CN203919084U - A kind of joint of vertebral column with crooked and Telescopic - Google Patents
A kind of joint of vertebral column with crooked and Telescopic Download PDFInfo
- Publication number
- CN203919084U CN203919084U CN201420351012.4U CN201420351012U CN203919084U CN 203919084 U CN203919084 U CN 203919084U CN 201420351012 U CN201420351012 U CN 201420351012U CN 203919084 U CN203919084 U CN 203919084U
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- slide block
- joint
- deck
- connecting rod
- crooked
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Abstract
The utility model provides a kind of joint of vertebral column with crooked and Telescopic, comprise front backbone, posterior spinal, torsion spring and driven unit, between front backbone and posterior spinal, with torsion spring, be connected with driven unit, front backbone comprises deck, optical axis, slide block, spring and linear bearing, two deck symmetries are fixedly mounted on front backbone, two optical axises are arranged between two decks by the optical axis installing hole arranging on deck respectively, on described slide block, there is slide block installing hole, in slide block installing hole, assemble linear bearing, slide block is enclosed within on two optical axises by linear bearing, each cover of the slide block both sides of every optical axis has a spring, posterior spinal is identical with front spine structure.The utility model combines bending and the stretching motion of existing robot backbone, can better simulate the elastic movement of mammiferous backbone, can make the motion of robot more stable, more coordinate.
Description
Technical field
The utility model relates to a kind of joint of vertebral column of robot, relates in particular to a kind of joint of vertebral column with crooked and Telescopic.
Background technology
Fast development along with Robotics, demand to the specialized robot that can walk under complex environment increases day by day, than wheeled robot, legged type robot is in advancing, the environment that can better adapt to destructuring, the unknown, particularly bionical multi-foot robot, has the advantage flexible, good stability of moving, and occupies very large proportion in whole legged type robot research field.
About the research of the bionical multi-foot robot of the overwhelming majority, be all to take rigidity backbone as model at present, the not distortion of taking into account system member.But in fact move biological muscle, tendon and ligament can store and release energy as spring, in its motion process, have plastic deformation, dynamics complex shape.The biology of particularly running, jumping, if adopt the mechanical property that pure rigid model must pragmatize biological motion, and rigid model, in motion process, must cause the consumption of energy larger, cause the utilization rate of energy in motion process to decline, thereby make robot there is very large limitation in the speed of walking fast and improved efficiency.
The bionical flexible spinal of a kind of quadruped robot mechanism that Chinese patent (CN20121077805.4) is announced, comprise front spine portion, posterior spinal part, elastic joint part and pneumatic partial tendon, one end of wherein said front spine portion is connected with one end of posterior spinal part by elastic joint part, the other end of front spine portion is connected with the other end of posterior spinal part by pneumatic muscle part, can realize flexible spinal joint, but its complex structure, and control accuracy is bad.
Summary of the invention
The purpose of this utility model is to provide a kind of joint of vertebral column with crooked and Telescopic in order better to simulate mammiferous spinal motion.
The purpose of this utility model is achieved in that and comprises front backbone, posterior spinal, torsion spring and driven unit, between front backbone and posterior spinal, with torsion spring, be connected with driven unit, front backbone comprises deck, optical axis, slide block, spring and linear bearing, two deck symmetries are fixedly mounted on front backbone, two optical axises are arranged between two decks by the optical axis installing hole arranging on deck respectively, on described slide block, there is slide block installing hole, in slide block installing hole, assemble linear bearing, slide block is enclosed within on two optical axises by linear bearing, each cover of the slide block both sides of every optical axis has a spring, posterior spinal is identical with front spine structure.
The utility model also comprises some architectural features like this:
1. described in, driven unit is arranged on the below of forward and backward backbone, comprise and be fixedly mounted on front epispinal steering wheel, first connecting rod, second connecting rod and three connecting rod pedestals, one end of first connecting rod is connected with the output shaft of steering wheel, the other end and second connecting rod pedestal are connected, second connecting rod pedestal is fixedly mounted in posterior spinal, one end of second connecting rod be fixedly mounted on that front epispinal first connecting rod pedestal is hinged, the other end and the third connecting rod pedestal that is fixedly mounted in posterior spinal hinged.
2. described in, deck is split type.
3. three optical axis installing holes are set on deck described in, and optical axis is to there being three.
4. described in, split type deck has three pairs, and optical axis is to there being three.
5. on the slide block described in, be provided with the installing hole that corresponding trunk is installed.
Compared with prior art, the beneficial effects of the utility model are: the utility model has avoided conventional machines people's rigidity trunk can consume a large amount of energy in motion process, and the utilization rate of the energy in motion process is declined, bending and the stretching motion of existing robot backbone are combined, in robot motion's process, slide block is by the stretching motion of the spring simulation backbone at compression optical axis two ends, and stretching motion is without driving mechanism, is passive movement; During bending motion, relying on steering wheel to realize drive link realization front and back joint of vertebral column produces relative rotation, torsion spring has increased the compliance of joint of vertebral column, therefore, the utility model can better be simulated the elastic movement of mammiferous backbone, can make the motion of robot more stable, more coordinate.
Accompanying drawing explanation
Fig. 1 is the utility model overall structure schematic diagram;
Fig. 2 is the utility model driven unit structural representation;
Fig. 3 is the utility model slide block structure schematic diagram;
Fig. 4 is spine portion assembly schematic diagram before the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and the specific embodiment, the utility model is described in further detail.
Case study on implementation one: in conjunction with Fig. 1 and Fig. 2: a kind of joint of vertebral column with crooked and Telescopic that the utility model provides comprises front backbone 2, posterior spinal 1, driven unit 9 and torsion spring 4, front backbone 2 is identical with the structure of posterior spinal 1, between front backbone 2 and posterior spinal 1, with torsion spring 4, be connected with driven unit 9, driven unit 9 is positioned at the below of front backbone 2 and posterior spinal 1 link position, torsion spring 4 is positioned at the top of front backbone 2 and posterior spinal 1 link position, front backbone 2 and posterior spinal 1 can realize and relatively rotating under the driving of driven unit 9, between driven unit 9, torsion spring 4 also in parallel increases the compliance of backbone.
As shown in Figure 2: described driven unit 9 comprises and is fixedly mounted on front epispinal steering wheel 8, first connecting rod 7, second connecting rod 12 and three connecting rod pedestals 6, 10, 11, wherein 6 is first connecting rod pedestals, the 10th, second connecting rod pedestal, the 11st, third connecting rod pedestal, one end of first connecting rod 7 is connected with the output shaft of steering wheel 8, the other end and second connecting rod pedestal 10 are connected, second connecting rod pedestal 10 is fixedly mounted in posterior spinal 1, one end of second connecting rod 12 is hinged with the first connecting rod pedestal 6 being fixedly mounted on front backbone 2, the other end is hinged with the third connecting rod pedestal 11 being fixedly mounted in posterior spinal 1, connecting rod 12 mainly plays a supportive role.
As shown in Figure 3 and Figure 4: front backbone 2 comprises deck 21, deck 22, deck 23, deck 24, deck 25, deck 17, optical axis 19, slide block 3 and spring 18, spring 20.Deck can be arranged to integral type or split type, shown in Fig. 4 is the structural representation with the front backbone of split type deck, have six decks, optical axis 19 is also arranged to three accordingly, with bolt by deck 17, 25, 24, 21, 22, 23 one-tenth symmetric arrays are fixed on front backbone 2, deck 17 and 21, deck 22 and 25, deck 23 blocks three identical optical axises 19 respectively with 24, on the first slide block 3, be provided with the hole coordinating with three optical axises, the first slide block 3 passes through according to the linear bearing 13 in described hole, 14, 15 are enclosed within the centre of three optical axises, spring 18, 20 are enclosed within the two ends of optical axis 19, also each cover of the first slide block 3 both sides that is every optical axis 19 has a spring, slide block 3 and linear bearing 13, 14, it between 15, is interference fit, nature sliding block 3 just blocks spring 18 with deck, 20, and spring 18, 20 in natural length, slide block 3 can slidably reciprocate on three optical axises.When simulation spinal motion, by slide block 3 Compress Springs 18,20, simulate the stretching motion of backbone, the structure of posterior spinal 1 and front backbone 2 are just the same.Such structure makes slide block more stable, firm in motion process, and split type deck is convenient to be selected according to user demand.
Case study on implementation two: according to a kind of joint of vertebral column with crooked and Telescopic described in case study on implementation one, deck 21, deck 22, deck 23, deck 24, deck 25, deck 17 are arranged to two integral type decks, two decks are arranged symmetrically on front backbone 2, the optical axis installing hole of respective numbers is set on integral type deck, and two integral type decks block the optical axis of respective numbers.
Described optical axis can be arranged to two or three, need on deck, be arranged at optical axis installing hole corresponding to optical axis quantity, and the quantity of linear bearing is corresponding with the quantity of optical axis.
Animal is in actual motion process, and the stretching motion of joint of vertebral column and bending motion are simultaneous.This invention is in the process of simulated animal spinal motion, and front and back backbone can produce stretching motion, and this motion is passive, and motion is under the inertia of front and back backbone, to make the first slide block 3, the second slide block 5 Compress Springs 18 and 20 realize.Bending motion is initiatively, and this motion is that before and after making by steering wheel 8 drive link 7,12, backbone produces relative rotation, thereby realizes the bending motion of joint of vertebral column, adds torsion spring 4 between the backbone of front and back, has increased the compliance of joint of vertebral column.
Claims (9)
1. a joint of vertebral column with crooked and Telescopic, comprise front backbone, posterior spinal, torsion spring and driven unit, between front backbone and posterior spinal, with torsion spring, be connected with driven unit, it is characterized in that: front backbone comprises deck, optical axis, slide block, spring and linear bearing, two deck symmetries are fixedly mounted on front backbone, two optical axises are arranged between two decks by the optical axis installing hole arranging on deck respectively, on described slide block, there is slide block installing hole, in slide block installing hole, assemble linear bearing, slide block is enclosed within on two optical axises by linear bearing, each cover of the slide block both sides of every optical axis has a spring, posterior spinal is identical with front spine structure.
2. a kind of joint of vertebral column with crooked and Telescopic according to claim 1, it is characterized in that: before described driven unit is arranged on, the below of posterior spinal, comprise and be fixedly mounted on front epispinal steering wheel, first connecting rod, second connecting rod and three connecting rod pedestals, one end of first connecting rod is connected with the output shaft of steering wheel, the other end and second connecting rod pedestal are connected, second connecting rod pedestal is fixedly mounted in posterior spinal, one end of second connecting rod is with to be fixedly mounted on front epispinal first connecting rod pedestal hinged, the other end is hinged with the third connecting rod pedestal being fixedly mounted in posterior spinal.
3. a kind of joint of vertebral column with crooked and Telescopic according to claim 1 and 2, is characterized in that: described deck is split type.
4. a kind of joint of vertebral column with crooked and Telescopic according to claim 1 and 2, is characterized in that: three optical axis installing holes are set on described deck, and optical axis is to there being three.
5. a kind of joint of vertebral column with crooked and Telescopic according to claim 3, is characterized in that: described split type deck has three pairs, and optical axis is to there being three.
6. a kind of joint of vertebral column with crooked and Telescopic according to claim 1 and 2, is characterized in that: on described slide block, be provided with the installing hole that corresponding trunk is installed.
7. a kind of joint of vertebral column with crooked and Telescopic according to claim 3, is characterized in that: on described slide block, be provided with the installing hole that corresponding trunk is installed.
8. a kind of joint of vertebral column with crooked and Telescopic according to claim 4, is characterized in that: on described slide block, be provided with the installing hole that corresponding trunk is installed.
9. a kind of joint of vertebral column with crooked and Telescopic according to claim 5, is characterized in that: on described slide block, be provided with the installing hole that corresponding trunk is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420351012.4U CN203919084U (en) | 2014-06-26 | 2014-06-26 | A kind of joint of vertebral column with crooked and Telescopic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420351012.4U CN203919084U (en) | 2014-06-26 | 2014-06-26 | A kind of joint of vertebral column with crooked and Telescopic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203919084U true CN203919084U (en) | 2014-11-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420351012.4U Withdrawn - After Issue CN203919084U (en) | 2014-06-26 | 2014-06-26 | A kind of joint of vertebral column with crooked and Telescopic |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203919084U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070531A (en) * | 2014-06-26 | 2014-10-01 | 哈尔滨工程大学 | Spine joint with bend, and extension and retraction functions |
-
2014
- 2014-06-26 CN CN201420351012.4U patent/CN203919084U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070531A (en) * | 2014-06-26 | 2014-10-01 | 哈尔滨工程大学 | Spine joint with bend, and extension and retraction functions |
| CN104070531B (en) * | 2014-06-26 | 2015-12-02 | 哈尔滨工程大学 | A kind of have joint of vertebral column that is bending and Telescopic |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141105 Effective date of abandoning: 20151202 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |