CN105584556B - Protector is fallen down by a kind of four-footed arms robot - Google Patents
Protector is fallen down by a kind of four-footed arms robot Download PDFInfo
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- CN105584556B CN105584556B CN201610136617.5A CN201610136617A CN105584556B CN 105584556 B CN105584556 B CN 105584556B CN 201610136617 A CN201610136617 A CN 201610136617A CN 105584556 B CN105584556 B CN 105584556B
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- robot
- footed
- fuselage
- arms
- connection framework
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vibration Dampers (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to equip with arms robotic technology field, and in particular to protector is fallen down by a kind of four-footed arms robot.Compared with prior art, protector is fallen down using two-stage Cushioning Design thought by four-footed of the invention arms robot, is effectively reduced the ground shock power being subject to during four-footed arms robot is fallen down.Apparatus structure is simple, light weight, buffering effect are more obvious.Required air spring principle is simple, technology maturation, and arms robot body and the safe condition of other subsystems can be protected well.
Description
Technical field
The invention belongs to equip with arms robotic technology field, and in particular to protector is fallen down by a kind of four-footed arms robot.
Background technology
Irregular and uneven complicated terrain environment makes the application of wheeled arms robot and crawler type arms robot
It is restricted, reason is that the movement locus that wheeled and crawler type equips with arms robot is then the continuous rut of a rule.Scabland
Often it can stablize the continuous of support arms robot containing rock, soil, the sand even barrier such as cliff and abrupt slope in shape
Path is extremely limited.
Compared to wheeled or crawler type arms robot, discrete point is only needed to contiguously during sufficient formula arms robot motion
Face, the adaptability to complicated landform is stronger.In addition, the leg of sufficient formula arms robot has multiple frees degree, make motion
Flexibility is greatly enhanced, and it can be kept one's balance by adjusting the length and foot drop point of supporting leg, be difficult to tumble, stable
Property is higher.Therefore legged type robot has broad application prospects.At present, four-footed arms robot is bionical sufficient formula arms machine
One emphasis of people's research field, the robot compared to biped or more polypody has body construction simple, cross-country power and negative
The features such as loading capability is strong.
In robot development and gait debugging process.Sufficient formula arms robot is inevitably often fallen down.If not yet
There is installation passive protection device, robot body mechanical structure, computer control system and sensor etc. all can produce deformation very
To damage.Buffer time, ground when reduction is fallen down can be effectively increased by designing a kind of four-footed arms robot and falling down protector
The reaction force of generation.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention is：How a kind of four-footed arms robot is provided and falls down protector.Make machine
The impulsive force that is subject to of the device people during falling down is greatly reduced, the peace of effective guarantee robot main body mechanism and other subsystems
Entirely.
(2) technical scheme
In order to solve the above technical problems, the present invention, which provides a kind of four-footed arms robot, falls down protector, it includes：Machine
Body connection framework 1, swing cushioning frame 2, arc buffering device 3, connection bearing assembly 4, air spring 5；
The fuselage connection framework 1 is a cavity frame structure, and its side is arranged at robot fuselage side, opposite side upper end
The air spring 5 for falling down direction setting by two edges is connected with swinging the upper end of cushioning frame 2, and lower end is by connecting bearing group
Part 4 is rotatably engaged in swing cushioning frame 2 bottom；The bearing assembly 4 includes axostylus axostyle and a pair of bearings；
It is described swing cushioning frame 2 be one be vertically arranged in set cavity cover body structure, its open side is man-machine towards machine
Body, positioned at the outside of fuselage connection framework 1, upper end connects fuselage connection framework 1 by air spring 5, and lower end is used for provided with a pair
The mounting hole of the axostylus axostyle is worn, a bearing is set respectively at the pair of mounting hole, the axostylus axostyle can be relative to described
A pair of bearings is rotated, and the lower end of fuselage connection framework 1 is connected with removably axostylus axostyle；
Fuselage connection framework 1 is fixed on by connecting bolt on the body construction of robot fuselage side；When fall down by
During ground shock, swing cushioning frame 2 and pass through connection bearing assembly 4 realization and the rotary motion of fuselage connection framework 1；
Arc buffering device 3 is removably mounted on the outside of swing cushioning frame 2, is fabricated from a flexible material；Can be according to not
Same working condition requirement prepares the arc buffering device 3 of different materials；
Swing cushioning frame 2 to be connected by dual air spring with the top of fuselage connection framework 1, when four-footed arms robot is fallen
When, the rotation of the stress of cushioning frame 2 is swung, dual air spring compression absorbs the impulsive force from ground, protection four-footed arms machine
Device human body mechanism safety；
When four-footed arms robot is fallen down, the deformation energy-absorbing first of arc buffering device 3 plays the purpose of first-level buffer,
Then the rotation of cushioning frame 2 and compressed air spring 5 are swung, the purpose of level 2 buffering, two-stage Cushioning Design protection four-footed is played
Equip with arms robot main body mechanism safety.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of four-footed arms robot and falls down protector using two-stage buffering
Design philosophy, is effectively reduced the ground shock power being subject to during four-footed arms robot is fallen down.Apparatus structure is simple, quality
Gently, buffering effect is more obvious.Required air spring principle is simple, technology maturation, and arms robot sheet can be protected well
The safe condition of body and other subsystems.
Brief description of the drawings
Fig. 1 is the schematic device of technical solution of the present invention.
Embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Embodiment is described in further detail.
To solve problem of the prior art, the present invention provides a kind of four-footed arms robot and falls down protector, such as Fig. 1 institutes
Show, it includes：Fuselage connection framework 1, swing cushioning frame 2, arc buffering device 3, connection bearing assembly 4, air spring 5；
The fuselage connection framework 1 is a cavity frame structure, and its side is arranged at robot fuselage side, opposite side upper end
The air spring 5 for falling down direction setting by two edges is connected with swinging the upper end of cushioning frame 2, and lower end is by connecting bearing group
Part 4 is rotatably engaged in swing cushioning frame 2 bottom；The bearing assembly 4 includes axostylus axostyle and a pair of bearings；
It is described swing cushioning frame 2 be one be vertically arranged in set cavity cover body structure, its open side is man-machine towards machine
Body, positioned at the outside of fuselage connection framework 1, upper end connects fuselage connection framework 1 by air spring 5, and lower end is used for provided with a pair
The mounting hole of the axostylus axostyle is worn, a bearing is set respectively at the pair of mounting hole, the axostylus axostyle can be relative to described
A pair of bearings is rotated, and the lower end of fuselage connection framework 1 is connected with removably axostylus axostyle；
Fuselage connection framework 1 is fixed on by connecting bolt on the body construction of robot fuselage side；When fall down by
During ground shock, swing cushioning frame 2 and pass through connection bearing assembly 4 realization and the rotary motion of fuselage connection framework 1；
Arc buffering device 3 is removably mounted on the outside of swing cushioning frame 2, is fabricated from a flexible material；Can be according to not
Same working condition requirement prepares the arc buffering device 3 of different materials；
Swing cushioning frame 2 to be connected by dual air spring with the top of fuselage connection framework 1, when four-footed arms robot is fallen
When, the rotation of the stress of cushioning frame 2 is swung, dual air spring compression absorbs the impulsive force from ground, protection four-footed arms machine
Device human body mechanism safety；
When four-footed arms robot is fallen down, the deformation energy-absorbing first of arc buffering device 3 plays the purpose of first-level buffer,
Then the rotation of cushioning frame 2 and compressed air spring 5 are swung, the purpose of level 2 buffering, two-stage Cushioning Design protection four-footed is played
Equip with arms robot main body mechanism safety.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these improve and deformed
Also it should be regarded as protection scope of the present invention.
Claims (1)
1. protector is fallen down by a kind of four-footed arms robot, it is characterised in that it includes：Fuselage connection framework (1), swing are slow
Rush framework (2), arc buffering device (3), connection bearing assembly (4), air spring (5)；
The fuselage connection framework (1) is a cavity frame structure, and its side is arranged at robot fuselage side, and opposite side upper end leads to
Cross two edges fall down direction setting air spring (5) with swing cushioning frame (2) upper end be connected, lower end is by connecting bearing
Component (4) is rotatably engaged in swing cushioning frame (2) bottom；The connection bearing assembly (4) includes axostylus axostyle and a pair of axles
Hold；
It is described swing cushioning frame (2) be one be vertically arranged in set cavity cover body structure, its open side towards robot fuselage,
On the outside of fuselage connection framework (1), upper end connects fuselage connection framework (1) by air spring (5), and lower end is provided with a pair of use
In the mounting hole for wearing the axostylus axostyle, a bearing is set respectively at the pair of mounting hole, the axostylus axostyle can be relative to institute
A pair of bearings rotation is stated, fuselage connection framework (1) lower end is connected with removably axostylus axostyle；
Fuselage connection framework (1) is fixed on by connecting bolt on the body construction of robot fuselage side；When falling down by ground
When face is impacted, swing cushioning frame (2) and realize that the rotation with fuselage connection framework (1) is transported by the connection bearing assembly (4)
It is dynamic；
Arc buffering device (3) is removably mounted on the outside of swing cushioning frame (2), is fabricated from a flexible material；Can be according to not
Same working condition requirement prepares the arc buffering device (3) of different materials；
Swing cushioning frame (2) to be connected by two air springs with fuselage connection framework (1) top, when four-footed equips with arms robot
When falling down, the rotation of cushioning frame (2) stress is swung, dual air spring compression absorbs the impulsive force from ground, and protection four-footed is military
Machine human body mechanism safety；
When four-footed arms robot is fallen down, arc buffering device (3) deformation energy-absorbing first plays the purpose of first-level buffer, so
Cushioning frame (2) rotation and compressed air spring (5) are swung afterwards, play the purpose of level 2 buffering, two-stage Cushioning Design protection four
Foot arms robot main body mechanism safety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610136617.5A CN105584556B (en) | 2016-03-10 | 2016-03-10 | Protector is fallen down by a kind of four-footed arms robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610136617.5A CN105584556B (en) | 2016-03-10 | 2016-03-10 | Protector is fallen down by a kind of four-footed arms robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105584556A CN105584556A (en) | 2016-05-18 |
| CN105584556B true CN105584556B (en) | 2017-08-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610136617.5A Active CN105584556B (en) | 2016-03-10 | 2016-03-10 | Protector is fallen down by a kind of four-footed arms robot |
Country Status (1)
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| CN (1) | CN105584556B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079851A (en) * | 2018-08-21 | 2018-12-25 | 中国北方车辆研究所 | A kind of protective device for bio-robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3665013B2 (en) * | 2001-11-09 | 2005-06-29 | 本田技研工業株式会社 | Leg joint assist device for legged mobile robot |
| CN102431042B (en) * | 2011-09-19 | 2014-06-11 | 浙江中控研究院有限公司 | Robot tumble protection mechanism |
| CN103625571B (en) * | 2013-11-20 | 2015-12-09 | 浙江大学宁波理工学院 | Robot running gear and control method thereof |
| CN203681689U (en) * | 2014-01-06 | 2014-07-02 | 杜煜祺 | Tumbler-type robot |
| CN104783937A (en) * | 2015-05-06 | 2015-07-22 | 电子科技大学 | Human body fixing device with falling preventing function for exoskeleton robot |
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| CN105584556A (en) | 2016-05-18 |
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