CN107838942A - A kind of new industrial robot impact resistant knee joint - Google Patents
A kind of new industrial robot impact resistant knee joint Download PDFInfo
- Publication number
- CN107838942A CN107838942A CN201711269645.5A CN201711269645A CN107838942A CN 107838942 A CN107838942 A CN 107838942A CN 201711269645 A CN201711269645 A CN 201711269645A CN 107838942 A CN107838942 A CN 107838942A
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- CN
- China
- Prior art keywords
- femur
- shin bone
- knee joint
- industrial robot
- component plate
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of new industrial robot impact resistant knee joint, belong to industrial robot field.It includes being installed in the knee joint A ends of femur thigh end and is installed in the knee joint B ends of shin bone shank end, and around knee joint A ends spatial rotational can occur for knee joint B ends；Knee joint A ends include femur protection board, femur component plate, femur vibration isolator, the spherical shell being made up of left hemisphere shell and right hemispherical Shell, femur impact pole, housing elastic layer A, housing elastic layer B and locking spring A；Knee joint B ends include shin bone protection board, shin bone vibration isolator, shin bone component plate, tibial rotation ball, shin bone impact pole and locking spring B；Femur thigh uses the tough band connection of fibula with fibula shank；Shin bone shank uses the tough band connection of shin bone with femur thigh.The present invention is a kind of can to realize that any direction rotates, resistance enormous impact and can occur the compliant impact resistant knee joint of small relative displacement.
Description
Technical field
The invention belongs to industrial robot field, refers in particular to a kind of new industrial robot impact resistant knee joint.
Background technology
Robot can complete complex road condition walking and carry weight because its form is sufficiently close to motion mode and the mankind
The tasks such as thing, therefore widely paid attention to.More by the way of hinge, it revolves the knee design of the robot of prior art
Turn center to be kept approximately constant, rigidity is very big, is unfavorable for kneed vibration damping, so as to reduce the stabilization of robot ambulation
Property.
The content of the invention
The technical problem that the present invention need to solve is：For technical problem existing for prior art, the present invention provides a kind of energy
Enough realize that any direction rotates, resists enormous impact and the compliant impact resistant knee joint of small relative displacement can occur.
In order to solve the above problems, solution proposed by the present invention is：A kind of new industrial robot shock resistance knee
Joint, it includes being installed in the knee joint A ends of femur thigh end and is installed in the knee joint B ends of shin bone shank end, described
Around the knee joint A ends spatial rotational can occur for knee joint B ends.
The knee joint A ends include being installed in the femur protection board of the femur thigh end, femur component plate, connection institute
The femur vibration isolator for stating femur protection board and the femur component plate, the spherical shell being made up of left hemisphere shell and right hemispherical Shell,
The femur impact pole being installed between the femur component plate and the spherical shell, one be installed in inside the left hemisphere shell
The housing elastic layer A of floor height resilient nonmetallic material making, the floor height resilient nonmetallic being installed in inside the right hemispherical Shell
The housing elastic layer B that material makes, both ends can lock the locking spring A of the femur component plate and the spherical shell.
The knee joint B ends include directly being installed in the shin bone protection board of shin bone shank and fibula the shank end, consolidated
Surely the shin bone vibration isolator that is installed on the shin bone protection board, the shin bone component plate being fixed on the shin bone vibration isolator,
The tibial rotation ball that is made up of spherical head and circular sheet, it is installed between the tibial rotation ball and the shin bone component plate
Shin bone impact pole, both ends connect the locking spring B of the tibial rotation ball lower end and the shin bone component plate respectively.
The femur thigh uses the tough band connection of fibula with the fibula shank；The shin bone shank and the femur thigh
Using the tough band connection of shin bone.
Further, the femur protection board and the shin bone protection board are made using nonmetallic materials.
Further, the housing elastic layer A and housing elastic layer B thickness is 5mm.
Further, the spherical head of the tibial rotation ball can be by the left hemisphere shell and the right hemispherical Shell group
Into spherical shell in freely rotate.
Further, the locking spring A and locking spring B is stainless steel metal helical spring, and is located all the time
In tension state.
Further, the femur impact pole makes with the shin bone impact pole for the nonmetallic materials of high elastic modulus
Cylindrical thick bar.
Further, the femur component plate can by from power below be more uniformly applied to the femur every
Shake on pad；The shin bone component plate will can be more uniformly applied on the shin bone vibration isolator from power square thereon.
Further, the fibula ligament is the cordage that notable elastic deformation can occur, and the shin bone ligament is metal
Torsionspring.
The present invention compared with prior art, has the following advantages that and beneficial effect：
(1) a kind of new industrial robot impact resistant knee joint of the invention is provided with the thick housing elastic layer A of 5mm and institute
Housing elastic layer B is stated, so that small relative translational movement can occur at knee joint, adds kneed flexible and vibration damping
Performance.
(2) a kind of new industrial robot impact resistant knee joint of the invention, femur impact pole and shin bone punching are additionally provided with
Post is hit, vibration isolation can be implemented to the large impact power in the external world；In addition small stretch can also occur for locking spring A and locking spring B
It is long, so that with shin bone shank the remote of small distance can occur for femur thigh.It follows that the knee joint of the present invention is not only
Multiple freedoms of motion can be realized, and there is fairly good flexibility and energy-dissipating device, so as to be effectively protected knee joint
With the core apparatus in robot.
Brief description of the drawings
Fig. 1 is a kind of structure principle chart of new industrial robot impact resistant knee joint of the present invention.
In figure, 1-shin bone shank, 2-fibula shank, 3-femur thigh, 40-femur protection board, the vibration isolation of 41-femur
Pad, 42-femur component plate, 43-femur impact pole, 44-locking spring A, 451-left hemisphere shell, 452-right hemispherical Shell,
461-housing elastic layer A, 462-housing elastic layer B, 50-shin bone protection board, 51-shin bone vibration isolator, 52-shin bone component
Plate, 53-shin bone impact pole, 54-locking spring B, 55-tibial rotation ball, 6-fibula ligament, 7-shin bone ligament.
Embodiment
The present invention is described in further detail below with reference to the drawings and specific embodiments.
A kind of new industrial robot impact resistant knee joint shown in Figure 1, of the invention, including to be installed in femur big
The knee joint A ends of the end of leg 2 and the knee joint B ends for being installed in the end of shin bone shank 2, knee joint B ends can occur around knee joint A ends
Spatial rotational, it is characterised in that：
Shown in Figure 1, knee joint A ends include being installed in femur protection board 40, the femur component plate of the end of femur thigh 3
42nd, the femur vibration isolator 41 of femur protection board 40 and femur component plate 42 is connected, by 452 groups of left hemisphere shell 451 and right hemispherical Shell
Into spherical shell, the femur impact pole 43 that is installed between femur component plate 42 and spherical shell, be installed in left hemisphere shell 451
The housing elastic layer A461 of internal floor height resilient nonmetallic material making, the floor height being installed in inside right hemispherical Shell 452
The housing elastic layer B462 that resilient nonmetallic material makes, both ends can lock the locking bullet of femur component plate 42 and spherical shell
Spring A44；
Shown in Figure 1, knee joint B ends include directly being installed in the shin bone protection of shin bone shank 1 and the end of fibula shank 2
Plate 50, the shin bone vibration isolator 51 being fixed on shin bone protection board 50, the shin bone point being fixed on shin bone vibration isolator 51
Power plate 52, the tibial rotation ball 55 being made up of spherical head and circular sheet, it is installed in tibial rotation ball 55 and shin bone component plate
Shin bone impact pole 53 between 52, both ends connect the locking spring B54 of the lower end of tibial rotation ball 55 and shin bone component plate 52 respectively；
Shown in Figure 1, femur thigh 3 is connected with fibula shank 2 using fibula ligament 6；Shin bone shank 1 and femur thigh
3 are connected using shin bone ligament 7.
Shown in Figure 1, femur protection board 40 and shin bone protection board 50 are made using nonmetallic materials.
Shown in Figure 1, housing elastic layer A461 and housing elastic layer B462 thickness is 5mm.
Shown in Figure 1, the spherical head of tibial rotation ball 55 can be by left hemisphere shell 451 and right 451 groups of hemispherical Shell
Into spherical shell in freely rotate.
Shown in Figure 1, locking spring A44 and locking spring B54 are stainless steel metal helical spring, and are in all the time
Tension state；As preferable, can symmetrically be installed using two locking spring A44 and locking spring B54.
Shown in Figure 1, femur impact pole 43 makes with shin bone impact pole 53 for the nonmetallic materials of high elastic modulus
Cylindrical thick bar, as preferable, more than 0.8 times of a diameter of femur thigh diameter of cylindrical thick bar.
Shown in Figure 1, femur component plate 42 will can more uniformly be applied to femur vibration isolation from power below
On pad 41；Shin bone component plate 52 will can be more uniformly applied on shin bone vibration isolator 51 from power square thereon；As excellent
Choosing, femur component plate 42 and shin bone component plate 52 are using rigidity is sufficiently large, light alloy material makes.
Shown in Figure 1, fibula ligament 6 is the cordage that notable elastic deformation can occur, and shin bone ligament 7 reverses for metal
Spring.
It is shown in Figure 1, femur impact pole 43 and shin bone impact pole 53 are additionally provided with, the large impact power in the external world can be implemented
Vibration isolation；In addition small elongation can also occur for locking spring A44 and locking spring B4, so that femur thigh 3 and shin bone
The remote of small distance can occur for shank 1；Fibula ligament 6 is in Tensile state all the time with shin bone ligament 7, and can occur significantly
Elastic deformation, so as to increase kneed rotational stability.
Claims (8)
1. a kind of new industrial robot impact resistant knee joint, including be installed in femur thigh (2) end knee joint A ends and
The knee joint B ends of shin bone shank (2) end are installed in, around the knee joint A ends spatial rotational can occur for the knee joint B ends,
It is characterized in that：
The knee joint A ends include being installed in femur protection board (40), the femur component plate of femur thigh (3) end
(42) the femur vibration isolator (41) of the femur protection board (40) and the femur component plate (42), is connected, by left hemisphere shell
(451) and right hemispherical Shell (452) composition spherical shell, be installed between the femur component plate (42) and the spherical shell
Femur impact pole (43), be installed in the housing that the internal floor height resilient nonmetallic material of the left hemisphere shell (451) makes
Elastic layer A (461), it is installed in the housing elasticity that the internal floor height resilient nonmetallic material of the right hemispherical Shell (452) makes
Layer B (462), both ends can lock the locking spring A (44) of the femur component plate (42) and the spherical shell；
The knee joint B ends include directly being installed in the shin bone protection board of the shin bone shank (1) and fibula shank (2) end
(50) the shin bone vibration isolator (51) that, is fixed on the shin bone protection board (50), it is fixed at the shin bone vibration isolator
(51) shin bone component plate (52) on, the tibial rotation ball (55) being made up of spherical head and circular sheet, it is installed in the shin
Shin bone impact pole (53) between bone rotating ball (55) and the shin bone component plate (52), both ends connect the tibial rotation respectively
Ball (55) lower end and the locking spring B (54) of the shin bone component plate (52)；
The femur thigh (3) is connected with the fibula shank (2) using fibula ligament (6)；The shin bone shank (1) with it is described
Femur thigh (3) is connected using shin bone ligament (7).
A kind of 2. new industrial robot impact resistant knee joint according to claim 1, it is characterised in that：The femur
Protection board (40) and the shin bone protection board (50) are made using nonmetallic materials.
A kind of 3. new industrial robot impact resistant knee joint according to claim 1, it is characterised in that：The housing
Elastic layer A (461) and the thickness of the housing elastic layer B (462) are 5mm.
A kind of 4. new industrial robot impact resistant knee joint according to claim 1, it is characterised in that：The shin bone
The spherical head of rotating ball (55) can be in the spherical shell being made up of the left hemisphere shell (451) and the right hemispherical Shell (451)
Freely rotate in vivo.
A kind of 5. new industrial robot impact resistant knee joint according to claim 1, it is characterised in that：The locking
Spring A (44) and the locking spring B (54) is stainless steel metal helical spring, and is in tension state all the time.
A kind of 6. new industrial robot impact resistant knee joint according to claim 1, it is characterised in that：The femur
The cylindrical thick bar that impact pole (43) makes with the shin bone impact pole (53) for the nonmetallic materials of high elastic modulus.
A kind of 7. new industrial robot impact resistant knee joint according to claim 1, it is characterised in that：The femur
Component plate (42) will can be more uniformly applied on the femur vibration isolator (41) from power below；The shin bone point
Power plate (52) will can be more uniformly applied on the shin bone vibration isolator (51) from power square thereon.
A kind of 8. new industrial robot impact resistant knee joint according to claim 1, it is characterised in that：The fibula
Ligament (6) is the cordage that notable elastic deformation can occur, and the shin bone ligament (7) is metal torsionspring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711269645.5A CN107838942B (en) | 2017-12-05 | 2017-12-05 | Novel industrial robot knee joint that shocks resistance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711269645.5A CN107838942B (en) | 2017-12-05 | 2017-12-05 | Novel industrial robot knee joint that shocks resistance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107838942A true CN107838942A (en) | 2018-03-27 |
| CN107838942B CN107838942B (en) | 2020-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711269645.5A Active CN107838942B (en) | 2017-12-05 | 2017-12-05 | Novel industrial robot knee joint that shocks resistance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509308A (en) * | 2019-08-28 | 2019-11-29 | 燕山大学 | A kind of bio-robot bulb joint of rigid flexible system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090276052A1 (en) * | 2008-04-30 | 2009-11-05 | Exploramed Nc4, Inc. | Ball and socket assembly |
| CN105945983A (en) * | 2016-04-20 | 2016-09-21 | 吉林大学 | Energy saving damping bionic knee joint for biped walking robot |
| CN205950772U (en) * | 2016-08-12 | 2017-02-15 | 天津巍创凯捷科技有限公司 | Flexible rotating machinery joint |
| CN106564071A (en) * | 2016-11-11 | 2017-04-19 | 北京交通大学 | Robot flexible joint simulating human body joints |
-
2017
- 2017-12-05 CN CN201711269645.5A patent/CN107838942B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090276052A1 (en) * | 2008-04-30 | 2009-11-05 | Exploramed Nc4, Inc. | Ball and socket assembly |
| CN105945983A (en) * | 2016-04-20 | 2016-09-21 | 吉林大学 | Energy saving damping bionic knee joint for biped walking robot |
| CN205950772U (en) * | 2016-08-12 | 2017-02-15 | 天津巍创凯捷科技有限公司 | Flexible rotating machinery joint |
| CN106564071A (en) * | 2016-11-11 | 2017-04-19 | 北京交通大学 | Robot flexible joint simulating human body joints |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509308A (en) * | 2019-08-28 | 2019-11-29 | 燕山大学 | A kind of bio-robot bulb joint of rigid flexible system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107838942B (en) | 2020-08-14 |
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