CN204546555U - A kind of multiple degrees of freedom bionic joint - Google Patents
A kind of multiple degrees of freedom bionic joint Download PDFInfo
- Publication number
- CN204546555U CN204546555U CN201520180769.6U CN201520180769U CN204546555U CN 204546555 U CN204546555 U CN 204546555U CN 201520180769 U CN201520180769 U CN 201520180769U CN 204546555 U CN204546555 U CN 204546555U
- Authority
- CN
- China
- Prior art keywords
- moving component
- joint
- spherical
- muscle unit
- convex joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Prostheses (AREA)
Abstract
The utility model provides a kind of multiple degrees of freedom bionic joint, comprise moving component, support component and driver part, described support component upper end is spill articular surface, side arranges convex joint, the lower end of described moving component is spherical, and described spherical cooperation is arranged in described spill articular surface, described driver part comprises the six roots of sensation flexible filaments connecting spherical and spill articular surface, the two groups of rotator muscle unit connecting convex joint and moving component and the four groups of stretching muscle unit be symmetricly set between support component top edge and moving component, described two groups of rotator muscle unit are symmetricly set on the both sides of convex joint, one in the six roots of sensation flexible filaments centre position being arranged on convex joint, other five correspondence positions being circumferentially evenly arranged on the side on convex joint opposite.The utility model produces without driving noise, and bionic joint completes motion by artificial-muscle Direct driver, and shorten energy transfer chains, drive efficiency is high.
Description
Technical field
The utility model relates to a kind of bionic joint, particularly relates to a kind of multiple degrees of freedom bionic joint.
Background technology
In view of mankind's research to living nature in several thousand, application bionics solves the problem in practice life, has obtained the generally accreditation of academia.
At present, research about multi-freedom joint mainly concentrates on the conventional methods such as the structural design that adopts mechanical type complexity and tediously long driving-chain, this drive method adds the load of assembling and the difficulty of structural design, the driving-chain extended, cause the energy loss of driving, complicated assembly structure, is difficult to realize motion nimbly and freely.Due to most of joint of robot all adopt hydraulic pressure, pneumatic or motor joins reducing gear and drives, and has the problems such as larger noise pollution.Therefore, urgent needs a kind ofly simplifies structure, drives multi-freedom joint structure that is efficient, lithe.
Summary of the invention
The purpose of this utility model is to provide the simple and lithe of a kind of structure, without driving noise generation, the much higher bionic joint freely of drive efficiency.
The purpose of this utility model is achieved in that and comprises moving component, support component and driver part, described support component upper end is spill articular surface, side arranges convex joint, the lower end of described moving component is spherical, and described spherical cooperation is arranged in described spill articular surface, described driver part comprises the six roots of sensation flexible filaments connecting spherical and spill articular surface, the two groups of rotator muscle unit connecting convex joint and moving component and the four groups of stretching muscle unit be symmetricly set between support component top edge and moving component, described two groups of rotator muscle unit are symmetricly set on the both sides of convex joint, one in the six roots of sensation flexible filaments centre position being arranged on convex joint, other five correspondence positions being circumferentially evenly arranged on the side on convex joint opposite.
The utility model also comprises some architectural features like this:
1. described in, the inner surface of spherical outer surface and spill articular surface scribbles drag-reducing coating respectively.
2. the linear chest expander that rotator muscle unit described in and stretching muscle unit are all made up of at least two panels electric actuation intellectual material and electrode block.
Compared with prior art, the beneficial effects of the utility model are: multiple degrees of freedom bionic joint of the present utility model comprises moving component, support component and driver part, the spherical cooperation of moving component is simultaneously installed in the spill articular surface of support component, form multi-freedom joint structure, and driven by artificial-muscle, so there is the advantage of the simple and lithe of Structure composing.Driver part is stretching muscle unit and rotator muscle unit, produces without driving noise; And bionic joint of the present utility model completes motion by artificial-muscle Direct driver, shorten energy transfer chains, therefore drive efficiency is high; The endosexine of the spherical extexine of moving component and the spill articular surface of support component all scribbles drag-reducing coating, makes the utility model have the effect of wear-resisting drag reduction.
Accompanying drawing explanation
Fig. 1 is structural representation Fig. 1 of the present utility model;
Fig. 2 is the schematic diagram in the A-A direction of Fig. 1;
Fig. 3 is the structural representation of the utility model moving component;
Fig. 4 (a) is the first structural representation of the utility model support component, and Fig. 4 (b) is the second structural representation of the utility model support component;
Fig. 5 is the structural representation of the utility model driver part muscle unit.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the utility model is described in further detail.
Composition graphs 1 to Fig. 5, the utility model comprises moving component 1, support component 2 and driver part 3, described support component 2 upper end is spill articular surface 23, side arranges convex joint 22, the lower end of described moving component 1 is spherical 12, and described spherical 12 cooperation is arranged in described spill articular surface 23, described driver part 3 comprises the flexible filaments 33 connecting spherical 12 and spill articular surface 23, connect two groups of rotator muscle unit 35 of convex joint 22 and moving component 1, 36 and four groups of stretching muscle unit 34 being symmetricly set between support component 2 top edge and moving component 1, described two groups of rotator muscle unit 35, 36 both sides being symmetricly set on convex joint 22, one in the six roots of sensation flexible filaments centre position being arranged on convex joint 22, other five correspondence positions being circumferentially evenly arranged on the side on convex joint 22 opposite, as shown in Figure 2: described six roots of sensation flexible filaments 33 and two groups of rotator muscle unit 35, circumferential distance between the center of 36 is equal, the inner surface of outer 12 surfaces of described spherical of the present utility model and spill articular surface 23 scribbles drag-reducing coating 11 and 21 respectively.The linear chest expander that described rotator muscle unit 35,36 and stretching muscle unit 34 are all made up of at least two panels electric actuation intellectual material 32 and electrode block 31.
As depicted in figs. 1 and 2: the utility model forms primarily of by motion portion 1, support component 2 and driver part 3.As shown in Figures 3 to 5, spherical 12 cooperation of moving component 1 is installed in the spill articular surface 23 of support component 2, forms multi-freedom joint structure; The upper end of moving component 1 is connected four groups of stretching muscle unit 34 with the upper end-face edge symmetry of support component 2, realizes the oscillating motion of moving component 1; The convex joint 22 of support component 2 is connected two groups of rotator muscle unit 35 and 36 with moving component 1 both sides, realizes the rotary motion of moving component 1; Be connected six roots of sensation flexible filaments 33 between the spherical 12 of moving component 1 and the spill articular surface 23 of support component 2, prevent the motion of moving component 1 to disconnect.The endosexine of spherical 12 extexine of moving component 1 and the spill articular surface 23 of support component 2 scribbles drag-reducing coating 11 and 21.Stretching muscle unit 34 and the rotator muscle unit 35 of drive part 3 are the linear chest expanders be made up of two panels or multi-disc electric actuation intellectual material 32 and electrode block 31.
During extraneous no-voltage signal, the spherical 12 of moving component 1 is in vertical state under the support of flexible filaments 33; Under the driving of four groups of stretching muscle unit 34 coordinates, realize the different directions oscillating motion of moving component 1; Under the pulling of rotator muscle unit 35, the one direction realizing moving component 1 is rotated, and under the pulling of rotator muscle unit 36, realizes the reciprocating motion of moving component 1, forms the multifreedom motion of whole bionic joint.
Composition graphs 1,2 and 3, moving component 1 is made up of spherical 12 and drag-reducing coating 11, and the extexine of spherical 12 is coated with drag-reducing coating 11, for motion drag reduction; Spherical 12 adopts 3D to print manufacture and forms.And under the driving force provided at extraneous driver part 3, moving component 1 can carry out multivariant swing neatly.
Composition graphs 1, Fig. 2, Fig. 4 (a) and Fig. 4 (b), support component 2 is made up of drag-reducing coating 21, convex joint 22 and spill articular surface 23, the endosexine coating drag-reducing coating 21 of spill articular surface 23, for motion drag reduction, support component side has convex joint 22, convex joint 22 can form with moving component 1 and coordinates, its effect is the transmission of constrained motion parts 1, improve the efficiency of one-sided motion, meanwhile, also can be used as the muscle tie point of the force transferring lever of moving component 1 and the rotator muscle unit 35 and 36 of driver part 3 and flexible filaments 33.Support component 2 both can be used for being fixed on supporting movement parts 1, meanwhile, and also can as the attaching parts in next stage joint.When driver part 3 provides driving power, fix the swing with supporting movement parts 1 in its spill articular surface 23 inside and rotary motion.
Composition graphs 1, Fig. 2 and Fig. 5, driver part 3 is made up of stretching muscle unit 34, rotator muscle unit 35 and 36 and flexible filaments 33, wherein stretching muscle unit 34 and the rotator muscle unit 35 of drive part 3 are the linear chest expanders be made up of two panels or multi-disc electric actuation intellectual material 32 and electrode block 31, electrode block 31 two ends adopt flexible linear system in required tensile part two ends, and parallel two holes with axis are for placing driving electric wire.The upper end of moving component 1 is connected four groups of stretching muscle unit 34 with the upper end-face edge symmetry of support component 2, realizes the oscillating motion of moving component 1; The convex joint 22 of support component 2 is connected two groups of rotator muscle unit 35 and 36 with moving component 1 both sides, realizes the rotary motion of moving component 1; Be connected flexible filaments 33 between the spherical 12 of moving component 1 and the spill articular surface 23 of support component 2, prevent the motion of moving component 1 to disconnect.Under the driving of four groups of stretching muscle unit 34 coordinates, realize the different directions oscillating motion of moving component 1; Under the pulling of rotator muscle unit 35, the one direction realizing moving component 1 is rotated, and under the pulling of rotator muscle unit 36, realizes the reciprocating motion of moving component 1.
Claims (3)
1. a multiple degrees of freedom bionic joint, it is characterized in that: comprise moving component, support component and driver part, described support component upper end is spill articular surface, side arranges convex joint, the lower end of described moving component is spherical, and described spherical cooperation is arranged in described spill articular surface, described driver part comprises the six roots of sensation flexible filaments connecting spherical and spill articular surface, the two groups of rotator muscle unit connecting convex joint and moving component and the four groups of stretching muscle unit be symmetricly set between support component top edge and moving component, described two groups of rotator muscle unit are symmetricly set on the both sides of convex joint, one in the six roots of sensation flexible filaments centre position being arranged on convex joint, other five correspondence positions being circumferentially evenly arranged on the side on convex joint opposite.
2. a kind of multiple degrees of freedom bionic joint according to claim 1, is characterized in that: the inner surface of described spherical outer surface and spill articular surface scribbles drag-reducing coating respectively.
3. a kind of multiple degrees of freedom bionic joint according to claim 1 and 2, is characterized in that: the linear chest expander that described rotator muscle unit and stretching muscle unit are all made up of at least two panels electric actuation intellectual material and electrode block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520180769.6U CN204546555U (en) | 2015-03-27 | 2015-03-27 | A kind of multiple degrees of freedom bionic joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520180769.6U CN204546555U (en) | 2015-03-27 | 2015-03-27 | A kind of multiple degrees of freedom bionic joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204546555U true CN204546555U (en) | 2015-08-12 |
Family
ID=53821717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520180769.6U Expired - Fee Related CN204546555U (en) | 2015-03-27 | 2015-03-27 | A kind of multiple degrees of freedom bionic joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204546555U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816312A (en) * | 2015-03-27 | 2015-08-05 | 哈尔滨工程大学 | Multi-degree-of-freedom bionic joint |
| CN109773770A (en) * | 2019-03-08 | 2019-05-21 | 西北工业大学 | Legged type robot joint electricity consumption flesh composite driving mechanism |
-
2015
- 2015-03-27 CN CN201520180769.6U patent/CN204546555U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816312A (en) * | 2015-03-27 | 2015-08-05 | 哈尔滨工程大学 | Multi-degree-of-freedom bionic joint |
| CN104816312B (en) * | 2015-03-27 | 2017-03-01 | 哈尔滨工程大学 | A kind of multiple degrees of freedom bionic joint |
| CN109773770A (en) * | 2019-03-08 | 2019-05-21 | 西北工业大学 | Legged type robot joint electricity consumption flesh composite driving mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104309789B (en) | Drive the flexible multi-locomotion mode bionic caudal fin of intraarticular embedded | |
| CN210452773U (en) | Pile up neatly machine people tongs subassembly | |
| CN104816312A (en) | Multi-degree-of-freedom bionic joint | |
| CN204546555U (en) | A kind of multiple degrees of freedom bionic joint | |
| CN206123647U (en) | Sick bed is with supporting manipulator | |
| CN104476567A (en) | Six-degree-of-freedom parallel mechanism with rope-driven linear joint | |
| WO2022194148A1 (en) | Bionic fish propelling device and control method therefor | |
| WO2017113497A1 (en) | Mechanism and method for amplifying reciprocating speed and displacement | |
| CN206782821U (en) | A kind of double fastener arm clamping device | |
| CN102975197A (en) | Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom | |
| CN109713872B (en) | High-thrust linear motor | |
| CN208068261U (en) | Modularized bionic mechanical arm | |
| CN101704243B (en) | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) | |
| CN104511898A (en) | Two-stage electro-hydraulic hybrid type moving platform | |
| CN204471367U (en) | Novel three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot | |
| CN105450083A (en) | Multi-feet peristaltic drive type sleeve folding and unfolding mechanism | |
| CN206393632U (en) | Fluid bone flexible mechanical arm assembly | |
| CN202114480U (en) | Lower-motion type energy-saving pulley drive structure | |
| CN201848333U (en) | Swing mechanism for long-distance flexible transmission spray head | |
| CN108050219B (en) | High-bearing truss type high-flexibility mechanism | |
| CN108000503B (en) | Multi-cylinder snake-shaped robot system based on pneumatic muscles | |
| CN210436150U (en) | Universal gripping device for arc slide bar | |
| CN208680901U (en) | For the assemble mechanism of cam and flexible bearing and assembly control device | |
| CN104626110A (en) | Electric-drive and high-rigidity 6-DOF parallel platform | |
| CN201960564U (en) | Two-freedom degree robot shoulder joint mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150812 Termination date: 20180327 |