A vertically flexible telescopic knee joint that can be used as a robot leg

A technology of robot legs and knee joints, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that flexible robots cannot be applied, and achieve the effect of realizing vertical expansion and contraction characteristics

Active Publication Date: 2020-11-10
CHANGZHOU UNIV
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Problems solved by technology

[0002] With the development of robot technology, the design requirements for robot joints are getting higher and higher. The existing robot joint design has sufficient stiffness, that is, the joint will not deform; however, such a joint structure cannot be applied to the design of flexible robots. , therefore, it is of great significance to design a flexible and scalable robot joint

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  • A vertically flexible telescopic knee joint that can be used as a robot leg
  • A vertically flexible telescopic knee joint that can be used as a robot leg

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Embodiment Construction

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] see figure 1 and figure 2 As shown, a kind of vertically flexible telescopic knee joint of the present invention that can be used as robot leg comprises femur 1, tibia 16 of hollow barrel shape, tibial cap A2 and tibial cap that are respectively arranged on the upper and lower ends of tibia 16 B14, the femoral piston 17 which is installed inside the tibia 16 and can slide freely, is respectively installed on the tibial cover A2 and the tibial cover B14, and is located on the lower guide post 7 and the upper guide post 8 inside the tibia 16; it is characterized in that: The initial position of the femoral piston 17 is located in the middle of the tibia 16, and the tibia 16 is divided into two parts: the upper tibial cavity 11 and the lower tibial cavity 12; The forward tapered gap 9 and the reverse tapered gap 10; the two tap...

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Abstract

The invention discloses a vertical flexible telescopic knee joint used as a robot leg, and belongs to the technical field of robot joints. The knee joint comprises a femur, a tibia, a tibial cover A,a tibial cover B, a femoral piston installed in the tibia and can freely slide, an upper guide column installed on the tibial cover A, and a lower guide column installed on the tibial cover B; the femoral piston is provided with a forward conical gap and a reverse conical gap with the same structure and the same size, and are in opposite symmetry relative to a center line of the femur; one end ofa compression spring is connected with the tibial cover A, and the other end of the compression spring is provided with a compression spring cover capable of freely sliding along the lower guide column; and one end of a free spring is connected with the tibial cover B, and the other end of the free spring is provided with a free spring cover. The vertical telescopic joint has the advantages of being stable in initial length and capable of freely stretching and deforming.

Description

technical field [0001] The invention relates to the technical field of robot joints, in particular to a vertically flexible telescopic knee joint that can be used as a robot leg. Background technique [0002] With the development of robot technology, the design requirements for robot joints are getting higher and higher. The existing robot joint design has sufficient stiffness, that is, the joint will not deform; however, such a joint structure cannot be applied to the design of flexible robots. , therefore, it is of great significance to design a flexible and scalable robot joint. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical problems existing in the prior art, the present invention provides a vertical telescopic joint that can be used as a robot leg with a stable initial length and free telescopic deformation. [0004] In order to solve the above problems, the solution proposed by the present i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J17/02
CPCB25J9/00B25J17/02
Inventor 班书昊李晓艳蒋学东
Owner CHANGZHOU UNIV
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