CN108058757B - A kind of bionical driving unit of biped robot's kneecap impedance - Google Patents
A kind of bionical driving unit of biped robot's kneecap impedance Download PDFInfo
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- CN108058757B CN108058757B CN201711201810.3A CN201711201810A CN108058757B CN 108058757 B CN108058757 B CN 108058757B CN 201711201810 A CN201711201810 A CN 201711201810A CN 108058757 B CN108058757 B CN 108058757B
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- clutch disc
- thigh plate
- damping
- kneecap
- driving unit
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to hydraulic servocontrol fields, and disclose a kind of bionical driving unit of biped robot's kneecap impedance, including thigh plate, damper, shaft, clutch disc A, damping rope A, steering engine, pawl, ratchet, hydraulic cylinder, Kevlar transmission belt, clutch disc B and nonlinear spring, the damping rope A rides over the top of the damper；One end of the pawl may be rotatably mounted on the thigh plate, and the other end of the pawl is swung by the servo driving；One end of the Kevlar transmission belt is fixedly connected on the piston rod of the hydraulic cylinder, and the other end is fixedly connected on the clutch disc B, and the Kevlar transmission belt rides over the top of the nonlinear spring.By the present invention in that realizing effect of the shank ligament to the slowing down vibration of elastic impact and absorption kinetic energy with the structure of adaptive damping, while torque compensation is carried out using variable elastic device, meets hydroelastic system driver to kneed torque demand.
Description
Technical field
The invention belongs to hydraulic servocontrol fields, bionical more particularly, to a kind of biped robot's kneecap impedance
Driving unit.
Background technique
The bionical actuation techniques in joint have become an important research direction in robot field, in joint servo driving side
Face, since there are the mechanical friction of cylinder body and rod piece, the characteristic of high output impedance itself and oil liquid non-linear flows for hydraulic-driven
The problems such as moving, revealing, so that the accurate power control of hydraulic unit driver becomes extremely difficult, therefore, fluid power system is in engineering
Using when be more suitable for using speed or position control, and simultaneously non-force controls.
The characteristics of series elastic driver is that elastic device is installed between power source and load, can bear power source simultaneously
Driving force and load reaction force, driver driving joint of robot movement when increase joint flexibility, to reduce
Energy consumption when joint of robot drives, and play the role of protection and buffering.Similar to the musculature of animal, have good
The ability of external environment is adapted to, and there is preferable flexibility and adaptability in motion process, can adapt to external loading
Variation.In simulation of human body, shank ligament and patellar ligament play very important effect, kneecap to high-performance stabilized walking
Ligament mainly plays the role of a benefit torque to kneed driving, and shank ligament mainly generates elastic impact to vola and ground
There is a slowing down vibration later, absorb kinetic energy.
Since variable damping variation rigidity hydroelastic system driving unit will be applied on machine human knee joint, thus in function and knot
There is the particularity of itself on structure.Existing variable damping device and variable stiffness apparatus are difficult to simulate shank ligament and patellar ligament, and
And occupied space and own wt is larger, it is difficult to meet requirement of biped robot's knee joint to damping and buffering.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of biped robot's kneecap impedances
Bionical driving unit, can the knee joint bounce motion to robot play the role of torque compensation and absorb vibration.
To achieve the above object, it is proposed, according to the invention, a kind of bionical driving unit of biped robot's kneecap impedance is provided,
It is characterised in that it includes thigh plate and the damper being commonly mounted on the thigh plate, shaft, clutch disc A, damping rope A,
Steering engine, pawl, ratchet, hydraulic cylinder, Kevlar transmission belt, clutch disc B and nonlinear spring, wherein
The damper is vertically installed on the thigh plate；
The clutch disc A and shaft are may be rotatably mounted at respectively on the thigh plate；
One end of the damping rope A is fixed in the shaft, and the other end is fixed on the clutch disc A, and
The damping rope A rides over the top of the damper, to generate damping for compressing the damper；
The ratchet is fixedly attached in the shaft, and one end of the pawl may be rotatably mounted on the thigh plate,
The other end of the pawl is swung by the servo driving, to control the swing of the ratchet；
The hydraulic cylinder be vertically installed on the thigh plate and the piston rod of the hydraulic cylinder downward；
The nonlinear spring is vertically installed on the thigh plate；
One end of the Kevlar transmission belt is fixedly connected on the piston rod of the hydraulic cylinder, and the fixed company of the other end
It connects on the clutch disc B, and the Kevlar transmission belt rides over the top of the nonlinear spring, for compressing institute
Nonlinear spring is stated to generate damping；
It is provided with arc groove on the clutch disc A, boss is provided on the clutch disc B and the boss protrudes into
In the arc groove, for allowing the clutch disc A to drive the clutch disc B rotation.
Preferably, it is also equipped on the thigh plate for allowing the return spring of the ratchet pawl reset.
It preferably, further include damping rope B, one end of the damping rope B is fixedly mounted in the shaft, and the other end is solid
Surely it is connected on the clutch disc B.
Preferably, multiple guide plates are provided on the thigh plate, are oriented to the movement to the damping rope B.
Preferably, multiple guide plates are provided on the thigh plate, are oriented to the movement to the damping rope A.
Preferably, multiple directive wheels are provided on the thigh plate, are led with the movement to the Kevlar transmission belt
To.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
By the present invention in that realizing shank ligament to the slowing down vibration of elastic impact with the structure of adaptive damping and absorbing dynamic
The effect of energy, while torque compensation is carried out using variable elastic device, meet hydroelastic system driver to kneed torque need
It asks.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the schematic diagram that steering engine controls ratchet by pawl；
Fig. 3 is the stiffness variation schematic diagram of nonlinear spring.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
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.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Referring to Fig.1~Fig. 3, a kind of bionical driving unit of biped robot's kneecap impedance, including thigh plate and common peace
It is damper 5, shaft 3, clutch disc A1 on the thigh plate, damping rope A2, steering engine 4, pawl 11, ratchet 12, hydraulic
Cylinder 7, Kevlar transmission belt 8, clutch disc B10 and nonlinear spring 9, wherein
The damper 5 is vertically installed on the thigh plate；
The clutch disc A1 and shaft 3 are may be rotatably mounted at respectively on the thigh plate；
One end of the damping rope A2 is fixed in the shaft 3, and the other end is fixed on the clutch disc A1, and
And the damping rope A2 rides over the top of the damper 5, for compressing the damper 5 to generate damping；
The ratchet 12 is fixedly attached in the shaft 3, and one end of the pawl 11 may be rotatably mounted at the thigh
On plate, the other end of the pawl 11 is swung by the steering engine 4 driving, to control the swing of the ratchet 12；
The hydraulic cylinder 7 be vertically installed on the thigh plate and the piston rod of the hydraulic cylinder 7 downward；
The nonlinear spring 9 is vertically installed on the thigh plate；
One end of the Kevlar transmission belt 8 is fixedly connected on the piston rod of the hydraulic cylinder 7, and the other end is fixed
It is connected on the clutch disc B10, and the Kevlar transmission belt 8 rides over the top of the nonlinear spring 9, to be used for
The nonlinear spring 9 is compressed to generate damping；
It is provided with arc groove on the clutch disc A1, boss and the boss are provided on the clutch disc B10
It protrudes into the arc groove, for allowing the clutch disc A1 to drive the clutch disc B10 rotation.
Further, the return spring for allowing the pawl 11 to reset is also equipped on the thigh plate.
It further, further include damping rope B6, one end of the damping rope B6 is fixedly mounted on the clutch disc A1, and
The other end is fixedly connected on the clutch disc B10.
Further, multiple guide plates are provided on the thigh plate, are oriented to the movement to the damping rope B10.
Further, multiple guide plates are provided on the thigh plate, are oriented to the movement to the damping rope A1.
Further, multiple directive wheels are provided on the thigh plate, are led with the movement to the Kevlar transmission belt 8
To.
The function of the bionical driving unit realizes process are as follows:
When robot walks, bounce motion when, shank reciprocally swinging, vola and ground periodic collisions impact, at this moment
The nonlinear spring 9 and damper 5 for needing this driving unit are buffered.When knee joint is carried out by series elastic driver
When driving, due to the characteristic of series elastic driver, shank will generate periodic damping vibration.When do not need give knee joint apply
When damping action (swing phase), steering engine 4 does not rotate, and ratchet 12 rotates freely, and shaft 3 rotates with it, damping rope A or damping
The B that restricts does not generate constraint to damper 5.When needing to apply damping action to knee joint, steering engine 4 is rotated, band 11 up time of pawl
Needle rotation resists ratchet 12 stuck, and shaft 3 no longer rotates at this time, and the one of the damping rope A or damping rope B that are fixed in shaft 3
End remains stationary, and the other end being fixed on clutch disc A or damping rope B then rotates with it, and damper 5 is pressed, to whole
A system generates damping, and slowing down vibration absorbs kinetic energy.Wherein, present invention design has two sets of devices with damping rope, Yi Taoshi
Clutch disc A and damping rope A, it is another set of, it is that clutch disc B turns with the B that restricts, preceding set of device is damped in clutch disc A counterclockwise
Dynamic, i.e., knee joint rotates counterclockwise, and shank is driven to generate damping when bullet is kicked forward；Set of device afterwards, clutch disc A push clutch
Device piece B is rotated clockwise, i.e., knee joint rotates clockwise, and damping is generated when shank being driven to bend backward.Needs damping compared with
In the case where small, only preceding set of device can generate effect, and in the biggish situation of damping of needs, two covering devices can all be generated
Effect.
Meanwhile when robot carries out leg foot bounce motion, due to kneed driving element-series elastic driver
M curve when M curve bounces enough with human leg has differences, therefore uses variation rigidity hydraulic driving element, closes to knee
Single hydraulic-driven moment values of section are done to compensate.Because 9 rigidity of nonlinear spring is nonlinear, and Kevlar transmission belt 8 exists
Plate upper end uses the tip configurations of up-side down triangle, determines that its output end is inverse cosine function curve.8 one end of Kevlar transmission belt
It being fixed on clutch disc B, the other end is connected with the hydraulic stem 7 of hydraulic cylinder, when leg foot end is support phase, the angle clutch disc A
Degree is fixed locked, and hydraulic stem 7 stretches out, and pulls Kevlar transmission belt 8, carries out that nonlinear spring 9 is pushed to carry out stiffness tuning.Work as leg
When sufficient end is swing phase, hydraulic stem 7 locks motionless, and 7 extension elongation of hydraulic stem is constant, and clutch disc A is random with motion of knee joint
Rule rotation, Kevlar transmission belt 8 does not act on nonlinear spring 9 at this time.
The invention enables the performances that kneed driving unit increases impedance, supplement torque, slowing down vibration, preferably
Realize class peopleization smooth motion.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of bionical driving unit of biped robot's kneecap impedance, which is characterized in that including thigh plate and be commonly mounted on
Damper, shaft, clutch disc A, damping rope A, steering engine, pawl, ratchet, hydraulic cylinder, Kevlar transmission on the thigh plate
Band, clutch disc B and nonlinear spring, wherein
The damper is vertically installed on the thigh plate；
The clutch disc A and shaft are may be rotatably mounted at respectively on the thigh plate；
One end of the damping rope A is fixed in the shaft, and the other end is fixed on the clutch disc A, and described
Damping rope A rides over the top of the damper, to generate damping for compressing the damper；
The ratchet is fixedly attached in the shaft, and one end of the pawl may be rotatably mounted on the thigh plate, the spine
The other end of pawl is swung by the servo driving, to control the swing of the ratchet；
The hydraulic cylinder be vertically installed on the thigh plate and the piston rod of the hydraulic cylinder downward；
The nonlinear spring is vertically installed on the thigh plate；
One end of the Kevlar transmission belt is fixedly connected on the piston rod of the hydraulic cylinder, and the other end is fixedly connected on
On the clutch disc B, and the Kevlar transmission belt rides over the top of the nonlinear spring, with described non-for compressing
Hookean spring is to generate damping；
Arc groove is provided on the clutch disc A, boss is provided on the clutch disc B and the boss protrude into it is described
In arc groove, for allowing the clutch disc A to drive the clutch disc B rotation.
2. a kind of bionical driving unit of biped robot's kneecap impedance according to claim 1, which is characterized in that described
It is also equipped on thigh plate for allowing the return spring of the ratchet pawl reset.
3. a kind of bionical driving unit of biped robot's kneecap impedance according to claim 1, which is characterized in that also wrap
Damping rope B is included, one end of the damping rope B is fixedly mounted in the shaft, and the other end is fixedly connected on the clutch
On piece B.
4. a kind of bionical driving unit of biped robot's kneecap impedance according to claim 3, which is characterized in that described
It is provided with multiple guide plates on thigh plate, is oriented to the movement to the damping rope B.
5. a kind of bionical driving unit of biped robot's kneecap impedance according to claim 1, which is characterized in that described
It is provided with multiple guide plates on thigh plate, is oriented to the movement to the damping rope A.
6. a kind of bionical driving unit of biped robot's kneecap impedance according to claim 1, which is characterized in that described
It is provided with multiple directive wheels on thigh plate, is oriented to the movement to the Kevlar transmission belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711201810.3A CN108058757B (en) | 2017-11-27 | 2017-11-27 | A kind of bionical driving unit of biped robot's kneecap impedance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711201810.3A CN108058757B (en) | 2017-11-27 | 2017-11-27 | A kind of bionical driving unit of biped robot's kneecap impedance |
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| Publication Number | Publication Date |
|---|---|
| CN108058757A CN108058757A (en) | 2018-05-22 |
| CN108058757B true CN108058757B (en) | 2019-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711201810.3A Active CN108058757B (en) | 2017-11-27 | 2017-11-27 | A kind of bionical driving unit of biped robot's kneecap impedance |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10080672B2 (en) * | 2005-03-31 | 2018-09-25 | Bionx Medical Technologies, Inc. | Hybrid terrain-adaptive lower-extremity systems |
| FR2931997A1 (en) * | 2008-05-30 | 2009-12-04 | Areva T & D Ag | CONTROL FOR HIGH AND MEDIUM VOLTAGE ELECTRICAL APPARATUS WITH REDUCED ACTUATION TIME. |
| CN101298260B (en) * | 2008-06-11 | 2010-06-02 | 清华大学 | Low-power consumption two-foot walking moving system and walking control method thereof |
| KR20150077413A (en) * | 2012-09-17 | 2015-07-07 | 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 | Soft exosuit for assistance with human motion |
| CN103192898A (en) * | 2013-04-09 | 2013-07-10 | 北京交通大学 | Biomimetic quadruped robot provided with head and tail balance adjustment devices |
| CN104972459B (en) * | 2015-07-07 | 2017-03-01 | 华中科技大学 | A kind of absorption climb type Bridge Crack detection robot |
| CN106005092B (en) * | 2016-07-14 | 2018-04-10 | 浙江大学 | The apery Soccer robot leg mechanism of connection in series-parallel mixing |
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| CN108058757A (en) | 2018-05-22 |
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