CN103287522B - A kind of based on hydraulically powered robot bouncing mechanism - Google Patents
A kind of based on hydraulically powered robot bouncing mechanism Download PDFInfo
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- CN103287522B CN103287522B CN201310240834.5A CN201310240834A CN103287522B CN 103287522 B CN103287522 B CN 103287522B CN 201310240834 A CN201310240834 A CN 201310240834A CN 103287522 B CN103287522 B CN 103287522B
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- connecting rod
- bouncing mechanism
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- hydraulically powered
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Abstract
The invention discloses a kind of based on hydraulically powered robot bouncing mechanism, by the bilateral tooth bar of Hydraulic Cylinder, order about the five-rod decentralization of band tooth connecting rod, second connecting rod, third connecting rod composition, simultaneously extension spring storage elasticity potential energy; The oil return of hydraulic control cylinder, make spring abrupt release drive whole mechanism to jump, motion credibility is high.The linear force of spring is converted to nonlinear elasticity and to beat power by this bouncing mechanism, make phase shift in place with condition under can store more energy.This bouncing mechanism utilizes hydraulic-driven directly hydraulic actuating cylinder can be arranged on the use that driving joint place avoids retarder, makes robot architecture more succinct; Obstacle climbing ability and the action radius of robot can be improved significantly if combine with move mode.Bouncing mechanism adopts rack pinion mesh form transmission campaign and power, and have reliable operation, long service life, compact conformation, transmission accuracy is high, the feature that transmitted power is large.
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, mobile robot's application is very extensive, particularly the environment that not easily arrives of comparatively dangerous or people, the exploration etc. of such as military surveillance, counterterrorist activity and external celestial body; The general physical features of these occasions is comparatively complicated, there is various obstacle, requires that robot has stronger autokinetic movement ability clear an obstacle object.And mainly all-wheel drive and the bionical walking or creep of the mode of motion of current robot, for the obstacle that some are higher, the mode of motion of above-mentioned robot be difficult to go beyond or obstacle climbing ability poor.Domestic also have its bouncing mechanism of some robots to be adopt motor to drive, disclose a kind of based on motor-driven robot bouncing mechanism in patent ZL201923237, this mechanism rotates mainly through driven by motor centered cylinder cam, cam outer face has spiral type groove, the stressed meeting of groove moves down, lead agency decentralization, extension spring makes robot jump; But this robot employs the complexity that cam mechanism adds control, and the characteristics of motion is uncertain, and motor driver power/quality is than little, heavy burden ability.Disclose in patent CN101058036 before one and have supporting mechanism, after have the imitative locust jumping robot of take-off mechanism, but this robot capacity usage ratio is low, and jump height can not regulate.
Summary of the invention
In order to avoid 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 hydraulic actuating cylinder can be arranged on driving joint place, avoids the use of retarder, makes robot architecture simpler and more direct; Adopt rack and pinion engagement form transmission campaign and power, have transmission accuracy high, be easy to control, the feature that capacity usage ratio is high, transmitted power is large.
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 arranged on the health of robot; Hydraulic actuating cylinder is positioned at below hydraulic efficiency gear and is connected by Connection Block with hydraulic efficiency gear, and hydraulic actuating cylinder butt flange and link span are connected, and bilateral tooth bar is positioned at link span middle part, and hydraulic actuating cylinder lower end coordinates with bilateral tooth bar upper recess installs; Two both sides of being with the partial gear end of tooth connecting rods to be positioned at the bilateral tooth bar of link span are connected with link span by rotating shaft, and the partial gear of two band tooth connecting rods engages with bilateral tooth bar; Second connecting rod and third connecting rod are with the tooth connecting rod other end by hinge respectively with two, 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 center, and the other end is two symmetric, arcs of middle concave sky, and there is through hole at center, and shank of connecting rod has long slot bore.
Described second connecting rod one end is circular arc, and there is through hole at center, and circular arc thickness is the half of connecting rod thickness, and the other end is two symmetric, arcs of middle concave sky, and there is through hole at center, and shank of connecting rod has long slot bore.
Described third connecting rod two ends are symmetric, arcs, and there is through hole at center, and circular arc thickness is the half of connecting rod thickness, and shank of connecting rod has long slot bore.
Beneficial effect
The present invention is based on hydraulically powered robot bouncing mechanism, moved downward by Hydraulic Cylinder the two-sided rack, make five-rod decentralization, extension spring produces internal stress simultaneously, robot is produced jump, motion credibility is high, and the linear force of spring can be converted to nonlinear elasticity and to beat power by this mechanism, make phase shift in place with condition under can store more energy.This mechanism can realize the adjustable function of jumping degree by changing spring stiffness.The present invention is that hydraulic-driven directly can be arranged on hydraulic actuating cylinder the use that driving joint place avoids retarder, makes robot architecture more succinct, if with move mode to combining obstacle climbing ability and the action radius that can improve robot significantly.Present invention employs similar rack and pinion engagement form transmission campaign and power, have reliable operation, the life-span is long, compact conformation, and transmission accuracy is high, the feature that transmitted power is large.Making it when meeting obstacle, can efficiently go beyond by fast speed.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the present invention's one is described in further detail based on hydraulically powered robot bouncing mechanism.
Fig. 1 is for the present invention is based on hydraulically powered robot bouncing mechanism schematic diagram.
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 schematic diagram of the present invention.
Fig. 5 is third connecting rod schematic diagram of the present invention.
Fig. 6 is the first bearing pin schematic diagram of the present invention.
In figure:
1. hydraulic efficiency gear 2. Connection Block 3. hydraulic actuating cylinder 4. link span 5. is with tooth connecting rod 6. rotating shaft 7. bilateral tooth bar 8. bearing pin 9. second connecting rod 10. adapter shaft 11. spring cotter 12. third connecting rod 13. spring
Detailed description of the invention
The 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, be made up of 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 arranged on the health of robot, hydraulic actuating cylinder 3 is arranged on hydraulic efficiency gear 1 and is connected below by the lug of Connection Block with hydraulic actuating cylinder top, and the butt flange of hydraulic actuating cylinder 3 bottom is connected by bolt and link span 4.Bilateral tooth bar 7 is fixedly mounted on link span 4 middle part, and hydraulic actuating cylinder 3 lower end coordinates to install with bilateral tooth bar 7 upper recess and forms moving sets.Two both sides of being with one end with partial gear of tooth connecting rods 5 to be arranged on bilateral tooth bar 7 in link span 4 are connected with link span 4 by rotating shaft 6, and the partial gear of two band tooth connecting rods 5 engages with bilateral tooth bar 7.Second connecting rod 9 and third connecting rod 12 are with tooth connecting rod 5 other end hinged by bearing pin 8 respectively with two, second connecting rod 9 is hinged by adapter shaft 10 with the other end of third connecting rod 12, and hinged place is moved by spring cotter 11 restrictive axial.Two band tooth connecting rods 5, second connecting rod 9, third connecting rod 12 and link spans 4 cut with scissors and form five-rod.The two ends of two springs 13 are fixedly connected with two bearing pin 8 two ends respectively.
Fig. 3 is band tooth pitman shaft mapping of the present invention.Be processed into the shape of partial gear with tooth connecting rod 5 one end, there is through hole at center, and the other end is two symmetric, arcs of middle concave sky, and there is through hole at center, and the partial gear of band tooth connecting rod 5 is meshed with bilateral tooth bar 7; Band tooth connecting rod 5 other end is symmetrical two-piece type circular configuration, its respectively with the end coordination hinge of second connecting rod 9 and third connecting rod 12, band tooth connecting rod 5 shaft has long slot bore.
Fig. 4 is second connecting rod schematic diagram of the present invention.Second connecting rod 9 one end is circular arc, and there is through hole at center, and circular arc thickness is the half of connecting rod thickness, and second connecting rod 9 other end is two symmetric, arcs of middle concave sky, and there is through hole at center, and second connecting rod 9 shaft has long slot bore.
Fig. 5 is third connecting rod schematic diagram of the present invention.Third connecting rod 12 two ends are symmetric, arcs, and there is through hole at center, and two ends circular arc thickness is respectively the half of connecting rod thickness, and third connecting rod 12 shaft has long slot bore.
Fig. 6 is bearing pin schematic diagram of the present invention.The two ends of bearing pin 8 are processed with through hole respectively for linking springs 13.
Whole 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 is with the partial gear of tooth connecting rod 5 to be meshed transferring power with two, order about the five-rod decentralization of band tooth connecting rod 5, second connecting rod 9, third connecting rod 12 composition, simultaneously, the two horizontal stretch springs 13 being connected to bearing pin 8 two ends are elongated gradually, storage elasticity potential energy.After bilateral tooth bar 7 moves downward certain hour, hydraulic actuating cylinder 3 is by controlling rapid oil return, and hydraulic actuating cylinder 3 rapidly upward movement is separated with bilateral tooth bar 7.Bilateral tooth bar 7 forms moment self-locking state with band tooth connecting rod 5, and horizontal stretch spring 13 sudden contraction drives whole mechanism upward movement; Due to the inertia of object, spring 13 abrupt release drives whole device to takeoff and leaves ground.If mechanism moves horizontally with certain speed, the motion that rebounds to combine with the horizontal motion of inertia the motion defining and go beyond obstacle.When hopping robot lands again, the incipient stage of spring namely again can be entered.The adjustable function of jump height can be realized by the rigidity changing spring 13.
Whole mechanism structure is simple, and 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 arranged on the health of robot; Hydraulic actuating cylinder is positioned at below hydraulic efficiency gear and is connected by Connection Block with hydraulic efficiency gear, and hydraulic actuating cylinder butt flange and link span are connected, and bilateral tooth bar is positioned at link span middle part, and hydraulic actuating cylinder lower end coordinates with bilateral tooth bar upper recess installs; The partial gear end of two band tooth connecting rods is positioned at link span and is connected with link span by rotating shaft, and the partial gear of two band tooth connecting rods engages with bilateral tooth bar; Second connecting rod and third connecting rod are with the tooth connecting rod other end by hinge respectively with two, 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 center, the other end is two symmetric, arcs of middle concave sky, there is through hole at center, and shank of connecting rod has long slot bore.
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 center, circular arc thickness is the half of connecting rod thickness, the other end is two symmetric, arcs of middle concave sky, there is through hole at center, and shank of connecting rod has long slot bore.
4. according to claim 1 based on hydraulically powered robot bouncing mechanism, it is characterized in that: described third connecting rod two ends are symmetric, arcs, and there is through hole at center, and circular arc thickness is the half of connecting rod thickness, and shank of connecting rod has long slot bore.
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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 true CN103287522B (en) | 2016-02-17 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106184468B (en) * | 2016-08-16 | 2018-08-24 | 中国矿业大学 | Rackwork deformable shock-resistant running part and firefighting movable platform with it |
| 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 |
| 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 |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0426415A2 (en) * | 1989-10-31 | 1991-05-08 | Portsmouth Technology Consultants Limited | Robot devices |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7168513B2 (en) * | 2004-02-27 | 2007-01-30 | The Regents Of The University Of California | Dynamic legged robot |
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2013
- 2013-06-17 CN CN201310240834.5A patent/CN103287522B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0426415A2 (en) * | 1989-10-31 | 1991-05-08 | Portsmouth Technology Consultants Limited | Robot devices |
| 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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