CN104015834A - Rugged surface climbing robot pneumatic muscle joint with stress reflection function - Google Patents
Rugged surface climbing robot pneumatic muscle joint with stress reflection function Download PDFInfo
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- CN104015834A CN104015834A CN201410225176.7A CN201410225176A CN104015834A CN 104015834 A CN104015834 A CN 104015834A CN 201410225176 A CN201410225176 A CN 201410225176A CN 104015834 A CN104015834 A CN 104015834A
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Abstract
The invention belongs to the technical field of robots, and particularly relates to a rugged surface climbing robot pneumatic muscle joint with a stress reflection function. The rugged surface climbing robot pneumatic muscle joint comprises an upper fixing base and a lower fixing base, wherein a supporting structure is arranged between the upper fixing base and the lower fixing base and hinged to the upper fixing base, and a pneumatic muscle assembly is further arranged between the upper fixing base and the lower fixing base. The rugged surface climbing robot pneumatic muscle joint is characterized in that the pneumatic muscle assembly is connected with an air pressure control mechanism capable of controlling the magnitude of air pressure in the pneumatic muscle assembly, the air pressure control mechanism is connected with an air pressure feedback mechanism, and the air pressure feedback mechanism can control the air pressure control mechanism to control the magnitude of air pressure in the pneumatic muscle assembly according to received feedback information. The rugged surface climbing robot pneumatic muscle joint has the advantages of being capable of conducting stress type reflection for the complex pedestrian environment or sudden disturbance, high in adaptability, high in stability and rapid in response.
Description
Technical field
The invention belongs to Robotics field, especially relate to a kind of have stress reflection function rugged climbing robot pneumatic muscles joint.
Background technology
Pneumatic muscles is mainly by inflatable elastic flexible pipe with play the outside of constraint spring tube dilatational strain and bear load-carrying member and form, and bears the constraint of load-carrying member and produces stress because distortion is subject to outside.The advantage of pneumatic muscles is the compliance that power-weight ratio is large, pollution-free, fricton-tight, have human or animal's muscle, as a kind of high efficiency driver, can produce enough large power, by keeping certain compliance, in the field such as robot, bionic mechanical, have a wide range of applications simultaneously.
The walking control of legged type robot of the prior art is fixed against the end effector mechanism of robot, make robot can according to planning track, speed and acceleration movement.In the time that the ground of legged type robot walking is smooth, legged type robot is as long as the Walking Mode of reproduction planning can be realized stable walking.But in the time that the ground environment of walking is complicated or unknown, may cause the walking stability of robot to decline, even topple over.In order to strengthen the walking stability of robot in the case of the ground environment of walking is complicated or unknown, robot research persons have proposed several different methods, but these methods all need by robot central controller, gait to be regulated in real time, and speed of response is slow, and stability is lower.
For prior art is improved, people have carried out long-term exploration, propose various solutions.For example, Chinese patent literature discloses the adjustable universal pneumatic muscles bionic joint mechanism [application number: CN201210415541.1] of a kind of mechanism parameter, comprise upper connecting rod, lower connecting rod, rotating shaft contiguous block, rotating shaft, spring stop assembly, lower supporting plate rotary axis groove, left-hand rotation axial trough, right-hand rotation axial trough, upper support bar, lower support bar, tune long nut, holddown spring, left pneumatic muscles and right pneumatic muscles, it is characterized in that: upper connecting rod is used for being connected bio-mechanism with lower link needs two limbs in relative rotation; Upper connecting rod is fixedly mounted on rotating shaft contiguous block; In rotating shaft contiguous block, have three oval track type rotary axis grooves, upper supporting revolving shaft groove, left-hand rotation axial trough and right-hand rotation axial trough; Upper supporting revolving shaft groove vertical direction is opened, and upper end is provided with the holddown spring after precompressed compression, and the lower surface of holddown spring is blocked by spring stop assembly, has limited the elongation of holddown spring; Spring stop assembly is made up of the baffle plate of hollow and the jam nut at two ends, and position can regulate in upper supporting revolving shaft groove; Rotating shaft is through in the middle of the baffle plate of spring stop assembly, and the lower surface of compacted spring withstands, and the position of rotating shaft also can regulate in upper supporting revolving shaft groove; In the left-hand rotation axial trough of horizontal direction and right-hand rotation axial trough, correspondence is provided with left rotary shaft nut assembly and the right spindle nut assembly of same structure; Left and right spindle nut assembly is connected with left and right pneumatic muscles upper end by connecting rod respectively; Connecting rod can rotate around left and right spindle nut assembly respectively; Left and right pneumatic muscles lower end is connected with lower supporting plate rotary axis groove with left and right spindle nut assembly by connecting rod respectively; Upper support bar is connected with the rotating shaft in upper supporting revolving shaft groove, and can rotate around the axis; Upper support bar is by adjusting long nut to be connected with lower support bar, and can screwing and loosening to regulate length by tune long nut; Lower support bar is fixedly connected with lower supporting plate rotary axis groove; On the joint of left and right pneumatic muscles lower end, have left and right adjustable pressure mouth, and can regulate respectively by left and right adjustable pressure mouth the air pressure of left and right pneumatic muscles inner chamber.
Although such scheme has solved the deficiencies in the prior art to a certain extent, can regulate the air pressure of left and right pneumatic muscles inner chamber to adapt to specific environment by left and right air pressure adjustment mouth, but for complicated walking environment or burst disturbance etc. without concrete rule can target-seeking situation under, need to regulate in real time the air pressure of left and right pneumatic muscles inner chamber, speed is slow, stability is low, adapts to the ability of complicated walking environment or burst disturbance.
Summary of the invention
Object of the present invention is exactly for the defect of prior art and deficiency, proposed one can for complicated walking environment or burst disturbance carry out stress formula reflection, strong adaptability and good stability have stress reflection function rugged climbing robot pneumatic muscles joint.
For achieving the above object, the present invention has adopted following technical proposal: originally have stress reflection function rugged climbing robot pneumatic muscles joint, comprise upper fixed seat and lower fixed seat, between described upper fixed seat and lower fixed seat, being provided with supporting construction and supporting construction and upper fixed seat is hinged, between described upper fixed seat and lower fixed seat, be also provided with pneumatic muscles assembly, it is characterized in that, described pneumatic muscles assembly is connected with the air pressure control mechanism that can control pneumatic muscles assembly internal gas pressure size, described air pressure control mechanism is connected with air pressure feedback mechanism and air pressure feedback mechanism can be controlled the air pressure size in pneumatic muscles assembly by controlling air pressure control mechanism according to the feedback information receiving.
Bionic mechanical is that the function that designs and manufactures of form, structure and the control principle of mimic biology is more concentrated, efficiency is higher and has the machinery of biological characteristic.Have the walking of sufficient animal with reference to biosphere, can find that it has very strong compatible with environment, reaction fast and is accurately made in the change of environment and various stimulation to external world.This is because contain abundant feedback network and rational biological reflex mechanism in animal movement nervous system.So the compatible with environment of realizing legged type robot by reflex mechanism is a well reference.When robot ambulation is at complicated walking environment or run into burst when disturbance, air pressure feedback mechanism is responsible for receiving these feedback informations, receiving after feedback information, air pressure feedback mechanism is directly controlled the valve on air pressure control mechanism, valve opening changes, air pressure in pneumatic muscles assembly in part pneumatic muscles changes, thereby joint flexing, produce reflection, robot can be hidden the obstacle such as road surface or rubble of projection immediately, thereby adapts to complicated walking environment or burst disturbance, strong adaptability, good stability, reaction is fast.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, described air pressure feedback mechanism comprises the air cushion being arranged at the bottom of robot foot, described air cushion is connected with the shock response formula damping arrangement being arranged on pedestal by withstand voltage tracheae, on the take-off lever of described shock response formula damping arrangement, be hinged with lever and lever is hinged by bearing pin and pedestal, the other end of described lever is hinged with connecting rod, and the other end of described connecting rod and the valve of air pressure control mechanism are hinged.Air cushion can be installed in the sole of robot, and in the time of robot ambulation, pin had the process of a deceleration before landing, and ensures steadily to contact with ground.Under normal circumstances, pin is in the time landing, and air cushion slowly contacts with ground, is then slowly compressed, and now, shock response formula damping arrangement is failure to actuate, and produces so do not have reflection, and in the time that robot ambulation has the obstacles such as rubble on comparatively rugged road surface or on road surface, the sole of robot may impact with the obstacle such as road surface or rubble of projection with a larger speed in advance, at this moment, air pressure in sole air cushion can increase sharply, make the action of shock response formula damping arrangement, its take-off lever extends, again by the mechanical transfer of lever and connecting rod, the valve opening of air pressure control mechanism is increased, air pressure in pneumatic muscles assembly in part pneumatic muscles changes, thereby joint flexing, produce reflection, robot can be hidden the obstacle such as road surface or rubble of projection immediately, thereby adapt to complicated walking environment or burst disturbance, strong adaptability, reaction is fast, good stability.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, described pneumatic muscles assembly comprises the first pneumatic muscles and the second pneumatic muscles that are distributed in supporting construction both sides, the two ends of the first described pneumatic muscles are hinged with upper fixed seat and lower fixed seat respectively, and the two ends of the second described pneumatic muscles are hinged with upper fixed seat and lower fixed seat respectively.In the time that the air cushion at the bottom of robot foot is encountered obstacle, encounter the front and back position of obstacle according to air cushion, control the air pressure size in the first pneumatic muscles or the second pneumatic muscles, in the time that the air pressure in the first pneumatic muscles or the second pneumatic muscles increases, the first pneumatic muscles or the second pneumatic muscles shrink, because permanent seat can rotate with respect to supporting construction, so the first pneumatic muscles or the second pneumatic muscles pull upper fixed seat to have a down dip to corresponding direction, thereby joint flexing, produce reflection, robot can be hidden the obstacle such as road surface or rubble of projection immediately.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, described air pressure control mechanism comprises that valve and the connecting rod of the first reducing valve and the first reducing valve are hinged, on the first described reducing valve, have the first admission port and the first air extractor duct, the first described air extractor duct is connected with the second pneumatic muscles with the second admission port of the second reducing valve respectively by tracheae, and the second air extractor duct of the second described reducing valve is connected with the first pneumatic muscles by tracheae.In the time that the air cushion at the bottom of robot foot is encountered obstacle, the action of shock response formula damping arrangement, its take-off lever extends, again by the mechanical transfer of lever and connecting rod, the valve opening of the first reducing valve is increased, the air pressure that the first reducing valve is exported increases, and causes the second pneumatic muscles to shorten because input air pressure increases; And between the first pneumatic muscles and the first reducing valve, be also connected with the second reducing valve, so time the first pneumatic muscles input air pressure remain unchanged, length is also constant, thereby joint flexing, produces reflection, and robot can be hidden the obstacle such as road surface or rubble of projection immediately, thereby adapt to complicated walking environment or burst disturbance, strong adaptability, reaction is fast, good stability.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, described shock response formula damping arrangement comprises tubular shell, described tubular shell upper and lower side is respectively equipped with the second end cap of the first end cap and tool the 3rd admission port, described first end cover have tapped bore and be threaded by tapped bore in the middle of the setting nut in tool tubular chamber, described take-off lever is located in setting nut, in described tubular shell, be provided with diaphragm, described diaphragm edge is fixedly connected with tubular shell inwall, one end of described take-off lever is fixedly connected with diaphragm middle part.The feature of this shock response formula damping arrangement is to be subject to impact and just can responds to some extent or move, and normally, situation is next can not move.So under normal circumstances, pin is after landing, and air cushion slowly contacts with ground, then slowly compressed, air pressure in the shock response formula damping arrangement cavity that makes to be directly connected with the 3rd admission port slowly changes, and shock response formula damping arrangement is failure to actuate, and produces so do not have reflection, and in the time that robot ambulation has the obstacles such as rubble on comparatively rugged road surface or on road surface, the sole of robot may impact with the obstacle such as road surface or rubble of projection with a larger speed in advance, at this moment, air pressure in sole air cushion can increase sharply, air pressure in the shock response formula damping arrangement cavity that makes to be directly connected with the 3rd admission port also increases sharply, gas is punched into the 3rd admission port through withstand voltage tracheae, then be punched into shock response formula damping arrangement inner chamber, thereby compressing diaphragm, take-off lever is extended, it is the action of shock response formula damping arrangement, again by the mechanical transfer of lever and connecting rod, the valve opening of the first reducing valve is increased.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, the distance of the hinged place of described bearing pin and lever and take-off lever is less than the distance of the hinged place of bearing pin and lever and connecting rod.The power output of lever impact response formula damping arrangement has played amplification, has ensured the normal realization of reflection function.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, the 3rd described admission port is connected with withstand voltage tracheae, described first end covers that to have aperture ratio the 3rd air inlet of air extractor vent and air extractor vent young, described diaphragm is provided with aperture, the section of described aperture is fan-shaped, and the larger one end of small aperture is towards the direction of diaphragm projection.Under normal circumstances, pin is after landing, air cushion slowly contacts with ground, is then slowly compressed, and gas enters the 3rd admission port through withstand voltage tracheal compression, then compression enters shock response formula damping arrangement inner chamber, aperture on diaphragm enters into the cavity being connected with air extractor vent, then contacts with atmosphere through air extractor vent, thereby the air pressure in shock response formula damping arrangement cavity is slowly changed, shock response formula damping arrangement is failure to actuate, and produces so do not have reflection.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, on described take-off lever, be socketed with spring, described spring one end acts on the lower surface of setting nut, and the other end acts on diaphragm and diaphragm to the 3rd admission port direction projection.Spring makes diaphragm to the 3rd admission port direction projection, forms a balance between air pressure and spring, and when gas pressure is in the time that the pressure of diaphragm is greater than with action of the spring in the elastic force of diaphragm, take-off lever extends, i.e. the action of shock response formula damping arrangement, produces reflection.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, the thickness of described diaphragm successively decreases to edge gradually from centre.
Above-mentioned have stress rugged climbing robot pneumatic muscles joint of reflection function in, described supporting construction comprises Y type strut bar and joint rotating shaft, in the two side arms of described Y type strut bar, have the first corresponding through hole and the second through hole, on described upper fixed seat side, have third through-hole, described joint rotating shaft is successively through the first through hole, third through-hole and the second through hole, and described upper fixed seat can rotate around joint rotating shaft.Make the joint rotation of robot more flexible, accommodative ability of environment is strong.
Compared with prior art, the advantage originally with rugged climbing robot pneumatic muscles joint that stress reflection function is: to be air cushion by being arranged on vola conduct and trigger through air pressure conduction and mechanical type in the reflection in joint, in the time that robot ambulation has the obstacles such as rubble on comparatively rugged road surface or on road surface, joint flexing, produce reflection, robot can be hidden the obstacle such as road surface or rubble of projection immediately, thereby adapt to complicated walking environment or burst disturbance, strong adaptability, good stability, response rapidly, stable; 2, designed shock response formula damping arrangement, the robot of applying this joint is in the time of normal walking, and shock response formula damping arrangement is failure to actuate, and has ensured that joint only carries out Reflective regulation in the situation that of needs; 3, on shock response formula damping arrangement, design damping regulatory function, by setting nut, can change response lag and the speed of shock response formula damping arrangement; 4, the power output of lever impact response formula damping arrangement has played amplification, has ensured the normal realization of reflection function.
Brief description of the drawings
Fig. 1 is structural representation provided by the invention.
Fig. 2 is the cutaway view of shock response formula damping arrangement provided by the invention.
Fig. 3 is the structural representation of supporting construction provided by the invention.
Fig. 4 is the structured flowchart of supporting construction provided by the invention.
In figure, upper fixed seat 1, lower fixed seat 2, supporting construction 3, pneumatic muscles assembly 4, air pressure control mechanism 5, air pressure feedback mechanism 6, air cushion 7, withstand voltage tracheae 8, pedestal 9, shock response formula damping arrangement 10, take-off lever 11, lever 12, connecting rod 13, the first pneumatic muscles 14, the second pneumatic muscles 15, the first reducing valve 16, the first admission port 17, the first air extractor duct 18, the second reducing valve 19, the second admission port 20, the second air extractor duct 21, tubular shell 22, the first end cap 23, the 3rd admission port 24, the second end cap 25, tapped bore 26, setting nut 27, diaphragm 28, bearing pin 29, spring 30, aperture 31, air extractor vent 32, Y type strut bar 33, joint rotating shaft 34, the first through hole 35, the second through hole 36, third through-hole 37.
Detailed description of the invention
Embodiment 1
As Figure 1-4, originally have stress reflection function rugged climbing robot pneumatic muscles joint, comprise upper fixed seat 1 and lower fixed seat 2, between upper fixed seat 1 and lower fixed seat 2, being provided with supporting construction 3 and supporting construction 3 and upper fixed seat 1 is hinged, between upper fixed seat 1 and lower fixed seat 2, be also provided with pneumatic muscles assembly 4, it is characterized in that, pneumatic muscles assembly 4 is connected with the air pressure control mechanism 5 that can control pneumatic muscles assembly 4 internal gas pressure sizes, air pressure control mechanism 5 is connected with air pressure feedback mechanism 6 and air pressure feedback mechanism 6 can be controlled the air pressure size in pneumatic muscles assembly 4 by controlling air pressure control mechanism 5 according to the feedback information receiving.
Bionic mechanical is that the function that designs and manufactures of form, structure and the control principle of mimic biology is more concentrated, efficiency is higher and has the machinery of biological characteristic.Have the walking of sufficient animal with reference to biosphere, can find that it has very strong compatible with environment, reaction fast and is accurately made in the change of environment and various stimulation to external world.This is because contain abundant feedback network and rational biological reflex mechanism in animal movement nervous system.So the compatible with environment of realizing legged type robot by reflex mechanism is a well reference.When robot ambulation is at complicated walking environment or run into burst when disturbance, air pressure feedback mechanism 6 is responsible for receiving these feedback informations, receiving after feedback information, air pressure feedback mechanism 6 is directly controlled the valve on air pressure control mechanism 5, valve opening changes, air pressure in pneumatic muscles assembly 4 in part pneumatic muscles changes, thereby joint flexing, produce reflection, robot can be hidden the obstacle such as road surface or rubble of projection immediately, thereby adapts to complicated walking environment or burst disturbance, strong adaptability, good stability, reaction is fast.
Wherein, air pressure feedback mechanism 6 comprises the air cushion 7 being arranged at the bottom of robot foot, air cushion 7 is connected with the shock response formula damping arrangement 10 being arranged on pedestal 9 by withstand voltage tracheae 8, on the take-off lever 11 of shock response formula damping arrangement 10, being hinged with lever 12 and lever 12 is hinged by bearing pin 29 and pedestal 9, the other end of lever 12 is hinged with connecting rod 13, the valve of the other end of connecting rod 13 and air pressure control mechanism 5 is hinged, air cushion 7 can be installed in the sole of robot, in the time of robot ambulation, pin had the process of a deceleration before landing, ensure steadily to contact with ground.Under normal circumstances, pin is in the time landing, and air cushion 7 slowly contacts with ground, is then slowly compressed, and now, shock response formula damping arrangement 10 is failure to actuate, and produces so do not have reflection, and in the time that robot ambulation has the obstacles such as rubble on comparatively rugged road surface or on road surface, the sole of robot may impact with the obstacle such as road surface or rubble of projection with a larger speed in advance, at this moment, air pressure in sole air cushion 7 can increase sharply, shock response formula damping arrangement 10 is moved, its take-off lever 11 extends, again by the mechanical transfer of lever 12 and connecting rod 13, the valve opening of air pressure control mechanism 5 is increased, air pressure in pneumatic muscles assembly 4 in part pneumatic muscles changes, thereby joint flexing, produce reflection, robot can be hidden the obstacle such as road surface or rubble of projection immediately, thereby adapt to complicated walking environment or burst disturbance, strong adaptability, reaction is fast, good stability.Improve as one, the distance of the hinged place of bearing pin 29 and lever 12 and take-off lever 11 is less than the distance of the hinged place of bearing pin 29 and lever 12 and connecting rod 13.The power output of lever 12 impact response formula damping arrangements 10 has played amplification, has ensured the normal realization of reflection function.
Wherein, pneumatic muscles assembly 4 comprises the first pneumatic muscles 14 and the second pneumatic muscles 15 that are distributed in supporting construction 3 both sides, the two ends of the first pneumatic muscles 14 are hinged with upper fixed seat 1 and lower fixed seat 2 respectively, the two ends of the second pneumatic muscles 15 are hinged with upper fixed seat 1 and lower fixed seat 2 respectively, in the time that the air cushion 7 at the bottom of robot foot is encountered obstacle, encounter the front and back position of obstacle according to air cushion 7, control the air pressure size in the first pneumatic muscles 14 or the second pneumatic muscles 15, in the time that the air pressure in the first pneumatic muscles 14 or the second pneumatic muscles 15 increases, the first pneumatic muscles 14 or the second pneumatic muscles 15 shrink, because permanent seat 1 can rotate with respect to supporting construction 3, so the first pneumatic muscles 14 or the second pneumatic muscles 15 pull upper fixed seat 1 to have a down dip to corresponding direction, thereby joint flexing, produce reflection, robot can be hidden the obstacle such as road surface or rubble of projection immediately.
Wherein, air pressure control mechanism 5 comprises that the valve of the first reducing valve 16 and the first reducing valve 16 and connecting rod 13 are hinged, on the first reducing valve 16, have the first admission port 17 and the first air extractor duct 18, the first air extractor duct 18 is connected with the second pneumatic muscles 15 with the second admission port 20 of the second reducing valve 19 respectively by tracheae, the second air extractor duct 21 of the second reducing valve 19 is connected with the first pneumatic muscles 14 by tracheae, in the time that the air cushion 7 at the bottom of robot foot is encountered obstacle, shock response formula damping arrangement 10 moves, its take-off lever 11 extends, again by the mechanical transfer of lever 12 and connecting rod 13, the valve opening of the first reducing valve 16 is increased, the air pressure that the first reducing valve 16 is exported increases, cause the second pneumatic muscles 15 to shorten because input air pressure increases, and between the first pneumatic muscles 14 and the first reducing valve 16, be also connected with the second reducing valve 19, so time the first pneumatic muscles 14 input air pressure remain unchanged, length is also constant, thereby joint flexing, produces reflection, and robot can be hidden the obstacle such as road surface or rubble of projection immediately, thereby adapt to complicated walking environment or burst disturbance, strong adaptability, reaction is fast, good stability.
Wherein, shock response formula damping arrangement 10 comprises tubular shell 22, tubular shell 22 upper and lower sides are respectively equipped with the second end cap 25 of the first end cap 23 and tool the 3rd admission port 24, on the first end cap 23, have tapped bore 26 and be threaded by tapped bore 26 in the middle of the setting nut 27 in tool tubular chamber, take-off lever 11 is located in setting nut 27, in tubular shell 22, be provided with diaphragm 28, diaphragm 28 edges are fixedly connected with tubular shell 22 inwalls, and one end of take-off lever 11 is fixedly connected with diaphragm 28 middle parts.The feature of this shock response formula damping arrangement 10 is to be subject to impact and just can responds to some extent or move, and normally, situation is next can not move.So under normal circumstances, pin is after landing, and air cushion 7 slowly contacts with ground, then slowly compressed, air pressure in shock response formula damping arrangement 10 cavitys that make to be directly connected with the 3rd admission port 24 slowly changes, and shock response formula damping arrangement 10 is failure to actuate, and produces so do not have reflection, and in the time that robot ambulation has the obstacles such as rubble on comparatively rugged road surface or on road surface, the sole of robot may impact with the obstacle such as road surface or rubble of projection with a larger speed in advance, at this moment, air pressure in sole air cushion 7 can increase sharply, air pressure in shock response formula damping arrangement 10 cavitys that make to be directly connected with the 3rd admission port 24 also increases sharply, gas is punched into the 3rd admission port 24 through withstand voltage tracheae 8, then be punched into shock response formula damping arrangement 10 inner chambers, thereby compressing diaphragm 28, take-off lever 11 is extended, be that shock response formula damping arrangement 10 moves, again by the mechanical transfer of lever 12 and connecting rod 13, the valve opening of the first reducing valve 16 is increased.Improve as one, the 3rd admission port 24 is connected with withstand voltage tracheae 8, aperture ratio the 3rd admission port 24 that has air extractor vent 32 and air extractor vent 32 on the first end cap 23 is little, diaphragm 28 is provided with aperture 31, the section of aperture 31 is fan-shaped, aperture 31 compare great one end, aperture are towards the direction of diaphragm 28 projections, under normal circumstances, pin is after landing, air cushion 7 slowly contacts with ground, then slowly compressed, gas enters the 3rd admission port 24 through withstand voltage tracheae 8 compressions, then compression enters shock response formula damping arrangement 10 inner chambers, aperture 31 on diaphragm 28 enters into the cavity being connected with air extractor vent 32, contact with atmosphere through air extractor vent 32 again, thereby the air pressure in shock response formula damping arrangement 10 cavitys is slowly changed, shock response formula damping arrangement 10 is failure to actuate, so not having reflection produces.Improve as one, on take-off lever 11, be socketed with spring 30, spring 30 one end act on the lower surface of setting nut 27, the other end acts on diaphragm 28 and diaphragm 28 to the 3rd admission port 24 direction projections, and spring 30 makes diaphragm 28 to the 3rd admission port 24 direction projections, forms a balance between air pressure and spring 30, when gas pressure is greater than while acting on the elastic force of diaphragm 28 with spring 30 in the pressure of diaphragm 28, take-off lever 11 extends, i.e. shock response formula damping arrangement 10 moves, and produces reflection.Improve as one, the thickness of diaphragm 28 successively decreases to edge gradually from centre.Supporting construction 3 comprises Y type strut bar 33 and joint rotating shaft 34, in the two side arms of Y type strut bar 33, have the first corresponding through hole 35 and the second through hole 36, upper fixed seat has third through-hole 37 on 1 side, joint rotating shaft 34 is successively through the first through hole 35, third through-hole 37 and the second through hole 36, and upper fixed seat 1 can rotate around joint rotating shaft 34.Make the joint rotation of robot more flexible, accommodative ability of environment is strong.
Principle of the present invention: in the time that this joint is used on robot, air cushion 7 can be installed in the sole of robot.When robot ambulation, pin had the process of a deceleration before landing, and ensured steadily to contact with ground.Under normal circumstances, pin is in the time landing, and air cushion 7 slowly contacts with ground, is then slowly compressed.Owing to offering aperture 31 on the diaphragm 28 in shock response formula damping arrangement 10 and the first end cap 23, thereby the air pressure in the cavity being connected with the 3rd admission port 24 of shock response formula damping arrangement 10 is slowly changed, now, shock response formula damping arrangement 10 is failure to actuate, and produces so do not have reflection, and in the time that robot ambulation has the obstacles such as rubble on comparatively rugged road surface or on road surface, the sole of robot may impact with the obstacle such as road surface or rubble of projection with a larger speed in advance, at this moment, air pressure in sole air cushion 7 can increase sharply, air pressure in the cavity being connected with the 3rd admission port 24 of shock response formula damping arrangement 10 is also increased sharply, thereby compressing diaphragm 28 is to a recessed facial disfigurement, take-off lever 11 extends, be that shock response formula damping arrangement 10 moves, again by the mechanical transfer of lever 12 and connecting rod 13, the valve opening of the first reducing valve 16 is increased.After the valve opening of the first reducing valve 16 increases, the air pressure that the first reducing valve 16 is exported increases, and causes the second pneumatic muscles 15 to shorten because input air pressure increases; And between the first pneumatic muscles 14 and the first reducing valve 16, be also connected with the second reducing valve 19, so time the first pneumatic muscles 14 input air pressure remain unchanged, length is also constant, thus joint flexing, produce reflection, robot can be hidden the obstacle such as road surface or rubble of projection immediately.After reflection finishes, spring 30 is replied, and diaphragm 28 restores to the original state, and in addition, by regulating setting nut 27, can also change response lag and the speed of shock response formula damping arrangement 10, makes joint have more comformability.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendments or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although more used upper fixed seat 1 herein, lower fixed seat 2, supporting construction 3, pneumatic muscles assembly 4, air pressure control mechanism 5, air pressure feedback mechanism 6, air cushion 7, withstand voltage tracheae 8, pedestal 9, shock response formula damping arrangement 10, take-off lever 11, lever 12, connecting rod 13, the first pneumatic muscles 14, the second pneumatic muscles 15, the first reducing valve 16, the first admission port 17, the first air extractor duct 18, the second reducing valve 19, the second admission port 20, the second air extractor duct 21, tubular shell 22, the first end cap 23, the 3rd admission port 24, the second end cap 25, tapped bore 26, setting nut 27, diaphragm 28, bearing pin 29, spring 30, aperture 31, air extractor vent 32, Y type strut bar 33, joint rotating shaft 34, the first through hole 35, the second through hole 36, third through-hole 37, Deng term, but do not get rid of the possibility that uses other term.Use these terms to be only used to describe more easily and explain essence of the present invention; They are construed to any additional restriction is all contrary with spirit of the present invention.
Claims (10)
- One kind have stress reflection function rugged climbing robot pneumatic muscles joint, comprise upper fixed seat (1) and lower fixed seat (2), between described upper fixed seat (1) and lower fixed seat (2), being provided with supporting construction (3) and supporting construction (3) is hinged with upper fixed seat (1), between described upper fixed seat (1) and lower fixed seat (2), be also provided with pneumatic muscles assembly (4), it is characterized in that, described pneumatic muscles assembly (4) is connected with the air pressure control mechanism (5) that can control pneumatic muscles assembly (4) internal gas pressure size, described air pressure control mechanism (5) is connected with air pressure feedback mechanism (6) and air pressure feedback mechanism (6) can be controlled the air pressure size in pneumatic muscles assembly (4) by controlling air pressure control mechanism (5) according to the feedback information receiving.
- According to claim 1 have stress reflection function rugged climbing robot pneumatic muscles joint, it is characterized in that, described air pressure feedback mechanism (6) comprises the air cushion (7) being arranged at the bottom of robot foot, described air cushion (7) is connected with the shock response formula damping arrangement (10) being arranged on pedestal (9) by withstand voltage tracheae (8), on the take-off lever (11) of described shock response formula damping arrangement (10), being hinged with lever (12) and lever (12) is hinged by bearing pin (29) and pedestal (9), the other end of described lever (12) is hinged with connecting rod (13), the other end of described connecting rod (13) and the valve of air pressure control mechanism (5) are hinged.
- According to claim 2 have stress reflection function rugged climbing robot pneumatic muscles joint, it is characterized in that, described pneumatic muscles assembly (4) comprises the first pneumatic muscles (14) and the second pneumatic muscles (15) that are distributed in supporting construction (3) both sides, the two ends of described the first pneumatic muscles (14) are hinged with upper fixed seat (1) and lower fixed seat (2) respectively, and the two ends of described the second pneumatic muscles (15) are hinged with upper fixed seat (1) and lower fixed seat (2) respectively.
- According to claim 3 have stress reflection function rugged climbing robot pneumatic muscles joint, it is characterized in that, described air pressure control mechanism (5) comprises that the valve of the first reducing valve (16) and the first reducing valve (16) and connecting rod (13) are hinged, on described the first reducing valve (16), have the first admission port (17) and the first air extractor duct (18), described the first air extractor duct (18) is connected with the second pneumatic muscles (15) with second admission port (20) of the second reducing valve (19) respectively by tracheae, second air extractor duct (21) of described the second reducing valve (19) is connected with the first pneumatic muscles (14) by tracheae.
- 5. rugged climbing robot pneumatic muscles joint that stress reflection function according to having described in any one in claim 2-4, it is characterized in that, described shock response formula damping arrangement (10) comprises tubular shell (22), described tubular shell (22) upper and lower side is respectively equipped with second end cap (25) of the first end cap (23) and tool the 3rd admission port (24), on described the first end cap (23), have tapped bore (26) and be threaded by tapped bore (26) in the middle of the setting nut (27) in tool tubular chamber, described take-off lever (11) is located in setting nut (27), in described tubular shell (22), be provided with diaphragm (28), described diaphragm (28) edge is fixedly connected with tubular shell (22) inwall, one end of described take-off lever (11) is fixedly connected with diaphragm (28) middle part.
- 6. rugged climbing robot pneumatic muscles joint that stress reflection function according to having described in any one in claim 2-4, it is characterized in that, the distance of the hinged place of described bearing pin (29) and lever (12) and take-off lever (11) is less than the distance of the hinged place of bearing pin (29) and lever (12) and connecting rod (13).
- According to claim 5 have stress reflection function rugged climbing robot pneumatic muscles joint, it is characterized in that, the 3rd described admission port (24) is connected with withstand voltage tracheae (8), aperture ratio the 3rd admission port (24) that has air extractor vent (32) and air extractor vent (32) on described the first end cap (23) is little, described diaphragm (28) is provided with aperture (31), the section of described aperture (31) is fan-shaped, and compare great one end, aperture (31) aperture is towards the direction of diaphragm (28) projection.
- According to claim 7 have stress reflection function rugged climbing robot pneumatic muscles joint, it is characterized in that, on described take-off lever (11), be socketed with spring (30), described spring (30) one end acts on the lower surface of setting nut (27), and the other end acts on diaphragm (28) and diaphragm (28) to the 3rd admission port (24) direction projection.
- According to claim 8 have stress reflection function rugged climbing robot pneumatic muscles joint, it is characterized in that, the thickness of described diaphragm (28) successively decreases to edge gradually from centre.
- 10. rugged climbing robot pneumatic muscles joint that stress reflection function according to having described in any one in claim 1-4, it is characterized in that, described supporting construction (3) comprises Y type strut bar (33) and joint rotating shaft (34), in the two side arms of described Y type strut bar (33), have corresponding the first through hole (35) and the second through hole (36), on described upper fixed seat (1) side, have third through-hole (37), described joint rotating shaft (34) is successively through the first through hole (35), third through-hole (37) and the second through hole (36), described upper fixed seat (1) can rotate around joint rotating shaft (34).
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| CN201410225176.7A CN104015834B (en) | 2014-05-26 | 2014-05-26 | Having stress rugged climbing robot pneumatic muscles joint of reflection function |
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| CN201410225176.7A CN104015834B (en) | 2014-05-26 | 2014-05-26 | Having stress rugged climbing robot pneumatic muscles joint of reflection function |
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| CN104015834A true CN104015834A (en) | 2014-09-03 |
| CN104015834B CN104015834B (en) | 2016-06-29 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| CN102189556A (en) * | 2011-05-18 | 2011-09-21 | 中国计量学院 | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves |
| CN102922536A (en) * | 2012-10-16 | 2013-02-13 | 中国计量学院 | Mechanism-parameter-adjustable universal type pneumatic muscle bionic joint mechanism |
| CN203876867U (en) * | 2014-05-26 | 2014-10-15 | 中国计量学院 | Rugged surface crawling robot pneumatic muscle joint with stress reflection function |
-
2014
- 2014-05-26 CN CN201410225176.7A patent/CN104015834B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| CN102189556A (en) * | 2011-05-18 | 2011-09-21 | 中国计量学院 | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves |
| CN102922536A (en) * | 2012-10-16 | 2013-02-13 | 中国计量学院 | Mechanism-parameter-adjustable universal type pneumatic muscle bionic joint mechanism |
| CN203876867U (en) * | 2014-05-26 | 2014-10-15 | 中国计量学院 | Rugged surface crawling robot pneumatic muscle joint with stress reflection function |
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| CN104015834B (en) | 2016-06-29 |
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