Gravity balance structure for knee joint of robot

Abstract

The utility model relates to a robot knee joint gravity balance structure which comprises a thigh rod, a shank rod and a knee joint hinge connecting the thigh rod and the shank rod, a hydraulic cylinder is arranged between the shank rod and the thigh rod, a cylinder body of the hydraulic cylinder is hinged to the shank rod, and a piston rod of the hydraulic cylinder is hinged to the thigh rod. A pressure hydraulic tank is arranged on the thigh rod or the shank rod and communicated with the hydraulic cylinder through a soft oil pipe. The auxiliary device is simple in structure and can assist the knee joints of the robot in balancing the weight of the body.

Description

Technical Field

[0001] The utility model relates to a robot knee joint gravity balance structure. Background Art

[0002] In contemporary industry, a robot refers to an artificial machine device that can automatically perform tasks to replace or assist human work. It is usually an electromechanical device controlled by a computer program or electronic circuit.

[0003] Industrial robots are often used to implement processes that are complex, polluting, and difficult for humans to operate. They can also be understood as the entire process of mechanical automation. The research and development of modern robots has entered the high-tech era. Robots are fully electronically controlled or programmable by microcomputers, and can imitate some of the behaviors of humans or organisms. Robots can completely replace a certain job in human society to a certain extent. For example: industrial automation, military industry, aerospace, exploration, scientific research, and civilian use.

[0004] For a humanoid walking robot, the knee joint is one of the important joints of the lower limbs. It not only supports the movement of the limbs, but also needs to bear the weight of the entire torso. Utility Model Content

[0005] The utility model solves the problem of providing a robot knee joint gravity balancing structure, which is not only simple in structure but also can assist the robot knee joint in balancing the weight of the body.

[0006] The technical solution provided by the utility model is: a mechanical knee joint gravity balance structure, comprising a thigh rod, a shank rod and a knee joint hinge connecting the thigh rod and the shank rod, a hydraulic cylinder is arranged between the shank rod and the thigh rod, a cylinder body of the hydraulic cylinder is hingedly connected to the shank rod, a piston rod of the hydraulic cylinder is hingedly connected to the thigh rod, a pressure hydraulic tank is arranged on the thigh rod or the shank rod, and the pressure hydraulic tank is connected to the hydraulic cylinder through a soft oil pipe. The pressure tank provides pressure to the hydraulic cylinder.

[0007] The hinge point of the knee joint hinge and the hinge point where the piston rod is hinged to the thigh rod are arranged on the thigh rod in a front-to-back sequence.

[0008] The utility model has a simple structure and can assist the robot's knee joint to balance the weight of the body. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a structural schematic diagram of the utility model.

[0010] Figure 2 It is a schematic diagram of the thigh rod of the utility model when it is bent. DETAILED DESCRIPTION

[0011] See also Figure 1 and Figure 2 The utility model includes a thigh rod 5, a shank rod 6 and a knee joint hinge 1 connecting the thigh rod 5 and the shank rod 6, a hydraulic cylinder 3 is provided between the shank rod 6 and the thigh rod 5, a cylinder body of the hydraulic cylinder 3 is hingedly connected to the shank rod 6, a piston rod of the hydraulic cylinder 6 is hingedly connected to the thigh rod 5, a pressure hydraulic tank 2 is provided on the thigh rod 5, and the pressure hydraulic tank 2 is connected to the hydraulic cylinder 3 through a soft oil pipe 4.

[0012] The axis 7 of the knee joint hinge 1 and the hinge point 8 where the piston rod is hinged to the thigh rod 5 are arranged on the thigh rod 5 in a front-to-back sequence.

[0013] The connecting line of the hinge point 9 where the cylinder body is hinged to the calf rod 6 and the hinge point 8 where the piston rod is hinged to the thigh rod 5 is parallel to the calf rod 6 .

[0014] The calf rod 6 is provided with a hydraulic cylinder 3 clearance opening 10, which is located above the hinge point 9 where the cylinder body and the calf rod are hinged. So that the hydraulic cylinder 6 can be hidden in the calf rod.

[0015] The hydraulic cylinder clearance opening 10 is formed from shallow to deep from the top of the calf rod downwards, so as to facilitate the free extension and flexion of the piston rod of the hydraulic cylinder 3 when the thigh rod 5 is bent.

[0016] The thigh bar 5 is provided with a pressure hydraulic tank clearance port 11, and the pressure hydraulic tank 2 is embedded in the pressure hydraulic tank clearance port 11. So that the pressure hydraulic tank 2 is hidden in the thigh bar.

[0017] The utility model adopts the above structure. When the thigh is bent, the thigh drives the piston rod to move into the hydraulic cylinder. The hydraulic tank gas is compressed by oil pressure, and the hydraulic tank liquid counter-presses the piston rod to support the weight of the trunk and provide a balancing force for the robot knee joint. When the thigh is straightened, the thigh drives the piston rod to move out of the hydraulic cylinder. The internal pressure of the hydraulic tank liquid assists the movement of the piston rod and assists the robot knee joint to support the weight of the trunk.

Claims

1. A robot knee joint gravity balance structure, comprising a thigh rod, a shank rod and a knee joint hinge connecting the thigh rod and the shank rod, characterized in that: A hydraulic cylinder is provided between the calf rod and the thigh rod, the cylinder body of the hydraulic cylinder is hingedly connected to the calf rod, the piston rod of the hydraulic cylinder is hingedly connected to the thigh rod, a pressure hydraulic tank is provided on the thigh rod or the calf rod, and the pressure hydraulic tank is connected to the hydraulic cylinder through a soft oil pipe.

2. The robot knee joint gravity balancing structure according to claim 1, characterized in that: The hinge point of the knee joint hinge and the hinge point where the piston rod is hinged to the thigh rod are arranged in a front-to-back sequence on the thigh rod.

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