CN113021405B - Energy-saving bionic tension-compression body patellofemoral joint for biped walking robot - Google Patents
Energy-saving bionic tension-compression body patellofemoral joint for biped walking robot Download PDFInfo
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- CN113021405B CN113021405B CN202110299957.0A CN202110299957A CN113021405B CN 113021405 B CN113021405 B CN 113021405B CN 202110299957 A CN202110299957 A CN 202110299957A CN 113021405 B CN113021405 B CN 113021405B
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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
- B25J17/0283—Three-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention relates to an energy-saving bionic tension-compression body patellofemoral joint for a biped walking robot, which belongs to the technical field of mechanical bionic engineering and consists of a bionic double-ball component of a compression body, a bionic sliding lever component and a ligament component of the compression body, wherein the energy-saving bionic tension-compression body knee joint utilizes a special joint geometric structure and introduces a bionic sliding rod component to reduce energy consumption, and the bionic ligament guides and limits excessive joint motion; the invention is suitable for the biped walking robot and can realize low energy consumption, high stability, high flexibility and natural anthropomorphic gait.
Description
Technical Field
The invention relates to the technical field of mechanical bionic engineering, in particular to an energy-saving bionic pull-press body knee joint for a biped walking robot.
Background
At present, most biped walking robots adopt a rigid hinge structure as a lower limb joint connecting structure and only have a single degree of freedom in a sagittal plane along with extension and flexion motions. Through motor control, the rigid hinge structure provides accurate position and moment control, and meanwhile, the rigid hinge structure is matched with a feedback system to perform accurate joint track control. This requires complex control algorithms and consumes a lot of energy to ensure that the joints follow a pre-planned trajectory. With more functions, such as maintaining certain robustness and natural walking gait, this structure requires more complex algorithms and precise feedback mechanisms, which undoubtedly increases a lot of energy consumption.
When the human joint is reversely observed to walk, the human joint does not need to be consciously controlled, and the movement requirement of stability and low energy consumption is realized only by depending on the muscular-skeletal system of the human joint. The knee joint, the largest and almost most complex joint of the human body, is composed of the femur, tibia and patella, and assists the hip joint and ankle structure to perform daily activities. Compared with the traditional hinge structure, the knee joint has ligament and meniscus flexible structure, and can bear larger impact force and keep passive unshaped. The patellofemoral joint is used as a second joint, so that the energy consumption required by quadriceps femoris during knee joint extension is greatly reduced. Simultaneously with knee joint extension, the patella and its musculotendinous tissue limit the rotational rotation of the tibia. When the knee joint enters a larger flexion angle, the moment arm function and the limiting function of the patella are reduced simultaneously, so that the tibia can rotate inside and outside.
Aiming at the problems of high energy consumption and low stability of the gait of the biped walking robot, the energy-saving bionic tension-compression body joint reduces the energy consumption of bionic muscles by adding a sliding lever structure, and provides a high-efficiency and stable solution for the walking of the biped robot.
Disclosure of Invention
The invention aims to provide a bionic pull-press body knee joint inspired by a human skeletal muscle system, which is used for solving the gait problem of high energy consumption of the existing biped walking robot.
The invention relates to an energy-saving bionic tension-compression body patellofemoral joint for a biped walking robot, which consists of a bionic double-ball component A, a bionic sliding lever component B, a ligament component C and a connector 1, wherein: the connector I is fixedly connected to the upper end of the bionic double-ball component A; the bionic sliding lever component B is positioned at the front end of the bionic double-ball component A, and the lower end of the flexible bionic patellar superior side ligament 16 of the ligament component C is in threaded connection with the upper part of the matrix type threaded hole group V11 on the front end surface of the bionic sliding lever component B through a bolt; the upper end of the flexible bionic patella lower side ligament 17 is in threaded connection with the lower part of the matrix type thread hole group V11 on the front end surface of the bionic sliding lever component B through a bolt.
The bionic double-ball component A consists of a bionic inner bone condyle 3, a bionic intercondylar notch 4 and a bionic outer bone condyle 5, and a matrix type threaded hole group I2 and a matrix type threaded hole group IV 8 are respectively arranged on the left side and the right side of the bionic inner bone condyle 3; the left side and the right side of the bionic external bone condyle 5 are respectively provided with a matrix type thread hole group II 6 and a matrix type thread hole group III 7; the peripheral contour line of the bionic endosteal condyle 3 is formed by smoothly connecting a line segment a1a2, a line segment a2a3 and a line segment a3a4 and is positioned on a plane I9, and an included angle alpha 1 between the plane I9 and a sagittal plane is 9 degrees; the peripheral contour line of the bionic external bone condyle 5 is formed by smoothly connecting a line segment b1b2, a line segment b2b3 and a line segment b3b4, and is positioned on a plane II 10, and an included angle alpha 2 between the plane II 10 and a sagittal plane is minus 9 degrees; the peripheral contour line of the bionic intercondylar notch 4 is formed by smoothly connecting a line segment c1c2, a line segment c2c3 and a line segment c3c 4;
the mathematical expression of the line segment a1a2 is: 2.6767x-3.3617, wherein: x is 2.57 to 3.08;
the mathematical expression of the line segment a2a3 is: 0.007645x4-0.1886x3+1.761x2-7.475x +13.38, wherein: x is 2.52 to 10.05;
the mathematical expression of the line segment a3a4 is: -0.3979x2+6.4071x-21.042, wherein: x is 9.97 to 7.73;
the mathematical expression of the line segment b1b2 is: 0.4019x3-2.7539x2+6.657x-1.1152, wherein: x is 2.83 to 0.95;
the mathematical expression of the line segment b2b3 is: 0.003949x4-0.08591x3+0.7102x2-2.625x +4.633, wherein: x is 1.03 to 9.84;
the mathematical expression of the line segment b3b4 is: 13.645x2-271.27x +1351.3, wherein: x is 9.93 to 9.64;
the mathematical expression for the line segment c1c2 is: 18.056x-64.194, wherein: x is 3.83 to 4.03;
the mathematical expression for the line segment c2c3 is: 0.04621x4-1.17x3+11.11x2-46.92x +76.69, wherein: x is from 3.81 to 8.86;
the mathematical expression for the line segment c3c4 is: -3.0536x +31.805, wherein: x is from 7.53 to 8.76.
The bionic sliding lever component B consists of a bionic front side 12, a bionic inner side joint surface 13, a vertical ridge 14 and a bionic outer side joint surface 15, and the contour line of the vertical ridge 14 is a curve d1d 2; the contour lines of the bionic medial surface joint surface 13 and the bionic lateral surface joint surface 15 are curves e1e 2;
the mathematical expression for curve d1d2 is: y is-0.0046 x4+0.0824x3-0.5336x2+1.5478x +5.7004, wherein: x is 1 to 10;
the mathematical expression for curve e1e2 is: y is 0.0105x4-0.1816x3+1.2479x2-5.317x +13.896, wherein: x is 1 to 10;
the front end face of the bionic sliding lever component B is provided with a matrix type thread hole group V11.
Ligament subassembly C constitute by flexible bionical patella superior side ligament 16 and flexible bionical patella inferior side ligament 17, flexible bionical patella superior side ligament 16 and flexible bionical patella inferior side ligament 17 are woven by the polyethylene material of elastic modulus 70Mpa and are formed.
The bionic double-ball component A and the bionic sliding lever component B are formed by a resin 3D printing technology with the material of Shore hardness 85.
The working process and principle of the invention are as follows:
in the specific implementation process, when the bionic bi-spherical component rotates backwards relative to the fixed end of the bionic patella lower side ligament, the flexible bionic patella upper side ligament and the flexible bionic patella lower side ligament are simultaneously pulled, and the bionic sliding lever component slides in the bionic intercondylar notch of the bionic bi-spherical component to provide a certain force arm for the flexible bionic patella upper side ligament. When the rotation angle is larger than 80 degrees, the bionic sliding lever component slides into the space between the bionic inner bone condyle and the bionic outer bone condyle, and the moment arm effect for flexibly releasing the patellar upper side ligament is reduced.
At the final stage of the swing period, when the bionic bi-spherical component rotates forwards relative to the fixed end of the bionic patella lower side ligament, the flexible bionic patella upper side ligament drives the bionic sliding lever component to slide in the bionic bi-spherical component bionic intercondylar fossa to the upper end of the bionic bi-spherical component, and the force arm is generated simultaneously to help the flexible bionic patella upper side ligament to further lift and move the fixed end of the bionic patella lower side ligament through the bionic sliding lever component and the bionic patella lower side ligament.
The bionic double-ball component and the bionic sliding lever component are made of resin with Shore hardness of 85. Bionical patella upside ligament and bionical patella downside ligament are woven by the polyethylene material and are formed, and the motion of the pressurized body has been restricted in the restraint, also can absorb partly impact force as flexible tension body simultaneously, promotes articular stability.
The invention has the beneficial effects that:
1. the bionic patellofemoral joint based on the tension-compression body is established according to the biomechanical characteristics of the knee joint of the human body. When the joint is stretched, the lever arm of force is increased, and the energy consumption is reduced. The flexible ligaments can absorb part of impact force and increase the stability of the joint while limiting and restricting the movement of the bionic patellofemoral joint.
2. The bionic patellofemoral joint based on the tension-compression body greatly simplifies the complexity of system control by utilizing the characteristics of the occlusal surface of the joint and the flexible component. Meanwhile, the flexible ligament member not only helps to absorb impact force, but also can store energy to achieve the effect of reducing energy consumption.
3. The invention provides a plurality of groups of reserved threads, can easily adjust the connection position and the pretightening force of the flexible ligament, and can be used for experiments and learning the biomechanical principle of the flexible ligaments with different shapes and connection positions on joints in different motion processes.
Drawings
FIG. 1 is an assembled perspective view of the anterior side of a patellofemoral joint of an energy-saving bionic tension-compression body for a biped walking robot;
FIG. 2 is a front view of a bionic double-ball component A;
FIG. 3 is a rear view of a biomimetic double ball member A;
FIG. 4 is a top view of a bionic double-ball component A;
FIG. 5 is a plan view I of a bionic double-ball component A;
FIG. 6 is a plan view II of a biomimetic double ball member A;
FIG. 7 is a sagittal section view of a biomimetic double ball member A;
FIG. 8 is a front view of the bionic sliding lever member B;
FIG. 9 is a right side view of the bionic sliding lever member B;
FIG. 10 is a top view of the bionic sliding lever member B;
fig. 11 is a front view of the ligament assembly C;
fig. 12 is a right side view of the ligament assembly C;
fig. 13 is a top view of the ligament assembly C;
wherein: a-a biomimetic double ball member; b-a biomimetic sliding lever member; a C-ligament component; 1-a connector; 2-matrix type thread hole group I; 3-bionic inner bone condyle; 4-bionic intercondylar notch; 5-bionic external bone condyles; 6-matrix type thread hole group II; 7-matrix type thread hole group III; 8-matrix type thread hole group IV; 9-plane I; 10-plane II; 11-matrix type thread hole group V; 12-bionic anterior flank; 13-a biomimetic medial facet joint; 14-vertical ridges; 15-bionic lateral side articular surface; 16-biomimetic patellar superior ligament; 17-biomimetic patellar inferior ligament.
Detailed Description
The invention is described below with reference to the accompanying drawings.
As shown in fig. 1, the invention is composed of a bionic double-ball component A, a bionic sliding lever component B, a ligament component C and a connector 1, wherein: the connector I is fixedly connected to the upper end of the bionic double-ball component A; the bionic sliding lever component B is positioned at the front end of the bionic double-ball component A, and the connector I is fixedly connected to the upper end of the bionic double-ball component A; the lower end of a flexible bionic patella lateral ligament 16 of the ligament component C is in threaded connection with the upper part of a matrix type threaded hole group V11 on the front end surface of the bionic sliding lever component B through a bolt; the upper end of the flexible bionic patella lower side ligament 17 is in threaded connection with the lower part of the matrix type thread hole group V11 at the front end of the bionic sliding lever component B through a bolt; the energy consumption of the artificial muscle driven robot in the motion process can be reduced, and the stability of coping with uneven road surfaces is improved.
As shown in fig. 2 to 7, the bionic double-ball component a is composed of a bionic inner condyle 3, a bionic intercondylar notch 4 and a bionic outer condyle 5, wherein a matrix type threaded hole group i 2 and a matrix type threaded hole group iv 8 are respectively arranged on the left side and the right side of the bionic inner condyle 3; the left side and the right side of the bionic external bone condyle 5 are respectively provided with a matrix type thread hole group II 6 and a matrix type thread hole group III 7; the peripheral contour line of the bionic endosteal condyle 3 is formed by smoothly connecting a line segment a1a2, a line segment a2a3 and a line segment a3a4 and is positioned on a plane I9, and an included angle alpha 1 between the plane I9 and a sagittal plane is 9 degrees; the peripheral contour line of the bionic external bone condyle 5 is formed by smoothly connecting a line segment b1b2, a line segment b2b3 and a line segment b3b4, and is positioned on a plane II 10, and an included angle alpha 2 between the plane II 10 and a sagittal plane is minus 9 degrees; the peripheral contour line of the bionic intercondylar notch 4 is formed by smoothly connecting a line segment c1c2, a line segment c2c3 and a line segment c3c 4;
the mathematical expression of the line segment a1a2 is: 2.6767x-3.3617, wherein: x is 2.57 to 3.08.
The mathematical expression of the line segment a2a3 is: y-0.007645 x4-0.1886x3+1.761x2-7.475x +13.38, wherein: x is 2.52 to 10.05.
The mathematical expression of the line segment a3a4 is: -0.3979x2+6.4071x-21.042 wherein: x is 9.97 to 7.73.
The mathematical expression of the line segment b1b2 is: y-0.4019 x3-2.7539x2+6.657x-1.1152, wherein: x is 2.83 to 0.95.
The mathematical expression of the line segment b2b3 is: y-0.003949 x4-0.08591x3+0.7102x2-2.625x +4.633, wherein: x is 1.03 to 9.84.
The mathematical expression of the line segment b3b4 is: y-13.645 x2-271.27x +1351.3, wherein: x is 9.93 to 9.64.
The mathematical expression for the line segment c1c2 is: 18.056x-64.194, wherein: x is 3.83 to 4.03.
The mathematical expression for the line segment c2c3 is: y-0.04621 x4-1.17x3+11.11x2-46.92x +76.69, wherein: x is 3.81 to 8.86.
The mathematical expression for the line segment c3c4 is: -3.0536x +31.805, wherein: x is from 7.53 to 8.76.
As shown in fig. 8 to 10, the bionic sliding lever component B is composed of a bionic anterior side 12, a bionic medial side joint surface 13, a vertical ridge 14 and a bionic lateral side joint surface 15, and the contour line of the vertical ridge 14 is a curve d1d 2; the contour lines of the bionic medial surface joint surface 13 and the bionic lateral surface joint surface 15 are curves e1e 2;
the mathematical expression for curve d1d2 is: y-0.0046 x4+0.0824x3-0.5336x2+1.5478x +5.7004 wherein: x is 1 to 10;
the mathematical expression for curve e1e2 is: y-0.0105 x4-0.1816x3+1.2479x2-5.317x +13.896, wherein: x is 1 to 10;
the front end of the bionic sliding lever component B is provided with a matrix type thread hole group V11.
As shown in fig. 11 to 13, the ligament assembly C is composed of a flexible biomimetic patellar superior ligament 16 and a flexible biomimetic patellar inferior ligament 17. The width of the connection part is 28mm and the thickness of the connection part is 2.5 mm; the bionic double-ball component A and the bionic sliding lever component B are made of resin with the Shore hardness of 85; the flexible bionic patella superior ligament 16 and the flexible bionic patella inferior ligament 17 of the ligament component C are respectively woven by polyethylene material with the elastic modulus of 70 Mpa.
Claims (4)
1. The utility model provides an energy-conserving bionical body patellofemoral joint that draws pressure that is used for biped walking robot which characterized in that: constitute by bionical two ball component (A), bionical slip lever component (B), ligament subassembly (C) and connector (1), wherein: the bionic double-sphere component (A) consists of a bionic inner bone condyle (3), a bionic intercondylar notch (4) and a bionic outer bone condyle (5), wherein the left side and the right side of the bionic inner bone condyle (3) are respectively provided with a matrix type thread hole group I (2) and a matrix type thread hole group IV (8); the left side and the right side of the bionic external bone condyle (5) are respectively provided with a matrix type thread hole group II (6) and a matrix type thread hole group III (7); the peripheral contour line of the bionic endosteal condyle (3) is formed by smoothly connecting a line segment a1a2, a line segment a2a3 and a line segment a3a4, and is positioned on a plane I (9), and an included angle alpha 1 between the plane I (9) and a sagittal plane is 9 degrees; the peripheral contour line of the bionic external bone condyle (5) is formed by smoothly connecting a line segment b1b2, a line segment b2b3 and a line segment b3b4, and is positioned on a plane II (10), and an included angle alpha 2 between the plane II (10) and a sagittal plane is minus 9 degrees; the peripheral contour line of the bionic intercondylar notch (4) is formed by smoothly connecting a line segment c1c2, a line segment c2c3 and a line segment c3c 4;
the mathematical expression of the line segment a1a2 is: 2.6767x-3.3617, wherein: x is 2.57 to 3.08;
the mathematical expression of the line segment a2a3 is: 0.007645x4-0.1886x3+1.761x2-7.475x +13.38, wherein: x is 2.52 to 10.05;
the mathematical expression of the line segment a3a4 is: -0.3979x2+6.4071x-21.042, wherein: x is 9.97 to 7.73;
mathematical table of line segment b1b2The expression is as follows: 0.4019x3-2.7539x2+6.657x-1.1152, wherein: x is 2.83 to 0.95;
the mathematical expression of the line segment b2b3 is: 0.003949x4-0.08591x3+0.7102x2-2.625x +4.633, wherein: x is 1.03 to 9.84;
the mathematical expression of the line segment b3b4 is: 13.645x2-271.27x +1351.3, wherein: x is 9.93 to 9.64;
the mathematical expression for the line segment c1c2 is: 18.056x-64.194, wherein: x is 3.83 to 4.03;
the mathematical expression for the line segment c2c3 is: 0.04621x4-1.17x3+11.11x2-46.92x +76.69, wherein: x is from 3.81 to 8.86;
the mathematical expression for the line segment c3c4 is: -3.0536x +31.805, wherein: x is from 7.53 to 8.76;
the bionic sliding lever component (B) consists of a bionic front side surface (12), a bionic inner side surface joint surface (13), a vertical ridge (14) and a bionic outer side surface joint surface (15), and the contour line of the vertical ridge (14) is a curve d1d 2; the contour lines of the bionic medial surface joint surface (13) and the bionic lateral surface joint surface (15) are curves e1e 2;
the mathematical expression for curve d1d2 is: y is-0.0046 x4+0.0824x3-0.5336x2+1.5478x +5.7004, wherein: x is 1 to 10;
the mathematical expression for curve e1e2 is: y is 0.0105x4-0.1816x3+1.2479x2-5.317x +13.896, wherein: x is 1 to 10;
the ligament component (C) consists of a flexible bionic patellar superior side ligament (16) and a flexible bionic patellar inferior side ligament (17);
the connector (1) is fixedly connected to the upper end of the bionic double-ball component (A); the bionic sliding lever component (B) is positioned at the front end of the bionic double-ball component (A), and the lower end of the flexible bionic patella superior side ligament (16) of the ligament component (C) is in threaded connection with the upper part of the matrix type threaded hole group V (11) on the front end surface of the bionic sliding lever component (B) through a bolt; the upper end of the flexible bionic patella lower ligament (17) is in threaded connection with the lower part of the matrix type thread hole group V (11) on the front end surface of the bionic sliding lever component (B) through a bolt.
2. The energy-saving bionic tension-compression body patellofemoral joint for the biped walking robot according to claim 1, characterized in that: the front end face of the bionic sliding lever component (B) is provided with a matrix type thread hole group V (11).
3. The energy-saving bionic tension-compression body patellofemoral joint for the biped walking robot according to claim 1, characterized in that: the flexible bionic patella superior side ligament (16) and the flexible bionic patella inferior side ligament (17) of the ligament component (C) are woven by polyethylene material with the elastic modulus of 70 Mpa.
4. The energy-saving bionic tension-compression body patellofemoral joint for the biped walking robot according to claim 1, characterized in that: the bionic double-ball component (A) and the bionic sliding lever component (B) are formed by a resin 3D printing technology with the material of Shore hardness 85.
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