CN220922461U - Hollow bionic hip joint - Google Patents
Hollow bionic hip joint Download PDFInfo
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- CN220922461U CN220922461U CN202322565744.5U CN202322565744U CN220922461U CN 220922461 U CN220922461 U CN 220922461U CN 202322565744 U CN202322565744 U CN 202322565744U CN 220922461 U CN220922461 U CN 220922461U
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- hip joint
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- frame
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 94
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 19
- 210000000689 upper leg Anatomy 0.000 claims abstract description 85
- 210000001624 hip Anatomy 0.000 claims abstract description 59
- 238000009434 installation Methods 0.000 claims abstract description 16
- 210000001503 joint Anatomy 0.000 claims description 26
- 230000003592 biomimetic effect Effects 0.000 claims description 10
- 241000282414 Homo sapiens Species 0.000 description 7
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241001455214 Acinonyx jubatus Species 0.000 description 1
- 241000282817 Bovidae Species 0.000 description 1
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003194 forelimb Anatomy 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
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Abstract
The utility model belongs to the technical field of bionic robots, and particularly relates to a hollow bionic hip joint. The technical proposal is as follows: a hollow bionic hip joint comprises a hip joint frame, wherein the middle part and the front side of the hip joint frame are hollow, thigh joint installation positions are arranged on two sides of the hip joint frame, and waist joint installation positions are arranged on the rear side of the hip joint frame. The utility model provides a hollow bionic hip joint which ensures the supporting strength and flexibility.
Description
Technical Field
The utility model belongs to the technical field of bionic robots, and particularly relates to a hollow bionic hip joint.
Background
The bionic hip joint is widely applied to leg-foot robots such as four-foot robots, humanoid robots and the like. The bionic hip joint can greatly improve the movement flexibility of the leg-foot type robot, so that the robot has the capability of adapting to more complex terrain environments, animals in nature, such as cheetahs, antelopes and human, have three rotational degrees of freedom of the hip joint of each leg, the three rotational degrees of freedom take the contact point of the femur and the hip joint as the rotational center, and if the two legs of the bipedal animal are regarded as a whole, two femur do rotational movement around the hip joint, and the total number of the three rotational degrees of freedom is 6. Similarly, the forelimb or hindlimb of a quadruped is considered as a whole, again with 6 degrees of freedom.
The patent of application number 202110812337.2 discloses a robot joint relates to robot technical field, includes: the device comprises a frame, an output rod, an offset driving device, a pitching driving device, a universal structure and a rotation driving device, wherein the offset driving device and the pitching driving device can respectively drive the output rod to rotate around a second axis and a third axis; the patent also provides a robot bionic hip joint, which comprises two robot joints, wherein the two robot joints are fixedly connected and symmetrically arranged; this patent still provides a robot, includes: a robotic joint or robotic biomimetic hip joint as described above; the robot joint, the robot bionic hip joint and the robot provided by the patent have higher flexibility.
However, the bionic hip joint only focuses on the flexibility of simulating the human body model joint, but the structure of the bionic hip joint does not have the imitation. The hip joint occupies the middle and front side space, and other application components cannot be arranged any more, so that the hip joint is different from the real human hip joint structure in terms of poor bionic property.
Disclosure of utility model
In order to solve the above problems in the prior art, the present utility model aims to provide a bionic hip joint which is hollow and ensures support strength and flexibility.
The technical scheme adopted by the utility model is as follows:
A hollow bionic hip joint comprises a hip joint frame, wherein the middle part and the front side of the hip joint frame are hollow, thigh joint installation positions are arranged on two sides of the hip joint frame, and waist joint installation positions are arranged on the rear side of the hip joint frame.
The front side of the middle part of the hip joint frame is of a hollow structure, simulates the real hip joint of a human body, and is convenient for arranging other application components in a hollow area. The thigh joints are arranged on two sides of the hip joint frame, the waist joints are arranged on the rear side of the hip joint frame, and the reliable support of the hip joint frame to the thigh joints and the waist joints is ensured while the positions of the thigh joints and the waist joints are reasonably arranged.
As a preferable scheme of the utility model, a supporting frame for supporting the simulated skin is fixed on the front side of the hip joint frame, and the middle part of the supporting frame is free. The front side of the hip joint frame is provided with the support frame, so that the support frame can support the structure and the simulated skin of the front side of the hip part of the robot, and the simulation of the hip joint is further improved. The support frame is hollow structure, other application parts of convenient installation.
As a preferable mode of the present utility model, a support plate for increasing strength is fixed to the rear side of the hip joint frame. In the case that the front side and the middle part of the hip joint frame are left out, the strength of the hip joint is weakened, and in order to ensure the overall strength of the hip joint, the support plate is connected to the rear side of the hip joint frame, and the strength of the hip joint is increased without causing interference to other structures.
In a preferred embodiment of the present utility model, a thigh joint is mounted in the thigh joint mounting position. The thigh joints are used for controlling thigh movements.
As a preferable scheme of the utility model, the thigh joint comprises a thigh torsion power device, a shell of the thigh torsion power device is fixed in a thigh joint installation position, and a support fixing fork is fixed at the output end of the thigh torsion power device; the thigh torsion power device further comprises a cross ring, thigh swing speed reduction motors are rotatably connected to two sides of the cross ring, a shell of each thigh swing speed reduction motor is rotatably connected with the cross ring, a large gear is fixed to the shell of each thigh swing speed reduction motor, a small gear is rotatably connected to the cross ring, the large gear is meshed with the small gear, and an output end of each thigh swing speed reduction motor is connected with each thigh.
The thigh torsion power device can drive the support fixed fork to rotate by taking the vertical center of the thigh torsion power device as a rotating shaft, and is used for simulating the torsion of the thigh. When the two thigh swing speed reducing motors rotate in the same direction and at the same speed, the output ends of the two thigh swing speed reducing motors synchronously rotate and are used for simulating the front and back lifting action of the thighs. When the two thigh swing speed reducing motors rotate reversely and at the same speed, the two thigh swing speed reducing motors rotate by taking the shaft of the pinion as a rotating shaft and are used for simulating left and right lifting actions of the thighs. In other action states, the thigh performs the compound movement of the three directions of rotation.
As the preferable scheme of the utility model, the large gear and the small gear are bevel gears, and the meshing positions of the large gear and the small gear are closer to the centers of the two thigh swing speed reducing motors, so that the arrangement of the two thigh swing speed reducing motors is more compact, and the space can be saved.
As a preferable mode of the present utility model, the waist joint mounting position is provided with a waist joint. The waist joint is used for controlling waist action.
As the preferable scheme of the utility model, the waist joint comprises two waist driving gear motors, the shell of each waist driving gear motor is fixed in the waist joint installation position, the output end of each waist driving gear motor is connected with a swinging component, the rear side of the hip joint frame is also rotationally connected with a main shaft, the main shaft is fixedly connected with a shaft sleeve, one end of each swinging component, which is far away from the waist driving gear motor, is connected with the shaft sleeve, the main shaft is rotationally connected with a swinging rod, and the other end of each swinging rod is rotationally connected with the hip joint frame.
The two waist driving gear motors drive the two swinging assemblies to act, and the two swinging assemblies drive the main shaft of the waist to act. When the two waist driving gear motors rotate in the same direction and at the same speed, the main shaft rotates to simulate waist rotation. In other motion states, the waist is irregularly twisted.
As a preferable scheme of the utility model, the swinging component comprises a rocker, the rocker is fixed with the output end of the waist driving speed reducing motor, the other end of the rocker is rotationally connected with a connecting rod, and the other end of the connecting rod is rotationally connected with a shaft sleeve. The waist driving gear motor drives the rocker to rotate, and the rocker drives the connecting rod to act, so that the connecting rod drives the main shaft to act.
As a preferred embodiment of the present utility model, the spindle is connected to the hip joint frame by a joint bearing. The main shaft can freely twist around the joint bearing at the lower end of the main shaft, and can simulate various actions of the waist of a human body.
The beneficial effects of the utility model are as follows:
The front side of the middle part of the hip joint frame is of a hollow structure, simulates the real hip joint of a human body, and is convenient for arranging other application components in a hollow area. The thigh joints are arranged on two sides of the hip joint frame, the waist joints are arranged on the rear side of the hip joint frame, and the reliable support of the hip joint frame to the thigh joints and the waist joints is ensured while the positions of the thigh joints and the waist joints are reasonably arranged.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is an assembly view of the thigh and waist joints with the present utility model;
FIG. 3 is a schematic view of the rear side structure of the present utility model after installation of the thigh and waist joints;
FIG. 4 is a schematic view of the thigh joint;
Fig. 5 is a schematic view of the structure of the lumbar joint.
In the figure: 1-a hip joint frame; 2-supporting frames; 3-supporting plates; 4-thigh joints; 5-lumbar joint; 11-thigh joint mounting; 12-lumbar joint mounting; 41-thigh twist power unit; 42-supporting a fixed fork; 43-cross ring; 44-thigh swing gear motor; 45-large gear; 46-pinion gear; 51-waist driving gear motor; 52-a swing assembly; 53-spindle; 54-shaft sleeve; 55-swinging rod; 521-rocker; 522-a connecting rod.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.
As shown in fig. 1 to 3, the hollow bionic hip joint of the present embodiment includes a hip joint frame 1, wherein the middle and front sides of the hip joint frame 1 are hollow, thigh joint mounting positions 11 are provided on both sides of the hip joint frame 1, and a waist joint mounting position 12 is provided on the rear side of the hip joint frame 1.
The front side of the middle part of the hip joint frame 1 is of a hollow structure, simulates the real hip joint of a human body, and is convenient for arranging other application components in a hollow area. Thigh joints 4 are arranged on two sides of the hip joint frame 1, waist joints 5 are arranged on the rear side of the hip joint frame 1, and reliable support of the hip joint frame 1 to the thigh joints 4 and the waist joints 5 is ensured while positions of the thigh joints 4 and the waist joints 5 are reasonably arranged.
Further, a supporting frame 2 for supporting the simulated skin is fixed on the front side of the hip joint frame 1, and the middle part of the supporting frame 2 is free. The front side of the hip joint frame 1 is provided with the support frame 2, so that the support frame 2 can support the structure and the simulated skin of the front side of the hip of the robot, and the simulation of the hip joint is further improved. The support frame 2 is hollow structure, and other application parts are conveniently installed.
Further, as shown in fig. 3, a support plate 3 for increasing strength is fixed to the rear side of the hip frame 1. In the case that the front side and the middle of the hip joint frame 1 are left out, the strength of the hip joint is weakened, and in order to secure the overall strength of the hip joint, the support plate 3 is attached to the rear side of the hip joint frame 1, and the strength of the hip joint is increased without causing interference with other structures.
As shown in fig. 4, the thigh joint 4 is mounted in the thigh joint mounting position 11. The thigh joints 4 are used to control thigh movements.
The thigh joint 4 comprises a thigh torsion power device 41, a shell of the thigh torsion power device 41 is fixed in the thigh joint installation position 11, and a support fixing fork 42 is fixed at the output end of the thigh torsion power device 41; the thigh torsion power device 41 further comprises a cross ring 43, thigh swing speed reduction motors 44 are rotatably connected to two sides of the cross ring 43, a shell of each thigh swing speed reduction motor 44 is rotatably connected with the cross ring 43, a large gear 45 is fixed to the shell of each thigh swing speed reduction motor 44, a small gear 46 is rotatably connected to the cross ring 43, the large gear 45 is meshed with the small gear 46, and an output end of each thigh swing speed reduction motor 44 is connected with a thigh.
The thigh torsion power device 41 can drive the support fixed fork 42 to rotate by taking the vertical center of the thigh torsion power device 41 as a rotating shaft, and is used for simulating the torsion of the thigh. When the two thigh swing speed reducing motors 44 rotate in the same direction and at the same speed, the output ends of the two thigh swing speed reducing motors 44 synchronously rotate to simulate the front and rear thigh lifting action. When the two thigh swing speed reducing motors 44 rotate reversely and at the same speed, the two thigh swing speed reducing motors 44 rotate about the shaft of the pinion 46 for simulating the left and right thigh lifting actions. In other action states, the thigh performs the compound movement of the three directions of rotation.
Further, the large gear 45 and the small gear 46 are bevel gears, and at this time, the meshing positions of the large gear 45 and the small gear 46 are closer to the centers of the two thigh swing speed reducing motors 44, so that the arrangement of the two thigh swing speed reducing motors 44 is more compact, and space can be saved.
As shown in fig. 5, the lumbar joint mounting portion 12 mounts the lumbar joint 5. The lumbar joint 5 is used to control lumbar movements.
The waist joint 5 comprises two waist driving gear motors 51, a shell of each waist driving gear motor 51 is fixed in the waist joint installation position 12, an output end of each waist driving gear motor 51 is connected with a swinging component 52, a main shaft 53 is further rotationally connected to the rear side of the hip joint frame 1, a shaft sleeve 54 is fixedly connected to the main shaft 53, one end, far away from each waist driving gear motor 51, of each swinging component 52 is connected with the corresponding shaft sleeve 54, a swinging rod 55 is rotationally connected to the main shaft 53, and the other end of each swinging rod 55 is rotationally connected with the hip joint frame 1.
The two waist driving gear motors 51 drive the two swinging assemblies 52 to act, and the two swinging assemblies 52 drive the main shaft 53 of the waist to act. When the two waist driving gear motors 51 rotate in the same direction and at the same speed, the main shaft 53 rotates to simulate waist rotation. In other motion states, the waist is irregularly twisted.
The swinging assembly 52 includes a rocker 521, the rocker 521 is fixed to an output end of the waist driving gear motor 51, a connecting rod 522 is rotatably connected to the other end of the rocker 521, and the other end of the connecting rod 522 is rotatably connected to the shaft sleeve 54. The waist driving gear motor 51 drives the rocker 521 to rotate, and the rocker 521 drives the connecting rod 522 to act, so that the connecting rod 522 drives the main shaft 53 to act.
The connecting rod 522 is connected with the rocker 521 through a joint bearing, and the connecting rod 522 is connected with the shaft sleeve 54 through a joint bearing, so that movement interference during irregular movement of the main shaft 53 is avoided.
The main shaft 53 is connected with the hip joint frame 1 through a joint bearing. The spindle 53 can make conical rotation movement with the spherical center of the joint bearing at the lower end and the connecting line of the swing rod 55 and the axis of the hip joint skeleton, and can simulate various actions of the waist of a human body.
The utility model is not limited to the above-described alternative embodiments, and any person who may derive other various forms of products in the light of the present utility model, however, any changes in shape or structure thereof, all falling within the technical solutions defined in the scope of the claims of the present utility model, fall within the scope of protection of the present utility model.
Claims (10)
1. A hollow bionic hip joint, which is characterized in that: the hip joint frame comprises a hip joint frame (1), wherein the middle part and the front side of the hip joint frame (1) are free, thigh joint installation positions (11) are arranged on two sides of the hip joint frame (1), and waist joint installation positions (12) are arranged on the rear side of the hip joint frame (1).
2. A hollow biomimetic hip joint according to claim 1, wherein: the front side of the hip joint frame (1) is fixed with a support frame (2) for supporting simulated skin, and the middle part of the support frame (2) is free.
3. A hollow biomimetic hip joint according to claim 1, wherein: a supporting plate (3) for increasing strength is fixed on the rear side of the hip joint frame (1).
4. A hollow biomimetic hip joint according to claim 1, wherein: thigh joints (4) are arranged in the thigh joint installation positions (11).
5. A hollow biomimetic hip joint according to claim 4, wherein: the thigh joint (4) comprises a thigh torsion power device (41), a shell of the thigh torsion power device (41) is fixed in the thigh joint installation position (11), and a support fixed fork (42) is fixed at the output end of the thigh torsion power device (41); the thigh torsion power device (41) further comprises a cross ring (43), thigh swing speed reduction motors (44) are rotatably connected to two sides of the cross ring (43), a shell of each thigh swing speed reduction motor (44) is rotatably connected with the cross ring (43), a large gear (45) is fixed to the shell of each thigh swing speed reduction motor (44), a small gear (46) is rotatably connected to the cross ring (43), the large gear (45) is meshed with the small gear (46), and the output end of each thigh swing speed reduction motor (44) is connected with the thigh.
6. A hollow biomimetic hip joint according to claim 5, wherein: the large gear (45) and the small gear (46) are bevel gears.
7. A hollow biomimetic hip joint according to claim 1, wherein: the waist joint installation position (12) is provided with a waist joint (5).
8. A hollow biomimetic hip joint according to claim 7, wherein: the waist joint (5) comprises two waist driving gear motors (51), a shell of each waist driving gear motor (51) is fixed in a waist joint installation position (12), an output end of each waist driving gear motor (51) is connected with a swinging component (52), a main shaft (53) is further rotationally connected to the rear side of each hip joint frame (1), a shaft sleeve (54) is fixedly connected to the main shaft (53), one end, far away from each waist driving gear motor (51), of each swinging component (52) is connected with the corresponding shaft sleeve (54), a swinging rod (55) is rotationally connected to the main shaft (53), and the other end of each swinging rod (55) is rotationally connected with the corresponding hip joint frame (1).
9. A hollow biomimetic hip joint according to claim 8, wherein: the swing assembly (52) comprises a rocker (521), the rocker (521) is fixed with the output end of the waist driving gear motor (51), the other end of the rocker (521) is rotationally connected with a connecting rod (522), and the other end of the connecting rod (522) is rotationally connected with the shaft sleeve (54).
10. A hollow biomimetic hip joint according to claim 9, wherein: the main shaft (53) is connected with the hip joint frame (1) through a joint bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322565744.5U CN220922461U (en) | 2023-09-20 | 2023-09-20 | Hollow bionic hip joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322565744.5U CN220922461U (en) | 2023-09-20 | 2023-09-20 | Hollow bionic hip joint |
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| Publication Number | Publication Date |
|---|---|
| CN220922461U true CN220922461U (en) | 2024-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322565744.5U Active CN220922461U (en) | 2023-09-20 | 2023-09-20 | Hollow bionic hip joint |
Country Status (1)
| Country | Link |
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| CN (1) | CN220922461U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118559730A (en) * | 2024-08-01 | 2024-08-30 | 上海傅利叶智能科技有限公司 | Hip joint support, crotch assembly and humanoid robot |
| CN118559731A (en) * | 2024-08-01 | 2024-08-30 | 上海傅利叶智能科技有限公司 | Connecting piece, crotch component and humanoid robot |
-
2023
- 2023-09-20 CN CN202322565744.5U patent/CN220922461U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118559730A (en) * | 2024-08-01 | 2024-08-30 | 上海傅利叶智能科技有限公司 | Hip joint support, crotch assembly and humanoid robot |
| CN118559731A (en) * | 2024-08-01 | 2024-08-30 | 上海傅利叶智能科技有限公司 | Connecting piece, crotch component and humanoid robot |
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Address after: 621000 No. 10, south section of Huoju West Street, high tech Zone, Mianyang City, Sichuan Province Patentee after: Sichuan Tianlian Robotics Co.,Ltd. Country or region after: China Address before: No. 10, South Section of Huohuxi Street, High tech Zone, Mianyang City, Sichuan Province, 621050 Patentee before: SICHUAN FUDE ROBOT Co.,Ltd. Country or region before: China |