Knee joint structure and robot

Abstract

The utility model discloses a knee joint structure and a robot, and belongs to the technical field of humanoid robots, the knee joint structure comprises a driver, a driven part and a middleware, one end of the middleware is connected with the driver, the other end of the middleware is connected with the driven part, the driver drives the middleware, and the driven part is connected with the driver. The middle part drives the driven part; the driver simulates a thigh, the telescopic part of the driver simulates the lower end of a thigh and is used for providing driving force for a knee joint, the driven part simulates the upper end of a tibia, the middle part simulates a ligament, the driver drives the middle part firstly, and then the middle part drives the driven part to move, so that the driven part moves under the assistance of the middle part; relative sliding of the thighbone and the tibia and bending movement of the knee joint are simulated; compared with an existing knee joint structure doing circular motion, the position of the actuator is raised, the middle piece and the driven piece are light in weight, the rotational inertia of the knee joint is reduced, and even load bearing is further achieved.

Description

Technical Field

[0001] This utility model belongs to the field of humanoid robot technology, and in particular relates to a knee joint structure and robot. Background Technology

[0002] Currently, most humanoid robots' knee joint structures are directly driven by geared motors or transmit power to the knee joint through synchronous belts, linkages, chains, etc., so that the lower leg can make circular motion around the knee joint. The characteristics of these structures are simple structure, and the advantages are that they simplify the transmission system and reduce the number of parts and the complexity of the system.

[0003] However, the human knee joint does not simply involve the lower leg moving in a circular motion around the joint; rather, the femur and tibia slide relative to each other, and the center of the trajectory is not fixed. Therefore, the knee joint structure of existing humanoid robots that perform circular movements causes uneven loads during task execution, leading to severe wear of mechanical structures, actuator overload, increased energy consumption, and decreased overall stability. Utility Model Content

[0004] To address the problem of uneven load distribution caused by existing knee joint structures that perform circular motions, this invention provides a knee joint structure and robot that can simulate the relative sliding of the femur and tibia, perform bending motions, and bear a uniform load.

[0005] The technical solution of this utility model is as follows:

[0006] This utility model provides a knee joint structure, including a driver, a driven component, and an intermediate component. One end of the intermediate component is connected to the driver, and the other end of the intermediate component is connected to the driven component. The driver drives the intermediate component, and the intermediate component drives the driven component.

[0007] Furthermore, the intermediate component includes a main connecting rod, a side connecting rod, and a limiting block. One end of the main connecting rod is fixedly connected to the driver, and the other end of the main connecting rod is fixedly connected to the driven component. One end of the limiting block is fixedly connected to the position between the two ends of the main connecting rod, and the other end of the limiting block is fixedly connected to one end of the side connecting rod. The other end of the side connecting rod is fixedly connected to the driven component.

[0008] Furthermore, the main connecting rod and the side connecting rod are arranged in a cross configuration.

[0009] Furthermore, the driven component has a front mounting position and a rear mounting position, one end of the main connecting rod is located on the rear mounting position, and one end of the side connecting rod is located in the front mounting position.

[0010] Furthermore, a protrusion is provided between the two ends of the main connecting rod, and a locking hole is provided at one end of the limiting block, the locking hole being installed on the protrusion.

[0011] Furthermore, the limiting block is in the shape of a triangular block.

[0012] Furthermore, the other end of the limiting block is provided with a connecting hole, and the other end of the side connecting rod is fixedly connected to the connecting hole.

[0013] Furthermore, it also includes a fixing block, in which the driver is fixedly disposed.

[0014] Furthermore, it also includes several connectors, the fixing block is provided with several through holes, the limiting block is provided with several mounting holes, the through holes are aligned with the mounting holes, and the connectors pass through the through holes and the mounting holes.

[0015] This invention also provides a robot, including the aforementioned knee joint structure.

[0016] The beneficial effects of this utility model are as follows:

[0017] (1) The actuator simulates the thigh, the extension part of the actuator simulates the lower end of the femur, which is used to provide driving force to the knee joint. The driven part simulates the upper end of the tibia, and the intermediate part simulates the ligament. The actuator first drives the intermediate part, and the intermediate part then drives the driven part to move. Thus, with the assistance of the intermediate part, the relative sliding of the femur and tibia is simulated, and the knee joint performs bending movements.

[0018] (2) Compared with the existing knee joint structure that makes circular motion, the position of the actuator is raised, the intermediate and driven parts are lighter, the rotational inertia of the knee joint is reduced, and the load is further evenly distributed. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0020] Figure 2 This is an exploded structural diagram of Embodiment 2 of the present invention;

[0021] Figure 3 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention. Figure 1 ;

[0022] Figure 4 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention. Figure 2 ;

[0023] Figure 5 This is a schematic diagram of the bending change structure of Embodiment 2 of this utility model;

[0024] Reference numerals: 1. Driver, 2. Driven component, 21. Front mounting position, 22. Rear mounting position, 3. Intermediate component, 31. Main connecting rod, 311. Protrusion, 32. Side connecting rod, 33. Limiting block, 331. Locking hole, 332. Connecting hole, 333. Mounting hole, 4. Fixing block, 41. Through hole, 5. Connector. Detailed Implementation

[0025] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0026] It should be understood that in the description of this utility model, "at least two" means two or more, unless otherwise explicitly specified.

[0027] Furthermore, the terms "both sides," "middle," "upper," "both ends," "parallel to each other," "perpendicular to each other," "inner," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] It should be noted that the terms "first," "second," "third," "fourth," and "fifth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified with "first," "second," "third," "fourth," "fifth," etc., may explicitly or implicitly include one or more of that feature.

[0029] Example 1

[0030] Please refer to Figure 1 This utility model provides a knee joint structure, including a driver 1, a driven component and an intermediate component 3. One end of the intermediate component 3 is connected to the driver 1, and the other end of the intermediate component 3 is connected to the driven component. The driver 1 drives the intermediate component 3, and the intermediate component 3 drives the driven component.

[0031] Specifically, the intermediate component 3 is the main connecting rod 31;

[0032] The driver 1 uses a motor and a telescopic rod, with the motor driving the telescopic rod to extend and retract;

[0033] The motor simulates the thigh, the telescopic rod simulates the lower end of the femur, the driven component simulates the upper end of the tibia, the driven component can connect to the part simulating the lower leg, and the main connecting rod 31 simulates the anterior ligament. Through the telescopic movement of the actuator 1, the main connecting rod 31 drives the driven component to bend or return to its original position. With the anterior ligament driving, the relative sliding of the femur and tibia is simulated, and the bending movement of the knee joint is realized.

[0034] In addition, the existing structure of the knee joint that performs circular motion is based on the principle that its actuator 1 is directly installed at the joint. It can be understood that the robot includes both the thigh and the knee joint. The knee joint bears the weight of both the thigh and the actuator 1. In this embodiment, the actuator 1 is directly used as the thigh, and there is no need to add an additional actuator 1. That is, the knee joint only has two components: the driven part and the intermediate part 3. The position of the actuator 1 is improved, and the driven part and the intermediate part 3 are lighter, thereby reducing the rotational inertia of the knee joint.

[0035] In summary, the robot using this knee joint experiences a uniform load during task execution, preventing issues such as severe wear of the mechanical structure, overload of actuator 1, increased energy consumption, and decreased overall stability.

[0036] Specifically, the driven component is provided with a front mounting position 21 and a rear mounting position 22, one end of the main connecting rod 31 is located on the rear mounting position 22, and the other end of the main connecting rod 31 is fixedly connected to the telescopic rod.

[0037] When the motor drives the telescopic rod to extend, the telescopic rod drives the main connecting rod 31 to press down, and the main connecting rod 31 then drives the driven component, which is lifted up, thus achieving knee flexion; when the motor drives the telescopic rod to return to its original position, the telescopic rod drives the main connecting rod 31 to reset, and the main connecting rod 31 then drives the driven component to reset, thus achieving knee joint restoration.

[0038] Example 2

[0039] Please refer to Figure 2 and Figure 5 This utility model provides a knee joint structure, including a driver 1, a driven component and an intermediate component 3. One end of the intermediate component 3 is connected to the driver 1, and the other end of the intermediate component 3 is connected to the driven component. The driver 1 drives the intermediate component 3, and the intermediate component 3 drives the driven component.

[0040] Specifically, the intermediate component 3 includes a main connecting rod 31, a side connecting rod 32, and a limiting block 33. One end of the main connecting rod 31 is fixedly connected to the driver 1, and the other end of the main connecting rod 31 is fixedly connected to the driven component. One end of the limiting block 33 is fixedly connected to the position between the two ends of the main connecting rod 31, and the other end of the limiting block 33 is fixedly connected to one end of the side connecting rod 32. The other end of the side connecting rod 32 is fixedly connected to the driven component.

[0041] The driver 1 uses a motor and a telescopic rod, with the motor driving the telescopic rod to extend and retract.

[0042] The motor simulates the thigh, the telescopic rod simulates the lower end of the femur, the driven component simulates the upper end of the tibia, the driven component can connect to the simulated lower leg, the main connecting rod 31 simulates the anterior ligament, the side connecting rod 32 simulates the posterior ligament, and the limiting block 33 is the mounting connection block for the side connecting rod 32; through the telescopic movement of the driver 1, the main connecting rod 31 drives the driven component to bend or return to its original position, and the side connecting rod 32 prevents the driven component from sliding backward and provides stability to the knee joint, thereby simulating the relative sliding of the femur and tibia and the bending movement of the knee joint.

[0043] Reference Figure 3 The main connecting rod 31 and the side connecting rod 32 are arranged in a cross manner to mimic more natural biomechanics and achieve a transmission method that is more similar to that of the human knee joint.

[0044] Compared with Embodiment 1, Embodiment 2 is provided with a side link 32 and a limiting block 33, which limits the range of motion of the main link 31, eliminating the need for excessive bending and further maintaining the stability of the knee joint.

[0045] In addition, the existing structure of the knee joint that performs circular motion is based on the principle that its actuator 1 is directly installed at the joint. It can be understood that the robot includes both the thigh and the knee joint. The knee joint bears the weight of both the thigh and the actuator 1. In this embodiment, the actuator 1 is directly used as the thigh, and there is no need to add an additional actuator 1. That is, the knee joint only has two components: the driven part and the intermediate part 3. The position of the actuator 1 is improved, and the driven part and the intermediate part 3 are lighter, thereby reducing the rotational inertia of the knee joint.

[0046] In summary, the robot using this knee joint experiences a uniform load during task execution, preventing issues such as severe wear of the mechanical structure, overload of actuator 1, increased energy consumption, and decreased overall stability.

[0047] The driven component has a front mounting position 21 and a rear mounting position 22. One end of the main connecting rod 31 is located on the rear mounting position 22, and the other end of the main connecting rod 31 is fixedly connected to the telescopic rod. One end of the side connecting rod 32 is located in the front mounting position 21.

[0048] The main connecting rod 31 has a protrusion 311 between its two ends, and the limiting block 33 has a locking hole 331 at one end, which is installed on the protrusion 311.

[0049] Preferably, the position between the two ends of the main connecting rod 31 can be a circular hole, the protrusion 311 is replaced by a connecting shaft, and the locking hole 331 is provided on the connecting shaft.

[0050] It also includes a fixing block 4, which is used to define the position of the driver 1. When installed on the robot, the fixing block 4 serves as the thigh shell, and the driver 1 is fixedly installed inside the fixing block 4.

[0051] The other end of the limiting block 33 is provided with a connecting hole 332, and the other end of the side connecting rod 32 is fixedly connected to the connecting hole 332.

[0052] It also includes several connectors 5, which are screws. The fixing block 4 is provided with several through holes 41, as shown in the figure. Figure 2 The fixing block 4 has four through holes 41 on one side, and the limiting block 33 has several mounting holes 333 on one side. The through holes 41 are aligned with the mounting holes 333. The connecting piece 5 passes through the through holes 41 and the mounting holes 333, thereby realizing the connection between the fixing block 4 and the limiting block 33.

[0053] The limiting block 33 is triangular in shape, and the three corners of the triangular block are respectively provided with mounting holes 333, locking holes 331 and connecting holes 332.

[0054] In addition, this utility model also provides a robot, including the above-mentioned knee joint structure.

[0055] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A knee joint structure, characterized in that, The device includes a driver (1), a driven component (2), and an intermediate component (3). One end of the intermediate component (3) is connected to the driver (1), and the other end of the intermediate component (3) is connected to the driven component (2). The driver (1) drives the intermediate component (3), and the intermediate component (3) drives the driven component (2). The intermediate component (3) includes a main connecting rod (31), a side connecting rod (32), and a limiting block (33). One end of the main connecting rod (31) is fixedly connected to the driver (1), and the other end of the main connecting rod (31) is fixed to the driver (1). The driven component (2) is connected. One end of the limiting block (33) is fixedly connected to the position between the two ends of the main connecting rod (31). The other end of the limiting block (33) is fixedly connected to one end of the side connecting rod (32). The other end of the side connecting rod (32) is fixedly connected to the driven component (2). The driven component (2) is provided with a front mounting position (21) and a rear mounting position (22). One end of the main connecting rod (31) is located on the rear mounting position (22), and one end of the side connecting rod (32) is located in the front mounting position (21).

2. The knee joint structure according to claim 1, characterized in that, The main connecting rod (31) and the side connecting rod (32) are arranged crosswise.

3. The knee joint structure according to claim 2, characterized in that, The main connecting rod (31) has a protrusion (311) between its two ends, and the limiting block (33) has a locking hole (331) at one end, which is installed on the protrusion (311).

4. The knee joint structure according to claim 3, characterized in that, The limiting block (33) is triangular in shape.

5. The knee joint structure according to claim 4, characterized in that, The other end of the limiting block (33) is provided with a connecting hole (332), and the other end of the side connecting rod (32) is fixedly connected to the connecting hole (332).

6. The knee joint structure according to claim 5, characterized in that, It also includes a fixing block (4), in which the driver (1) is fixedly disposed.

7. The knee joint structure according to claim 6, characterized in that, It also includes several connectors (5), the fixing block (4) is provided with several through holes (41), the limiting block (33) is provided with several mounting holes (333), the through holes (41) are aligned with the mounting holes (333), and the connectors (5) pass through the through holes (41) and the mounting holes (333).

8. A robot, characterized in that, Includes the knee joint structure as described in any one of claims 1-7.

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