CN104552332B - Bionical mobile spine - Google Patents
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- CN104552332B CN104552332B CN201510030810.6A CN201510030810A CN104552332B CN 104552332 B CN104552332 B CN 104552332B CN 201510030810 A CN201510030810 A CN 201510030810A CN 104552332 B CN104552332 B CN 104552332B
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Abstract
The invention belongs to bio-robot technical field, particularly the bionical mobile spine of one.The present invention includes centrum, hypocentrum, the first perpendicular flesh, the second perpendicular flesh, the 3rd perpendicular flesh, the 4th perpendicular flesh, the first oblique, the second oblique, the 3rd oblique, the 4th oblique, steel wire rope, can return type MR damper assembly, ball pivot, cylinder limiting bracket, electric Proportion valve, pressure-reducing valve, source of the gas and controller; Under the driving of pneumatic muscles, upper centrum can realize the motion of four frees degree, has flexibly, cleans and energy-conservation advantage; Can the damping of return type MR damper assembly adjustable, not only can assist the athletic posture adjusting centrum, but also the effect of the support played, damping; By regulating the air pressure of pneumatic muscles inside, the rigidity of bionical backbone can also be changed.The present invention well simulates the characteristic of biological mobile spine, has innovation functionally and expansion simultaneously, is worth application.
Description
Technical field
The invention belongs to bio-robot technical field, particularly the bionical mobile spine of one.
Background technology
Have foot biological carrying out walking, run and the action such as jump time generally there is very strong harmony and stability, this is except closely bound up with the kinetic system of its complexity, also and its perfect trunk structure inseparable.Current overwhelming majority's foot formula bio-robot is all the simplification modeling carried out under condition premised on rigidity trunk, and in fact has foot biological trunk plastic deformation can occur in motion process, to ensure stability and the harmony of biological motion.Especially when biology carry out running and the strenuous exercise such as jump time, if also adopt pure rigidity human trunk model, rationally can not reappear the mechanical property of biological motion, thus make to be difficult to have breakthrough again to robot in the research of wheel efficiency and stability.Backbone, as the axis pillar of biological trunk, is the activity centre of biological trunk and the transmission hinge of power, has the functions such as heavy burden, damping, protection and motion.Thus explore bionical backbone to be significant in the application in legged type robot field.
Pneumatic muscles is a kind of novel pneumatic executive component, with biological muscles, there is very large similitude, and there is very high power-weight ratio and power to volume ratio, also there is fast response time, the advantage such as with low cost simultaneously, have a wide range of applications in the field such as robot, bionic mechanical.
Magnetic flow liquid is a kind of controlled fluid, and it is the suspended substance mixed by high magnetic permeability, low hysteresis small magnetic-particle and non-magnetic.This suspended substance presents low viscous Newtonian fluid characteristic under zero magnetic field condition; And under strong magnetic field action, then present the Bingham bulk properties of high viscosity, lazy flow.Moment because the stream of magnetic flow liquid under magnetic fields becomes, reversible and its stream become after shear yield strength have with magnetic field intensity and stablize corresponding relation, therefore be a kind of intellectual material of function admirable, be widely used in the field of engineering technology such as machinery, civil engineering, automobile.
Through finding the literature search of prior art, Chinese patent literature [application number: 201310099132.X] discloses the flexible body of a kind of bio-robot, comprises presoma, back body, artificial spine, Pneumatic artificial muscle.Wherein artificial spine is formed by identical ascending being arranged in order of bionical spinal unit varied in size of some joint structures.Each saves bionical spinal unit and is made up of bionical vertebra, bionical interverbebral disc cushion, spring.Foregoing invention has certain flexibility, and leg mechanism can be assisted to realize the flexible pivot stud of bio-robot, but its active free degree is less, is difficult to realize complicated motion biomimetics.Chinese patent literature [application number: 201310215981.7] discloses a kind of Hydraulically-driventwo-freedom two-freedom degree bionic spinal joint module, comprise upper end cover, bottom end cover, two degrees of freedom cross shaft rigid universal joint and bellows are installed between upper end cover and bottom end cover, two degrees of freedom cross shaft rigid universal joint comprises the cross axle being positioned at centre, the universal-joint fork be connected with cross axle, the universal drive shaft pedestal be connected with end cap, upper end cover is installed the first gear pump be interconnected, first two-position four-way solenoid valve, bottom end cover is installed the second gear pump be interconnected, second two-position four-way solenoid valve, bellows has four, first two-position four-way solenoid valve is communicated with first respectively, second bellows, second two-position four-way solenoid valve is communicated with the 3rd respectively, 4th bellows.Foregoing invention simulates the rotation of bionical joint of vertebral column by hydraulic-driven, can realize the motion of multiple free degree.But owing to being hydraulic-driven, the rigidity of mechanism is unadjustable, and energy-conservation not.
Summary of the invention
Object of the present invention is exactly defect for prior art and deficiency, proposes a kind of bionical mobile spine.
For solving the problem, present invention employs following technical scheme: it comprise centrum, hypocentrum, the first perpendicular flesh, the second perpendicular flesh, the 3rd perpendicular flesh, the 4th perpendicular flesh, the first oblique, the second oblique, the 3rd oblique, the 4th oblique, steel wire rope, can return type MR damper assembly, ball pivot, cylinder limiting bracket, electric Proportion valve, pressure-reducing valve, source of the gas and controller, described first perpendicular flesh, second perpendicular flesh, 3rd perpendicular flesh, 4th perpendicular flesh, first oblique, second oblique, 3rd oblique and the 4th oblique are pneumatic muscles, cylinder limiting bracket one end is fixed in hypocentrum center, also can be fixed in hypocentrum center and surrounded by cylinder limiting bracket by return type MR damper component bottom, can the top of return type MR damper assembly hinged by the center of ball pivot and upper centrum, the first perpendicular flesh, second perpendicular flesh, 3rd perpendicular flesh, one end of 4th perpendicular flesh is affixed with hypocentrum respectively in the counterclockwise direction successively and affixed point is distributed on hypocentrum circumferentially, the first perpendicular flesh, second perpendicular flesh, 3rd perpendicular flesh, affixed steel wire rope one end of the other end of 4th perpendicular flesh, the other end of steel wire rope is affixed with upper centrum respectively and affixed point is in the first corresponding perpendicular flesh respectively, second perpendicular flesh, 3rd perpendicular flesh, directly over 4th perpendicular flesh, the first oblique, second oblique, 3rd oblique, one end of 4th oblique by ball pivot hinged with hypocentrum respectively in the counterclockwise direction successively and pin joint same be in circumferentially above-mentioned, the first oblique, the pin joint of the second oblique and hypocentrum is distributed in the both sides of the affixed point of the first perpendicular flesh and hypocentrum, the 3rd oblique respectively, the pin joint of the 4th oblique and hypocentrum is distributed in the both sides of the affixed point of the 3rd perpendicular flesh and hypocentrum, the first oblique respectively, second oblique, 3rd oblique, affixed steel wire rope one end of the other end of 4th oblique, steel wire rope on the other end of the steel wire rope on the first oblique and the 4th oblique and affixed point affixed with upper centrum and the 4th perpendicular flesh overlaps with the affixed of upper centrum, and the other end of the steel wire rope on the second oblique and the 3rd oblique and affixed point and second steel wire rope that erect flesh on affixed with upper centrum overlap with the affixed of upper centrum, the gas outlet of the air inlet of the described first perpendicular flesh, the second perpendicular flesh, the 3rd perpendicular flesh, the 4th perpendicular flesh, the first oblique, the second oblique, the 3rd oblique and the 4th oblique self-corresponding electric Proportion valve each with them is respectively connected, the air inlet of electric Proportion valve is all connected with the gas outlet of pressure-reducing valve, the air inlet of pressure-reducing valve is connected with source of the gas, and electric Proportion valve is electrically connected with controller.
In above-mentioned device, described can comprise by return type MR damper assembly: base, cylinder, returning spring, magnetic flow liquid, piston, magnet exciting coil, piston rod, packing ring, sealing ring, support ring and capping, one end of described base and cylinder is affixed, packing ring is provided with between base and cylinder, returning spring to be fixed on base and coaxially to arrange with cylinder, cylindric piston is provided with between on the upside of the returning spring other end and on the downside of capping, and the external diameter of piston is identical with the internal diameter of cylinder, piston is coaxially arranged with magnet exciting coil, piston is also provided with some damping holes, damping hole be in piston coaxial circumferentially, and the diameter of circumference is greater than the external diameter of magnet exciting coil, piston rod and piston coaxial affixed, capping through piston rod and the cylinder other end affixed, and be provided with packing ring between capping and cylinder, sealing ring and support ring is provided with between capping and piston rod, piston) and piston rod inner be also provided with lead channels, when piston rod is not subject to External Force Acting, the lower surface of capping and the upper surface of piston are kept in touch.
In above-mentioned device, described also can comprise range sensor by return type MR damper assembly, and described range sensor is arranged on the piston rod.
In above-mentioned device, described range sensor is ultrasonic distance sensor.
The present invention adopts pneumatic muscles to drive, and can realize the motion of four frees degree, has flexibly, cleans and energy-conservation advantage; The damping of return type MR damper assembly can regulate, make bionical mobile spine have certain load capacity and the function of damping; Simultaneously can also the elongation of lock piston bar as required, regulate the air pressure of pneumatic muscles inside simultaneously, and then change the rigidity of bionical backbone.The present invention well simulates the characteristic of biological mobile spine, has innovation functionally and expansion simultaneously, is worth application.
Accompanying drawing explanation
Fig. 1 is the front view of bionical mobile spine;
Fig. 2 is the partial structurtes schematic diagram of bionical mobile spine;
Fig. 3 is can the profile of return type MR damper assembly;
Fig. 4 is the schematic diagram of bionical mobile spine control system.
In figure, 1, upper centrum; 2, hypocentrum; 3, the first perpendicular flesh; 4, the second perpendicular flesh; 5, the 3rd perpendicular flesh; 6, the 4th perpendicular flesh; 7, the first oblique; 8, the second oblique; 9, the 3rd oblique; 10, the 4th oblique; 11, steel wire rope; 12, can return type MR damper assembly; 13, ball pivot; 14, cylinder limiting bracket; 15, electric Proportion valve; 16, pressure-reducing valve; 17, source of the gas; 18, controller; 19, circumference; 1201, base; 1202, cylinder; 1203, returning spring; 1204, magnetic flow liquid; 1205, piston; 1206, magnet exciting coil; 1207, piston rod; 1208, packing ring; 1209, sealing ring; 1210, support ring; 1211, capping; 1212, damping hole; 1213, lead channels; 1214, range sensor.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described further.
As shown in Figure 1, Figure 2 and Figure 4, the present invention includes centrum 1, the perpendicular flesh 4 of the perpendicular flesh of hypocentrum 2, first 3, second, the 3rd perpendicular flesh 5, the 4th perpendicular flesh 6, first oblique 7, second oblique 8, the 3rd oblique 9, the 4th oblique 10, steel wire rope 11, can return type MR damper assembly 12, ball pivot 13, cylinder limiting bracket 14, electric Proportion valve 15, pressure-reducing valve 16, source of the gas 17 and controller 18, described first perpendicular flesh 3, second perpendicular flesh 4, 3rd perpendicular flesh 5, 4th perpendicular flesh 6, first oblique 7, second oblique 8, 3rd oblique 9 and the 4th oblique 10 are pneumatic muscles, cylinder limiting bracket 14 one end is fixed in hypocentrum 2 upper center position, can hypocentrum 2 upper center position be fixed in bottom return type MR damper assembly 12 and be surrounded by cylinder limiting bracket 14, can the other end of return type MR damper assembly 12 hinged with the upper center position of upper centrum 1 by ball pivot 13, the first perpendicular flesh 3, second perpendicular flesh 4, 3rd perpendicular flesh 5, one end of 4th perpendicular flesh 6 is affixed with hypocentrum 2 respectively in the counterclockwise direction successively and affixed point is distributed on the circumference 19 on the downside of hypocentrum 2, the first perpendicular flesh 3, second perpendicular flesh 4, 3rd perpendicular flesh 5, one end of the affixed steel wire rope 11 of the other end of the 4th perpendicular flesh 6, the other end of steel wire rope 11 is affixed with upper centrum 1 respectively and affixed point is in the first corresponding perpendicular flesh 3 respectively, second perpendicular flesh 4, 3rd perpendicular flesh 5, directly over 4th perpendicular flesh 6, the first oblique 7, second oblique 8, 3rd oblique 9, one end of 4th oblique 10 is by ball pivot 13 is hinged with hypocentrum 2 respectively in the counterclockwise direction successively and pin joint is same is on circumference 19, the first oblique 7, second oblique 8 and the pin joint of hypocentrum 2 are distributed in the both sides of the affixed point of the first perpendicular flesh 3 and hypocentrum 2 respectively, the 3rd oblique 9, 4th oblique 10 and the pin joint of hypocentrum 2 are distributed in the both sides of the affixed point of the 3rd perpendicular flesh 5 and hypocentrum 2 respectively, the first oblique 7, second oblique 8, 3rd oblique 9, one end of the affixed steel wire rope 11 of the other end of the 4th oblique 10, steel wire rope 11 on the other end of the steel wire rope 11 on the first oblique 7 and the 4th oblique 10 and affixed point affixed with upper centrum 1 and the 4th perpendicular flesh 6 overlaps with upper the affixed of centrum 1, and the other end of the steel wire rope 11 on the second oblique 8 and the 3rd oblique 9 and affixed point and second steel wire rope 11 that erect flesh 4 on affixed with upper centrum 1 overlap with upper the affixed of centrum 1, the gas outlet of the air inlet of the perpendicular flesh 4 of the described first perpendicular flesh 3, second, the 3rd perpendicular flesh 5, the 4th perpendicular flesh 6, first oblique 7, second oblique 8, the 3rd oblique 9 and the 4th oblique 10 self-corresponding electric Proportion valve 15 each with them is respectively connected, the air inlet of electric Proportion valve 15 is all connected with the gas outlet of pressure-reducing valve 16, the air inlet of pressure-reducing valve 16 is connected with source of the gas 17, and electric Proportion valve 15 is electrically connected with controller 18.
As shown in Figure 3, base 1201, cylinder 1202, returning spring 1203, magnetic flow liquid 1204, piston 1205, magnet exciting coil 1206, piston rod 1207, packing ring 1208, sealing ring 1209, support ring 1210, capping 1211 can be comprised by return type MR damper assembly 12, described base 1201 is affixed with one end of cylinder 1202, packing ring 1208 is provided with between base 1201 and cylinder 1202, returning spring 1203 to be fixed on base 1201 and coaxially to arrange with cylinder 1202, cylindric piston 1205 is provided with between on the upside of returning spring 1203 other end and on the downside of capping 1211, and the external diameter of piston 1205 is identical with the internal diameter of cylinder 1202, piston 1205 is coaxially arranged with magnet exciting coil 1206, piston 1205 is also provided with some damping holes 1212, damping hole 1212 is in piston 1205 circumferentially coaxial, and the diameter of circumference is greater than the external diameter of magnet exciting coil 1206, piston rod 1207 is coaxially affixed with piston 1205, capping 1211 is affixed through piston rod 1207 and cylinder 1202 other end, and be provided with packing ring 1208 between capping 1211 and cylinder 1202, sealing ring 1209 and support ring 1210 is provided with between capping 1211 and piston rod 1207, piston 1205 and piston rod 1207 inside are also provided with lead channels 1213, when piston rod 1207 is not subject to External Force Acting, the lower surface of capping 1211 and the upper surface of piston 1205 are kept in touch.
As shown in Figure 3, described can also comprise range sensor 1214 by return type MR damper assembly 12, and described range sensor 1214 is arranged on piston rod 1207.Described range sensor 1214 is ultrasonic distance sensor.
The course of work of apparatus of the present invention: when controller 18 to control in magnet exciting coil 1206 by electric current, the magnetic field that magnet exciting coil 1206 surrounding produces can make the moment of magnetic flow liquid 1204 in damping hole 1212 and around become the Bingham body state of high viscosity, lazy flow from low viscous Newtonian fluid state, and electric current is larger, the magnetic field that magnet exciting coil 1206 surrounding produces can be stronger, the viscosity of magnetic flow liquid 1204 in damping hole 1212 and around can be higher, even consolidation.So the size by controlling electric current in magnet exciting coil 1206, can the damping degree of control piston bar 1207, when enough large by the electric current in magnet exciting coil 1206, then can the length of lock piston bar 1207.Packing ring 1208 and sealing ring 1209 are the effects in order to play sealing, prevent magnetic flow liquid 1204 from leaking; Support ring 1210 can reduce the wearing and tearing that piston rod 1207 produces when moving; The lead-out wire of magnet exciting coil 1206 can be drawn from lead channels 1213; Returning spring 1203 can make piston rod 1207 return to maximal tensility when needs; Range sensor 1214 can detect the elongation of piston rod 1207 in real time.
Controller 18 can realize the adjustment to pneumatic muscles air inflow by control electric Proportion valve 15, thus realizes the control to pneumatic muscles amount of contraction.During bionical mobile spine work, producing different amounts of contraction by controlling the perpendicular flesh 4 of the first perpendicular flesh 3, second, the 3rd perpendicular flesh 5 and the 4th perpendicular flesh 6, centrum 1 can be made to present different attitudes; When upper centrum 1 tilts to certain angle, being blocked by the upper surface of cylinder limiting bracket 14, avoiding centrum 1 when being pulled by steel wire rope 11, make because angle of inclination is excessive mechanism occur damaging; When to shrink the first oblique 7 and the 3rd oblique 9 simultaneously, steel wire rope 11 can pull centrum 1 to realize anticlockwise rotation, and when to shrink the second oblique 8 and the 4th oblique 10 simultaneously, steel wire rope 11 can pull centrum 1 to realize clockwise rotation.Therefore upper centrum 1 is centered by ball pivot 13, can realize the motion of three degree of freedom; Add the flexible of upper piston rod 1207 in addition, make mechanism can realize altogether the motion of four frees degree.The vibrations that external interference brings can be absorbed by return type MR damper assembly 12 by damping adjusting.The piston rod 1207 elongation signal detected can be passed to controller 18 by range sensor 1214, controller 18 can judge the attitude residing for upper centrum 1 in conjunction with the amount of contraction of each pneumatic muscles, and when needed piston rod 1207 elongation is locked, now regulate the air pressure of pneumatic muscles inside, the rigidity of pneumatic muscles can be changed, and then the rigidity of bionical backbone can be changed.
The above is only a preferred embodiment of the present invention, every without departing from the spirit and scope of the present invention to the various changes and improvements that the present invention does, and all can not surmount the scope that appended claims defines.
Claims (4)
1. bionical mobile spine, comprises centrum (1), hypocentrum (2), first perpendicular flesh (3), second perpendicular flesh (4), 3rd perpendicular flesh (5), 4th perpendicular flesh (6), first oblique (7), second oblique (8), 3rd oblique (9), 4th oblique (10), steel wire rope (11), can return type MR damper assembly (12), ball pivot (13), cylinder limiting bracket (14), electric Proportion valve (15), pressure-reducing valve (16), source of the gas (17) and controller (18), is characterized in that: the described first perpendicular flesh (3), second perpendicular flesh (4), 3rd perpendicular flesh (5), 4th perpendicular flesh (6), first oblique (7), second oblique (8), 3rd oblique (9) and the 4th oblique (10) are pneumatic muscles, cylinder limiting bracket (14) one end is fixed in hypocentrum (2) center, also can be fixed in hypocentrum (2) center and surrounded by cylinder limiting bracket (14) in return type MR damper assembly (12) bottom, can the top of return type MR damper assembly (12) hinged by the center of ball pivot (13) and upper centrum (1), the first perpendicular flesh (3), second perpendicular flesh (4), 3rd perpendicular flesh (5), one end of 4th perpendicular flesh (6) is affixed with hypocentrum (2) respectively in the counterclockwise direction successively and affixed point is distributed on the circumference (19) of hypocentrum (2), the first perpendicular flesh (3), second perpendicular flesh (4), 3rd perpendicular flesh (5), one end of the affixed steel wire rope of the other end (11) of the 4th perpendicular flesh (6), the other end of steel wire rope (11) is affixed with upper centrum (1) respectively and affixed point is in the first corresponding perpendicular flesh (3) respectively, second perpendicular flesh (4), 3rd perpendicular flesh (5), directly over 4th perpendicular flesh (6), the first oblique (7), second oblique (8), 3rd oblique (9), one end of 4th oblique (10) is hinged with hypocentrum (2) respectively in the counterclockwise direction successively and pin joint is same is on circumference (19), the first oblique (7) by ball pivot (13), second oblique (8) and the pin joint of hypocentrum (2) are distributed in the both sides of the affixed point of the first perpendicular flesh (3) and hypocentrum (2) respectively, the 3rd oblique (9), 4th oblique (10) and the pin joint of hypocentrum (2) are distributed in the both sides of the affixed point of the 3rd perpendicular flesh (5) and hypocentrum (2) respectively, the first oblique (7), second oblique (8), 3rd oblique (9), the affixed steel wire rope of the other end (11) one end of 4th oblique (10), the affixed coincidence of the steel wire rope (11) on the other end of the steel wire rope (11) on the first oblique (7) and the 4th oblique (10) and affixed point affixed with upper centrum (1) and the 4th perpendicular flesh (6) and upper centrum (1), the other end of the steel wire rope (11) on the second oblique (8) and the 3rd oblique (9) and affixed point and second affixed with upper centrum (1) erects affixed coincidence of the steel wire rope (11) on flesh (4) and upper centrum (1), the gas outlet of the air inlet of the described first perpendicular flesh (3), the second perpendicular flesh (4), the 3rd perpendicular flesh (5), the 4th perpendicular flesh (6), the first oblique (7), the second oblique (8), the 3rd oblique (9) and the 4th oblique (10) self-corresponding electric Proportion valve (15) each with them is respectively connected, the air inlet of electric Proportion valve (15) is all connected with the gas outlet of pressure-reducing valve (16), the air inlet of pressure-reducing valve (16) is connected with source of the gas (17), and electric Proportion valve (15) is electrically connected with controller (18).
2. bionical mobile spine according to claim 1, is characterized in that: described can comprise base (1201), cylinder (1202), returning spring (1203), magnetic flow liquid (1204), piston (1205), magnet exciting coil (1206), piston rod (1207), packing ring (1208), sealing ring (1209), support ring (1210) and capping (1211) by return type MR damper assembly (12), described base (1201) is affixed with one end of cylinder (1202), packing ring (1208) is provided with between base (1201) and cylinder (1202), returning spring (1203) is fixed in base (1201) and goes up and coaxially arrange with cylinder (1202), cylindric piston (1205) is provided with on the upside of returning spring (1203) other end and between capping (1211) downside, and the external diameter of piston (1205) is identical with the internal diameter of cylinder (1202), piston (1205) is coaxially arranged with magnet exciting coil (1206), piston (1205) is also provided with some damping holes (1212), damping hole (1212) is in piston (1205) circumferentially concentric, and the diameter of circumference is greater than the external diameter of magnet exciting coil (1206), piston rod (1207) is coaxially affixed with piston (1205), capping (1211) is affixed through piston rod (1207) and cylinder (1202) other end, and be provided with packing ring (1208) between capping (1211) and cylinder (1202), sealing ring (1209) and support ring (1210) is provided with between capping (1211) and piston rod (1207), piston (1205) and piston rod (1207) inside are also provided with lead channels (1213), when piston rod (1207) is not subject to External Force Acting, the lower surface of capping (1211) and the upper surface of piston (1205) are kept in touch.
3. bionical mobile spine according to claim 2, is characterized in that: described can also comprise range sensor (1214) by return type MR damper assembly (12), and described range sensor (1214) is arranged on piston rod (1207).
4. bionical mobile spine according to claim 3, is characterized in that: described range sensor (1214) is ultrasonic distance sensor.
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| CN105364941B (en) * | 2015-12-08 | 2017-05-10 | 中国计量学院 | Two-freedom-degree pneumatic muscle bionic elbow joint |
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