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A dual-degree-of-freedom flexible knee joint for humanoid robots

A technology of humanoid robot and degree of freedom, applied in the field of humanoid robot, can solve problems such as being vulnerable to external impact, high stiffness of knee joint, lack of flexibility, etc., to increase motion stability, eliminate rigid connection, and increase telescopic flexibility Effect

Active Publication Date: 2020-09-08
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art robots, the knee joint is mostly composed of a hinge with a fixed rotation center, that is, the knee joint is too rigid, lacks flexibility, and is easily damaged by external impacts

Method used

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  • A dual-degree-of-freedom flexible knee joint for humanoid robots

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Embodiment Construction

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] see figure 1 As shown, a special dual-degree-of-freedom flexible knee joint for a humanoid robot of the present invention includes a femoral half-joint composed of a joint shell A10, a flexible pad A11 and a uniform force plate A12, and a joint shell B20, a flexible pad B21 and a uniform joint The tibiofibular half-joint composed of the force plate B22 cross-connects the anterior cruciate ligament 41 and the posterior cruciate ligament 42 of the joint shell A10 and the joint shell B20, and connects the fibula spring 51 of the mechanical femur 6 and the mechanical fibula 7 at both ends. The tibial spring 52 connecting the mechanical femur 6 and the mechanical tibia 8 is installed in the flexible sealing ring 30 between the joint shell A10 and the joint shell B20; the joint shell A10 and the joint shell B20 have the same structur...

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Abstract

The invention discloses a special double-degree-of-freedom flexible knee joint for a humanoid robot. The special double-degree-of-freedom flexible knee joint for the humanoid robot belongs to the field of humanoid robots, and is formed by a thighbone hemi-joint formed by a joint shell A, a flexible pad A and a back plate A, a tibiofibular hemi-joint formed by a joint shell B, a flexible pad B anda back plate B, an anterior cruciate ligament and a posterior cruciate ligament connected with the joint shell A and the joint shell B in an intercrossing way, a fibula spring with two ends being connected with a mechanical thighbone and a mechanical fibula, a tibia spring with two ends being connected with the mechanical thighbone and a mechanical tibia, and a flexible seal ring arranged betweenthe joint shell A and the joint shell B. The joint shell A and the joint shell B have the completely same structure and are symmetrically arranged; a spherical groove is formed in a part on which themiddle parts of the joint shell A and the joint shell B are close to each other; and a joint ball and a joint fluid are arranged in the spherical groove. The invention relates to the flexible knee joint which has no fixed hinge connection, has bending and twisting degrees of freedom, and is capable of producing tiny joint deformity.

Description

technical field [0001] The invention belongs to the field of humanoid robots, in particular to a flexible knee joint with two degrees of freedom specially used for humanoid robots. Background technique [0002] In the design of the robot, the design of the knee joint is particularly important, because the knee joint not only needs to realize the relative movement between the thigh and the lower leg, but also has a certain degree of flexibility, which can absorb the impact energy at the knee joint. In the prior art robots, the knee joint is mostly composed of a hinge with a fixed center of rotation, that is, the knee joint is too rigid and lacks flexibility, and is easily damaged by external impact. Therefore, designing a flexible knee joint based on the structural model of the human knee joint has certain application value. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical problems existing in the pr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/0258
Inventor 班书昊李晓艳蒋学东
Owner CHANGZHOU UNIV
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