A humanoid knee joint with adjustable flexibility

A knee joint and flexible technology, applied in the field of humanoid robots, can solve problems such as lack of flexibility and inability to buffer knee joint impact, and achieve the effect of buffering impact

Active Publication Date: 2017-03-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention solves the problem that most of the knee joints of the existing traditional humanoid robots are hinged single-axis joints, the rotation center is fixed, and motor accelerators and decelerators are mostly used as the driving device, which lacks flexibility and cannot buffer the impact of the outside world on the knee joint during movement. , and then provide a humanoid knee joint with adjustable flexibility

Method used

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  • A humanoid knee joint with adjustable flexibility
  • A humanoid knee joint with adjustable flexibility
  • A humanoid knee joint with adjustable flexibility

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specific Embodiment approach 1

[0011] Specific implementation mode one: combine figure 1 Explain, a humanoid knee joint with adjustable flexibility in this embodiment includes a driving mechanism and a transmission mechanism; the driving mechanism includes a transmission wheel 1, a metal rope 2, a first rotating shaft 3 and two pneumatic artificial muscles 4; The mechanism includes a sun gear 5, a planetary gear 6, a tie rod 7 and a second rotating shaft 8;

[0012] The two pneumatic artificial muscles 4 are set in an antagonistic arrangement, and the upper ends of the two pneumatic artificial muscles 4 are connected to the thigh 9;

[0013] A central gear 5 is fixedly installed on the thigh 9, and the first rotating shaft 3 is mounted on a central gear 5 through bearing rotation;

[0014] A planetary gear 6 is fixed on the shank 11, the second rotating shaft 8 is mounted on a planetary gear 6 through bearing rotation, a central gear 5 meshes with a planetary gear 6, and the first rotating shaft 3 is conne...

specific Embodiment approach 2

[0016] Specific implementation mode two: combination figure 1 Note that the metal rope 2 of this embodiment is a steel wire rope. With such setting, the structure is strong and the operation is stable and reliable. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0017] Specific implementation mode three: combination figure 1 Explain that a humanoid knee joint with adjustable flexibility described in this embodiment also includes another sun gear 25 and another planetary gear 16; 25 is fixed on the thigh 9, one planetary gear 6 and the other planetary gear 16 are arranged facing each other, the other planetary gear 16 is fixed on the lower leg 11, and the first rotating shaft 3 is installed on the other sun gear 25 through bearing rotation, The second rotating shaft 8 is rotatably mounted on another planetary gear 16 through a bearing, and another sun gear 25 meshes with another planetary gear 16 . Such setting can reduce the clearance fit between the sun gear and the planetary gear, maintain balance, and ensure the stable and reliable operation of the knee joint. Others are the same as in the first or second embodiment.

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Abstract

The invention relates to a flexible humanoid knee joint, in particular to a flexibility-adjustable humanoid knee joint. The problems that most knee joints of existing traditional humanoid robots are articulated single-shaft joints, the rotating centers are fixed, motors and reducers are mostly adopted as driving devices, flexibility lacks, and impact of the outside on the knee joints cannot be buffered in the moving process can be solved. The flexibility-adjustable humanoid knee joint comprises a driving mechanism and a transmission mechanism. The driving mechanism comprises a transmission wheel, a metal rope, a first rotating shaft and two pneumatic artificial muscles. The transmission mechanism comprises a central gear, a planetary gear, a tie bar and a second rotating shaft. The upper ends of the two pneumatic artificial muscles are connected with a thigh; the central gear is fixedly mounted on the thigh, the planetary gear is fixedly mounted on a shank, and the central gear and the planetary gear are engaged; the first rotating shaft is connected with the second rotating shaft through the tie bar; the transmission wheel is fixedly mounted on the first rotating shaft, and the metal rope is wound on the transmission wheel. The flexibility-adjustable humanoid knee joint is applied to a humanoid robot.

Description

technical field [0001] The invention relates to a flexible humanoid knee joint, belonging to the field of humanoid robots. Background technique [0002] Humanoid robot is one of the research hotspots in the field of robotics. The joint structure and driving mechanism of the human body have important reference value for the research of humanoid robot. The human knee joint is composed of femur, tibia, anterior cruciate ligament, posterior cruciate ligament, etc. The joint movement is realized through the contraction and relaxation of muscle tissue. When the knee joint rotates, its instantaneous center of rotation moves along with it, and the trajectory is close to the J-shaped curve; in addition, the flexibility of the muscle tissue helps to buffer the external impact on the knee joint and the human body during exercise, and protect the human body from injury. However, in traditional humanoid robots, the knee joints are mostly articulated single-axis joints with a fixed cente...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 臧希喆刘义祥刘鑫宇赵杰
Owner HARBIN INST OF TECH
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