CN106114671A - A kind of passive vibration damping joint of stiffness function - Google Patents
A kind of passive vibration damping joint of stiffness function Download PDFInfo
- Publication number
- CN106114671A CN106114671A CN201610464665.7A CN201610464665A CN106114671A CN 106114671 A CN106114671 A CN 106114671A CN 201610464665 A CN201610464665 A CN 201610464665A CN 106114671 A CN106114671 A CN 106114671A
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- joint
- friction
- moment
- cam body
- compression spring
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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
Abstract
The invention discloses the passive vibration damping joint of a kind of stiffness function, include joint righting moment structure, function moment of friction structure and nose balance power structure；When producing joint angle displacement when lower substrate stress, joint just produces joint righting moment and moment of friction, wherein righting moment is linear with joint rotation angles, and moment of friction becomes function relation with joint rotation angles, and direction is contrary with direction of relative movement all the time；Torsion spring plays energy storage effect, and friction means plays power consumption effect, and both jointly act on and play buffer shock-absorbing effect.Owing to joint possesses the moment of friction of function, the absorption to impact vibrational energy has specific aim, such as along with the increase of joint rotation angles, its moment of friction is the biggest, friction energy-dissipating is the biggest, and its moment of friction is customizable with the functional relationship of joint angle, therefore improves the versatility of buffer shock-absorbing.
Description
Technical field
The invention belongs to legged type robot field.Can be used for the design of legged type robot foot joint, reduce ground shock and shake
Dynamic on top actively control and the impact of fuselage thereof, it is achieved impact shock weakens effect.
Background technology
The flexible ability to act of legged type robot and strong accommodative ability of environment are that wheeled robot is unrivaled, therefore its
Be widely used prospect.But during walking, foot end, by the vibratory impulse on ground, can affect each main
Dynamic control components and parts, such as sensor, servo-drive parts etc..In order to suppress the ground shock vibration walking to legged type robot
Stability influence, has following several main method the most both at home and abroad:
One is the flexible support that animal sole is copied in simulation.Use rubber etc. such as to have the elastomer of certain damping, pass through
Flexible foot pad absorbs impact shock energy, although have certain cushioning effect, but owing to the elastomers such as rubber are non-linear
Material, will produce nonlinear rotary motion to the joint actively controlled, and bring difficulty on joint actively controls.
Two is to use torque compensation control methods.Such as the feature of the Flexible change according to muscle, use when swinging foot and landing
Force-location mix control, reduces the impulsive force of foot and ground whereby.But in the case of surface conditions is more complicated, its meter
Calculation amount is the hugest, to controlling to form bigger difficulty.
Three is motor control method.This method simulation sole half first lands, and the most progressively transition is at second half, such as HONDA foot
Formula robot is by calculating the relative position swung between foot and health, controlling position when landing, buffer ground with this
The impulsive force in face.But each parts in joint are by coupled relation, cause collision phenomenon, it is difficult to ensure kinematic accuracy.
Said method is both to controlling to require height with calculating, and producing again uncontrollable non-linear fortune that rotates affects, and therefore researches and develops
A kind of structure is simple and clear, control simple vibration damping joint, and tool is of great significance.
Summary of the invention
Vibrate joint each to legged type robot and the vibration effect of fuselage thereof to solve ground shock, improve foot end vibration
Energy absorption capability, the present invention proposes the passive vibration damping joint of a kind of stiffness function so that its vibration absorption ability is better than routine
Passive joint.
The present invention includes joint righting moment structure, function moment of friction structure and nose balance power structure；
Described joint restoring force structure includes symmetrical torsion spring, upper matrix, bearing, axle sleeve, lower substrate, screw composition, extensive
Multiple power is provided by torsion spring, and torsion spring two ends are fixed by screws on the screwed hole of lower substrate, and the screwed hole of lower substrate is about axle center
Form a circle to be uniformly distributed, i.e. meet the initial angle in joint adjustable.
The moment of friction structure of described function includes end cap, drag ring, the second little spin, the first screw, the second pressure
Contracting spring, cam body, the first little spin, the first compression spring, small roller, roller bearing, roller mount, left and right chute, the first bolt,
Two nuts, nut seat, the second bolt, moment of friction is provided by the spin friction of drag ring and end cap, the size of moment of friction by
Axially normal pressure controls；End cap is fixed on lower substrate, and drag ring produces moving sets by the second little spin and joint shaft and retrains,
Wherein the second little spin is arranged on drag ring internal face, slides so that drag ring can only axle in the groove that joint shaft is axial
To movement；Drag ring end face and end cap rotate friction, produce moment of friction, and drag ring other end is by the second compression
Spring is connected with cam body, and cam body internal face produces moving sets by the first little spin and joint shaft and retrains so that cam body
Can only move axially；Cam body passes through the first spiral shell by the first compression spring and solenoid sleeve connection, solenoid sleeve
Mother is fixed on joint shaft；Cam body forms some face constraint, the least rolling with the small roller of the adjustable distance being fixed on lower substrate
Son rolls on the cam surface of cam body, so that cam body moves axially, the cam body moved axially causes the second pressure
The deformation of contracting spring, thus change second compression spring normal pressure to drag ring, finally change moment of friction, i.e. moment of friction
The angle rotated with joint has functional relation.
Balancing force structure includes solenoid, electromagnetism sleeve, the first nut, balancing force by solenoid to cam body
Captivation provides, and i.e. when cam body moves axially, the second compression spring and increasing with joint efforts of the first compression spring exist
On small roller, therefore the captivation of cam body will almost be offset the second compression spring and the conjunction of the first compression spring by solenoid
Power.
Function moment of friction function is realized with cam mechanism jointly by spin friction ring, known to formula:
Wherein R1For the big footpath of drag ring, R2For path, R1>R2, FNFor normal pressure, μ is coefficient of friction.
From above formula, moment of friction is directly proportional to axial normal pressure, controls frictional force by changing axial normal pressure
Square.Through axial second compression spring and the transmission of the first compression spring, axial normal pressure just becomes with the axial displacement of cam body
Ratio, cam body face size has functional relation with joint rotation angles again, and joint is rotated through small roller rolling extrusion and makes cam
Body produces axially-movable, so that the axial displacement of cam body has functional relation with joint rotation angles, thus causes frictional force
Square has functional relation with joint rotation angles.The Main Function of balancing force is to offset the small roller axial compression to cam body end face
Power, owing to this axial compression power can produce the component of joint rotary motion tangential direction to cam body, this component is to joints of foot axle
The heart will produce a moment of resistance, the action effect equivalent restoring force of this moment, joint can be hindered to rotate, it is possible to drive joint rotation
Turn.Therefore increasing a solenoid outside cam body and provide balancing force, this solenoid only has axially suction to cam body
Gravitation, offsets the second compression spring by this captivation and the first compression spring is made a concerted effort, thus reduce small roller to cam body end
The extruding force in face, reduce joint rotational resistance away from.
The work process of the present invention:
When producing joint angle displacement when lower substrate stress, joint just produces joint righting moment and moment of friction, wherein
Righting moment is linear with joint rotation angles, and moment of friction becomes function relation with joint rotation angles, and direction begins
The most contrary with direction of relative movement；Torsion spring plays energy storage effect, and friction means plays power consumption effect, and both play slow at common effect
Rush damping effect.
Beneficial effects of the present invention: owing to joint possesses the moment of friction of function, the absorption tool to impact vibrational energy
Targetedly, such as along with the increase of joint rotation angles, its moment of friction is the biggest, and friction energy-dissipating is the biggest, its moment of friction with
The functional relationship of joint angle is customizable, therefore improves the versatility of buffer shock-absorbing.
Accompanying drawing explanation
Fig. 1 is the front view in joint of the present invention.
Fig. 2 is the sectional view in joint of the present invention.
Fig. 3 is the left view in joint of the present invention.
Fig. 4 is joint mechanics schematic diagram of the present invention
Detailed description of the invention
The present invention includes joint righting moment structure, function moment of friction structure and nose balance power structure；
Described joint restoring force structure include symmetrical torsion spring 16, upper matrix 15, joint shaft 1, bearing 13, axle sleeve 14, under
Matrix 25, screw 24 form；Upper matrix 15 constrains on lower substrate 25 by bearing 13 and axle sleeve 14 jointly so that upper matrix 15
Retraining with lower substrate stroke revolute, restoring force provides away from by torsion spring 16, and torsion spring 16 two ends are fixed on lower substrate by screw 24
On the screwed hole of 25, the screwed hole of lower substrate 25 forms a circle about axle center and is uniformly distributed, and i.e. meets the initial angle in joint adjustable.
The moment of friction structure of described function include end cap 11, drag ring 10, second little spin the 9, first screw 12,
Second compression spring 8, cam body 7, second little spin the 6, first compression spring 5, small roller 22, roller bearing 23, roller mount 21, chute
20, second nut the 18, first bolt 26, nut seat the 19, second bolt 17；Moment of friction is by the rotation of drag ring 10 with end cap 11
Friction provides, and the size of moment of friction is controlled by axial normal pressure；End cap 11 is fixed on lower substrate 25, and drag ring 10 is by the
Three little spin 9 produce moving sets constraint with joint shaft 1, and wherein the 3rd little spin 9 is arranged on drag ring 10 internal face, in joint
The groove that axle 1 is axial slides so that drag ring 10 can only move axially；Drag ring 10 end face rotates with end cap 11 and rubs
Wiping, produce moment of friction, drag ring 10 other end is connected with cam body 7 by the second compression spring 8, cam body 7 internal face
Produce moving sets by the second little spin 6 with joint shaft 1 to retrain so that cam body can only move axially；Cam body 7 is by second
Compression spring 8 is connected with solenoid sleeve 3；Small roller 22 shape of cam body 7 and the adjustable distance being fixed on lower substrate 25
Become some face constraint, i.e. small roller 22 rolls on the cam surface of cam body 7, so that cam body 7 moves axially, axially moves
Dynamic cam body 7 causes the deformation of the second compression spring 8, thus changes second compression spring 8 normal pressure to drag ring 10,
The angle that change moment of friction, i.e. moment of friction and joint rotate eventually has functional relation.
Balancing force structure includes solenoid, electromagnetism sleeve 3, first little spin the 4, first nut 2, solenoid sleeve
3 constrain on joint shaft 1 by the first nut 2 and the first little spin 4 so that solenoid sleeve 3 can only send axially-movable,
The initial pressure i.e. realizing the first compression spring 5 is adjustable；The captivation of cam body 7 is provided by balancing force by solenoid, i.e. when
When cam body 7 moves axially, the second compression spring 8 and inciting somebody to action with joint efforts of the first compression spring 5 increase on small roller 22, because of
The captivation of cam body 7 will almost be offset making a concerted effort of the second compression spring 8 and the first compression spring 5 by this solenoid.
The work process of the present invention:
When producing joint angle displacement when lower substrate 25 stress, joint just produces joint righting moment and moment of friction, its
Middle righting moment is linear with joint rotation angles, and moment of friction becomes function relation, direction with joint rotation angles
All the time contrary with direction of relative movement；Torsion spring plays energy storage effect, and friction means plays power consumption effect, and both jointly act on and playing
Buffer shock-absorbing effect.
Claims (5)
1. the passive vibration damping joint of a stiffness function, it is characterised in that: include joint righting moment structure, function rubs
Wipe torque structure and nose balance power structure；
Described joint restoring force structure includes symmetrical torsion spring (16), upper matrix (15), joint shaft (1), bearing (13), axle sleeve
(14), lower substrate (25), the second screw (24) composition；Torsion spring (16) one end is fixed on lower substrate (25) by the second screw (24)
Screwed hole on, the other end is fixed in the groove of matrix (15), righting moment by torsion spring (16) provide, upper matrix (15) with
Lower substrate (25) realizes revolute by bearing (13) and axle sleeve (14) and retrains, and makes joint possess heavily loaded ability；
The moment of friction structure of described function includes end cap (11), drag ring (10), the second little spin (9), the first screw
(12), the second compression spring (8), cam body (7), the second little spin (6), the first compression spring (5), small roller (22), roller bearing
(23), roller mount (21), chute (20), the second nut (18), the first bolt (26), nut seat (19), the second bolt (17), rub
Wiping moment to be provided by the spin friction of drag ring (10) with end cap (11), the size of moment of friction is controlled by axial normal pressure；End
Lid (11) is fixed on lower substrate (25), and drag ring (10) produces moving sets about by the 3rd little spin (9) with joint shaft (1)
Bundle, wherein the 3rd little spin (9) is arranged on drag ring (10) internal face, slides in the groove that joint shaft (1) is axial so that
Drag ring (10) can only move axially；Drag ring (10) end face and end cap (11) rotate friction, produce moment of friction, rub
Wiping ring (10) other end to be connected with cam body (7) by the second compression spring (8), cam body (7) internal face is little by second
Spin (6) and joint shaft (1) produce moving sets constraint so that cam body can only move axially；Cam body (7) is by the second compression
Spring (8) is connected with solenoid sleeve (3)；The small roller of cam body (7) and the adjustable distance being fixed on lower substrate (25)
(22) forming some face constraint, small roller (22) rolls on the cam surface of cam body (7), so that cam body (7) occurs axially
Mobile, the cam body (7) moved axially causes the deformation of the second compression spring (8), thus changes the second compression spring (8) to rubbing
Wipe the normal pressure of ring (10), finally change moment of friction, i.e. realize the angle that moment of friction and joint rotate and have functional relation；
Described balancing force structure includes solenoid, electromagnetism sleeve (3), the first little spin (4), the first nut (2)；Electromagnetism
Loop sleeve 3 constrains on joint shaft 1 by the first nut 2 and the first little spin 4 so that solenoid sleeve 3 can only occur
Axially-movable；The captivation of cam body (7) is provided by balancing force by solenoid, i.e. when cam body (7) moves axially,
Second compression spring (8) and inciting somebody to action with joint efforts of the first compression spring (5) increase on small roller (22), and therefore solenoid is to cam
Captivation two second compression springs (8) of counteracting of body (7) and making a concerted effort of the first compression spring (5).
The passive vibration damping joint of a kind of stiffness function the most according to claim 1, it is characterised in that: have graduated master
Scale roller mount (21) matches with complementary scale chute (20), the axial initial position regulatory function of supporting block body (7), i.e. props up
The normal pressure holding the second compression spring is adjustable.
The passive vibration damping joint of a kind of stiffness function the most according to claim 1, it is characterised in that: end cap (11) one end
Face spraying rub resistance material so that it is customizable with the coefficient of friction of drag ring.Drag ring (10) is supported replaceable, meets and end
The coefficient of friction of lid end face is adjustable.
The passive vibration damping joint of a kind of stiffness function the most according to claim 1, it is characterised in that: the first nut is to electricity
The axial location of magnetic sleeve so that the initial pressure of the first compression spring (5) is adjustable.
The passive vibration damping joint of a kind of stiffness function the most according to claim 1, it is characterised in that: torsion spring (16) passes through
Second screw (24) is fixed in one week uniform screwed hole of lower substrate (25) inwall so that upper matrix (15) and lower substrate (25)
Initial angle adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464665.7A CN106114671B (en) | 2016-06-23 | 2016-06-23 | A kind of passive vibration damping joint of stiffness function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464665.7A CN106114671B (en) | 2016-06-23 | 2016-06-23 | A kind of passive vibration damping joint of stiffness function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106114671A true CN106114671A (en) | 2016-11-16 |
| CN106114671B CN106114671B (en) | 2018-01-05 |
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ID=57268143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610464665.7A Active CN106114671B (en) | 2016-06-23 | 2016-06-23 | A kind of passive vibration damping joint of stiffness function |
Country Status (1)
| Country | Link |
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| CN (1) | CN106114671B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116423A (en) * | 2019-06-19 | 2019-08-13 | 重庆大学 | A kind of transmission shaft protection device, walking robot joint structure and walking robot |
| CN113173043A (en) * | 2021-04-20 | 2021-07-27 | 北京机械设备研究所 | Chassis device of individual power-assisted tractor and individual power-assisted tractor |
| CN113306645A (en) * | 2021-07-12 | 2021-08-27 | 北京理工大学 | Separable torsion damping mechanism capable of being applied to wheel-leg type vehicle |
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| US20040133307A1 (en) * | 2002-12-23 | 2004-07-08 | Samsung Electronics Co., Ltd. | Two-legged walking robot |
| CN104895985A (en) * | 2015-06-15 | 2015-09-09 | 吉林大学 | Goat leg joint-shaped vibration reduction joint |
| CN105328711A (en) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | Modular rigidity-changing joint |
| CN105345839A (en) * | 2015-11-10 | 2016-02-24 | 哈尔滨工业大学 | Variable-rigidity joint based on characteristics of torsional springs |
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2016
- 2016-06-23 CN CN201610464665.7A patent/CN106114671B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20040133307A1 (en) * | 2002-12-23 | 2004-07-08 | Samsung Electronics Co., Ltd. | Two-legged walking robot |
| CN104895985A (en) * | 2015-06-15 | 2015-09-09 | 吉林大学 | Goat leg joint-shaped vibration reduction joint |
| CN105328711A (en) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | Modular rigidity-changing joint |
| CN105345839A (en) * | 2015-11-10 | 2016-02-24 | 哈尔滨工业大学 | Variable-rigidity joint based on characteristics of torsional springs |
Non-Patent Citations (2)
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| 王新杰等: "四足步行机器人关节位姿和稳定性研究", 《中国机械工程》 * |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116423A (en) * | 2019-06-19 | 2019-08-13 | 重庆大学 | A kind of transmission shaft protection device, walking robot joint structure and walking robot |
| CN110116423B (en) * | 2019-06-19 | 2024-02-27 | 重庆大学 | Transmission shaft protection device, walking robot joint structure and walking robot |
| CN113173043A (en) * | 2021-04-20 | 2021-07-27 | 北京机械设备研究所 | Chassis device of individual power-assisted tractor and individual power-assisted tractor |
| CN113306645A (en) * | 2021-07-12 | 2021-08-27 | 北京理工大学 | Separable torsion damping mechanism capable of being applied to wheel-leg type vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106114671B (en) | 2018-01-05 |
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