitating ostrich |
| CN110281268B (en) * | 2019-07-22 | 2023-11-17 | 长安大学 | Bionic knee joint support based on fluid spring driving |
| CN111015725A (en) * | 2019-12-10 | 2020-04-17 | 长春工业大学 | Flexible bionic artificial knee joint |
| CN111035496B (en) * | 2019-12-30 | 2022-04-26 | 顾翔宇 | Human lower limb orthopedic brace and manufacturing method |
| CN112223264B (en) * | 2020-10-10 | 2021-11-26 | 江苏中海华核环保有限公司 | Power mechanical arm with balancing device |
| CN113616394A (en) * | 2021-07-23 | 2021-11-09 | 吉林大学 | Knee joint prosthesis with adjustable three-functional shaft |
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