CN110206840A - A kind of imitative femoral head shock-damping structure and walking robot - Google Patents
A kind of imitative femoral head shock-damping structure and walking robot Download PDFInfo
- Publication number
- CN110206840A CN110206840A CN201910542602.2A CN201910542602A CN110206840A CN 110206840 A CN110206840 A CN 110206840A CN 201910542602 A CN201910542602 A CN 201910542602A CN 110206840 A CN110206840 A CN 110206840A
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- China
- Prior art keywords
- shock
- damping structure
- imitative
- femoral head
- damping
- Prior art date
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Classifications
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/104—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted
- F16F7/108—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted on plastics springs
Abstract
The invention discloses a kind of imitative femoral head shock-damping structure and walking robots, the imitative femoral head shock-damping structure includes inside and outside three layers, inner framework includes at least two shock-absorbing support units, shock-absorbing support unit includes arch shock-damping structure and support construction, arch shock-damping structure includes intermediate link block and elastic rod group, elastic rod group includes multiple circumferentially uniformly distributed arc struts, the first end of each arc strut is connect with intermediate link block, and the second end of each arc strut, which radially radially extends outwardly, to be constituted the abutting end of strut group and be connected with damping cushion；Support construction includes two support rods being arranged side by side in parallel, and two shock-absorbing support units are sequentially connected by support construction, and the support construction end of the shock-absorbing support unit of end is provided with connector；Intermediate buffer layer and outer layer protective case are wrapped in outside inner framework from inside to outside；The imitative femoral head shock-damping structure of this case can realize good damping effect using bionics techniques, and take into account rigid requirements and lightweight requirements.
Description
Technical field
The present invention relates to automation equipment part field, in particular to a kind of imitative femoral head shock-damping structure and walking robot
People.
Background technique
The foot of walking robot can in robot motion frequent progress swing phase and support phase conversion, in this mistake
Cheng Zhong, robot foot section will be by regular frequent impacts.Walking robot need to have because of its multiple degrees of freedom special construction simultaneously
Effect lowers executor tail end inertia so that its movement is flexible.It is influenced by above-mentioned two reason, the structure that the foot of robot needs
It is preferably provided with good damping property and lighter weight.Robot foot section mainly passes through integrally formed structural member and is propped up at present
Support, generally pure metal material or pure engineering plastic materials, using pure metal material, then damping and light weight effect are all deficient
It lacks, is then merely capable of meeting low-intensity use using pure engineering plastic materials, and the defects of whole service life is short can be faced.
Summary of the invention
In view of this, the first purpose of this invention is to provide a kind of imitative femoral head shock-damping structure, wanted meeting rigidity
Under the premise of asking, realizes lightweight and Aseismatic Design, meet the needs of walking robot foot end support structure.
Second object of the present invention is to provide a kind of walking robot based on above-mentioned imitative femoral head shock-damping structure.
To achieve the above object, the invention provides the following technical scheme:
A kind of imitative femoral head shock-damping structure, comprising:
Inner framework, including at least two shock-absorbing support units, the shock-absorbing support unit include arch shock-damping structure with
And support construction, the arch shock-damping structure include intermediate link block and are symmetrically disposed on the intermediate link block two sides
Two elastic rod groups, the elastic rod group include multiple circumferentially uniformly distributed arc struts, the first end of each arc strut
The connecting pin and the intermediate link block for constituting the elastic rod group connect, and the second end of each arc strut is radially in
It is radial extend outwardly constitute the abutting end of the strut group and be connected with damping cushion；The support construction includes two parallel
Support rod arranged side by side, the first end of two support rods are connected to the described of the first end of the arch shock-damping structure and subtract
Cushion block is shaken, the second end of two support rods is connected to the resilient cushion of the second end of another shock-absorbing support unit
Block, and the second end for being located at two support rods of the shock-absorbing support unit of the inner framework end is provided with connector；
The intermediate buffer layer being wrapped in outside the inner framework, the intermediate buffer layer is for limiting the inner framework
Deformation；
The outer layer protective case being wrapped in outside the intermediate buffer layer, the both ends of the outer layer protective case, which are provided with, leads to the internal layer
The mounting hole of skeleton.
Preferably, the second end of the arc strut is provided with clamping boss, each arc strut in the elastic rod group
On clamping boss constitute clamping structure with the damping cushion be engaged by clamping.
Preferably, the curvature of the arc strut is
Preferably, the arch shock-damping structure and the length ratio of the support construction are 1:2.5.
Preferably, the spacing of two support rods of the support construction is equal to the length of the radius of the damping cushion
Degree.
Preferably, the support rod and the arc strut are made of AZ31 magnesium alloy.
Preferably, the intermediate link block is made of titanium alloy.
Preferably, the intermediate buffer layer is made of foamed plastics.
Preferably, the outer layer protective case and the damping cushion are made of ABS engineering plastics, and the outer layer protective case
With a thickness of 1.2mm.
A kind of walking robot, including foot member, the foot member include imitative femur described in any one as above
Head shock-damping structure.
To realize above-mentioned first purpose, the present invention provides a kind of imitative femoral head shock-damping structure, including inner framework, in
Between buffer layer and outer layer protective case, wherein inner framework include at least two shock-absorbing support units, shock-absorbing support unit include bow
Shape shock-damping structure and support construction, arch shock-damping structure include intermediate link block and are symmetrically disposed on intermediate link block two
Two elastic rod groups of side, elastic rod group include multiple circumferentially uniformly distributed arc struts, and the first end of each arc strut is constituted
The connecting pin of elastic rod group is connect with intermediate link block, and the second end of each arc strut radially radially extends outwardly structure
At strut group abutting end and be connected with damping cushion；Support construction includes two support rods being arranged side by side in parallel, needs to infuse
Meaning, in assembling in application, the line between two support rods should be parallel to the swaying direction of step, two support rods
First end is connected to the damping cushion of the first end of arch shock-damping structure, and the second end of two support rods is connected to another damping
The damping cushion of the second end of support unit, and second of two support rods positioned at the shock-absorbing support unit of inner framework end
End is provided with connector；Intermediate buffer layer and outer layer protective case are successively wrapped in outside inner framework from inside to outside, intermediate buffer layer
For limiting the deformation of inner framework；The both ends of outer layer protective case are provided with the mounting hole for leading to inner framework；Above-mentioned imitative femoral head
Shock-damping structure is bionical to the dry progress of animal limb, in combination with the analysis and measurement of the shock-damping structure to femoral head in pelvis, uses
Inside and outside three-decker is copied " bone+muscle+skin " mechanism in human body, can be adopted according to each layer structure role difference
It is made of different materials, inner framework realizes stress conduction, bow by the cooperation of both arch shock-damping structure and support construction
Shape shock-damping structure can realize effective damping in certain deformation limit, therefore the higher gold of intensity can be used in inner framework
Belong to material production, such as magnesium, aluminium light alloy, intermediate buffer layer copys striated muscle to the protection philosophy wrapping inner layer bone of bone
Frame, limits the deformation of internal layer workpiece, while also avoiding foreign impacts from making inner framework that plastic deformation occur, therefore recovery can be used
Property good soft bullet material production, inner framework and intermediate buffer layer package wherein, play good protection work by outer layer protective case
With aesthetic appeal can be used the materials such as plastics, metal and be made；It can be seen that the imitative femoral head shock-damping structure of this case is using bionical
Technology forms inside and outside three-decker, it can be achieved that good damping effect, and can be according to the difference of each layer function using different
Material is made, to take into account rigid requirements and lightweight requirements.
To realize above-mentioned second purpose, the present invention also provides a kind of walkings with above-mentioned imitative femoral head shock-damping structure
Robot, since above-mentioned imitative femoral head shock-damping structure has above-mentioned technique effect, the step with the imitative femoral head shock-damping structure
Row robot should also have corresponding technical effect.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the axonometric drawing of imitative femoral head shock-damping structure provided in an embodiment of the present invention；
Fig. 2 is the foot member structural schematic diagram of walking robot provided in an embodiment of the present invention.
In figure:
1 is shock-absorbing support unit；110 be arch shock-damping structure；111 be intermediate link block；112 be arc strut；113 are
Damping cushion；114 be clamping boss；120 be support rod；2 be connector；3 be foot member；301 be calf；302 be peace
Fill bracket；303 be steering engine；304 be U-bracket；305 be huckle.
Specific embodiment
The first purpose of this invention is to provide a kind of imitative femoral head shock-damping structure, the knot of the imitative femoral head shock-damping structure
Structure design can alleviate the side impacts that transmission shaft receives, and achieve the purpose that protect transmission shaft.
The first purpose of this invention is to provide a kind of walking robot pass with above-mentioned imitative femoral head shock-damping structure
Section structure and walking robot.
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
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, Fig. 1 is the axonometric drawing of imitative femoral head shock-damping structure provided in an embodiment of the present invention.
A kind of imitative femoral head shock-damping structure provided in an embodiment of the present invention, including inner framework, intermediate buffer layer and outer
Layer protective case.
Wherein, inner framework includes at least two shock-absorbing support units 1, and shock-absorbing support unit 1 includes arch shock-damping structure
110 and support construction, arch shock-damping structure 110 includes intermediate link block 111 and is symmetrically disposed on intermediate link block 111
Two elastic rod groups of two sides, elastic rod group include multiple circumferentially uniformly distributed arc struts 112, and the of each arc strut 112
The connecting pin that one end constitutes elastic rod group is connect with intermediate link block 111, and the second end of each arc strut 112 is radially in spoke
It penetrates shape and extends outwardly and constitute the abutting end of strut group and be connected with damping cushion 113；Support construction includes two and sets side by side in parallel
The support rod 120 set, it should be noted that in assembling in application, the line between two support rods 120 should be parallel to step
Swaying direction, the first end of two support rods 120 is connected to the damping cushion 113 of the first end of arch shock-damping structure 110, two
The second end of root support rod 120 is connected to the damping cushion 113 of the second end of another shock-absorbing support unit 1, and is located at internal layer
The second end of two support rods 120 of the shock-absorbing support unit 1 of skeleton end is provided with connector 2；Intermediate buffer layer and outer
Layer protective case (not shown) is successively wrapped in outside inner framework from inside to outside, and intermediate buffer layer is used to limit the shape of inner framework
Become；The both ends of outer layer protective case are provided with the mounting hole for leading to inner framework.
Compared with prior art, imitative femoral head shock-damping structure provided by the invention is by bionical to the dry progress of animal limb, together
When in conjunction with the shock-damping structure to femoral head in pelvis analysis and measurement, use inside and outside three-decker, copy human body in " bone
Bone+muscle+skin " mechanism can be made according to each layer structure role difference of different materials, and inner framework passes through
Stress conduction is realized in the cooperation of both arch shock-damping structure 110 and support construction, and arch shock-damping structure 110 can be in certain shape
Become and realize effective damping in limit, therefore the higher metal material production of intensity, such as magnesium, aluminium lightweight can be used in inner framework
Alloy, intermediate buffer layer copy striated muscle to the protection philosophy wrapping inner layer skeleton of bone, limit the deformation of internal layer workpiece, simultaneously
Also it avoids foreign impacts from making inner framework that plastic deformation occur, therefore restorative good soft bullet material production, outer layer shield can be used
Shell wraps up inner framework and intermediate buffer layer wherein, plays a good protective effect, plastics, gold can be used in aesthetic appeal
The materials such as category are made；It can be seen that the imitative femoral head shock-damping structure of this case forms inside and outside three-decker using bionics techniques, it can
It realizes good damping effect, and can be made according to the difference of each layer function of different materials, to take into account rigidity
It is required that and lightweight requirements.
As shown in Figure 1, in an advantageous embodiment, connector 2 is curved rod, the both ends of curved rod respectively with a branch
Between the second end of two support rods 120 in support structure.
Above-mentioned support rod 120, arc strut 112 and curved rod are not limited to solid rod-like structure, can also be
The fabricated structure of hollow tubular structure or part-solid part hollow.
Preferably, above-mentioned support rod 120 and arc strut 112 are made of AZ31 magnesium alloy, intermediate link block
111 are made of titanium alloy, and damping cushion 113 is made of ABS engineering plastics, weld between arc strut 112 and intermediate link block 111
It connects, support rod 120 is bolted with damping cushion 113, and intermediate buffer layer is made of foamed plastics, and foamed plastics is preferably
Polystyrene closed cell foamed plastic, intermediate buffer layer is full of the gap between outer layer protective case and inner framework, and outer layer protective case is by ABS
Engineering plastics are made, and outer layer protective case is with a thickness of 1.2mm.
Above-mentioned technical proposal is advanced optimized, as shown in Figure 1, for convenient for arch shock-damping structure 110 and damping cushion 113
It is cooperatively connected, the second end of arc strut 112 is provided with clamping boss 114 in embodiments of the present invention, each in elastic rod group
Clamping boss 114 on arc strut 112 is distributed in the circumferential constitutes clamping structure, the week of clamping structure and damping cushion 113
Damping cushion 113 is fixed to side wall clamping engagement.
Preferably, the curvature of arc strut 112 is
Preferably, arch shock-damping structure 110 and the length ratio of support construction are 1:2.5.
Preferably, the spacing of two support rods 120 of support construction is equal to the length of the radius of damping cushion 113.
The imitative femoral head shock-damping structure provided in based on the above embodiment, the present invention also provides a kind of walking robot,
The walking robot includes foot member, which includes the imitative femoral head shock-damping structure in above-described embodiment, due to this
Walking robot uses the imitative femoral head shock-damping structure in above-described embodiment, so the beneficial effect of walking robot please refers to
Above-described embodiment.
Specifically, referring to Fig. 2, Fig. 2 is the foot member structural representation of walking robot provided in an embodiment of the present invention
Figure, the foot member include huckle 305 and calf 301, and wherein calf 301 is connected to rudder by mounting bracket 302
Machine 303, the output shaft of steering engine 303 are fixed on U-bracket 304, and U-bracket 304 is connect with huckle 305, in above-described embodiment
Imitative femoral head shock-damping structure be set in calf 301, naturally it is also possible to directly using imitative femoral head shock-damping structure as shank
Portion uses, and the one end for being provided with connector 2 is located at the one end of calf 301 far from huckle 305, imitates femoral head shock-damping structure
The end of inner framework far from connector 2 is directly connect with mounting bracket 302, the composition of two in support construction piece support rod
Plane it is parallel with the swinging plane of steering engine 303.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of imitative femoral head shock-damping structure characterized by comprising
Inner framework, including at least two shock-absorbing support units, the shock-absorbing support unit include arch shock-damping structure and branch
Support structure, the arch shock-damping structure include intermediate link block and are symmetrically disposed on two of the intermediate link block two sides
Elastic rod group, the elastic rod group include multiple circumferentially uniformly distributed arc struts, and the first end of each arc strut is constituted
The connecting pin of the elastic rod group and the intermediate link block connect, and the second end of each arc strut is radially in radiation
Shape, which extends outwardly, to be constituted the abutting end of the strut group and is connected with damping cushion；The support construction include two it is parallel side by side
The support rod of setting, the first end of two support rods are connected to the resilient cushion of the first end of the arch shock-damping structure
Block, the second end of two support rods are connected to the damping cushion of the second end of another shock-absorbing support unit,
And the second end for being located at two support rods of the shock-absorbing support unit of the inner framework end is provided with connector；
The intermediate buffer layer being wrapped in outside the inner framework, the intermediate buffer layer are used to limit the shape of the inner framework
Become；
The outer layer protective case being wrapped in outside the intermediate buffer layer, the both ends of the outer layer protective case, which are provided with, leads to the inner framework
Mounting hole.
2. imitative femoral head shock-damping structure according to claim 1, which is characterized in that the second end of the arc strut is arranged
Have clamping boss, clamping boss on each arc strut in the elastic rod group constitute clamping structure with the damping cushion
It is engaged by clamping.
3. imitative femoral head shock-damping structure according to claim 1, which is characterized in that the curvature of the arc strut is
4. imitative femoral head shock-damping structure according to claim 1, which is characterized in that the arch shock-damping structure and the branch
The length ratio of support structure is 1:2.5.
5. imitative femoral head shock-damping structure according to any one of claims 1-4, which is characterized in that the support construction
The spacing of two support rods is equal to the length of the radius of the damping cushion.
6. imitative femoral head shock-damping structure according to any one of claims 1-4, which is characterized in that the support rod and
The arc strut is made of AZ31 magnesium alloy.
7. imitative femoral head shock-damping structure according to any one of claims 1-4, which is characterized in that the intermediate link block
It is made of titanium alloy.
8. imitative femoral head shock-damping structure according to any one of claims 1-4, which is characterized in that the intermediate buffer layer
It is made of foamed plastics.
9. imitative femoral head shock-damping structure according to any one of claims 1-4, which is characterized in that the outer layer protective case with
And the damping cushion is made of ABS engineering plastics, and the outer layer protective case is with a thickness of 1.2mm.
10. a kind of walking robot, including foot member, which is characterized in that the foot member includes that claim 1-9 such as appoints
Imitative femoral head shock-damping structure described in meaning one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910542602.2A CN110206840B (en) | 2019-06-21 | 2019-06-21 | Femoral head-imitated damping structure and walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910542602.2A CN110206840B (en) | 2019-06-21 | 2019-06-21 | Femoral head-imitated damping structure and walking robot |
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| Publication Number | Publication Date |
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| CN110206840A true CN110206840A (en) | 2019-09-06 |
| CN110206840B CN110206840B (en) | 2020-07-14 |
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