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CN202200304U - 一种封闭润滑的仿生关节装置 - Google Patents

一种封闭润滑的仿生关节装置 Download PDF

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CN202200304U
CN202200304U CN2011201563710U CN201120156371U CN202200304U CN 202200304 U CN202200304 U CN 202200304U CN 2011201563710 U CN2011201563710 U CN 2011201563710U CN 201120156371 U CN201120156371 U CN 201120156371U CN 202200304 U CN202200304 U CN 202200304U
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joint
elasticity
prone
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赵德政
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Abstract

一种封闭润滑的仿生关节装置，由主体仿生骨骼(1)、从动仿生骨骼(4)、弹性易伸缩腔壳体(2)、腔体密封卡箍(3)、弹性防震材料(5)、高强度耐磨自润滑材料(6)和强力非弹性限位连接(7)构成封闭润滑的仿生关节装置，在弹性易伸缩腔壳体(2)内填充润滑脂(8)满足高强度耐磨自润滑材料(6)的润滑要求，腔体密封卡箍(3)利用主体仿生骨骼(1)和从动仿生骨骼(4)的卡槽密封弹性易伸缩腔壳体(2)，同时在接触面也使用胶粘，保持弹性易伸缩腔壳体(2)内的润滑脂（8）不泄漏。

Description

一种封闭润滑的仿生关节装置
技术领域
本实用新型属于机器人领域和人造关节领域中关节装置的创新装置，特别是该装置增加了润滑可多方向弯曲扭动同时还可限位控制是具有封闭润滑的仿生关节装置。装置的外形和尺寸变化后可用于人体或其他动物的各部位关节。  
背景技术
背景技术现有诸多仿生关节大多采用金属铰接和各种复杂的螺钉和销钉等限位制动控制、因采用较复杂的机械结构对尺寸和外型要求较严格，很难用于人体和大小变化的关节机构，没有真正的仿制人体骨骼形状，这使得机器人的机械关节和生物仿生关节的应用受到限制。此外，现有各类相关的仿生关节研究只是设法在如何改变链接和控制，其仿生程度比较低，特别是在生物人造仿生关节领域因润滑的限制使得其推广和发展受到限制。 
发明内容
本实用新型的目的在于提供一种封闭润滑的仿生关节装置，它能够起到模仿动物关节组织多方向弯曲扭动同时还可限位控制运动的功能，充分用于类人机器人或其它四肢动物机械技术中，使机器人其它四肢动物机械的活动更加灵活和自如。同时在医用人造仿生关节领域如采用较好的防油硅橡胶等仿生材料，则也可在人体人造关节上使用润滑脂或对人体无害的润滑脂，解决人造关节的润滑问题，使人造关节得到较好的推广。在假肢上使用会成本低廉易于制作。 
本实用新型的目的是这样实现的：一种封闭润滑的仿生关节装置，由主体仿生骨骼(1)、从动仿生骨骼(4)、弹性易伸缩腔壳体(2)、腔体密封卡箍(3)、弹性防震材料(5)、高强度耐磨自润滑材料(6)和强力非弹性限位连接(7)构成封闭润滑的仿生关节装置，其特征是：在弹性易伸缩腔壳体(2)内填充润滑脂(8)满足高强度耐磨自润滑材料(6)的润滑要求，由润滑脂（8）保持主体仿生骨骼(1)和从动仿生骨骼(4)之间的润滑作用，弹性易伸缩腔壳体(2)、润滑脂(8)保护高强度耐磨自润滑材料(6)，同时保证关节装置良好的弯曲扭动和滑动，由弹性易伸缩腔壳体(2)在弯曲和拉伸的情况下同样保持腔体内润滑脂不流失和润滑，腔体密封卡箍(3)利用主体仿生骨骼(1)和从动仿生骨骼(4)的卡槽密封弹性易伸缩腔壳体(2)，同时在接触面也使用胶粘，保持弹性易伸缩腔壳体(2)内的润滑脂（8）不泄漏。装置的外形和尺寸变化后可用于人体或其他动物的各部位关节。 
所述的弹性防震材料(5)用来减缓外部的冲击和振动，高强度耐磨自润滑材料(6)降低接触面的摩擦力和延长使用寿命，强力非弹性限位连接(7)可根据弯曲方向的需要沿圆周多处位置设置，限制关节装置的弯曲，强力非弹性限位连接(7)控制主体仿生骨骼(1)和从动仿生骨骼(4)两部件之间的间隙尺寸。例如可在关节前部增加稍长的限位连接控制弯曲角度，在两边放置则是限位、防脱离和安全保护作用。通过改变关节的接触面形状也可改变关节的弯曲方向，如有两个支点前、后弯曲的膝关节和球型有旋转功能的髋关节等，弹性伸腔壳体的拉伸变形保护腔体内的润滑脂不会外泄起到很好的润滑作用；保证主从两关节耐磨材料的润滑。同时设置的防震弹性材料可很好的减缓各种冲击，起到缓冲作用，保护关节的完好，减缓对其他器官的冲击。
封闭润滑的仿生关节装置可适用于球型有旋转功能的关节髋关节，髋关节可旋转和多方向运动，在主体关节上采用螺纹连接（9）压紧密封，保证腔体密封。 
本实用新型原理为：在每个封闭润滑的柔性易拉伸的弹性保护腔体内仿生形状的关节，可按照外部作用力的方向进行弯曲和扭动滑动，其仿生关节的基本结构完全类似人体关节的结构和弯曲扭动滑动功能，只要改变尺寸和外型就可模仿人体和其他动物各个部位的关节，用于类人机器人或其它类四肢动物机械技术领域当中。本实用新型能够起到模仿动物关节弯曲、伸缩、扭动、限位的各种功能，充分用于类人机器人或其它四肢动物机械技术中，使机器人或其它四肢动物机械的活动更加灵活和自如。同时随材料科学的进步还可用于医用人造仿生关节领域人体替代关节。 
附图说明
图1是本实用新型封闭润滑的仿生关节装置剖视结构示意图； 
图2是本实用新型仿生关节弹性伸缩腔体处于关节包覆状态。
图3是本实用新型膝关节两个接触点前后弯曲关节的剖视结构示意图； 
图4是本实用新型球型有旋转功能的髋关节的剖视结构示意图。
图5是收缩状态的剖视结构示意图；标出图示关节非弹性限位连接的位置、此位置可根据弯曲需要沿圆周方向设置。
图6是收缩状态的俯视图。
具体实施方式
封闭润滑的仿生关节装置，如图1所示，由主体仿生骨骼1、从动仿生骨骼4、弹性易伸缩腔壳体2（图2图5图6单独做剖面表示）、腔体密封卡箍3、弹性防震材料5、高强度耐磨自润滑材料6和，强力非弹性限位连接7（在图2图5图6中标识、放置在弹性伸缩腔体内也可放置在外部做好连接固定也可）构成封闭润滑的仿生关节装置，在封闭润滑的仿生关节装置内填充润滑脂8适应高强度耐磨自润滑材料6的润滑，保持主体仿生骨骼1、从动仿生骨骼4、之间的润滑和摩擦作用，保护润滑高强度耐磨自润滑材料6保证良好的弯曲扭动和滑动，由弹性易伸缩腔壳体2在弯曲和拉伸的情况下同样保持腔体内润滑脂不流失和摩擦润滑，腔体密封卡箍3利用主体仿生骨骼1、从动仿生骨骼4的卡槽严密密封弹性易伸缩腔壳体2，同时在接触面也使用胶粘，严格保持腔内润滑不泄漏。弹性防震材料5用来减缓外部的冲击和振动，高强度耐磨自润滑材料6保证接触面的摩擦和耐磨寿命保证长期使用，强力非弹性限位连接7可根据弯曲方向的需要，在正前方外部放置压在腔体密封卡箍3下，比弹性易伸缩腔壳体2适当长一些的强力非弹性限位连接7，可控制向后弯曲的角度度数，在后部放置与弹性易伸缩腔壳体2等长的强力非弹性限位连接7，可控制向前弯曲的角度度数小于180°，沿圆周左右两侧位置设置强力非弹性限位连接7可限制主体仿生骨骼1从动仿生骨骼4两部件之间的间隙尺寸和防止主体仿生骨骼1从动仿生骨骼4因外力拉伸弹性易伸缩腔壳体2产生变型脱臼，同时起到防止纵向位移，防止脱落安全保护紧固连接的作用。在圆周45°设置强力非弹性限位连接7与弹性易伸缩腔壳体2等长的限位连接，即可控制向后弯曲的角度也可起到安全限制。延圆周各部位设置会起到按需要求的各种限制功能。
综上述，改变主体仿生骨骼1、从动仿生骨骼4、接触面的接触点也可改变关节的运动方向和运动方式。球面接触面可多方向和旋转运动，附图4是实用新型球型有旋转功能的髋关节的剖视结构示意图。其结构和图1原理相同可旋转和多方向运动，在主体关节上采用螺纹连接9压紧密封，保证腔体密封。关节中有两点接触面的关节只可前后弯曲活动如图3所示是本实用新型膝关节两个接触点前后弯曲关节的剖视结构示意图，同时有了承插凹槽保证关节不会掉落，起到支撑作用，其他结构相同。 如果是三点或大于三点的面接触，则只能有很小的弯曲和扭动如人体的脊柱关节连接，因此通过各种变形和变尺寸可用于所有动物关节和类人机器人的应用。 
按上述关节的运动方式，为真正起到仿生作用可以根据人体各骨骼关节或其他动物以及类人机器人的需要改变大小和外型尺寸，适应仿生关节各个部位的需要满足人类其它动物和类人机器人的关节连接活动使其更加灵活和自如，同时如果随着小型微型机械的发展可在很小的动物上使用此装置。其特性是通过柔性和弹性材料很好的保证运动和骨骼连接，减少缓冲各种冲击震动。 
综上所述，本实用新型结合仿生技术、机械、润滑结构等相关方面领域的发展现状，可大尺寸容易加工。在微小尺寸的关节上利用现代微加工技术，最终用于各个领域，将这些机械式仿生关节附着在机器人或其它类四肢动物机械的铰接的金属骨骼或金属骨架上，就可以使上述类人机器人或其它类四肢动物机械更加灵活自如。同时也可用于机械加工的各种机械臂机械手等。 
 [0012] 本实用新型通过封闭润滑的仿生关节装置实现各种关节运动，特点是结构简单成本低廉易加工制作。即使损坏也很容易更换。特点是通过封闭润滑达到仿生关节的弯曲运动。同时，通过非弹性限位连接控制和限制弯曲，防止纵向位移防止脱落安全保护紧固连接作用，保证关节的稳定性和安全性。本实用新型可作为一种革新的连接装置大范围应用于各种机械和机器人生产技术领域。 

Claims (3)

1.一种封闭润滑的仿生关节装置，由主体仿生骨骼(1)、从动仿生骨骼(4)、弹性易伸缩腔壳体(2)、腔体密封卡箍(3)、弹性防震材料(5)、高强度耐磨自润滑材料(6)和强力非弹性限位连接(7)构成封闭润滑的仿生关节装置，其特征是：在弹性易伸缩腔壳体(2)内填充润滑脂(8)满足高强度耐磨自润滑材料(6)的润滑要求，由润滑脂（8）保持主体仿生骨骼(1)和从动仿生骨骼(4)之间的润滑作用，弹性易伸缩腔壳体(2)、润滑脂(8)保护高强度耐磨自润滑材料(6)，同时保证关节装置良好的弯曲扭动和滑动，由弹性易伸缩腔壳体(2)在弯曲和拉伸的情况下同样保持腔体内润滑脂不流失和润滑，腔体密封卡箍(3)利用主体仿生骨骼(1)和从动仿生骨骼(4)的卡槽密封弹性易伸缩腔壳体(2)，同时在接触面也使用胶粘，保持弹性易伸缩腔壳体(2)内的润滑脂（8）不泄漏。
2.根据权利要求1所述的一种封闭润滑的仿生关节装置，其特征在于，所述的弹性防震材料(5)用来减缓外部的冲击和振动，高强度耐磨自润滑材料(6)降低接触面的摩擦力和延长使用寿命，强力非弹性限位连接(7)可根据弯曲方向的需要沿圆周多处位置设置，限制关节装置的弯曲，强力非弹性限位连接(7)控制主体仿生骨骼(1)和从动仿生骨骼(4)两部件之间的间隙尺寸。
3.根据权利要求1或2所述的一种封闭润滑的仿生关节装置，其特征在于，所述的一种封闭润滑的仿生关节装置，可适用于球型有旋转功能的关节髋关节。
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