CN104015834B - Having stress rugged climbing robot pneumatic muscles joint of reflection function - Google Patents
Having stress rugged climbing robot pneumatic muscles joint of reflection function Download PDFInfo
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- CN104015834B CN104015834B CN201410225176.7A CN201410225176A CN104015834B CN 104015834 B CN104015834 B CN 104015834B CN 201410225176 A CN201410225176 A CN 201410225176A CN 104015834 B CN104015834 B CN 104015834B
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Abstract
The invention belongs to robotics, especially relate to that a kind of have stress rugged climbing robot pneumatic muscles joint of reflection function.Originally having stress rugged climbing robot pneumatic muscles joint of reflection function, including upper fixed seat and lower fixed seat, it is provided with supporting construction and supporting construction between upper fixed seat and lower fixed seat and upper fixed seat is hinged, pneumatic muscles assembly it is additionally provided with between upper fixed seat and lower fixed seat, it is characterized in that, pneumatic muscles assembly is connected with the air pressure control mechanism that can control pneumatic muscles assembly internal gas pressure size, air pressure control mechanism is connected with air pressure feedback mechanism and air pressure feedback mechanism can according to the feedback information received by controlling the air pressure size that air pressure control mechanism controls in pneumatic muscles assembly.It is an advantage of the current invention that: can carrying out formula reflecting for complicated pedestrian environment or burst disturbance, strong adaptability, good stability, reaction is fast.
Description
Technical field
The invention belongs to robotics, especially relate to that a kind of have stress rugged climbing robot pneumatic muscles joint of reflection function.
Background technology
Pneumatic muscles is mainly born loading component by the outside of inflatable elastic flexible pipe and a constraint elastic tube dilatancy and forms, and bears the constraint of loading component owing to deformation is subject to outside and produces stress.The advantage of pneumatic muscles is the compliance that power-weight ratio is big, pollution-free, fricton-tight, have human or animal's muscle, as a kind of high efficiency driver, sufficiently large power can be produced, simultaneously by the compliance that maintenance is certain, have a wide range of applications in the field such as robot, bionic mechanical.
The gait stability control of legged type robot of the prior art is fixed against the end effector mechanism of robot so that robot can according to the track of planning, speed and acceleration movement.When the ground even of legged type robot walking, as long as the Walking Mode of legged type robot reproduction planning can realize walking stability.But when the ground environment of walking is complicated or unknown, it is possible to can cause that the walking stability of robot declines, even topple over.In order to strengthen the robot walking stability when the ground environment of walking is complicated or unknown, robot research persons propose multiple method, but these methods are required for by robot central controller, gait being regulated in real time, response speed is slow, and stability is relatively low.
In order to prior art is improved, people have carried out long felt, it is proposed to various solutions.Such as, Chinese patent literature discloses a kind of adjustable universal pneumatic muscles bionic joint mechanism [application number: CN201210415541.1] of mechanism parameter, including 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 characterised in that: upper connecting rod and lower link are used for connecting in bio-mechanism needs two limbs in relative rotation；Upper connecting rod is fixedly mounted on rotating shaft contiguous block；Rotating shaft contiguous block has three elliptical racetrack rotary axis grooves, upper support rotary axis groove, left-hand rotation axial trough and right-hand rotation axial trough；Upper support rotary axis groove vertical direction is opened, and upper end is provided with the holddown spring after precommpression, and the lower surface of holddown spring is blocked by spring stop assembly, limits the elongation of holddown spring；Spring stop assembly is made up of the baffle plate of hollow and the locking nut at two ends, and position can regulate in upper support rotary axis groove；Rotating shaft is in the middle of the baffle plate of spring stop assembly, and the lower surface of compacted spring is withstood, and the position of rotating shaft also can regulate in upper support rotary axis 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 respectively through connecting rod；Connecting rod can rotate rotating around left and right spindle nut assembly；Left and right pneumatic muscles lower end is connected with lower supporting plate rotary axis groove respectively through connecting rod and left and right spindle nut assembly；Upper support bar is connected with the rotating shaft in upper support rotary axis groove, and can rotate around the axis；Upper support bar, and can screwing and loosening and regulate length by tune long nut by adjusting long nut to be connected with lower support bar；Lower support bar is fixing with lower supporting plate rotary axis groove to be connected；The joint of left and right pneumatic muscles lower end has left and right adjustment air pressure mouth, and the air pressure of left and right pneumatic muscles inner chamber can be regulated by left and right adjustment air pressure mouth respectively.
Although such scheme to some extent solves the deficiencies in the prior art, the air pressure of left and right pneumatic muscles inner chamber can be regulated by left and right air pressure adjustment mouth and adapt to specific environment, but can in target-seeking situation without concrete rule for complicated pedestrian environment or burst disturbance etc., then 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 complicated pedestrian environment or the ability of burst disturbance.
Summary of the invention
The purpose of the present invention is aiming at defect and the deficiency of prior art, propose one can for complicated pedestrian environment or burst disturbance carry out stress formula reflection, having of strong adaptability and good stability stress rugged climbing robot pneumatic muscles joint of reflection function.
For reaching above-mentioned purpose, present invention employs following technical proposal: originally having stress rugged climbing robot pneumatic muscles joint of reflection function, including upper fixed seat and lower fixed seat, it is provided with supporting construction and supporting construction between described upper fixed seat and lower fixed seat and upper fixed seat is hinged, pneumatic muscles assembly it is additionally provided with between described upper fixed seat and lower fixed seat, 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 according to the feedback information received by controlling the air pressure size that air pressure control mechanism controls in pneumatic muscles assembly.
Bionic mechanical be the function that the form of mimic biology, structure and control principle design and manufacture more concentrate, in hgher efficiency and there is the machinery of biological characteristic.There is the walking of sufficient animal with reference to biosphere, it is found that it has very strong environmental suitability, the change of environment and various stimulation can make and quickly and accurately reacting to external world.This is because containing abundant feedback network and rational biological reflex mechanism in animal movement nervous system.So, the environmental suitability being realized legged type robot by reflex mechanism is a good reference.When robot ambulation is at complicated pedestrian environment or when running into burst disturbance, air pressure feedback mechanism is responsible for receiving these feedback informations, upon reception of the feedback information, air pressure feedback mechanism directly controls the valve on air pressure control mechanism, valve opening changes, in pneumatic muscles assembly, the air pressure in part pneumatic muscles changes, thus joint flexing, produce reflection, robot can hide the barriers such as road surface or the rubble of projection immediately, thus adapting to complicated pedestrian environment or burst disturbance, strong adaptability, good stability, reaction is fast.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, described air pressure feedback mechanism includes the air cushion being arranged at the bottom of robot foot, described air cushion is connected with the shock response formula damping unit being arranged on pedestal by resistance to air pipe, the take-off lever of described shock response formula damping unit is hinged with lever and lever be 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 when robot ambulation, foot had a process slowed down before landing, it is ensured that steadily contact with ground.Under normal circumstances, foot is when landing, and air cushion slowly and earth surface, is slowly compressed then, and now, shock response formula damping unit is failure to actuate, and produces so not having reflection；And when robot ambulation is on comparatively rugged road surface or when having the barriers such as rubble on road surface, the sole of robot may shift to an earlier date the barriers such as the road surface with projection or rubble with a bigger speed to be impacted, at this moment, air pressure in sole air cushion can increase sharply, make shock response formula damping unit action, its take-off lever extends, mechanical transfer again through lever and connecting rod, the valve opening making air pressure control mechanism increases, in pneumatic muscles assembly, the air pressure in part pneumatic muscles changes, thus joint flexing, produce reflection, robot can hide the barriers such as road surface or the rubble of projection immediately, thus adapting to complicated pedestrian environment or burst disturbance, strong adaptability, reaction is fast, good stability.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, described pneumatic muscles assembly includes 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.When barrier encountered by the air cushion at the bottom of robot foot, the front and back position of barrier is encountered according to air cushion, control the air pressure size in the first pneumatic muscles or the second pneumatic muscles, when the air pressure in the first pneumatic muscles or the second pneumatic muscles increases, first pneumatic muscles or the second pneumatic muscles shrink, because fixing seat can rotate relative 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, thus joint flexing, producing reflection, robot can hide the barriers such as road surface or the rubble of projection immediately.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, described air pressure control mechanism includes the valve of the first air relief valve and the first air relief valve and is hinged with connecting rod, the first described air relief valve has the first air inlet and the first gas outlet, the first described gas outlet is connected with the second air inlet of the second air relief valve and the second pneumatic muscles respectively by trachea, and the second gas outlet of the second described air relief valve is connected by trachea and the first pneumatic muscles.When barrier encountered by the air cushion at the bottom of robot foot, shock response formula damping unit action, its take-off lever extends, mechanical transfer again through lever and connecting rod, the valve opening making the first air relief valve increases, the air pressure that first air relief valve exports increases, and causes that the second pneumatic muscles shortens because input air pressure increases；And between the first pneumatic muscles and the first air relief valve, it is also associated with the second air relief valve, so time the first pneumatic muscles input air pressure remain unchanged, length is also constant, thus joint flexing, producing reflection, robot can hide the barriers such as road surface or the rubble of projection immediately, thus adapting to complicated pedestrian environment or burst disturbance, strong adaptability, reaction is fast, good stability.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, described shock response formula damping unit includes tubular shell, described tubular shell upper and lower side is respectively equipped with the first end cap and the second end cap of tool the 3rd air inlet, the first described end cap has screwed hole and by the threaded adjusting nut having middle tool tubular chamber of screwed hole, described take-off lever is located in adjusting nut, it is provided with diaphragm in described tubular shell, described diaphragm edge is fixing with tubular housing inner wall to be connected, one end of described take-off lever is fixing with in the middle part of diaphragm to be connected.Being characterized in that of this shock response formula damping unit is subject to impacting and just can respond to some extent or action, and action then will not occur under normal conditions.So under normal circumstances, foot is after landing, and air cushion is slowly and earth surface, then slowly compressed, making the air pressure in the shock response formula damping unit cavity being directly connected with the 3rd air inlet slowly varying, shock response formula damping unit is failure to actuate, and produces so not having reflection；And when robot ambulation is on comparatively rugged road surface or when having the barriers such as rubble on road surface, the sole of robot may shift to an earlier date the barriers such as the road surface with projection or rubble with a bigger speed to be impacted, at this moment, air pressure in sole air cushion can increase sharply, air pressure in the shock response formula damping unit cavity being directly connected with the 3rd air inlet is also increased sharply, gas is punched into the 3rd air inlet through resistance to air pipe, then shock response formula damping unit inner chamber it is punched into, thus oppressing diaphragm, take-off lever is extended, the damping unit action of i.e. shock response formula, mechanical transfer again through lever and connecting rod, the valve opening making the first air relief valve increases.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, and the distance of described bearing pin and lever and the hinged place of take-off lever is less than the distance of bearing pin with lever and the hinged place of connecting rod.The power output of lever impact response formula damping unit serves amplification, it is ensured that the normal realization of reflection function.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, the 3rd described air inlet is connected with resistance to air pipe, aperture ratio the 3rd air inlet having passage and passage on the first described end cap is little, described diaphragm is provided with aperture, the section of described aperture is fan-shaped, and the bigger one end of small aperture is towards the protruding direction of diaphragm.Under normal circumstances, foot is after landing, air cushion slowly and earth surface, is slowly compressed then, and gas enters the 3rd air inlet through pressure tracheal compression, then compression enters shock response formula damping unit inner chamber, aperture on diaphragm enters into the cavity being connected with passage, then through passage and atmosphere, so that the air pressure in shock response formula damping unit cavity is slowly varying, shock response formula damping unit is failure to actuate, and produces so not having reflection.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, described take-off lever is socketed with spring, described spring one end acts on the lower surface of adjusting nut, and it is protruding to the 3rd air inlet direction that the other end acts on diaphragm and diaphragm.Spring makes diaphragm protruding to the 3rd air inlet direction, forms a balance between air pressure and spring, when gas pressure in the pressure of diaphragm more than when acting on the elastic force of diaphragm with spring, take-off lever extends, i.e. shock response formula damping unit action, produces to reflect.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, and the thickness of described diaphragm successively decreases from centre gradually to edge.
Have stress in rugged climbing robot pneumatic muscles joint of reflection function above-mentioned, described supporting construction includes Y type support bar and joint rotating shaft, the two side arms of described Y type support bar has the first corresponding through hole and the second through hole, described upper fixed seat side has third through-hole, described joint rotating shaft sequentially passes through the first through hole, third through-hole and the second through hole, and described upper fixed seat can around joint axis of rotation.The articulation making robot is more flexible, and accommodative ability of environment is strong.
Compared with prior art, originally have and stress the advantage in rugged climbing robot pneumatic muscles joint of reflection function be in that: the reflection in joint is to trigger through air pressure conduction and mechanical type conduction by being arranged on the air cushion in vola, when robot ambulation is on comparatively rugged road surface or when having the barriers such as rubble on road surface, joint flexing, produce reflection, robot can hide the barriers such as road surface or the rubble of projection immediately, thus adapting to complicated pedestrian environment or burst disturbance, strong adaptability, good stability, response is rapidly, stable；2, devising shock response formula damping unit, apply the robot in this joint when normally walking, shock response formula damping unit is failure to actuate, it is ensured that joint only carries out Reflective regulation in case of need；3, shock response formula damping unit devises damping regulatory function, passes through adjusting nut, thus it is possible to vary the response lag of shock response formula damping unit and speed；4, the power output of lever impact response formula damping unit serves amplification, it is ensured that the normal realization of reflection function.
Accompanying drawing explanation
Fig. 1 is structural representation provided by the invention.
Fig. 2 is the sectional view of shock response formula damping unit 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, resistance to air pipe 8, pedestal 9, shock response formula damping unit 10, take-off lever 11, lever 12, connecting rod 13, first pneumatic muscles 14, second pneumatic muscles 15, first air relief valve 16, first air inlet 17, first gas outlet 18, second air relief valve 19, second air inlet 20, second gas outlet 21, tubular shell 22, first end cap 23, 3rd air inlet 24, second end cap 25, screwed hole 26, adjusting nut 27, diaphragm 28, bearing pin 29, spring 30, aperture 31, passage 32, Y type support bar 33, joint rotating shaft 34, first through hole 35, second through hole 36, third through-hole 37.
Detailed description of the invention
Embodiment 1
As Figure 1-4, originally having stress rugged climbing robot pneumatic muscles joint of reflection function, including upper fixed seat 1 and lower fixed seat 2, it is provided with supporting construction 3 between upper fixed seat 1 and lower fixed seat 2 and supporting construction 3 is hinged with upper fixed seat 1, pneumatic muscles assembly 4 it is additionally provided with between upper fixed seat 1 and lower fixed seat 2, 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 size, air pressure control mechanism 5 is connected with air pressure feedback mechanism 6 and air pressure feedback mechanism 6 can according to the feedback information received by controlling the air pressure size that air pressure control mechanism 5 controls in pneumatic muscles assembly 4.
Bionic mechanical be the function that the form of mimic biology, structure and control principle design and manufacture more concentrate, in hgher efficiency and there is the machinery of biological characteristic.There is the walking of sufficient animal with reference to biosphere, it is found that it has very strong environmental suitability, the change of environment and various stimulation can make and quickly and accurately reacting to external world.This is because containing abundant feedback network and rational biological reflex mechanism in animal movement nervous system.So, the environmental suitability being realized legged type robot by reflex mechanism is a good reference.When robot ambulation is at complicated pedestrian environment or when running into burst disturbance, air pressure feedback mechanism 6 is responsible for receiving these feedback informations, upon reception of the feedback information, air pressure feedback mechanism 6 directly controls the valve on air pressure control mechanism 5, valve opening changes, in pneumatic muscles assembly 4, the air pressure in part pneumatic muscles changes, thus joint flexing, produce reflection, robot can hide the barriers such as road surface or the rubble of projection immediately, thus adapting to complicated pedestrian environment or burst disturbance, strong adaptability, good stability, reaction is fast.
Wherein, air pressure feedback mechanism 6 includes the air cushion 7 being arranged at the bottom of robot foot, air cushion 7 is connected with the shock response formula damping unit 10 being arranged on pedestal 9 by resistance to air pipe 8, the take-off lever 11 of shock response formula damping unit 10 is 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 at the bottom of the foot of robot, when robot ambulation, foot had a process slowed down before landing, ensure steadily to contact with ground.Under normal circumstances, foot is when landing, and air cushion 7 slowly and earth surface, is slowly compressed then, and now, shock response formula damping unit 10 is failure to actuate, and produces so not having reflection；And when robot ambulation is on comparatively rugged road surface or when having the barriers such as rubble on road surface, the sole of robot may shift to an earlier date the barriers such as the road surface with projection or rubble with a bigger speed to be impacted, at this moment, air pressure in sole air cushion 7 can increase sharply, make shock response formula damping unit 10 action, its take-off lever 11 extends, mechanical transfer again through lever 12 and connecting rod 13, the valve opening making air pressure control mechanism 5 increases, in pneumatic muscles assembly 4, the air pressure in part pneumatic muscles changes, thus joint flexing, produce reflection, robot can hide the barriers such as road surface or the rubble of projection immediately, thus adapting to complicated pedestrian environment or burst disturbance, strong adaptability, reaction is fast, good stability.Improving 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 bearing pin 29 with lever 12 and the hinged place of connecting rod 13.The power output of lever 12 impact response formula damping unit 10 serves amplification, it is ensured that the normal realization of reflection function.
Wherein, pneumatic muscles assembly 4 includes the first pneumatic muscles 14 and the second pneumatic muscles 15 being 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, when barrier encountered by the air cushion 7 at the bottom of robot foot, the front and back position of barrier is encountered according to air cushion 7, control the air pressure size in the first pneumatic muscles 14 or the second pneumatic muscles 15, when the air pressure in the first pneumatic muscles 14 or the second pneumatic muscles 15 increases, first pneumatic muscles 14 or the second pneumatic muscles 15 shrink, because fixing seat 1 can rotate relative 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, thus joint flexing, produce reflection, robot can hide the barriers such as road surface or the rubble of projection immediately.
Wherein, air pressure control mechanism 5 includes the valve of the first air relief valve 16 and the first air relief valve 16 and is hinged with connecting rod 13, first air relief valve 16 has the first air inlet 17 and the first gas outlet 18, first gas outlet 18 is connected with the second air inlet 20 of the second air relief valve 19 and the second pneumatic muscles 15 respectively by trachea, second gas outlet 21 of the second air relief valve 19 is connected by trachea and the first pneumatic muscles 14, when barrier encountered by the air cushion 7 at the bottom of robot foot, shock response formula damping unit 10 action, its take-off lever 11 extends, mechanical transfer again through lever 12 and connecting rod 13, the valve opening making the first air relief valve 16 increases, the air pressure that first air relief valve 16 exports increases, cause that the second pneumatic muscles 15 shortens because input air pressure increases；And between the first pneumatic muscles 14 and the first air relief valve 16, it is also associated with the second air relief valve 19, so time the first pneumatic muscles 14 input air pressure remain unchanged, length is also constant, thus joint flexing, producing reflection, robot can hide the barriers such as road surface or the rubble of projection immediately, thus adapting to complicated pedestrian environment or burst disturbance, strong adaptability, reaction is fast, good stability.
Wherein, shock response formula damping unit 10 includes tubular shell 22, tubular shell 22 upper and lower side is respectively equipped with the first end cap 23 and the second end cap 25 of tool the 3rd air inlet 24, first end cap 23 has screwed hole 26 and by the threaded adjusting nut 27 having middle tool tubular chamber of screwed hole 26, take-off lever 11 is located in adjusting nut 27, being provided with diaphragm 28 in tubular shell 22, diaphragm 28 edge is fixing with tubular shell 22 inwall to be connected, and one end of take-off lever 11 is fixing with in the middle part of diaphragm 28 to be connected.Being characterized in that of this shock response formula damping unit 10 is subject to impacting and just can respond to some extent or action, and action then will not occur under normal conditions.So under normal circumstances, foot is after landing, and air cushion 7 is slowly and earth surface, then slowly compressed, making the air pressure in shock response formula damping unit 10 cavity being directly connected with the 3rd air inlet 24 slowly varying, shock response formula damping unit 10 is failure to actuate, and produces so not having reflection；And when robot ambulation is on comparatively rugged road surface or when having the barriers such as rubble on road surface, the sole of robot may shift to an earlier date the barriers such as the road surface with projection or rubble with a bigger speed to be impacted, at this moment, air pressure in sole air cushion 7 can increase sharply, air pressure in shock response formula damping unit 10 cavity being directly connected with the 3rd air inlet 24 is also increased sharply, gas is punched into the 3rd air inlet 24 through resistance to air pipe 8, then shock response formula damping unit 10 inner chamber it is punched into, thus oppressing diaphragm 28, take-off lever 11 is extended, damping unit 10 action of i.e. shock response formula, mechanical transfer again through lever 12 and connecting rod 13, the valve opening making the first air relief valve 16 increases.Improve as one, 3rd air inlet 24 is connected with resistance to air pipe 8, aperture ratio the 3rd air inlet 24 having passage 32 and passage 32 on first end cap 23 is little, diaphragm 28 is provided with aperture 31, the section of aperture 31 is fan-shaped, bigger one end, aperture 31 aperture is towards the direction of diaphragm 28 projection, under normal circumstances, foot is after landing, air cushion 7 is slowly and earth surface, then slowly compressed, gas enters the 3rd air inlet 24 through the compression of resistance to air pipe 8, then compression enters shock response formula damping unit 10 inner chamber, aperture 31 on diaphragm 28 enters into the cavity being connected with passage 32, then through passage 32 and atmosphere, so that the air pressure in shock response formula damping unit 10 cavity is slowly varying, shock response formula damping unit 10 is failure to actuate, produce so not having reflection.Improve as one, take-off lever 11 is socketed with spring 30, spring 30 one end acts on the lower surface of adjusting nut 27, it is protruding to the 3rd air inlet 24 direction that the other end acts on diaphragm 28 and diaphragm 28, and spring 30 makes diaphragm 28 protruding to the 3rd air inlet 24 direction, forms a balance between air pressure and spring 30, when gas pressure in the pressure of diaphragm 28 more than when acting on the elastic force of diaphragm 28 with spring 30, take-off lever 11 extends, i.e. shock response formula damping unit 10 action, produces reflection.Improving as one, the thickness of diaphragm 28 successively decreases from centre gradually to edge.Supporting construction 3 includes Y type support bar 33 and joint rotating shaft 34, the two side arms of Y type support bar 33 has the first corresponding through hole 35 and the second through hole 36, upper fixed seat 1 has third through-hole 37 on side, joint rotating shaft 34 sequentially passes 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.The articulation making robot is more flexible, and accommodative ability of environment is strong.
Principles of the invention: when this joint is used in robot, air cushion 7 can be installed in the sole of robot.During robot ambulation, foot had a process slowed down before landing, it is ensured that steadily contact with ground.Under normal circumstances, foot is when landing, and air cushion 7 slowly and earth surface, is slowly compressed then.Due to the diaphragm 28 in shock response formula damping unit 10 with the first end cap 23 offers aperture 31, so that the air pressure in the cavity being connected with the 3rd air inlet 24 of shock response formula damping unit 10 is slowly varying, now, shock response formula damping unit 10 is failure to actuate, and produces so not having reflection；And when robot ambulation is on comparatively rugged road surface or when having the barriers such as rubble on road surface, the sole of robot may shift to an earlier date the barriers such as the road surface with projection or rubble with a bigger speed to be impacted, at this moment, air pressure in sole air cushion 7 can increase sharply, air pressure in the cavity being connected with the 3rd air inlet 24 of shock response formula damping unit 10 is also increased sharply, thus oppressing diaphragm 28 to a recessed facial disfigurement, take-off lever 11 extends, damping unit 10 action of i.e. shock response formula, mechanical transfer again through lever 12 and connecting rod 13, the valve opening making the first air relief valve 16 increases.After the valve opening of the first air relief valve 16 increases, the air pressure that the first air relief valve 16 exports increases, and causes that the second pneumatic muscles 15 shortens because input air pressure increases；And between the first pneumatic muscles 14 and the first air relief valve 16, it is also associated with the second air relief valve 19, so time the first pneumatic muscles 14 input air pressure remain unchanged, length is also constant, thus joint flexing, producing reflection, robot can hide the barriers such as road surface or the rubble of projection immediately.After reflection terminates, spring 30 is replied, and diaphragm 28 restores to the original state, additionally, by regulating adjusting nut 27, it is also possible to change response lag and the speed of shock response formula damping unit 10 so that joint has more adaptability.
Specific embodiment described herein is only to present invention spirit explanation for example.Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by those skilled in the art, but without departing from the spirit of the present invention or surmount the scope that appended claims is defined.
Although more employing 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, resistance to air pipe 8, pedestal 9, shock response formula damping unit 10, take-off lever 11, lever 12, connecting rod 13, first pneumatic muscles 14, second pneumatic muscles 15, first air relief valve 16, first air inlet 17, first gas outlet 18, second air relief valve 19, second air inlet 20, second gas outlet 21, tubular shell 22, first end cap 23, 3rd air inlet 24, second end cap 25, screwed hole 26, adjusting nut 27, diaphragm 28, bearing pin 29, spring 30, aperture 31, passage 32, Y type support bar 33, joint rotating shaft 34, first through hole 35, second through hole 36, third through-hole 37, Deng term, but it is not precluded from using the probability of other term.These terms are used to be only used to describe and explain more easily the essence of the present invention；It is all contrary with spirit of the present invention for being construed as any additional restriction.
Claims (7)
1. one kind have stress rugged climbing robot pneumatic muscles joint of reflection function, including upper fixed seat (1) and lower fixed seat (2), it is provided with supporting construction (3) and supporting construction (3) between described upper fixed seat (1) and lower fixed seat (2) to be hinged with upper fixed seat (1), it is additionally provided with pneumatic muscles assembly (4) between described upper fixed seat (1) and lower fixed seat (2), 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 control the air pressure size in pneumatic muscles assembly (4) according to the feedback information received by controlling air pressure control mechanism (5), described air pressure feedback mechanism (6) includes the air cushion (7) being arranged at the bottom of robot foot, described air cushion (7) is connected with shock response formula damping unit (10) being arranged on pedestal (9) by resistance to air pipe (8), the take-off lever (11) of described shock response formula damping unit (10) is hinged with lever (12) and lever (12) be 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, described shock response formula damping unit (10) includes tubular shell (22), described tubular shell (22) upper and lower side is respectively equipped with the first end cap (23) and second end cap (25) of tool the 3rd air inlet (24), described the first end cap (23) has screwed hole (26) and by the threaded adjusting nut (27) having middle tool tubular chamber of screwed hole (26), described take-off lever (11) is located in adjusting nut (27), it is provided with diaphragm (28) in described tubular shell (22), described diaphragm (28) edge is fixing with tubular shell (22) inwall to be connected, one end of described take-off lever (11) is fixing with diaphragm (28) middle part to be connected, 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 bearing pin (29) with lever (12) and the hinged place of connecting rod (13).
It is 2. according to claim 1 that have stress rugged climbing robot pneumatic muscles joint of reflection function, it is characterized in that, described pneumatic muscles assembly (4) includes 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.
It is 3. according to claim 2 that have stress rugged climbing robot pneumatic muscles joint of reflection function, it is characterized in that, described air pressure control mechanism (5) includes the valve of the first air relief valve (16) and the first air relief valve (16) and is hinged with connecting rod (13), described the first air relief valve (16) has the first air inlet (17) and the first gas outlet (18), described the first gas outlet (18) is connected with second air inlet (20) of the second air relief valve (19) and the second pneumatic muscles (15) respectively by trachea, second gas outlet (21) of described the second air relief valve (19) is connected by trachea and the first pneumatic muscles (14).
It is 4. according to claim 1 that have stress rugged climbing robot pneumatic muscles joint of reflection function, it is characterized in that, the 3rd described air inlet (24) is connected with resistance to air pipe (8), the aperture ratio the 3rd air inlet (24) having passage (32) and passage (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 bigger one end, aperture (31) aperture is towards the protruding direction of diaphragm (28).
It is 5. according to claim 4 that have stress rugged climbing robot pneumatic muscles joint of reflection function, it is characterized in that, described take-off lever (11) is socketed with spring (30), described spring (30) one end acts on the lower surface of adjusting nut (27), and it is protruding to the 3rd air inlet (24) direction that the other end acts on diaphragm (28) and diaphragm (28).
6. according to claim 5 have stress rugged climbing robot pneumatic muscles joint of reflection function, it is characterised in that the thickness of described diaphragm (28) successively decreases from centre gradually to edge.
7. according to any one in claim 1-3 have stress rugged climbing robot pneumatic muscles joint of reflection function, it is characterized in that, described supporting construction (3) includes Y type support bar (33) and joint rotating shaft (34), the two side arms of described Y type support bar (33) has corresponding the first through hole (35) and the second through hole (36), described upper fixed seat (1) side has third through-hole (37), described joint rotating shaft (34) sequentially passes 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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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| Publication Number | Publication Date |
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| CN104015834A CN104015834A (en) | 2014-09-03 |
| CN104015834B true 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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| CN104015834A (en) | 2014-09-03 |
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