CN107539387A - A kind of gasbag robot leg buffer mechanism of adjustable rigidity - Google Patents
A kind of gasbag robot leg buffer mechanism of adjustable rigidity Download PDFInfo
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- CN107539387A CN107539387A CN201710819679.0A CN201710819679A CN107539387A CN 107539387 A CN107539387 A CN 107539387A CN 201710819679 A CN201710819679 A CN 201710819679A CN 107539387 A CN107539387 A CN 107539387A
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- grease chamber
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Abstract
The present invention provides a kind of gasbag robot leg buffer mechanism of adjustable rigidity, including contiguous block, air bag, leg outer barrel, expansion link and force snesor, contiguous block is arranged on the upper end of leg outer barrel, expansion link is arranged in leg outer barrel, the bottom protruding leg outer barrel of expansion link, space between the upper end piston portion and leg outer barrel inner top of expansion link is grease chamber, grease chamber is divided into two parts up and down by a dividing plate, top is provided with air bag, bottom is stored with hydraulic oil and is connected with the pressure regulation circuit of outside, dividing plate is provided with damping hole, the lower end of expansion link is provided with the force snesor of the size and Orientation for measuring the contact force between foot and ground.The present invention can reduce the impulsive force that ground faces robot according to the rigidity for the landing stiffness information on-line control air spring that sensing device detects, improve the stability of robot Dynamic gait walking, make robot ambulation in most stable of state.
Description
Technical field
The present invention relates to a kind of leg buffer mechanism of the imitative mammal mobile robot of hydraulic-driven, belongs to polypody shifting
Mobile robot technical field.
Background technology
At present, wheeled and caterpillar mobile robot correlation technique has attained full development, existing many various
Mobile robot product be applied to the fields such as amusement, anti-terror explosive removing, hazardous environment operation and military affairs.Wheeled robot has
Have the advantages that frictional resistance is small, speed is fast, but be only adapted to flat ground environment, obstacle climbing ability is poor.Caterpillar type robot pair
Environment it is adaptable, can crossing over blockage, speeling stairway, Crossing ditch etc., but transmission efficiency is low.It is wheeled robot without wheel
Or caterpillar type robot can only all walk less than half of land on earth, and human and animal can be on land
From anywhere in walk.Therefore, leg type mobile robot than wheeled and caterpillar mobile robot there is stronger environment to adapt to
Ability.
There is the bionics for being interpenetrated, being be combined with each other by life science and engineering technology file the 1960s
(Bionics).Namely from this time, the U.S. takes the lead in having carried out the research of bio-robot, and in nineteen sixty-eight by AM General
The Mosher of electric corporation have developed in the world in First Modern Significance, have control function four-legged walking machine
People.1977, the Robert McGhee of Ohio State Univ-Columbus USA have developed First digital computer control in the world
Walking bionic robot.From the 1980s, the research institution of the country such as the U.S., Japan, Canada, Switzerland, Germany is equal
Begin one's study imitative food in one's mouth class animal leg type mobile robot, separately has many mechanism researchs to imitate reptile mobile robot.
It is a multi-body system with advanced dynamic problem that four-footed, which imitates mammal robot,.Robot is in quiet step
State has three leg support ground when walking, can typically keep stable；But only have two legs to support ground, foot when Dynamic gait is walked
The ground shock power being subject to during landing easily makes robot fall.Therefore, dynamic locomopion stable problem is that the imitative mammality of four-footed moves
One problem of thing robot.The main path for solving this problem at present is to develop new elasticity and pliability machinery system
System.
It is published in July, 1999《Shanghai communications university's journal》Document《A kind of new leg in four feet walking robot
Structure damping characteristics》A kind of elastic walking mechanism is described, the mechanism is by four groups of parallel connection flexible members and with robot leg shell
It is combined for the quadric chain of frame, its operation principle is：When walking robot lands enough, body is stepped on used due under
Property, drive lower link compression spring to move downward by robot leg, lower link drives upper connecting rod to swing again, because spring is oriented to
Bar is connected with support foot, then the upper hinge of upper connecting rod is connected with stationary end.In upper and lower connecting rod due to the compression of spring and in one
During straight line, linkage reaches dead-centre position, by controlling electromagnet to hold lower link so that linkage is maintained at dead point position
Put, so as to which the impact energy absorbed in spring is locked in elastic leg.Then the electromagnetism in elastic leg is controlled under certain gait
The energy that sucker makes its dead electricity and makes to store in elastic leg is discharged, and auxiliary robot lift leg is swung.The mechanism is in certain journey
The ground shock power being subject to during foot landing is alleviated on degree, but it is complicated, and spring rate can not be according to the ground of different hardness
Face ring border carries out on-line control.
The content of the invention
The present invention is for deficiency existing for the leg structure buffer technology of existing leg type mobile robot, there is provided one kind can basis
Landing stiffness adjusts the gasbag robot leg buffer mechanism of spring rate, and the mechanism can be used for the multi-foot robot of hydraulic-driven
Leg minor details, reduce the impulsive force that ground faces robot, improve the stability of robot Dynamic gait walking.
A kind of gasbag robot leg buffer mechanism of adjustable rigidity of the present invention uses following technical solution：
The robot leg buffer mechanism includes contiguous block, air bag, leg outer barrel, expansion link and force snesor, contiguous block installation
In the upper end of leg outer barrel, expansion link is arranged in leg outer barrel, the bottom protruding leg outer barrel of expansion link, the upper end piston portion of expansion link
Space between leg outer barrel inner top is grease chamber, and grease chamber is divided into two parts, top up and down by a dividing plate and is provided with air bag, under
Portion is stored with hydraulic oil and is connected with the pressure regulation circuit of outside, and dividing plate is provided with damping hole, and the lower end of expansion link is provided with
For measuring the force snesor of the size and Orientation of the contact force between foot and ground.
Pressure regulation circuit includes constant pressure oil source, electrohydraulic servo valve, hydraulic control one-way valve and pressure sensor, constant pressure oil source,
Electrohydraulic servo valve and hydraulic control one-way valve are sequentially connected, and hydraulically-controlled one-way valve is connected with grease chamber bottom, and pressure sensor is arranged on grease chamber
Between bottom and hydraulically-controlled one-way valve, for measuring the pressure of hydraulic oil in grease chamber, and the control system of robot is sent to.
The outer cup rubber sleeve of the force snesor, for increasing the frictional force between foot and ground, and play certain delay
Punching and damping effect.
Minor details of the buffer gear as multi-foot robot leg, contiguous block are used for being connected with the other parts of leg.Stretch
Contracting bar can in leg outer barrel linear reciprocating motion, rubbed by the linear bearing between leg outer barrel and expansion link to reduce
Wipe.Air bag in grease chamber is used for facing with absorbing the impulsive force of robot, robot is kept stable, damping hole is used for consuming ground
In face of the impact energy of robot, the big I of damping hole is arranged as required to, by the storage capacity for changing hydraulic oil in grease chamber
Change the initial pressure of air bag, adjust its rigidity.
The present invention directly utilizes the hydraulic oil source of drive system of robot, and robot control system can be examined according to sensing device
The rigidity of the landing stiffness information on-line control air spring measured, reduce the impulsive force that ground faces robot, improve robot
The stability of Dynamic gait walking, makes robot ambulation in most stable of state.The present invention is simple in construction, compact, can be applied to liquid
Press on the bio-robots such as biped, four-footed, six foots or eight foots of driving.
Brief description of the drawings
Fig. 1 is the structural representation of the gasbag robot leg buffer mechanism of adjustable rigidity of the present invention.
Fig. 2 is the pressure regulation circuit principle schematic in the present invention.
Fig. 3 is the theory diagram of the air bag spring stiffness tuning of the present invention.
In figure：1. contiguous block, 2. air bags, 3. leg outer barrels, 4. damping holes, 5. hydraulic oil interfaces, 6. grease chambers, 7. oil sealings, 8.
Linear bearing, 9. axle sleeves, 10. linear bearings, 11. transparent covers, 12. dust-proof seal rings, 13. expansion links, 14. pressure sensors, 15.
Rubber sleeve, 16. pressure sensors, 17. hydraulic control one-way valves, 18. electrohydraulic servo valves, 19. constant pressure oil sources, 20. fuel tanks.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The structure of the present invention is as shown in figure 1, mainly include contiguous block 1, air bag 2, leg outer barrel 3, expansion link 13, force snesor
14 and rubber sleeve 15.Minor details of the present invention as robot leg, contiguous block 1 are used for and machine installed in the upper end of leg outer barrel 3
People leg other parts are connected.Expansion link 13 by the location and installation of linear bearing 8 and 10 in leg outer barrel 3, stretch out by its underpart
Leg outer barrel 3, the axle sleeve 9 of isolation positioning action is provided between two linear bearings 8 and 10, expansion link 13 can opposite leg outer barrel 3
Do linear reciprocating motion.Transparent cover 11 plays the role of positioning to linear bearing 10, and embedded dust-proof seal ring 12 prevents dust from flexible
Gap between bar 13 and transparent cover 11 enters linear bearing 10.In the upper end piston portion and leg outer barrel 3 of expansion link 13 between top
Space be grease chamber 6.The middle part of grease chamber 6 is provided with horizontal dividing plate, and damping hole 4 is provided with dividing plate.Equipped with advance above dividing plate
The closed airbag 2 of inflation, the impact of robot for buffering is faced, hydraulic oil is stored with grease chamber 6.Damping hole 4 increases liquid
Force feed flows to the resistance of opposite side from dividing plate side, and consumption ground faces the impact energy of robot.The size of damping hole 4 is according to need
Process, the larger resistance of damping hole 4 is smaller, and the energy that air bag 2 absorbs when robot lands can be made when robot is liftoff
For power output.Because the volume of grease chamber 6 is certain, when oil-filled to grease chamber 6, air bag 2 is further compressed, the gas in air bag 2
Body pressure rise, its spring rate accordingly increase.The upper end piston portion of expansion link 13 is provided with oil sealing 7, for closing in grease chamber 6
Hydraulic oil, keep the pressure in grease chamber.Hydraulic oil interface 5 is connected with the pressure hydraulic circuit for regulating shown in Fig. 2.Expansion link 13
Force sensor 14 is installed in lower end, for the size and Orientation of the contact force between robot measurement foot and ground, and is supplied to
Robot control system.The outer cup rubber sleeve 15 of force snesor 14, for increasing the frictional force between foot and ground, and rise certain
Buffering and damping effect.
The pressure regulation circuit being connected with grease chamber 6 is as shown in Figure 2.Constant pressure oil source 19 and fuel tank 20 use robot in figure
The constant pressure oil source and fuel tank of fluid power system, can also be separately provided.Pressure biography is installed between grease chamber 6 and hydraulically-controlled one-way valve 17
Sensor 16, for measuring the pressure of hydraulic oil in grease chamber 6, and send the control system of robot to.Hydraulic control one-way valve 17 is used for
Hydraulic oil is cut off from grease chamber 6 to the path of electrohydraulic servo valve 18, prevents that robot hydraulic oil in landing moment grease chamber 6 is too high
Compression shock electrohydraulic servo valve 18.But when actively adjusting pressure in grease chamber 6, hydraulic control one-way valve 17 can be in electrohydraulic servo valve 18
Two-way circulated under control.Hydraulic fluid pressure and hard by ground in the grease chamber 6 that electrohydraulic servo valve 18 is measured according to pressure sensor 16
Hydraulic fluid pressure corresponding to the spring rate for the air bag 2 that degree determines quickly adjusts the oil mass in grease chamber 6.
The spring rate adjustment process of air bag 2 is as shown in Figure 3.The spring rate of air bag 2 is relevant with the gas pressure in it,
The pressure of gas pressure and the hydraulic oil in grease chamber 6 is identical.The regulation of hydraulic fluid pressure must be in leg positioned at hanging in grease chamber 6
Carried out during phase, because the pressure that now pressure sensor 16 measures is the static pressure of gas in air bag 2.Control system base area
Face information determines optimal spring rate, and the pressure that the gas pressure according to corresponding to the spring rate measures with pressure sensor 16
Compare, then send corresponding current signal to electrohydraulic servo valve 18.Electrohydraulic servo valve 18 adjusts rapidly according to current signal
Oil mass in grease chamber 6, until the pressure that pressure sensor 16 measures is equal with gas pressure corresponding to optimal spring rate.
Claims (2)
1. a kind of gasbag robot leg buffer mechanism of adjustable rigidity, including contiguous block, air bag, leg outer barrel, expansion link and power
Sensor, contiguous block are arranged on the upper end of leg outer barrel, it is characterised in that：Expansion link is arranged in leg outer barrel, the bottom of expansion link
Protruding leg outer barrel, the space between the upper end piston portion and leg outer barrel inner top of expansion link are grease chamber, and grease chamber passes through a dividing plate point
For upper and lower two parts, grease chamber top is provided with the closed airbag inflated in advance, grease chamber bottom be stored with hydraulic oil and with outside
Pressure regulation circuit is connected, and dividing plate is provided with damping hole, and the lower end of expansion link is provided with for measuring connecing between foot and ground
The force snesor of the size and Orientation of touch；The grease chamber that electrohydraulic servo valve in pressure regulation circuit measures according to pressure sensor
Hydraulic fluid pressure corresponding to the spring rate of interior hydraulic fluid pressure and the air bag determined by landing stiffness is quickly adjusted in grease chamber
Oil mass.
2. the gasbag robot leg buffer mechanism of adjustable rigidity according to claim 1, it is characterised in that：The pressure
Regulating loop includes constant pressure oil source, electrohydraulic servo valve, hydraulic control one-way valve and pressure sensor, constant pressure oil source, electrohydraulic servo valve and
Hydraulic control one-way valve is sequentially connected, and hydraulic control one-way valve is connected with grease chamber bottom, and pressure sensor is arranged on grease chamber bottom and hydraulic control list
To between valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710819679.0A CN107539387A (en) | 2017-09-13 | 2017-09-13 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710819679.0A CN107539387A (en) | 2017-09-13 | 2017-09-13 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
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| CN201710819679.0A Pending CN107539387A (en) | 2017-09-13 | 2017-09-13 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109109021A (en) * | 2018-10-11 | 2019-01-01 | 佛山市高明曦逻科技有限公司 | A kind of intelligent buffer foot for robot |
| CN109278065A (en) * | 2018-10-11 | 2019-01-29 | 佛山市高明曦逻科技有限公司 | Foot is buffered using the intelligent robot of air pressure controlling |
| CN109780116A (en) * | 2019-03-19 | 2019-05-21 | 郑州科技学院 | Damping and intelligent mobile vehicle |
| CN111114841A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111891248A (en) * | 2020-06-19 | 2020-11-06 | 浙江大学 | Multi-foot walking robot and control method thereof and foot end mechanism with improved structure |
| WO2022241905A1 (en) * | 2021-05-20 | 2022-11-24 | 南京驭逡通信科技有限公司 | Industrial robot joint active damping device and damping method therefor |
| WO2023000017A1 (en) * | 2021-07-19 | 2023-01-26 | Commonwealth Scientific And Industrial Research Organisation | Robot appendage force dampening |
| CN115681389A (en) * | 2022-09-22 | 2023-02-03 | 重庆大学 | Volume compensation structure of magnetorheological damper |
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| CN201506402U (en) * | 2009-10-16 | 2010-06-16 | 山东大学 | Rigidity-adjustable air bag type robot leg cushioning mechanism |
| CN202243769U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Leg buffer device for robot |
| CN102582714A (en) * | 2012-01-31 | 2012-07-18 | 山东大学 | Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot |
| WO2014094710A1 (en) * | 2012-12-18 | 2014-06-26 | Ridha Azaiz | Robot for walking on and cleaning smooth, inclined, and modular surfaces |
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Patent Citations (4)
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| CN201506402U (en) * | 2009-10-16 | 2010-06-16 | 山东大学 | Rigidity-adjustable air bag type robot leg cushioning mechanism |
| CN202243769U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Leg buffer device for robot |
| CN102582714A (en) * | 2012-01-31 | 2012-07-18 | 山东大学 | Hydraulic-drive lower-limb mechanism with load bearing capability of biped robot |
| WO2014094710A1 (en) * | 2012-12-18 | 2014-06-26 | Ridha Azaiz | Robot for walking on and cleaning smooth, inclined, and modular surfaces |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109109021A (en) * | 2018-10-11 | 2019-01-01 | 佛山市高明曦逻科技有限公司 | A kind of intelligent buffer foot for robot |
| CN109278065A (en) * | 2018-10-11 | 2019-01-29 | 佛山市高明曦逻科技有限公司 | Foot is buffered using the intelligent robot of air pressure controlling |
| CN111114841A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111114841B (en) * | 2018-10-30 | 2022-07-26 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN109780116A (en) * | 2019-03-19 | 2019-05-21 | 郑州科技学院 | Damping and intelligent mobile vehicle |
| CN109780116B (en) * | 2019-03-19 | 2021-09-07 | 郑州科技学院 | Damper and intelligent movement vehicle |
| CN111891248B (en) * | 2020-06-19 | 2021-10-29 | 浙江大学 | Multi-foot walking robot and control method thereof and foot end mechanism with improved structure |
| CN111891248A (en) * | 2020-06-19 | 2020-11-06 | 浙江大学 | Multi-foot walking robot and control method thereof and foot end mechanism with improved structure |
| WO2022241905A1 (en) * | 2021-05-20 | 2022-11-24 | 南京驭逡通信科技有限公司 | Industrial robot joint active damping device and damping method therefor |
| WO2023000017A1 (en) * | 2021-07-19 | 2023-01-26 | Commonwealth Scientific And Industrial Research Organisation | Robot appendage force dampening |
| AU2022263549A1 (en) * | 2021-07-19 | 2023-02-02 | Commonwealth Scientific And Industrial Research Organisation | Robot appendage force dampening |
| AU2022263549B2 (en) * | 2021-07-19 | 2023-02-16 | Commonwealth Scientific And Industrial Research Organisation | Robot appendage force dampening |
| CN115681389A (en) * | 2022-09-22 | 2023-02-03 | 重庆大学 | Volume compensation structure of magnetorheological damper |
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