CN103287522A - Robot bouncing mechanism based on hydraulic drive - Google Patents
Robot bouncing mechanism based on hydraulic drive Download PDFInfo
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- CN103287522A CN103287522A CN2013102408345A CN201310240834A CN103287522A CN 103287522 A CN103287522 A CN 103287522A CN 2013102408345 A CN2013102408345 A CN 2013102408345A CN 201310240834 A CN201310240834 A CN 201310240834A CN 103287522 A CN103287522 A CN 103287522A
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Abstract
The invention discloses a robot bouncing mechanism based on hydraulic drive. A hydraulic cylinder pushes a bilateral rack to drive the center of gravity of a five-rod mechanism which is composed of a belt tooth connecting rod, a second connecting rod and a third connecting rod to move downwards, an spring is stretched to store elastic potential energy at the same time, oil return of the hydraulic cylinder is controlled, the spring is released instantly to drive the whole mechanism to bounce, and the movement reliability is high. By means of the bouncing mechanism, the linear force of the spring is converted into non-linear bounce motive power, and more energy is stored under the condition of the same displacement. The bouncing mechanism takes advantage of hydraulic drive, the hydraulic cylinder is mounted on a drive joint directly, the use of a reducer is avoided, and the structure of a robot is simplified. The obstacle climbing ability and the activity range of the robot are improved notably if the bouncing mechanism is combined with a moving mode. According the bouncing mechanism, movement and power are transmitted in the mode that the rack is meshed with a gear, and thus the robot bouncing mechanism based on hydraulic drive has the advantages of being reliable in operation, long in service life, compact in structure, high in transmission precision and large in transmission power.
Description
Technical field
The invention belongs to robot and automation field, specifically, relate to a kind of based on hydraulically powered robot bouncing mechanism.
Background technology
Current, it is very extensive that the mobile robot uses, and particularly comparatively danger or people are difficult for the environment that arrives, such as military surveillance, counterterrorist activity and the externally exploration etc. of celestial body; The general physical features of these occasions is comparatively complicated, has various obstacles, requires robot to have stronger autokinetic movement ability clear an obstacle object.And the mode of motion of current robot mainly is many wheel drive and bionical walking or creeps, for some higher obstacles, the mode of motion of above-mentioned robot be difficult to go beyond or obstacle climbing ability relatively poor.It is more domestic that its bouncing mechanism of robots is also arranged is to adopt motor-driven, in patent ZL201923237, disclose a kind of based on motor-driven robot bouncing mechanism, this mechanism mainly rotates by driven by motor centered cylinder cam, cam outer face has spiral type groove, the stressed meeting of groove moves down, the lead agency center of gravity moves down, and extension spring jumps robot; But this robot has used cam mechanism to increase the complexity of control, and characteristics of motion uncertainty, and the motor driver power/quality is than little, the heavy burden ability.Disclosing a kind of front in patent CN101058036 has supporting mechanism, and there is the imitative locust jumping robot of take-off mechanism the back, but this robot capacity usage ratio is low, and jump height can not be regulated.
Summary of the invention
For fear of the deficiencies in the prior art, the present invention proposes a kind of based on hydraulically powered robot bouncing mechanism; This bouncing mechanism adopts hydraulic-driven directly to be installed in the driving joint to hydraulic actuating cylinder, has avoided the use of retarder, makes the robot architecture simpler and more direct; Adopt rack-and-gear mesh form transmission campaign and power, have the transmission accuracy height, be easy to control, capacity usage ratio height, the characteristics that transmitted power is big.
The technical solution adopted for the present invention to solve the technical problems is: comprise hydraulic efficiency gear, wherein also comprise hydraulic actuating cylinder, Connection Block, link span, band tooth connecting rod, rotating shaft, bilateral tooth bar, bearing pin, second connecting rod, adapter shaft, third connecting rod, spring, hydraulic efficiency gear is installed on the health of robot; Hydraulic actuating cylinder is positioned at and is connected by Connection Block with hydraulic efficiency gear below the hydraulic efficiency gear, and hydraulic actuating cylinder butt flange and link span are connected, and bilateral tooth bar is positioned at the link span middle part, and hydraulic actuating cylinder lower end and bilateral tooth bar upper end groove fit are installed; The both sides that the partial gear end of two band tooth connecting rods is positioned at the bilateral tooth bar of link span are connected with link span by rotating shaft, the partial gear of two band tooth connecting rods and the engagement of bilateral tooth bar; Second connecting rod and third connecting rod are hinged by bearing pin with two band tooth connecting rod other ends respectively, and the other end of second connecting rod and third connecting rod is by the hinged formation five-rod of adapter shaft, and the two ends of two springs are connected with two bearing pin two ends respectively.
Described band tooth connecting rod one end is partial gear, and there is through hole at the center, and the other end is two symmetrical circular arcs of middle recessed sky, and there is through hole at the center, has long slot bore on the shank of connecting rod.
Described second connecting rod one end is circular arc, and there is through hole at the center, and circular arc thickness is half of connecting rod thickness, and the other end is two symmetrical circular arcs of middle recessed sky, and there is through hole at the center, has long slot bore on the shank of connecting rod.
Described third connecting rod two ends are symmetrical circular arc, and there is through hole at the center, and circular arc thickness is half of connecting rod thickness, and long slot bore is arranged on the shank of connecting rod.
Beneficial effect
The present invention is based on hydraulically powered robot bouncing mechanism, promoting two-sided tooth bar by hydraulic actuating cylinder moves downward, the five-rod center of gravity is moved down, extension spring produces internal stress simultaneously, robot is produced to jump, the motion credibility height, this mechanism can convert the linear force of spring to the nonlinear elasticity power of beating, make phase shift in place with condition under can store more energy.This mechanism can realize the function that degree of jump is adjustable by changing spring stiffness.The present invention is that hydraulic-driven can be directly be installed in hydraulic actuating cylinder and drives the use that joint has been avoided retarder, makes the robot architecture more succinct, if with move mode in conjunction with obstacle climbing ability and the action radius that can improve robot significantly.The present invention has adopted similar rack-and-gear mesh form transmission campaign and power, has reliable operation, and the life-span is long, compact conformation, transmission accuracy height, the characteristics that transmitted power is big.Make it when meeting obstacle, efficiently fast speed is gone beyond.
Description of drawings
Be described in further detail based on hydraulically powered robot bouncing mechanism the present invention is a kind of below in conjunction with drawings and embodiments.
Fig. 1 is for the present invention is based on hydraulically powered robot bouncing mechanism scheme drawing.
Fig. 2 is for the present invention is based on hydraulically powered robot bouncing mechanism part sectional view.
Fig. 3 is band tooth pitman shaft mapping of the present invention.
Fig. 4 is second connecting rod scheme drawing of the present invention.
Fig. 5 is third connecting rod scheme drawing of the present invention.
Fig. 6 is the first bearing pin scheme drawing of the present invention.
Among the figure:
1. hydraulic efficiency gear 2. Connection Blocks 3. hydraulic actuating cylinders 4. link spans 5. are with tooth connecting rods 6. rotating shafts 7. bilateral tooth bar 8. bearing pins 9. second connecting rods 10. adapter shafts 11. spring cotters 12. third connecting rods 13. springs
The specific embodiment
Present embodiment is a kind of based on hydraulically powered robot bouncing mechanism.
Consult Fig. 1, Fig. 2, the present invention is based on hydraulically powered robot bouncing mechanism, formed by hydraulic efficiency gear 1 and hydraulic actuating cylinder 3, Connection Block 2, link span 4, band tooth connecting rod 5, rotating shaft 6, bilateral tooth bar 7, bearing pin 8, second connecting rod 9, adapter shaft 10, spring cotter 11, third connecting rod 12, spring 13, hydraulic efficiency gear 1 is installed on the health of robot, hydraulic actuating cylinder 3 is installed in hydraulic efficiency gear 1 and is connected below by the lug of Connection Block with the hydraulic actuating cylinder top, and the butt flange of hydraulic actuating cylinder 3 bottoms is connected by bolt and link span 4.Bilateral tooth bar 7 is fixedly mounted on link span 4 middle parts, and hydraulic actuating cylinder 3 lower ends and bilateral tooth bar 7 upper end groove fit are installed and formed moving sets.The both sides that an end that has partial gear of two band tooth connecting rods 5 is installed in bilateral tooth bar 7 in the link span 4 are connected with link span 4 by rotating shaft 6, the partial gear of two band tooth connecting rods 5 and 7 engagements of bilateral tooth bar.Second connecting rod 9 is hinged by bearing pin 8 with two band tooth connecting rod 5 other ends respectively with third connecting rod 12, and second connecting rod 9 is hinged by adapter shaft 10 with the other end of third connecting rod 12, and move by spring cotter 11 restrictive axial the hinged place.Two band tooth connecting rods 5, second connecting rod 9, third connecting rod 12 and link span 4 hinges form five-rod.Captive joint with two bearing pin 8 two ends respectively in the two ends of two springs 13.
Fig. 3 is band tooth pitman shaft mapping of the present invention.Band tooth connecting rod 5 one ends are processed into the shape of partial gear, and there is through hole at the center, and the other end is two symmetrical circular arcs of middle recessed sky, and there is through hole at the center, and the partial gear of band tooth connecting rod 5 is meshed with bilateral tooth bar 7; Band tooth connecting rod 5 other ends are symmetrical two-piece type circular configurations, its respectively with the end coordination hinge of second connecting rod 9 and third connecting rod 12, have long slot bore on band tooth connecting rod 5 shafts.
Fig. 4 is second connecting rod scheme drawing of the present invention.Second connecting rod 9 one ends are circular arc, and there is through hole at the center, and circular arc thickness is half of connecting rod thickness, and second connecting rod 9 other ends are two symmetrical circular arcs of middle recessed sky, and there is through hole at the center, has long slot bore on second connecting rod 9 shafts.
Fig. 5 is third connecting rod scheme drawing of the present invention.Third connecting rod 12 two ends are symmetrical circular arc, and there is through hole at the center, and two ends circular arc thickness respectively is half of connecting rod thickness, has long slot bore on third connecting rod 12 shafts.
Fig. 6 is bearing pin scheme drawing of the present invention.The two ends of bearing pin 8 are processed with through hole respectively and are used for connecting spring 13.
Entire mechanism drives hydraulic actuating cylinder 3 by hydraulic efficiency gear 1, hydraulic actuating cylinder 3 promotes bilateral tooth bar 7 and moves downward, bilateral tooth bar 7 transferring power that is meshed with the partial gear of two band tooth connecting rods 5, the five-rod center of gravity of ordering about band tooth connecting rod 5, second connecting rod 9, third connecting rod 12 compositions moves down, simultaneously, two horizontal stretch springs 13 that are connected bearing pin 8 two ends are elongated storage elasticity potential energy gradually.After bilateral tooth bar 7 moved downward certain hour, hydraulic actuating cylinder 3 was by the rapid oil return of control, and hydraulic actuating cylinder 3 rapid upward movements separate with bilateral tooth bar 7.Bilateral tooth bar 7 forms the moment self-locking state with band tooth connecting rod 5, and 13 sudden contractions of horizontal stretch spring drive the entire mechanism upward movement; Because the inertia of object, spring 13 abrupt releases drive the whole device built on stilts that takeoffs.If mechanism moves horizontally with certain speed, the motion that rebounds combines with the horizontal motion of inertia and has formed the motion of going beyond obstacle.When the spring robot lands again, namely the incipient stage of spring can be entered again.Can realize the adjustable function of jump height by the rigidity that changes spring 13.
Entire mechanism is simple in structure, and the heavy burden ability is good, and dynamic response is fast.
Claims (4)
1. one kind based on hydraulically powered robot bouncing mechanism, comprise hydraulic efficiency gear, it is characterized in that: also comprise hydraulic actuating cylinder, Connection Block, link span, band tooth connecting rod, rotating shaft, bilateral tooth bar, bearing pin, second connecting rod, adapter shaft, third connecting rod, spring, hydraulic efficiency gear is installed on the health of robot; Hydraulic actuating cylinder is positioned at and is connected by Connection Block with hydraulic efficiency gear below the hydraulic efficiency gear, and hydraulic actuating cylinder butt flange and link span are connected, and bilateral tooth bar is positioned at the link span middle part, and hydraulic actuating cylinder lower end and bilateral tooth bar upper end groove fit are installed; The both sides that the partial gear end of two band tooth connecting rods is positioned at the bilateral tooth bar of link span are connected with link span by rotating shaft, the partial gear of two band tooth connecting rods and the engagement of bilateral tooth bar; Second connecting rod and third connecting rod are hinged by bearing pin with two band tooth connecting rod other ends respectively, and the other end of second connecting rod and third connecting rod is by the hinged formation five-rod of adapter shaft, and the two ends of two springs are connected with two bearing pin two ends respectively.
2. according to claim 1 based on hydraulically powered robot bouncing mechanism, it is characterized in that: described band tooth connecting rod one end is partial gear, and there is through hole at the center, and the other end is two symmetrical circular arcs of middle recessed sky, there is through hole at the center, has long slot bore on the shank of connecting rod.
3. according to claim 1 based on hydraulically powered robot bouncing mechanism, it is characterized in that: described second connecting rod one end is circular arc, there is through hole at the center, circular arc thickness is half of connecting rod thickness, the other end is two symmetrical circular arcs of middle recessed sky, there is through hole at the center, has long slot bore on the shank of connecting rod.
4. according to claim 1 based on hydraulically powered robot bouncing mechanism, it is characterized in that: described third connecting rod two ends are symmetrical circular arc, and there is through hole at the center, and circular arc thickness is half of connecting rod thickness, and long slot bore is arranged on the shank of connecting rod.
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| CN201310240834.5A CN103287522B (en) | 2013-06-17 | 2013-06-17 | A kind of based on hydraulically powered robot bouncing mechanism |
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| CN201310240834.5A CN103287522B (en) | 2013-06-17 | 2013-06-17 | A kind of based on hydraulically powered robot bouncing mechanism |
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| CN103287522B CN103287522B (en) | 2016-02-17 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661659A (en) * | 2013-12-05 | 2014-03-26 | 上海工程技术大学 | Jumping robot based on tripping energy-storing-releasing mechanism |
| CN105966483A (en) * | 2016-06-13 | 2016-09-28 | 西北工业大学 | Gear five-rod jumping ankle joint based on hydraulic driving |
| CN106167059A (en) * | 2016-08-16 | 2016-11-30 | 中国矿业大学 | Use the running part of rackwork deformation and there is its firefighting movable platform |
| CN106184468A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Rackwork deformable shock-resistant running part and there is its firefighting movable platform |
| CN106882287A (en) * | 2017-04-01 | 2017-06-23 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
| CN110979662A (en) * | 2019-12-26 | 2020-04-10 | 哈尔滨工业大学 | Water surface jumping and gliding robot |
| CN111942494A (en) * | 2020-08-12 | 2020-11-17 | 常州大学 | Mechanical leg capable of being used for bouncing robot |
| CN113426887A (en) * | 2021-06-17 | 2021-09-24 | 广州火星龙科技有限公司 | Hydraulic punching device with drill bit protection function |
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| EP0426415A2 (en) * | 1989-10-31 | 1991-05-08 | Portsmouth Technology Consultants Limited | Robot devices |
| US20050194194A1 (en) * | 2004-02-27 | 2005-09-08 | The Regents Of The University Of California | Dynamic legged robot |
| CN102050165A (en) * | 2010-12-31 | 2011-05-11 | 南京航空航天大学 | Motor drive-based robot vertical bounce mechanism |
| CN202320570U (en) * | 2011-12-08 | 2012-07-11 | 浙江大学 | Jumping robot based on two-mass model structure |
| CN102642578A (en) * | 2012-04-24 | 2012-08-22 | 北京航空航天大学 | Wheel-legged detector for planet surface detection |
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2013
- 2013-06-17 CN CN201310240834.5A patent/CN103287522B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0426415A2 (en) * | 1989-10-31 | 1991-05-08 | Portsmouth Technology Consultants Limited | Robot devices |
| US20050194194A1 (en) * | 2004-02-27 | 2005-09-08 | The Regents Of The University Of California | Dynamic legged robot |
| CN102050165A (en) * | 2010-12-31 | 2011-05-11 | 南京航空航天大学 | Motor drive-based robot vertical bounce mechanism |
| CN202320570U (en) * | 2011-12-08 | 2012-07-11 | 浙江大学 | Jumping robot based on two-mass model structure |
| CN102642578A (en) * | 2012-04-24 | 2012-08-22 | 北京航空航天大学 | Wheel-legged detector for planet surface detection |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661659A (en) * | 2013-12-05 | 2014-03-26 | 上海工程技术大学 | Jumping robot based on tripping energy-storing-releasing mechanism |
| CN103661659B (en) * | 2013-12-05 | 2016-06-29 | 上海工程技术大学 | Hopping robot based on dropout energy storing-releasing mechanism |
| CN105966483A (en) * | 2016-06-13 | 2016-09-28 | 西北工业大学 | Gear five-rod jumping ankle joint based on hydraulic driving |
| CN106167059A (en) * | 2016-08-16 | 2016-11-30 | 中国矿业大学 | Use the running part of rackwork deformation and there is its firefighting movable platform |
| CN106184468A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Rackwork deformable shock-resistant running part and there is its firefighting movable platform |
| CN106882287A (en) * | 2017-04-01 | 2017-06-23 | 济南大学 | A kind of bionical monopodia wheel of adjustable biped bar |
| CN110979662A (en) * | 2019-12-26 | 2020-04-10 | 哈尔滨工业大学 | Water surface jumping and gliding robot |
| CN111942494A (en) * | 2020-08-12 | 2020-11-17 | 常州大学 | Mechanical leg capable of being used for bouncing robot |
| CN111942494B (en) * | 2020-08-12 | 2021-05-04 | 常州大学 | Mechanical leg capable of being used for bouncing robot |
| CN113426887A (en) * | 2021-06-17 | 2021-09-24 | 广州火星龙科技有限公司 | Hydraulic punching device with drill bit protection function |
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|---|---|
| CN103287522B (en) | 2016-02-17 |
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