Knee joint structure of bionic robot

Abstract

The utility model discloses a knee joint structure of a bionic robot, which comprises a first bracket, a connecting piece and a knee joint rotating shaft, and is characterized in that a bearing outer ring is fixedly connected onto the first bracket, a bearing inner ring is fixedly connected with the knee joint rotating shaft through a second screw rod, and a second bracket is fixedly connected onto the knee joint rotating shaft through a bolt; a connecting piece is connected to the knee joint rotating shaft in a sliding manner and is fastened on the knee joint rotating shaft through a first screw rod; the knee joint angle adjusting device has the advantages that the connecting piece, the support, the connecting rod and the knee joint rotating shaft are independently installed and convenient to disassemble, when a certain part goes wrong, the part can be independently replaced, the use cost is reduced, and part replacement caused by angle replacement can be achieved with low cost in the debugging process.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic robots, in particular to a knee joint configuration of a bionic robot. Background Technique

[0002] Compared with wheeled robots, legged robots can move and operate flexibly on complex terrains, such as mountains, depressions, fields and other terrains, helping humans work in the fields of agriculture, forestry, military and so on. However, its performance on flat ground is inferior to that of wheeled quadruped robots. Not only does it consume more energy than wheeled quadruped robots, but its speed is also much lower than that of wheeled quadruped robots. There are also some robots that combine legged robots and wheeled robots. Wheeled-legged composite robots have the advantages of both legged robots and wheeled robots. Such bionic robots are all provided with bionic hip joint and knee joint connection structures. During the use of bionic robots, problems are likely to occur in the knee joint structure due to long-term weight bearing and wear. The existing knee joint structure is not easy to replace. Some are integrally formed with the bottom calf bracket, which is troublesome to replace and repair and has a high cost. At the same time, before the bionic robot is put into production, it is necessary to adjust and test the angle of the support arm, and it is necessary to repeatedly replace the connecting parts with different opening and closing angles. The existing connection method has a high replacement cost and there are problems. Content of the Utility Model

[0003] In view of the defects in the prior art, the utility model provides a knee joint configuration of a bionic robot to solve the existing problems.

[0004] The utility model is realized by the following technical solutions: A knee joint configuration of a bionic robot, including a first bracket, a connecting piece and a knee joint rotating shaft, characterized in that: an outer ring of a bearing is fixedly connected to the first bracket, an inner ring of the bearing is fixedly connected to the knee joint rotating shaft through a second screw, a second bracket is fixedly connected to the knee joint rotating shaft through a bolt, the connecting piece is slidably connected to the knee joint rotating shaft, and the connecting piece is fastened to the knee joint rotating shaft through a first screw.

[0005] Preferably, a limiting cylinder is sleeved on the first screw to limit the connecting piece.

[0006] Preferably, the middle of the knee joint rotating shaft is of a cuboid structure and both sides are of a cylinder structure, and through holes are opened on the knee joint rotating shaft.

[0007] Preferably, a connecting rod is hinged to the connecting piece.

[0008] The beneficial effects of the utility model are reflected in that: the connecting piece, the bracket, the connecting rod and the knee joint rotating shaft are independently installed and disassembled conveniently. When a certain part has a problem, it can be replaced alone, which reduces the use cost, and the replacement of parts caused by angle replacement can be realized at low cost during the debugging process. Description of the Drawings

[0009] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally denoted by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0010] Figure 1 Schematic diagram of the overall structure of the present invention;

[0011] Figure 2 Schematic diagram of the connection structure of the present invention;

[0012] Figure 3 Exploded view schematic diagram of the present invention.

[0013] In the drawings, 1. connecting rod, 2. first screw, 3. connecting piece, 4. knee joint rotating shaft, 5. first bracket, 6. bearing, 7. second bracket, 8. second screw, 9. limiting cylinder. Specific embodiments

[0014] To make the above objects, features and advantages of the present invention more obvious and understandable, the following will give a detailed description of the specific embodiments of the present invention with reference to the drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0015] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0016] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right", etc. can be used here to describe the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations during the use or operation of the device. For example, if the device in the figure is inverted, the element described as being "below" other elements or features will be positioned "above" the other elements or features. Therefore, the exemplary term "lower" can include both the upper and lower orientations.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this utility model belongs. The terms used in the description of this utility model herein are only for the purpose of describing specific embodiments and are not intended to limit this utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0018] To make the above objects, features, and advantages of this utility model more apparent and understandable, the following detailed description of the specific implementation of this utility model is provided in conjunction with specific embodiments: As Figures 1 - 3 shown, this utility model is implemented through the following technical solutions: A knee joint configuration of a bionic robot, including a first bracket 5, a connecting member 3, and a knee joint rotating shaft 4, characterized in that: The outer ring of a bearing 6 is fixedly connected to the first bracket 5, the inner ring of the bearing 6 is fixedly connected to the knee joint rotating shaft 4 through a second screw 8, the second bracket 7 is fixedly connected to the knee joint rotating shaft 4 through a bolt, the connecting member 3 is slidably connected to the knee joint rotating shaft 4, and the connecting member 3 is fastened to the knee joint rotating shaft 4 through a first screw 2.

[0019] A limiting cylinder 9 is sleeved on the first screw 2 to limit the connecting member 3.

[0020] The middle of the knee joint rotating shaft 4 has a cuboid structure with cylinders on both sides, and through holes are provided on the knee joint rotating shaft 4.

[0021] A connecting rod 1 is hinged to the connecting member 3.

[0022] The connecting member 3 is fastened to the knee joint rotating shaft 4 through the first screw 2. By unscrewing the first screw 2, the connecting member 3 can be withdrawn. Similarly, by unscrewing the bolt, the second bracket 7 can be withdrawn. The installation and disassembly of each accessory are independent and convenient for replacement.

[0023] Finally, it should be noted that: The above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it; Although this utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: They can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; And these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered by the scope of the claims and the description of this utility model.

Claims

1. A knee joint configuration of a bionic robot, comprising a first bracket (5), a connecting member (3) and a knee joint rotating shaft (4), characterized in that: The outer ring of a bearing (6) is fixedly connected to the first bracket (5), and the inner ring of the bearing (6) is fixedly connected to a knee joint rotating shaft (4) through a second screw rod (8). A second bracket (7) is fixedly connected to the knee joint rotating shaft (4) by bolts. A connecting member (3) is slidably connected to the knee joint rotating shaft (4), and the connecting member (3) is fastened to the knee joint rotating shaft (4) through a first screw rod (2).

2. The knee joint configuration of a bionic robot according to claim 1, characterized in that: A limiting cylinder (9) is sleeved on the first screw rod (2) to limit the connecting member (3).

3. The knee joint configuration of a bionic robot according to claim 1, characterized in that: The middle of the knee joint rotating shaft (4) has a cuboid structure with cylinders on both sides, and through holes are provided on the knee joint rotating shaft (4).

4. The knee joint configuration of a bionic robot according to claim 1, characterized in that: A connecting rod (1) is hinged to the connecting member (3).

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