CN205238072U - Bionical elbow joint of two degree of freedom wide -angles motion - Google Patents
Bionical elbow joint of two degree of freedom wide -angles motion Download PDFInfo
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- CN205238072U CN205238072U CN201520925578.8U CN201520925578U CN205238072U CN 205238072 U CN205238072 U CN 205238072U CN 201520925578 U CN201520925578 U CN 201520925578U CN 205238072 U CN205238072 U CN 205238072U
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Abstract
The utility model belongs to the technical field of bionic robot, in particular to bionical elbow joint of two degree of freedom wide -angles motion. The utility model discloses a go up joint bone, rotary disk, knuckle support, the bone of relocating, joint axis, tendon fixing bolt, an adjustable damping ware, the 2nd adjustable damping ware, reduction torsion spring, first oblique, second oblique, steel wire tendon, under the drive of pneumatic muscle, control the motion that two degrees of freedom can be realized to an adjustable damping ware and the 2nd adjustable damping ware to certain bearing force and variable rigidity characteristic have, the wide -angle motion of two degree of freedom directions in the bionical joint can be realized to the first oblique and the second oblique that alternately draw to one side, the utility model discloses realizing to the biology still having innovation and extension in the function in the articular mimic, be worth using.
Description
Technical field
The utility model belongs to bio-robot technical field, particularly a kind of two-freedom wide-angle motion biomimetics elbow joint.
Background technology
Mechanical arm is widely used in the fields such as the realization of auto manufacturing, electronics, semiconductor manufacturing, the production automation. In all types of robot arms, revolute robot's arm that simulation human arm forms, has simple in structure, the advantages such as little, relative working space is large that take up room, and is one of robot being most widely used. Traditional mechanical arm frame for movement and drive unit have the features such as high-quality, high rigidity, power-weight ratio be low, are not suitable for carrying out operating of contacts with people, have limited and the exchanging of people. Along with the development of Robotics, people wish novel robot arm have precision high, respond outside the advantage such as fast, also wish to there is good compliance simultaneously, avoid robot to damage people.
Pneumatic muscles, as novel pneumatic executive component, has very large similitude with biological muscles, and has flexible high, lightweight, easy to use, fast response time, the advantage such as with low cost, in the field such as robot, bionic mechanical, has a wide range of applications.
Through the literature search of prior art is found, Chinese patent literature [application number: 201510311779.3] discloses a kind of apery mechanical arm based on the combination drive of kinds of artificial muscle, and wherein shoulder joint has 2 rotary freedoms; Elbow joint has 3 rotary freedoms; Wrist joint has 2 rotary freedoms; Bionic hand contains 4 fingers, has 11 frees degree, and mechanical arm has 18 frees degree. Wherein elbow joint is made up of fixed platform, motion platform, support bar, Hooke's hinge, the little axle of connection and pneumatic muscles etc., before can realizing flexion/extension, abduction/adduction and revolving/and the action of supination. But there is the feature that bearing capacity is weak, rigidity is low in foregoing invention elbow joint.
Before the elbow joint of the pneumatic muscles mechanical arm of people's research and design such as the Liu Shuan of Institutes Of Technology Of Zhejiang uses four pneumatic muscles to drive elbow joints to complete flexion/extension, revolve/revolve the motion of latter two free degree, before completing flexion/extension or revolving/when supination action, pneumatic muscles is one group between two, realize the motion of two free degree directions, but the rotational angle of two free degree directions of arm elbow joint is limited.
Summary of the invention
The purpose of this utility model is exactly for the defect of prior art and deficiency, has proposed a kind of two-freedom wide-angle motion biomimetics joint.
For addressing the above problem, the utility model has adopted following technical scheme: it comprises upper joint bone, rotating disc, knuckle support, the bone of relocating, joint shaft, tendon gim peg, the first adjustable damper, the second adjustable damper, reduction torsion spring, the first oblique, the second oblique, steel wire tendon, described the first oblique, the second oblique is pneumatic muscles, knuckle support upper end is hinged on upper joint bone center by joint shaft, knuckle support lower end penetrates the through hole of rotating disc center, relocate bone center through knuckle support and affixed with knuckle support, and with upper joint bone in same plane, tendon gim peg is fixed on upper joint bone through through hole, relocate on bone and rotating disc and be equipped with steel wire through hole, first oblique one end is fixed on tendon gim peg by steel wire tendon, the other end passes the steel wire through hole on rotating disc successively by the traction of steel wire tendon, the steel wire through hole of relocating on bone, be fixed on the tendon gim peg of offside, in like manner, second oblique one end is fixed on tendon gim peg by steel wire tendon, the other end once passes the steel wire through hole on rotating disc by the traction of steel wire tendon, the steel wire through hole of relocating on bone, be fixed on the tendon gim peg of offside, cross-shaped state on the first oblique and the second oblique space.
In above-mentioned device, described joint shaft one end is provided with the first adjustable damper, and described knuckle support lower end and rotating disc junction are provided with the second adjustable damper, and described rotating disc center is provided with reduction torsion spring, and reduction torsion spring is arranged on knuckle support lower end.
The utility model adopts pneumatic muscles to drive, and can realize joint and bend and stretch and rotate the motion of two frees degree, has advantages of flexibly, clean and energy-conservation; First oblique the second oblique adopts the mode of oblique pull, before can realizing flexion/extension and revolving/and the wide-angle motion of supination; Regulate the first adjustable damper and the second adjustable damper, can make bionic joint there is certain load capacity and the function of damping; Can also control as required the first adjustable damper and the second adjustable damper locking revolute pair and revolute, make bionic joint where necessary, attitude presents rigidity characteristic simultaneously. The utility model has well been simulated the characteristic in the biological joint of two-freedom, has innovation and expansion in function simultaneously, is worth application.
Brief description of the drawings
Fig. 1 is the original state figure of two-freedom bionic joint;
Fig. 2 is the motion state diagram of two-freedom bionic joint;
Fig. 3 is the chart at the bottom of of rotating disc;
In figure, 1, upper joint bone; 2, rotating disc; 3, knuckle support; 4, the bone of relocating; 5, joint shaft; 6, tendon gim peg; 7, the first adjustable damper; 8, the second adjustable damper; 9, reduction torsion spring; 10, the first oblique; 11, the second oblique; 12, steel wire tendon.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described further.
As shown in Figure 1, Figure 2 and Figure 3, the utility model comprises upper joint bone 1, rotating disc 2, knuckle support 3, the bone 4 of relocating, joint shaft 5, tendon gim peg 6, the first adjustable damper 7, the second adjustable damper 8, reduction torsion spring 9, the first oblique 10, the second oblique 11, steel wire tendon 12, described the first oblique 10, the second oblique 11 is pneumatic muscles, knuckle support 3 upper ends are hinged on upper joint bone 1 center by joint shaft 5, knuckle support 3 lower ends penetrate the through hole of rotating disc 2 centers, relocate bone 4 centers through knuckle support 3 and affixed with knuckle support 3, and with upper joint bone 1 in same plane, tendon gim peg 6 is fixed on upper joint bone 1 through through hole, relocate on bone 4 and rotating disc 2 and be equipped with steel wire through hole, first oblique 10 one end are fixed on tendon gim peg 6 by steel wire tendon 12, the other end draws successively through the steel wire through hole on rotating disc 2 by steel wire tendon 12, the steel wire through hole of relocating on bone 4, be fixed on the tendon gim peg 6 of offside, in like manner, second oblique 11 one end are fixed on tendon gim peg 6 by steel wire tendon 12, the other end draws once through the steel wire through hole on rotating disc 2 by steel wire tendon 12, the steel wire through hole of relocating on bone 4, be fixed on the tendon gim peg 6 of offside, cross-shaped state on the first oblique 10 and the second oblique 11 spaces.
In above-mentioned device, described joint shaft 5 one end are provided with the first adjustable damper 7, described knuckle support 3 lower ends and rotating disc 2 junctions are provided with the second adjustable damper 8, and described rotating disc 2 centers are provided with reduction torsion spring 9, and reduction torsion spring 9 is arranged on knuckle support 3 lower ends.
When bionic joint work, by controlling the first oblique 10, the second oblique 11, the first adjustable damper 7 and the second adjustable damper 8, make bionic joint present different attitudes; The second adjustable damper 8 locks, and the first adjustable damper 7 is opened, when the first oblique 10 is inflated, the second oblique 11 is exitted, and bionic joint shortens side around joint shaft 5 to steel wire tendon 12 and rotates, and in like manner the second oblique 11 is inflated, the first oblique 10 is exitted, and bionic joint rotates to opposite side around joint shaft 5; The first adjustable damper 7 locks, the second adjustable damper 8 is opened, when the first oblique 10 is inflated, the second oblique 11 is exitted, rotating disc rotates as axial steel wire tendon 12 shortens side taking self center, in like manner the second oblique 11 is inflated, and the first oblique 10 is exitted, and bionic joint rotates to another side around joint shaft 5; And, regulate the damped coefficient of the first adjustable damper 7 and the second adjustable damper 8, in combining under driving of the first oblique 10 and the second oblique 11, bionic joint can be realized around the rotation of joint shaft 5 also can realize rotatablely moving of rotating disc 2 Rao Qi centers; Lock the first adjustable damper 7 and the second adjustable damper 8, bionic joint can keep current attitude, presents rigidity simultaneously.
The above is only a preferred embodiment of the present utility model, and the various changes and improvements of under every prerequisite not departing from the utility model spirit and scope, the utility model being done can not surmount the defined scope of appended claims.
Claims (2)
1. a two-freedom wide-angle motion biomimetics elbow joint, it is characterized in that, comprise upper joint bone, rotating disc, knuckle support, the bone of relocating, joint shaft, tendon gim peg, the first adjustable damper, the second adjustable damper, reduction torsion spring, the first oblique, the second oblique, steel wire tendon, described the first oblique, the second oblique is pneumatic muscles, knuckle support upper end is hinged on upper joint bone center by joint shaft, knuckle support lower end penetrates the through hole of rotating disc center, relocate bone center through knuckle support and affixed with knuckle support, and with upper joint bone in same plane, tendon gim peg is fixed on upper joint bone through through hole, relocate on bone and rotating disc and be equipped with steel wire through hole, first oblique one end is fixed on tendon gim peg by steel wire tendon, the other end passes the steel wire through hole on rotating disc successively by the traction of steel wire tendon, the steel wire through hole of relocating on bone, be fixed on the tendon gim peg of offside, second oblique one end is fixed on tendon gim peg by steel wire tendon, the other end once passes the steel wire through hole on rotating disc by the traction of steel wire tendon, the steel wire through hole of relocating on bone, be fixed on the tendon gim peg of offside, cross-shaped state on the first oblique and the second oblique space.
2. a kind of two-freedom wide-angle motion biomimetics elbow joint according to claim 1, it is characterized in that, described joint shaft one end is provided with the first adjustable damper, described knuckle support lower end and rotating disc junction are provided with the second adjustable damper, described rotating disc center is provided with reduction torsion spring, and reduction torsion spring is arranged on knuckle support lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520925578.8U CN205238072U (en) | 2015-11-19 | 2015-11-19 | Bionical elbow joint of two degree of freedom wide -angles motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520925578.8U CN205238072U (en) | 2015-11-19 | 2015-11-19 | Bionical elbow joint of two degree of freedom wide -angles motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205238072U true CN205238072U (en) | 2016-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520925578.8U Expired - Fee Related CN205238072U (en) | 2015-11-19 | 2015-11-19 | Bionical elbow joint of two degree of freedom wide -angles motion |
Country Status (1)
| Country | Link |
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| CN (1) | CN205238072U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269591A (en) * | 2015-11-19 | 2016-01-27 | 中国计量学院 | Two-freedom-degree large-angle motion bionic elbow joint |
| CN116653000A (en) * | 2023-07-25 | 2023-08-29 | 季华实验室 | Flexible rotary joint imitating human elbow ligament muscle structure |
-
2015
- 2015-11-19 CN CN201520925578.8U patent/CN205238072U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269591A (en) * | 2015-11-19 | 2016-01-27 | 中国计量学院 | Two-freedom-degree large-angle motion bionic elbow joint |
| CN116653000A (en) * | 2023-07-25 | 2023-08-29 | 季华实验室 | Flexible rotary joint imitating human elbow ligament muscle structure |
| CN116653000B (en) * | 2023-07-25 | 2023-10-20 | 季华实验室 | Flexible rotary joint imitating human elbow ligament muscle structure |
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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 |
Granted publication date: 20160518 Termination date: 20171119 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |