CN109866841A - A kind of shock absorbing structure of hydraulic quadruped robot - Google Patents
A kind of shock absorbing structure of hydraulic quadruped robot Download PDFInfo
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- CN109866841A CN109866841A CN201910259277.9A CN201910259277A CN109866841A CN 109866841 A CN109866841 A CN 109866841A CN 201910259277 A CN201910259277 A CN 201910259277A CN 109866841 A CN109866841 A CN 109866841A
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Abstract
The invention discloses a kind of shock absorbing structures of hydraulic quadruped robot, leg structure including hydraulic drive mechanism support frame and robot, when robot motion's collision, power and vibration can be by passively flexible foots, spring, shank link, thick link, when power and vibration are at thick link, power and vibration can be delivered separately to rotatable hydraulic cylinder mechanism and passive revolute and rotary buffer by thick link, rotatable hydraulic cylinder mechanism can rotate, passive revolute and rotary buffer also can stress rotations, spring on rotary buffer can be compressed, since original position can be restored back to after spring performance compression, keep the balance and course of action of robot, the structure makes robot when walking collision, reducing influences caused by impact, achieve the purpose that buffering.
Description
Technical field
The present invention relates to hydraulic quadruped robot field, the shock absorbing structure of specially hydraulic quadruped robot.
Background technique
Robot technology is one of research field most active in recent years, since sufficient formula mammal has movement spirit
The features such as work, is good at running, and the speed of travel is fast, adaptable to landform, designs and produces a kind of machine similar to animal
Device people is always one of the project that the mankind constantly study.Compared with other sufficient formula mammals, quadruped robot has both stability
Good and simple structure advantage, application is relatively broad, and therefore, bionical quadruped robot technology is always domestic and international robot research
The hot spot in field, since hydraulic-driven has biggish driving force and capability of fast response, in order to improve the dynamic of quadruped robot
Step response and load capacity, it is necessary to the hydraulic driving mode with biggish power density ratio and preferable dynamic characteristic is used,
Hydraulic robot meeting collision obstacle during running, causes the robot service life to reduce, for this purpose, proposing a kind of hydraulic four-footed machine
The shock absorbing structure of device people.
Summary of the invention
The purpose of the present invention is to provide a kind of shock absorbing structures of hydraulic quadruped robot, overcome existing hydraulic four-footed
The shortcomings that robot.
The present invention solves technical method used by its technical problem: a kind of crusherbull zone knot of hydraulic quadruped robot
Structure, including hydraulic drive mechanism support frame, it is characterised in that: the hydraulic drive mechanism support frame and passive revolute pass through pin
Nail connection, installs bearing among it, and the passive revolute upper end is connect with rotary buffer pin, passes through fastening screw axial direction
Fixed, the spring arrangement of the hydraulic drive mechanism support frame and the rotary buffer cooperates, the buffering after realizing collision, greatly
Leg connecting rod is connect with the passive revolute by pin, and mobile sliding block is slidably connected with the thick link, described mobile sliding
Block is connect with rotatable hydraulic cylinder mechanism pin, and rotatable hydraulic cylinder mechanism and hydraulic drive mechanism support frame pin connect
Connect, realize that the thick link connect with shank link pin by hex bolts and nut cooperation, the shank link and
The connection of hydraulic cylinder mechanism pin, the hydraulic cylinder mechanism are connect with thick link pin, the shank link and passive flexible foot
Portion opposite can slide, and have extreme position, realize bumper and absorbing shock by spring.
Respectively there are four protrusions with holes in the quadrangle of part on the hydraulic drive mechanism support frame, and quadrangle it is each there are four
Stepped hole partially has irregular L-type structure under hydraulic drive mechanism support frame, has hole in L-type structure bottom, with upper part
Stepped hole it is coaxial.
The passive revolute is connect with hydraulic drive mechanism support frame pin, is among it bearing, collides meeting after stress
Rotation.
The rotary buffer and revolute cooperate, and by fastening screw axially position, make rotary buffer and revolute
Relative motion does not occur.
Rotatable hydraulic cylinder mechanism is connect with hydraulic drive mechanism support frame pin, and rotating hydraulic cylinder mechanism and movement
The connection of sliding block pin.
Compared with prior art, the beneficial effects of the present invention are: the shock absorbing structure of such hydraulic quadruped robot
Structure is simple, by rotatable hydraulic cylinder mechanism 10 and passive revolute 3 and axial-rotation buffer 2, works as robot motion
When collision, power and vibration can be by passively flexible foots 8, spring 7, shank link 6, thick link 4, the meeting at thick link 4
Power and vibration are delivered separately to rotatable hydraulic cylinder mechanism 10 and passive revolute 3 and axial-rotation buffer 2, it is rotatable
Hydraulic cylinder mechanism 10 rotates, passive revolute 3 and rotary buffer 2 also can stress rotation, the spring meeting on rotary buffer 2
It is compressed, since original position can be restored back to after spring performance compression, keeps the balance and course of action of robot, the knot
Structure makes robot when walking collision, and reducing influences caused by impact, achievees the purpose that buffering.
Detailed description of the invention
Fig. 1 is the structure chart of the hydraulic quadruped robot of the present invention.
Fig. 2 is the single leg structural schematic diagram of the present invention.
Fig. 3 is the structure chart of hydraulic drive mechanism support frame of the present invention.
Fig. 4 is the partial enlarged view of hydraulic drive mechanism support frame of the invention.
Fig. 5 is rotary buffer structure chart of the invention.
Fig. 6 is passive revolute structure chart of the invention.
Fig. 7 is shock absorbing part assembly structure figure of the invention.
Fig. 8 is that the hydraulic quadruped robot of the present invention meets obstacle perspective view.
Fig. 9 is that the hydraulic quadruped robot of the present invention meets obstacle top view.
In figure: 1- hydraulic drive mechanism support frame, 2- axial-rotation buffer, the passive revolute of 3-, 4- thick link, 5-
Prismatic pair, 6- shank link, 7- spring, 8- passively stretch foot, 9- hydraulic cylinder mechanism, 10- rotatable hydraulic cylinder mechanism, 11-
Hex bolts, 12- nut, 13- bearing, 14- fastening screw.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description.
Fig. 1-9 is please referred to, the present invention provides a kind of technical solution:
A kind of shock absorbing structure of hydraulic quadruped robot, the leg including hydraulic drive mechanism support frame 1 and robot
Structure, hydraulic drive mechanism support frame 1 are connect with passive revolute 3 by pin, install bearing 13, passive revolute among it
3 upper ends are connect with 2 pin of rotary buffer, and by 14 axial restraint of fastening screw, hydraulic drive mechanism support frame 1 and rotation are slow
The spring arrangement cooperation of device 2 is rushed, the buffering after realizing collision, thick link 4 is connect with passive revolute 3 by pin, mobile
Sliding block 5 is slidably connected with the thick link 4, and mobile sliding block 5 is connect with 10 pin of rotatable hydraulic cylinder mechanism, rotatable hydraulic
Cylinder mechanism 10 is connect with 1 pin of hydraulic drive mechanism support frame, realizes that thigh connects by hex bolts 11 and the cooperation of nut 12
Bar 4 is connect with 6 pin of shank link, and shank link 6 is connect with 9 pin of hydraulic cylinder mechanism, hydraulic cylinder mechanism 9 and thick link 4
Pin connects, and shank link 6 and passively flexible foot 8 opposite can slide, and have extreme position, realizes that buffering subtracts by spring 7
Shake.
Working principle: when the hydraulic quadruped robot speed of travel is very fast and collides rock mass, quadruped robot foot meeting
It is impacted, and has the tendency that moving out, it, can be by passively flexible foot 8, spring 7, small by the transmitting of power and vibration
Power and vibration can be delivered separately to rotatable hydraulic cylinder mechanism 10 and passive by leg connecting rod 6, thick link 4 at thick link 4
Revolute 3 and axial-rotation buffer 2, rotatable hydraulic cylinder mechanism 10 can rotate, passive revolute 3 and rotary buffer
2 also can stress rotation, rotary buffer 2 rotates, and spring thereon can be compressed, due to that can rotate to original after spring performance compression
The position come, keeps the balance of robot, makes robot when walking collision with this configuration, can reduce shadow caused by impact
It rings, achievees the purpose that buffering.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (5)
1. a kind of shock absorbing structure of hydraulic quadruped robot, including hydraulic drive mechanism support frame (1) and robot
Leg structure, it is characterised in that: the hydraulic drive mechanism support frame (1) is connect with passive revolute (3) by pin, wherein
Between install bearing (13), passive revolute (3) upper end connect with rotary buffer (2) pin, passes through fastening screw (14)
Axial restraint, the spring arrangement cooperation of the hydraulic drive mechanism support frame (1) and the rotary buffer (2), realizes collision
Buffering afterwards, thick link (4) are connect with the passive revolute (3) by pin, mobile sliding block (5) and the thick link
(4) it is slidably connected, the mobile sliding block (5) connect with rotatable hydraulic cylinder mechanism (10) pin, the rotatable hydraulic cylinder machine
Structure (10) is connect with hydraulic drive mechanism support frame (1) pin, is realized by hex bolts (11) and nut (12) cooperation, institute
It states thick link (4) to connect with shank link (6) pin, the shank link (6) connect with hydraulic cylinder mechanism (9) pin, institute
It states hydraulic cylinder mechanism (9) to connect with thick link (4) pin, the shank link (6) can slide relatively with passive flexible foot (8)
It is dynamic, and have extreme position, bumper and absorbing shock is realized by spring (7).
2. a kind of shock absorbing structure of hydraulic quadruped robot according to claim 1, it is characterised in that: described hydraulic
Respectively there are four protrusions with holes in the quadrangle of part on driving mechanism support frame (1), and respectively there are four stepped hole, hydraulic drives for quadrangle
Partially there is irregular L-type structure under motivation structure support frame (1), has hole in L-type structure bottom, it is same with the stepped hole of upper part
Axis.
3. a kind of shock absorbing structure of hydraulic quadruped robot according to claim 1, it is characterised in that: described passive
Revolute (3) is connect with hydraulic drive mechanism support frame (1) pin, is among it bearing, can be rotated after colliding stress.
4. a kind of shock absorbing structure of hydraulic quadruped robot according to claim 1, it is characterised in that: the rotation
Buffer (2) and revolute (3) cooperate, and by fastening screw (14) axially position, make rotary buffer (2) and revolute (3)
Relative motion does not occur.
5. a kind of shock absorbing structure of hydraulic quadruped robot according to claim 1, it is characterised in that: rotatable liquid
Cylinder mechanism (10) is connect with hydraulic drive mechanism support frame (1) pin, and rotating hydraulic cylinder mechanism (10) and mobile sliding block
(5) pin connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910259277.9A CN109866841A (en) | 2019-04-02 | 2019-04-02 | A kind of shock absorbing structure of hydraulic quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910259277.9A CN109866841A (en) | 2019-04-02 | 2019-04-02 | A kind of shock absorbing structure of hydraulic quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109866841A true CN109866841A (en) | 2019-06-11 |
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ID=66921895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910259277.9A Pending CN109866841A (en) | 2019-04-02 | 2019-04-02 | A kind of shock absorbing structure of hydraulic quadruped robot |
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| CN (1) | CN109866841A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422277A (en) * | 2020-05-08 | 2020-07-17 | 山东大学 | Robot with buffer feet |
-
2019
- 2019-04-02 CN CN201910259277.9A patent/CN109866841A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422277A (en) * | 2020-05-08 | 2020-07-17 | 山东大学 | Robot with buffer feet |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190611 |
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| WD01 | Invention patent application deemed withdrawn after publication |