CN206841566U - A kind of bionical lower limb mechanism - Google Patents
A kind of bionical lower limb mechanism Download PDFInfo
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- CN206841566U CN206841566U CN201621313689.4U CN201621313689U CN206841566U CN 206841566 U CN206841566 U CN 206841566U CN 201621313689 U CN201621313689 U CN 201621313689U CN 206841566 U CN206841566 U CN 206841566U
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- rocking bar
- joint
- shank upper
- hinged
- crank
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Abstract
It the utility model is related to a kind of bionical lower limb mechanism, its knee joint includes power part, crank, long rocking bar, shank upper end, thigh lower end, shank upper end has three pin joints triangular in shape, and thigh bottom has tail end and two, middle part pin joint；Crank one end is rotatably arranged on the pin joint of shank upper end upper position and with the motor installed in shank upper end in drive connection, the other end of crank is hinged with long rocking bar one end, the other end of long rocking bar is hinged with the tail end of thigh bottom, one end of short rocking bar simultaneously, and the other end of short rocking bar is articulated with the pin joint that shank upper end is kept right；Thigh bottom is hinged by its middle part pin joint and one end of swing arm, and the other end and the shank upper end of swing arm keep left be hinged point articulated, and said mechanism formation has the Composite Double four-bar linkage structure of one degree of freedom.The utility model has simple and reasonable, easy to use, anthropomorphic degree high, versatile, runs the advantages of low in energy consumption.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of anthropomorphic class robot, it is more particularly to a kind of imitative
Raw lower limb mechanism.
Background technology
Although the anthropomorphic class biped robot developing history of only nearly 40 years, due to its unique adaptability and plan
Human nature, become the important development direction of robot field.Biped robot and wheeled, creeping-type and crawler type etc. are mobile
Robot compares, and has a more preferable environmental suitability, and performance of this superiority in non-structure environment is especially prominent.But
Compared with biped, mostly have that energy consumption is big, action is unnatural etc. lacks the biped robot developed so far
Point.Particularly anthropomorphic class robot is when walking, stiff in the movements, balances that adaptive degree is inadequate, and this is to anthropomorphic class robot
Large-scale application causes larger puzzlement.
The content of the invention
The purpose of this utility model be for overcome the deficiencies in the prior art, and provide it is a kind of it is simple and reasonable, use
High, versatile, the low in energy consumption electromechanical equipment heat abstractor of convenient, anthropomorphic degree.
What the purpose of this utility model was realized in：A kind of bionical lower limb mechanism, it includes hip joint, knee joint, big
Leg, shank, it is characterised in that the knee joint is made up of following mechanism：It is power part, crank, long rocking bar, shank upper end, big
Leg lower end, shank upper end have three pin joints triangular in shape, and thigh bottom has tail end and two, middle part be hinged
Point；Crank one end rotatably installed in shank upper end upper position pin joint and with the motor installed in shank upper end
In drive connection, the other end of crank is hinged with long rocking bar one end, the other end of long rocking bar simultaneously the tail end with thigh bottom,
One end of short rocking bar is hinged, and the other end of short rocking bar is articulated with the pin joint that shank upper end is kept right, shank upper end, crank,
Long rocking bar, short rocking bar form four-bar linkage structure A；Thigh bottom is hinged by one end of its middle part pin joint and swing arm, swing arm
The other end kept left with shank upper end it is be hinged point articulated, shank upper end, short rocking bar, thigh bottom, swing arm formed four
Bar linkage structure B, four-bar linkage structure A and four-bar linkage structure B form the Composite Double four-bar linkage structure with one degree of freedom.Knee joint
Also include a damping system, the damped part of the damping system is air spring, and damping system reaches the both ends limit in knee joint
Larger damping action can be played during position, kneed impact is reduced and extends kneed service life；It is described it is bionical under
Limb mechanism also includes a control system, and the control system includes control unit, encoder, and above-mentioned encoder closes in knee joint, hip
There is configuration at section, control unit can control joint motion speed according to the joint position information of encoder feedback.By this
Control system, can be that the movement locus of whole bionical lower limb mechanism enters with movement velocity in strict accordance with ergonomics data
OK, the simulation human body walking that the lower limb mechanism can be more natural.
Further, the U-shaped harden structure in shank upper end, three pin joints are distributed in biside plate in corresponding states
On, the crank quantity is one and between biside plate, on power part side plate installed therein.
Further, the long rocking bar quantity is one, and the short rocking bar quantity is 2, two short rocking bar difference
It is articulated with biside plate), the other end of crank is hinged also by the both ends of be hinged adaptor with two short rocking bars.
Further, the U-shaped frame structure in the thigh bottom, two pin joint is in corresponding states distribution and its both sides
On frame, the power part is stepper motor, and the lubricating system of the pin joint is self-lubricating.
The beneficial effects of the utility model：The utility model uses the bionical human body knee joint of Composite Double four-bar linkage structure, makes
Its more can accurately be simulated in actually walking really be human body walking posture, make its moment in the operation of your human knee joint
The motion track of center of rotation into J-shaped curve, so as to and when reducing lower limb mechanism operation as far as possible by bionic engineering
Power consumption, and knee joint can realize more natural walking posture when operation, be anthropomorphic class biped robot
Application provides broader potential.The utility model have simple and reasonable, easy to use, anthropomorphic degree it is high,
It is versatile, run the advantages of low in energy consumption.
Brief description of the drawings
Fig. 1 is the front schematic view of the application.
Fig. 2 is the axonometric drawing of the application.
In figure：1st, power part；2nd, crank；3rd, long rocking bar；4th, shank upper end；5th, thigh bottom；6th, swing arm；7th, it is short
Rocking bar；8th, it is hinged adaptor；4a, left plate；4b, right plate；5a, left side frame；5b, left frame；J1, J2, J3, J4 pin joint.
Embodiment
The utility model is described further below in conjunction with the accompanying drawings.
Embodiment 1
A kind of bionical lower limb mechanism, it includes hip joint, knee joint, thigh, shank, and hip joint has one degree of freedom,
The swing of thigh can be realized, is driven and rotated by motor.
Knee joint is made up of following mechanism：Power part 1, crank 2, long rocking bar 3, shank upper end 4, thigh bottom 5,
Shank upper end 4 has three pin joints triangular in shape, and thigh bottom 5 has tail end and two, middle part pin joint；It is bent
The one end of handle 2 rotatably installed in the upper position of shank upper end 4 pin joint and with the power part installed in shank upper end 4
In drive connection, the other end of crank 2 is hinged part 1 with long one end of rocking bar 3, the other end of long rocking bar 3 and meanwhile with thigh bottom 5
Tail end, one end of short rocking bar 7 be hinged, the other end of short rocking bar 7 is articulated with the pin joint that shank upper end 4 is kept right, on shank
End 4, crank 2, long rocking bar 3, short rocking bar 7 form four-bar linkage structure A；Thigh bottom 5 passes through its middle part pin joint and swing arm 6
One end be hinged, the other end and the shank upper end 4 of swing arm 6 keep left it is be hinged point articulated, it is shank upper end 4, short rocking bar 7, big
Leg bottom 5, swing arm 6 form four-bar linkage structure B, four-bar linkage structure A and four-bar linkage structure B and form answering with one degree of freedom
Close double four-bar linkage structures.Knee joint also includes a damping system (not shown in accompanying drawing), and the damped part of the damping system is sky
Gas spring；The bionical lower limb mechanism also includes a control system (not shown in accompanying drawing), the control system include control unit,
Encoder, above-mentioned encoder have configuration at knee joint, hip joint, and control unit can be according to the joint position of encoder feedback
Confidence breath control joint motion speed.
The 4 U-shaped harden structure of shank upper end, six are correspondingly arranged on two side plates 4a, 4b of shank upper end 4
Hole, six holes are correspondingly formed three pin joints two-by-two, and the quantity of crank 2 is one and between biside plate, power part
On the side plate 4b installed therein of part 1.The U-shaped frame structure in thigh bottom 5,5a, 5b are provided with four holes on two side frames,
Four holes are correspondingly formed two interface points two-by-two, and it is stepper motor to drive the kneed power part, the pin joint
Lubricating system be self-lubricating.
Further, the quantity of long rocking bar 3 is one, and the short quantity of rocking bar 7 is 2, two short rocking bars point
Biside plate (4a, 4b) is not articulated with, and the other end of crank is cut with scissors also by the both ends of be hinged adaptor with two short rocking bars
Connect.
Embodiment 2
Agent structure is same as Example 1, and the shank upper end and thigh bottom are in single plate structure.Long rocking bar number
Measure as one, short rocking bar quantity is 1, and the short rocking bar of the other end of crank is hinged.
The power part is servomotor, and encoder is provided with crank rotary shaft, and the lubricating system of pin joint is
Self-lubricating.
The utility model the utility model uses the bionical human body knee joint of Composite Double four-bar linkage structure, makes it in actual walking
In more can accurately simulate really be human body walking posture, the shifting of its moment center of rotation is made in the operation of your human knee joint
Dynamic rail mark into J-shaped curve, so as to and power consumption when reducing lower limb mechanism operation as far as possible by bionic engineering, and knee
Joint can realize more natural walking posture when operation, and the application for anthropomorphic class biped robot provides
Broader potential.The utility model has that simple and reasonable, easy to use, anthropomorphic degree is high, versatile, runs work(
Consume the advantages of low.
Claims (6)
1. a kind of bionical lower limb mechanism, it includes hip joint, knee joint, thigh, shank, it is characterised in that the knee joint by with
Lower mechanism composition：Power part (1), crank (2), long rocking bar (3), shank upper end (4), thigh bottom (5), shank upper end
Portion (4) has three pin joints (J1, J2, J3) triangular in shape, and thigh bottom (5) have tail end and two, middle part be hinged
Point (J4, J5)；Crank (2) one end rotatably installed in shank upper end (4) upper position pin joint (J2) and with installation
Power part in shank upper end (4) is hinged in drive connection, the other end and long rocking bar (3) one end of crank (2), long rocking bar
(3) the other end is hinged with the tail end of thigh bottom (5), one end of short rocking bar simultaneously, and the other end of short rocking bar is articulated with small
The pin joint (J3) that leg upper end (4) is kept right, shank upper end (4), crank (2), long rocking bar (3), short rocking bar form double leval jib
Structure A；Thigh bottom (5) is hinged by its middle part pin joint (J5) and one end of swing arm, on the other end and shank of swing arm
The pin joint (J1) that end (4) keeps left is be hinged, and shank upper end (4), short rocking bar, thigh bottom (5), swing arm form double leval jib
Structure B, four-bar linkage structure A and four-bar linkage structure B form the Composite Double four-bar linkage structure with one degree of freedom；Above-mentioned knee joint
Also include a damping system, above-mentioned damping system reduces kneed impact when knee joint reaches both ends extreme position；It is described
Bionical lower limb mechanism also includes a control system, and the control system includes control unit, encoder, and above-mentioned encoder closes in knee
There is configuration at section, hip joint, control unit can control joint motion speed according to the joint position information of encoder feedback.
2. bionical lower limb mechanism according to claim 1, it is characterised in that：The shank upper end (4) is U-shaped hardened
Structure, three pin joints are distributed on biside plate (4a, 4b) in corresponding states, and crank (2) quantity is one and is located at both sides
Between plate, on power part (1) side plate installed therein (4b).
3. bionical lower limb mechanism according to claim 2, it is characterised in that：Long rocking bar (3) quantity is one, described
Short rocking bar quantity is 2, and two short rocking bars are hingedly connected to biside plate (4a, 4b), and the other end of crank (2) is also by hinge
The both ends and two short rocking bars for switching through fitting are hinged.
4. bionical lower limb mechanism according to claim 1, it is characterised in that：The U-shaped frame knot of thigh bottom (5)
Structure, two pin joint are distributed in its side frames (5a, 5b) in corresponding states.
5. bionical lower limb mechanism according to claim 1, it is characterised in that：The power part (1) is stepper motor.
6. bionical lower limb mechanism according to claim 1, it is characterised in that：The lubricating system of the pin joint is from profit
It is sliding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621313689.4U CN206841566U (en) | 2016-12-02 | 2016-12-02 | A kind of bionical lower limb mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621313689.4U CN206841566U (en) | 2016-12-02 | 2016-12-02 | A kind of bionical lower limb mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206841566U true CN206841566U (en) | 2018-01-05 |
Family
ID=60789466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621313689.4U Expired - Fee Related CN206841566U (en) | 2016-12-02 | 2016-12-02 | A kind of bionical lower limb mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206841566U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189010A (en) * | 2018-02-07 | 2018-06-22 | 华尔嘉（泉州）机械制造有限公司 | Single motor driving lower limb simulation, which is run, acts robot |
| CN109223262A (en) * | 2018-10-15 | 2019-01-18 | 哈尔滨工业大学 | Damp adjustable power type artificial limb |
-
2016
- 2016-12-02 CN CN201621313689.4U patent/CN206841566U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189010A (en) * | 2018-02-07 | 2018-06-22 | 华尔嘉（泉州）机械制造有限公司 | Single motor driving lower limb simulation, which is run, acts robot |
| CN108189010B (en) * | 2018-02-07 | 2023-10-27 | 华尔嘉（泉州）机械制造有限公司 | Single-motor-driven lower limb running motion simulating robot |
| CN109223262A (en) * | 2018-10-15 | 2019-01-18 | 哈尔滨工业大学 | Damp adjustable power type artificial limb |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180105 Termination date: 20181202 |
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| CF01 | Termination of patent right due to non-payment of annual fee |