CN107838942B - Novel industrial robot knee joint that shocks resistance - Google Patents
Novel industrial robot knee joint that shocks resistance Download PDFInfo
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- CN107838942B CN107838942B CN201711269645.5A CN201711269645A CN107838942B CN 107838942 B CN107838942 B CN 107838942B CN 201711269645 A CN201711269645 A CN 201711269645A CN 107838942 B CN107838942 B CN 107838942B
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- tibia
- knee joint
- femur
- shell
- industrial robot
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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
Abstract
The invention discloses a novel impact-resistant knee joint of an industrial robot, and belongs to the field of industrial robots. The knee joint comprises a knee joint end A arranged at the tail end of a thigh of a femur and a knee joint end B arranged at the tail end of a shank of a tibia, wherein the knee joint end B can rotate around the knee joint end A in space; the knee joint A end comprises a femur protection plate, a femur component plate, a femur vibration isolation pad, a spherical shell consisting of a left hemispherical shell and a right hemispherical shell, a femur impact column, a shell elastic layer A, a shell elastic layer B and a locking spring A; the knee joint B end comprises a tibia protection plate, a tibia vibration isolation pad, a tibia force distribution plate, a tibia rotating ball, a tibia impact column and a locking spring B; the thighbone and the fibula and the lower leg are connected by a fibula ligament; the tibia shank is connected with the femur thigh by a tibia ligament. The invention relates to a flexible impact-resistant knee joint which can rotate in any direction, resist huge impact and generate tiny relative displacement.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a novel impact-resistant knee joint of an industrial robot.
Background
The robot has a shape and a motion mode very close to those of human beings, and can complete tasks of walking under complex road conditions, carrying heavy objects and the like, so that the robot is widely regarded. The knee joint design of the robot in the prior art mostly adopts a hinge mode, the rotation center position of the robot is almost kept unchanged, the rigidity is extremely high, the vibration reduction of the knee joint is not facilitated, and therefore the walking stability of the robot is reduced.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides a flexible impact-resistant knee joint which can rotate in any direction, resist huge impact and generate tiny relative displacement.
In order to solve the problems, the solution proposed by the invention is as follows: the utility model provides a novel industrial robot knee joint that shocks resistance, it is including installing in the terminal knee joint A end of thighbone thigh and installing in the terminal knee joint B end of shin bone shank, knee joint B end can wind knee joint A end takes place the space and rotates.
The knee joint A end comprises a femur protection plate and a femur component plate which are arranged at the tail end of a femur thigh, a femur vibration isolation pad connected with the femur protection plate and the femur component plate, a spherical shell consisting of a left hemispherical shell and a right hemispherical shell, a femur impact column arranged between the femur component plate and the spherical shell, a shell elastic layer A arranged in the left hemispherical shell and made of one layer of high-elasticity non-metallic material, a shell elastic layer B arranged in the right hemispherical shell and made of one layer of high-elasticity non-metallic material, and locking springs A arranged at the two ends of the femur component plate and the spherical shell.
The knee joint end B comprises a shin bone protection plate directly arranged at the tail end of the shin bone shank and the shin bone shank, a shin bone vibration isolation pad fixedly arranged on the shin bone protection plate, a shin bone force dividing plate fixedly arranged on the shin bone vibration isolation pad, a shin bone rotating ball consisting of a spherical head and a circular thin plate, a shin bone impact column arranged between the shin bone rotating ball and the shin bone force dividing plate, and a locking spring B of which the two ends are respectively connected with the lower end of the shin bone rotating ball and the shin bone force dividing plate.
The thighbone and the fibula and the calf are connected by a fibula ligament; the tibia shank is connected with the femur thigh by a tibia ligament.
Furthermore, the femur protection plate and the tibia protection plate are made of non-metal materials.
Further, the thickness of the shell elastic layer A and the shell elastic layer B is 5 mm.
Furthermore, the spherical head of the tibia rotating ball can freely rotate in the spherical shell formed by the left hemispherical shell and the right hemispherical shell.
Furthermore, the locking spring A and the locking spring B are both stainless steel metal spiral springs and are always in a tension state.
Furthermore, the femur impact column and the tibia impact column are cylindrical thick rods made of non-metal materials with high elastic modulus.
Further, the femoral component force plate can more evenly apply force from below to the femoral vibration isolator pad; the tibial component force plate is capable of applying a force from above it more evenly to the tibial vibration isolator.
Further, the fibula ligament is a fiber rope which can generate obvious elastic deformation, and the tibia ligament is a metal torsion spring.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the novel impact-resistant knee joint of the industrial robot is provided with the shell elastic layer A and the shell elastic layer B which are 5mm thick, so that the knee joint can perform slight relative translation, and the flexibility and the vibration damping performance of the knee joint are improved.
(2) The novel impact-resistant knee joint of the industrial robot is also provided with the femoral impact column and the tibial impact column, so that vibration isolation can be implemented on external large impact force; in addition, the locking spring A and the locking spring B can slightly extend, so that the thigh of the femur and the calf of the tibia can be separated from each other by a small distance. Therefore, the knee joint of the invention not only can realize a plurality of freedom degrees of movement, but also has quite good flexibility and energy consumption devices, thereby effectively protecting the knee joint and core devices in the robot.
Drawings
Fig. 1 is a structural schematic diagram of a novel impact-resistant knee joint of an industrial robot.
In the figure, 1-shin bone shank, 2-shin bone shank, 3-thigh bone, 40-thigh bone protection plate, 41-thigh bone vibration isolation pad, 42-thigh bone component force plate, 43-thigh bone impact column, 44-locking spring A, 451-left hemisphere shell, 452-right hemisphere shell, 461-shell elastic layer A, 462-shell elastic layer B, 50-shin bone protection plate, 51-shin bone vibration isolation pad, 52-shin bone component force plate, 53-shin bone impact column, 54-locking spring B, 55-shin bone rotating ball, 6-shin bone ligament, 7-shin bone ligament.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the impact-resistant knee joint of the industrial robot of the present invention includes a knee joint end a installed at the end of a femur thigh 3 and a knee joint end B installed at the end of a tibia shank 1, wherein the knee joint end B can rotate spatially around the knee joint end a, and is characterized in that:
referring to fig. 1, the end a of the knee joint includes a femur protection plate 40 mounted at the end of a femur thigh 3, a femur component force plate 42, a femur vibration isolation pad 41 connecting the femur protection plate 40 and the femur component force plate 42, a spherical housing composed of a left hemispherical shell 451 and a right hemispherical shell 452, a femur impact column 43 mounted between the femur component force plate 42 and the spherical housing, a housing elastic layer a461 mounted inside the left hemispherical shell 451 and made of a high-elasticity non-metallic material, a housing elastic layer B462 mounted inside the right hemispherical shell 452 and made of a high-elasticity non-metallic material, and a locking spring a44 capable of locking the femur component force plate 42 and the spherical housing at both ends;
referring to fig. 1, the B end of the knee joint includes a tibia protection plate 50 directly mounted on the ends of the tibia lower leg 1 and the fibula lower leg 2, a tibia vibration isolation pad 51 fixedly mounted on the tibia protection plate 50, a tibia force-dividing plate 52 fixedly mounted on the tibia vibration isolation pad 51, a tibia rotation ball 55 composed of a spherical head and a circular thin plate, a tibia impact column 53 mounted between the tibia rotation ball 55 and the tibia force-dividing plate 52, and a locking spring B54 having two ends respectively connected to the lower end of the tibia rotation ball 55 and the tibia force-dividing plate 52;
referring to fig. 1, a femoral thigh 3 and a fibula calf 2 are connected by a fibula ligament 6; the tibia shank 1 and the femur thigh 3 are connected by a tibia ligament 7.
Referring to fig. 1, the femur protection plate 40 and the tibia protection plate 50 are made of non-metallic materials.
Referring to fig. 1, the thickness of the case elastic layer a461 and the case elastic layer B462 is 5 mm.
Referring to fig. 1, the spherical head of the tibial rotation ball 55 can rotate freely in the spherical housing composed of the left hemispherical shell 451 and the right hemispherical shell 452.
Referring to fig. 1, the locking spring a44 and the locking spring B54 are stainless steel metal coil springs and are always under tension; preferably, two locking springs a44 and B54 are symmetrically installed.
Referring to fig. 1, the femoral impacting column 43 and the tibial impacting column 53 are cylindrical thick rods made of non-metal material with high elastic modulus, and preferably, the diameter of the cylindrical thick rods is more than 0.8 times of the diameter of the femoral thigh 3.
Referring to fig. 1, the femoral component force plate 42 is capable of more evenly applying force from beneath it to the femoral isolator pad 41; the tibial component force plate 52 is able to apply forces from above it more evenly to the tibial vibration isolator 51; preferably, the femoral component force plate 42 and the tibial component force plate 52 are made of a sufficiently rigid, lightweight alloy material.
Referring to fig. 1, the fibular ligament 6 is a fiber rope that can undergo significant elastic deformation, and the tibial ligament 7 is a metal torsion spring.
As shown in fig. 1, a femur impact column 43 and a tibia impact column 53 are further provided, so that vibration isolation can be performed on external large impact force; in addition, the locking spring A44 and the locking spring B4 can slightly extend, so that the thigh 3 and the shank 1 can be separated by a small distance; the fibular ligament 6 and the tibial ligament 7 are always in tension and can undergo significant elastic deformation, thereby increasing the rotational stability of the knee joint.
Claims (8)
1. The utility model provides a novel industrial robot knee joint that shocks resistance, including installing in the terminal knee joint A end of thighbone thigh (3) and installing in the terminal knee joint B end of shin bone shank (1), knee joint B end can wind knee joint A end takes place the space and rotates its characterized in that:
the knee joint end A comprises a femur protection plate (40) arranged at the tail end of the femur thigh (3), a femur component force plate (42), a femur vibration isolation pad (41) connected with the femur protection plate (40) and the femur component force plate (42), a spherical shell consisting of a left hemispherical shell (451) and a right hemispherical shell (452), a femur impact column (43) arranged between the femur component force plate (42) and the spherical shell, a shell elastic layer A (461) arranged in the left hemispherical shell (451) and made of a high-elasticity non-metal material, a shell elastic layer B (462) arranged in the right hemispherical shell (452) and made of a non-metal high-elasticity material, and a locking spring A (44) with two ends capable of locking the femur component force plate (42) and the spherical shell;
the knee joint end B comprises a tibia protection plate (50) directly arranged at the tail ends of the tibia shank (1) and the fibula shank (2), a tibia vibration isolation pad (51) fixedly arranged on the tibia protection plate (50), a tibia component force plate (52) fixedly arranged on the tibia vibration isolation pad (51), a tibia rotating ball (55) consisting of a spherical head and a circular thin plate, a tibia impact column (53) arranged between the tibia rotating ball (55) and the tibia component force plate (52), and a locking spring B (54) with two ends respectively connected with the lower end of the tibia rotating ball (55) and the tibia component force plate (52);
the thighbone thigh (3) is connected with the fibula calf (2) by adopting a fibula ligament (6); the tibia shank (1) is connected with the femur thigh (3) by a tibia ligament (7).
2. The new impact resistant knee joint of an industrial robot according to claim 1 characterized by: the femur protection plate (40) and the tibia protection plate (50) are made of non-metal materials.
3. The new impact resistant knee joint of an industrial robot according to claim 1 characterized by: the thickness of the shell elastic layer A (461) and the shell elastic layer B (462) is 5 mm.
4. The new impact resistant knee joint of an industrial robot according to claim 1 characterized by: the spherical head of the tibia rotating ball (55) can freely rotate in a spherical shell formed by the left hemispherical shell (451) and the right hemispherical shell (452).
5. The new impact resistant knee joint of an industrial robot according to claim 1 characterized by: the locking spring A (44) and the locking spring B (54) are both stainless steel metal spiral springs and are always in a tension state.
6. The new impact resistant knee joint of an industrial robot according to claim 1 characterized by: the femur impact column (43) and the tibia impact column (53) are cylindrical thick rods made of non-metal materials with high elastic modulus.
7. The new impact resistant knee joint of an industrial robot according to claim 1 characterized by: the femoral component force plate (42) is capable of more evenly applying forces from below to the femoral isolator pad (41); the tibial component force plate (52) is capable of applying forces from above it more evenly to the tibial vibration isolator (51).
8. The new impact resistant knee joint of an industrial robot according to claim 1 characterized by: the fibula ligament (6) is a fiber rope which can generate obvious elastic deformation, and the tibia ligament (7) is a metal torsion spring.
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| 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 |
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| 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 |
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| CN107838942A CN107838942A (en) | 2018-03-27 |
| CN107838942B true CN107838942B (en) | 2020-08-14 |
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| CN110509308A (en) * | 2019-08-28 | 2019-11-29 | 燕山大学 | A kind of bio-robot bulb joint of rigid flexible system |
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| US9168065B2 (en) * | 2008-04-30 | 2015-10-27 | Moximed, Inc. | Ball and socket assembly |
| 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 |
| CN205950772U (en) * | 2016-08-12 | 2017-02-15 | 天津巍创凯捷科技有限公司 | Flexible rotating machinery joint |
| CN106564071B (en) * | 2016-11-11 | 2018-11-13 | 北京交通大学 | A kind of robot softly turn-off of simulation human synovial |
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