CN108860359A - A kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator - Google Patents
A kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator Download PDFInfo
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- CN108860359A CN108860359A CN201810448080.5A CN201810448080A CN108860359A CN 108860359 A CN108860359 A CN 108860359A CN 201810448080 A CN201810448080 A CN 201810448080A CN 108860359 A CN108860359 A CN 108860359A
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- piston rod
- bar
- hydraulic actuator
- thigh bar
- embedded
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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 a kind of embedded legged type robot knee joints for integrating electro-hydraulic actuator.Including electro-hydraulic actuator, piston rod, p spring and connecting rod；It is equipped on thigh bar and integrates electro-hydraulic actuator, the hydraulic cylinder of electro-hydraulic actuator is embedded in thigh bar top as upper plenum, and thigh bar lower hollow forms cavity as lower cavity, and thigh bar is provided with piston rod, piston rod upper end is located in upper plenum, and piston-rod lower end is located in lower cavity；Connecting rod lower end is articulated on shank bar, and connecting rod upper end is articulated with thigh bar by round boss.The present invention, convenient for control, realizes adjustable speed-changing by simple mechanism and cooperation, is avoided that piston rod destroys from moment of flexure and moves along a straight line stuck, spring plays buffer function, avoids robot body by intense impact.
Description
Technical field
The present invention relates to a kind of legged type robot knee joint more particularly to a kind of embedded sufficient formulas for integrating electro-hydraulic actuator
Machine human knee joint can be adapted for the fields such as biped robot, exoskeleton robot.
Background technique
Legged type robot is a kind of intelligent bionic formula mobile robot.With the development of science and technology Zu Shi machine robot obtains
It is more and more widely used.Legged type robot knee joint is the important component of legged type robot, bears legged type robot
Most of weight is one of key structure of robot lower limb.The kneed structure of legged type robot is to realize that robot is submissive
The important leverage of smooth motion.
Currently, most of legged type robot knee joints are all using thigh bar+hydraulic cylinder+shank bar structure and driving shape
Formula, this structure bulky, rotary inertia is big, inconvenience control, especially with it is advanced integrate electro-hydraulic actuator actuation when, these
Disadvantage more highlights.In addition, many legged type robot knee joints are just for a certain operating condition, gear ratio cannot change according to demand
Become, leads to the bad control of output action speed, energy consumption also increases.Further more, nowadays most of legged type robots are not also fine
Ground considers the compatibility of machine and environment, considers that mechanism kinematic is too fast or emergency stop is to the impact injury of robot body.
Summary of the invention
The purpose of the present invention is being directed to the deficiency of existing structure, a kind of embedded sufficient formula machine for integrating electro-hydraulic actuator is provided
Device human knee joint, the embedded hydraulic cylinder for integrating electro-hydraulic actuator reduce weight and rotary inertia, are adapted to not inside thigh bar
Change speed increasing ratio with operating condition, structure cooperation is simple, convenient for control.
The technical solution adopted by the present invention is that：
The present invention includes thigh bar and shank bar, and thigh bar lower end and shank bar upper end are hinged, further includes integrating electro-hydraulic work
Dynamic device, piston rod, spring and connecting rod；It is equipped on thigh bar and integrates electro-hydraulic actuator, integrate the hydraulic cylinder of electro-hydraulic actuator
Thigh bar top is embedded in as upper plenum, thigh bar lower hollow forms cavity as lower cavity, and thigh bar is provided with piston
Bar, piston rod upper end are located in upper plenum, and piston-rod lower end is located in lower cavity；Connecting rod lower end is articulated on shank bar, even
Extension bar upper end is articulated with thigh bar by round boss, specifically：Thigh bar lower part outer wall is provided with strip groove, and connecting rod upper end is set
There is round boss, round boss makes the groove width of strip groove and the diameter of round boss coincide and match in strip groove,
Round boss and piston-rod lower end are hinged, the outer spring being set with for elastic connection thigh bar and piston rod in the middle part of piston rod.
The present invention is similar to slide block guide rail movement and spring by the round boss of connecting rod in the strip groove of thigh bar
Buffer function, prevent connecting rod 5 move transmission force to piston rod 3 generate moment of flexure, avoid piston rod linear motion it is stuck, avoid
Mechanism is too fast/and emergency stop impact, improves delivery efficiency；The small space in thigh bar is also avoided to assemble tearing open for slide block guide rail simultaneously
Dress and maintenance issues.
Thigh bar, connecting rod and the shank bar passes through the triangular structure for hingedly constituting human knee joint, and piston rod exists
It integrates and is moved in a straight line under the hydraulic cylinder effect of electro-hydraulic actuator along thigh bar, to form the movement shape of slider-crank mechanism
Formula pushes connecting rod to drive shank bar to do pendulum motion.
The piston-rod lower end is equipped with outward flange, is equipped with inward flange in the middle part of thigh bar cavity, lower spring end is connected to work
Stopper rod outward flange, spring upper end are connected on the interior step wall between thigh bar upper plenum and lower cavity.
Uniformly distributed multiple holes, connecting rod lower end require selectively to be articulated with wherein to appoint according to gear ratio on the shank bar outer wall
It anticipates a hole.
Round boss in the connecting rod slides in the strip groove of thigh bar, is oriented to by strip groove, strip groove is parallel
In piston rod movement direction.
The spring selects different coefficient of elasticity according to the purposes of legged type robot, plays difference when piston rod retracts
The buffer function of degree, and part energy can be recycled, improve the energy utilization efficiency of robot
The invention has the advantages that：
1) present invention changes the structure that existing hydraulic cylinder 7 as shown in Figure 1 is mounted between thigh bar and shank bar, leads to
It crosses the embedded hydraulic cylinder for integrating electro-hydraulic actuator to be directly mounted on thigh bar, reduces hydraulic cylinder bring weight and rotation is used
Amount, convenient for controlling the swing of shank bar.
2) present invention by transformation connecting rod and shank rod aperture it is hinged, be equivalent to change triangular structure side ratio
Example is suitable for different operating conditions to change the speed ratio of piston rod Yu shank bar.
3) present invention is made by the buffering for being similar to slide block guide rail movement and spring of the connecting rod boss in thigh bar slot
With, avoid the stuck and mechanism of movement it is too fast/impact of emergency stop.
Detailed description of the invention
Fig. 1 is existing legged type robot knee joint general structure schematic diagram.
Fig. 2 is the cross-sectional view of structural schematic diagram and thigh bar of the invention.
Fig. 3 is transformation gear ratio schematic illustration.
Fig. 4 is the partial enlargement diagram of piston rod retraction and thigh bar.
In figure：1, thigh bar, 2, integrate electro-hydraulic actuator, 3, piston rod, 4, spring, 5, connecting rod, 6, shank bar, 101,
Strip groove, 501, round boss, 7, hydraulic cylinder.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
As shown in Fig. 2 (a) and (b), including thigh bar 1 and shank bar 6,1 lower end of thigh bar and 6 upper end of shank bar are hinged,
It further include integrating electro-hydraulic actuator 2, piston rod 3, spring 4 and connecting rod 5；It is equipped on thigh bar 1 and integrates electro-hydraulic actuator 2,
The hydraulic cylinder for integrating electro-hydraulic actuator 2 is embedded in 1 top of thigh bar as upper plenum, and 1 lower hollow of thigh bar forms cavity and makees
For lower cavity, thigh bar 1 is provided with piston rod 3, and 3 upper end of piston rod is located in upper plenum, and 3 lower end of piston rod is located at lower cavity
Stepped hole that is interior, being arranged in the middle part of piston rod 3 between upper plenum and lower cavity；5 lower end of connecting rod is articulated on shank bar 6, even
5 upper end of extension bar is articulated with thigh bar 1 by round boss 501.
As shown in figure 4,1 lower part outer wall of thigh bar is provided with strip groove 101,5 upper end of connecting rod is equipped with round boss 501, circle
Shape boss 501 makes the groove width of strip groove 101 and the diameter of round boss 501 coincide and match in strip groove 101,
Round boss 501 is hinged by axis and 3 lower end of piston rod, and 3 middle part of piston rod is outer to be set with for elastic connection thigh bar 1 and live
The spring 4 of stopper rod 3.3 lower end of piston rod is equipped with outward flange, is equipped with inward flange in the middle part of 1 cavity of thigh bar, 4 lower end of spring is connected to
3 outward flange of piston rod, 4 upper end of spring is connected on the interior step wall between 1 upper plenum of thigh bar and lower cavity, so that spring 4
Elastic connection thigh bar 1 and piston rod 3.
As shown in Fig. 2 (b) and Fig. 4, piston rod 3, connecting rod 5 and shank bar 6 pass through the triangle for hingedly constituting human knee joint
Shape structure, substantially a slider-crank mechanism, piston rod 3 is under the hydraulic cylinder effect for integrating electro-hydraulic actuator 2 along thigh
Bar 1 moves in a straight line, and provides restoring force by spring 4, pushes connecting rod 5 to drive shank bar 6 to do pendulum motion.Connecting rod
Round boss 501 on 5 slides in the strip groove 101 of thigh bar 1, is oriented to by strip groove 101, and strip groove 101 is parallel to work
3 direction of motion of stopper rod (i.e. 1 direction of thigh bar) avoids the assembly difficulty of the narrow space arrangement guide rail in thigh rod aperture, prevents
Moment of flexure is generated to piston rod 3 when only connecting rod 5 moves transmission force, protects and extend the service life of piston rod 3, while keeping piston rod
3 movement it is smooth, prevent it is stuck, reduce friction of motion, improve the delivery efficiency of hydraulic cylinder.
As shown in Fig. 2 (a) and Fig. 3, uniformly distributed multiple holes, 5 lower end of connecting rod require to select according to gear ratio on 6 outer wall of shank bar
It is articulated with wherein any one hole with selecting, is equivalent to the side length ratio changed in triangular structure, substantially changes slide crank
The length of crank in block mechanism, the i.e. position of the instantaneous center of velocity of change crank (shank bar 6) and sliding block (piston rod 3) and length,
By P36Become P '36, to change the speed ratio of piston rod 3 Yu shank bar 6, realize four gear speed regulation.
In specific implementation, spring 4 selects different coefficient of elasticity according to the purposes of legged type robot, retracts in piston rod 3
When play different degrees of buffer function, avoid mechanism due to it is too fast/emergency stop generate impact legged type robot is caused to damage,
And part energy can be recycled, the energy utilization efficiency and reliability of robot are improved.
Above-mentioned specific embodiment is used to illustrate the present invention, does not limit the invention, in essence of the invention
In mind and scope of protection of the claims, to any modifications and changes that the present invention makes, protection scope of the present invention is both fallen within.
Claims (6)
1. a kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator, including thigh bar (1) and shank bar (6), thigh
Bar (1) lower end and shank bar (6) upper end are hinged, it is characterised in that：It further include integrating electro-hydraulic actuator (2), piston rod (3), bullet
Spring (4) and connecting rod (5)；It is equipped on thigh bar (1) and integrates electro-hydraulic actuator (2), integrate the hydraulic cylinder of electro-hydraulic actuator (2)
Thigh bar (1) top is embedded in as upper plenum, thigh bar (1) lower hollow forms cavity as lower cavity, and thigh bar (1) is interior
Equipped with piston rod (3), piston rod (3) upper end is located in upper plenum, and piston rod (3) lower end is located in lower cavity；Under connecting rod (5)
End is articulated on shank bar (6), and connecting rod (5) upper end is articulated with thigh bar (1) by round boss (501), specifically：Thigh
Bar (1) lower part outer wall is provided with strip groove (101), and connecting rod (5) upper end is equipped with round boss (501), and round boss (501) is embedded in
In strip groove (101), and the groove width of strip groove (101) and the diameter of round boss (501) is made to coincide and match, round boss
(501) and piston rod (3) lower end is hinged, outer in the middle part of piston rod (3) to be set with for elastic connection thigh bar (1) and piston rod
(3) spring (4).
2. a kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator according to claim 1, it is characterised in that：
Triangular structure of the thigh bar (1), connecting rod (5) and shank bar (6) by hingedly composition human knee joint, piston rod
(3) it is moved in a straight line under the hydraulic cylinder effect for integrating electro-hydraulic actuator (2) along thigh bar (1), pushes connecting rod (5) to band
Dynamic shank bar (6) do pendulum motion.
3. a kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator according to claim 1, it is characterised in that：
Piston rod (3) lower end is equipped with outward flange, is equipped with inward flange in the middle part of thigh bar (1) cavity, spring (4) lower end is connected to work
Stopper rod (3) outward flange, spring (4) upper end are connected on the interior step wall between thigh bar (1) upper plenum and lower cavity.
4. a kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator according to claim 1, it is characterised in that：
Uniformly distributed multiple holes, connecting rod (5) lower end require selectively to be articulated with wherein according to operating condition gear ratio on shank bar (6) outer wall
Any one hole.
5. a kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator according to claim 1, it is characterised in that：
Round boss (501) sliding in the strip groove (101) of thigh bar (1) on the connecting rod (5), is led by strip groove (101)
To strip groove (101) is parallel to piston rod (3) direction of motion.
6. a kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator according to claim 1, it is characterised in that：
The spring (4) selects different coefficient of elasticity according to the purposes of legged type robot, plays different journeys when piston rod (3) retract
The buffer function of degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810448080.5A CN108860359A (en) | 2018-05-11 | 2018-05-11 | A kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810448080.5A CN108860359A (en) | 2018-05-11 | 2018-05-11 | A kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator |
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| CN108860359A true CN108860359A (en) | 2018-11-23 |
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| CN201810448080.5A Pending CN108860359A (en) | 2018-05-11 | 2018-05-11 | A kind of embedded legged type robot knee joint for integrating electro-hydraulic actuator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109718066A (en) * | 2018-12-14 | 2019-05-07 | 王东伟 | A kind of Chinese medicine othopedics fracture of lower limb walking aid |
| CN109733501A (en) * | 2019-01-31 | 2019-05-10 | 满世海 | Walking vehicle body leg |
| CN110816707A (en) * | 2019-11-19 | 2020-02-21 | 山东大学 | Structure integrated leg of driving, sensing and pipeline of hydraulic driving foot type robot |
| CN112109817A (en) * | 2020-08-07 | 2020-12-22 | 哈尔滨工业大学 | Multi-degree-of-freedom integrated high-power-density hydraulic motion joint for walking robot |
| CN113084780A (en) * | 2021-03-29 | 2021-07-09 | 新疆大学 | Lower limb assistance exoskeleton seat capable of being adjusted at multiple angles |
| CN114313053A (en) * | 2022-01-06 | 2022-04-12 | 江苏镌极特种设备有限公司 | Distributed driving hydraulic robot |
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| EP1464454A1 (en) * | 2001-11-09 | 2004-10-06 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
| CN103598937A (en) * | 2013-11-07 | 2014-02-26 | 桂林电子科技大学 | Artificial knee joint with discontinuous instantaneous center lines |
| CN106239479A (en) * | 2016-08-23 | 2016-12-21 | 哈尔滨工业大学 | A kind of series connection flexible drive knee joint in lower limb assistance exoskeleton robot |
| CN106514625A (en) * | 2016-12-20 | 2017-03-22 | 东南大学 | Knee joint power assistance device with self-switching rigidity |
| CN106882286A (en) * | 2017-03-14 | 2017-06-23 | 北京工业大学 | A kind of hydraulic drive type robot leg foot structure |
| CN206885199U (en) * | 2017-05-31 | 2018-01-16 | 地壳机器人科技有限公司 | A kind of robot leg drive device |
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Patent Citations (6)
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| EP1464454A1 (en) * | 2001-11-09 | 2004-10-06 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
| CN103598937A (en) * | 2013-11-07 | 2014-02-26 | 桂林电子科技大学 | Artificial knee joint with discontinuous instantaneous center lines |
| CN106239479A (en) * | 2016-08-23 | 2016-12-21 | 哈尔滨工业大学 | A kind of series connection flexible drive knee joint in lower limb assistance exoskeleton robot |
| CN106514625A (en) * | 2016-12-20 | 2017-03-22 | 东南大学 | Knee joint power assistance device with self-switching rigidity |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109718066A (en) * | 2018-12-14 | 2019-05-07 | 王东伟 | A kind of Chinese medicine othopedics fracture of lower limb walking aid |
| CN109733501A (en) * | 2019-01-31 | 2019-05-10 | 满世海 | Walking vehicle body leg |
| CN110816707A (en) * | 2019-11-19 | 2020-02-21 | 山东大学 | Structure integrated leg of driving, sensing and pipeline of hydraulic driving foot type robot |
| CN112109817A (en) * | 2020-08-07 | 2020-12-22 | 哈尔滨工业大学 | Multi-degree-of-freedom integrated high-power-density hydraulic motion joint for walking robot |
| CN112109817B (en) * | 2020-08-07 | 2022-06-21 | 哈尔滨工业大学 | Multi-degree-of-freedom integrated high-power-density hydraulic motion joint for walking robot |
| CN113084780A (en) * | 2021-03-29 | 2021-07-09 | 新疆大学 | Lower limb assistance exoskeleton seat capable of being adjusted at multiple angles |
| CN114313053A (en) * | 2022-01-06 | 2022-04-12 | 江苏镌极特种设备有限公司 | Distributed driving hydraulic robot |
| CN114313053B (en) * | 2022-01-06 | 2023-06-02 | 江苏镌极特种设备有限公司 | Distributed driving hydraulic robot |
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Application publication date: 20181123 |
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