CN110206840B - Femoral head-imitated damping structure and walking robot - Google Patents
Femoral head-imitated damping structure and walking robot Download PDFInfo
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- CN110206840B CN110206840B CN201910542602.2A CN201910542602A CN110206840B CN 110206840 B CN110206840 B CN 110206840B CN 201910542602 A CN201910542602 A CN 201910542602A CN 110206840 B CN110206840 B CN 110206840B
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- shock absorption
- supporting
- femoral head
- arc
- shock
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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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- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses a femoral head-imitating shock absorption structure and a walking robot, wherein the femoral head-imitating shock absorption structure comprises an inner layer, an intermediate layer and an outer layer, an inner layer framework comprises at least two shock absorption supporting units, each shock absorption supporting unit comprises an arched shock absorption structure and a supporting structure, each arched shock absorption structure comprises a middle connecting block and an elastic rod group, each elastic rod group comprises a plurality of arc-shaped supporting rods which are uniformly distributed in the circumferential direction, the first end of each arc-shaped supporting rod is connected with the middle connecting block, and the second end of each arc-shaped supporting rod radially extends outwards along the radial direction to form a matching end of the supporting rod group and is clamped with a shock; the supporting structure comprises two supporting rods which are arranged in parallel, the two damping supporting units are sequentially connected through the supporting structure, and the tail end of the supporting structure of the damping supporting unit at the tail end is provided with a connecting piece; the middle buffer layer and the outer protective shell are wrapped outside the inner framework from inside to outside; the femoral head-imitating shock absorption structure can realize a good shock absorption effect by utilizing a bionic technology, and meets the requirements of rigidity and light weight.
Description
Technical Field
The invention relates to the field of automatic equipment parts, in particular to a femoral head-imitated damping structure and a walking robot.
Background
The foot of the walking robot frequently performs the conversion of the swing phase and the support phase in the motion of the robot, and the foot of the robot is frequently impacted regularly in the process. Meanwhile, the walking robot needs to effectively reduce the inertia of the tail end of the actuator due to the special structure of multiple degrees of freedom, so that the walking robot can move flexibly. For both reasons, the foot of the robot preferably requires a structure having good shock absorption and light weight. At present, feet of a robot are mainly supported through an integrally formed structural part, generally made of pure metal materials or pure engineering plastic materials, the shock absorption and light weight effects are all deficient due to the adoption of the pure metal materials, the use of the pure engineering plastic materials can only meet the requirement of low strength, and the defects of short integral service life and the like can be met.
Disclosure of Invention
In view of the above, a first objective of the present invention is to provide a femoral head-imitated shock-absorbing structure, which realizes a light weight and shock-absorbing design on the premise of meeting the requirement of rigidity, and meets the requirement of a foot end supporting structure of a walking robot.
The second purpose of the invention is to provide a walking robot based on the imitated femoral head shock absorption structure.
In order to achieve the purpose, the invention provides the following technical scheme:
a simulated femoral head dampening structure comprising:
the inner layer framework comprises at least two shock absorption supporting units, each shock absorption supporting unit comprises an arched shock absorption structure and a supporting structure, each arched shock absorption structure comprises a middle connecting block and two elastic rod groups symmetrically arranged on two sides of the middle connecting block, each elastic rod group comprises a plurality of arc-shaped supporting rods uniformly distributed in the circumferential direction, the first ends of the arc-shaped supporting rods form connecting ends of the elastic rod groups and are connected with the middle connecting block, and the second ends of the arc-shaped supporting rods radially extend outwards in the radial direction to form matching ends of the supporting rod groups and are clamped with shock absorption cushion blocks; the supporting structure comprises two supporting rods which are arranged in parallel, the first ends of the two supporting rods are connected to the shock absorption cushion block at the first end of the arch-shaped shock absorption structure, the second ends of the two supporting rods are connected to the shock absorption cushion block at the second end of the other shock absorption supporting unit, and the second ends of the two supporting rods of the shock absorption supporting unit positioned at the tail end of the inner layer framework are provided with connecting pieces;
the middle buffer layer is wrapped outside the inner layer framework and used for limiting the deformation of the inner layer framework;
wrap up in outer protective housing outside the middle buffer layer, the both ends of outer protective housing are provided with and lead to the mounting hole of inlayer skeleton.
Preferably, the second end of the arc-shaped stay bar is provided with a clamping boss, and the clamping bosses on the arc-shaped stay bars in the elastic bar group form a clamping structure to be in clamping fit with the damping cushion block.
Preferably, the curvature of the arc-shaped stay bar is
Preferably, the length ratio of the arcuate shock absorbing structure to the support structure is 1: 2.5.
Preferably, the distance between the two support rods of the support structure is equal to the length of the radius of the cushion block.
Preferably, the support rods and the arc-shaped support rods are made of AZ31 magnesium alloy.
Preferably, the intermediate connecting block is made of a titanium alloy.
Preferably, the intermediate cushioning layer is made of a foamed plastic.
Preferably, the outer-layer protective shell and the shock absorption cushion block are both made of ABS engineering plastics, and the thickness of the outer-layer protective shell is 1.2 mm.
A walking robot comprising a foot member including the simulated femoral head shock absorbing structure as claimed in any preceding claim.
In order to achieve the first purpose, the invention provides a caput femoris-imitating shock absorption structure, which comprises an inner layer framework, a middle buffer layer and an outer layer protective shell, wherein the inner layer framework comprises at least two shock absorption supporting units, each shock absorption supporting unit comprises an arched shock absorption structure and a supporting structure, each arched shock absorption structure comprises a middle connecting block and two elastic rod groups symmetrically arranged on two sides of the middle connecting block, each elastic rod group comprises a plurality of arc-shaped supporting rods uniformly distributed in the circumferential direction, the first ends of the arc-shaped supporting rods form the connecting ends of the elastic rod groups and are connected with the middle connecting block, and the second ends of the arc-shaped supporting rods radially extend outwards along the radial direction to form the matching ends of the supporting rod groups and are clamped; the supporting structure comprises two supporting rods which are arranged in parallel, and it is noted that when the supporting structure is assembled and applied, a connecting line between the two supporting rods is parallel to the swinging direction of the foothold, the first ends of the two supporting rods are connected with the damping cushion block at the first end of the arched damping structure, the second ends of the two supporting rods are connected with the damping cushion block at the second end of the other damping supporting unit, and the second ends of the two supporting rods of the damping supporting unit positioned at the tail end of the inner layer framework are provided with connecting pieces; the middle buffer layer and the outer protective shell are sequentially wrapped outside the inner framework from inside to outside, and the middle buffer layer is used for limiting the deformation of the inner framework; mounting holes leading to the inner layer framework are formed in two ends of the outer layer protective shell; the simulated femoral head damping structure simulates limb of an animal, and is combined with analysis and measurement of a damping structure of a femoral head in a pelvis, an inner-middle-outer three-layer structure is adopted to simulate a skeleton + muscle + skin mechanism in a human body, different materials can be adopted according to different functions of each layer of structure, an inner layer framework realizes stress conduction through the matching of an arch-shaped damping structure and a supporting structure, and the arch-shaped damping structure can realize effective damping within a certain deformation limit, so the inner layer framework can be made of metal materials with higher strength, such as magnesium, aluminum and other light alloys, a middle buffer layer simulates the protection principle of striated muscle on the skeleton to wrap the inner layer framework, the deformation of an inner layer workpiece is limited, and the inner layer framework is prevented from being subjected to shaping deformation by external impact, so the inner layer framework can be made of soft elastic materials with good restorability, and the outer protective shell wraps the inner layer framework and the middle buffer layer, the protective effect is good, the appearance is beautified, and the protective film can be made of plastic, metal and other materials; therefore, the imitated femoral head shock absorption structure of the scheme utilizes a bionic technology to form an inner, middle and outer three-layer structure, can realize a good shock absorption effect, can be made of different materials according to different functions of each layer, and meets the requirements of rigidity and light weight.
In order to achieve the second object, the invention further provides a walking robot with the simulated femoral head shock absorption structure, and because the simulated femoral head shock absorption structure has the technical effects, the walking robot with the simulated femoral head shock absorption structure also has corresponding technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an isometric view of a simulated femoral head suspension structure provided in accordance with an embodiment of the present invention;
fig. 2 is a schematic structural view of a foot member of the walking robot according to the embodiment of the present invention.
In the figure:
1 is a damping support unit; 110 is an arch-shaped shock-absorbing structure; 111 is a middle connecting block; 112 is an arc stay bar; 113 is a shock-absorbing cushion block; 114 is a clamping boss; 120 is a support rod; 2 is a connecting piece; 3 is a foot member; 301 is a lower leg; 302 is a mounting bracket; 303 is a steering engine; 304 is a U-shaped bracket; 305 is the thigh.
Detailed Description
The first purpose of the invention is to provide a femoral head-imitating shock absorption structure, and the structural design of the femoral head-imitating shock absorption structure can relieve the lateral impact force received by a transmission shaft, so as to achieve the purpose of protecting the transmission shaft.
The first object of the present invention is to provide a walking robot joint structure and a walking robot having the above-described femoral head-imitating shock absorbing structure.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is an isometric view of a simulated femoral head shock-absorbing structure according to an embodiment of the present invention.
The embodiment of the invention provides a femoral head imitation damping structure which comprises an inner layer framework, a middle buffer layer and an outer layer protective shell.
The inner layer framework comprises at least two shock absorption supporting units 1, each shock absorption supporting unit 1 comprises an arched shock absorption structure 110 and a supporting structure, each arched shock absorption structure 110 comprises a middle connecting block 111 and two elastic rod groups symmetrically arranged on two sides of the middle connecting block 111, each elastic rod group comprises a plurality of arc-shaped supporting rods 112 uniformly distributed in the circumferential direction, a first end of each arc-shaped supporting rod 112 forms a connecting end of each elastic rod group and is connected with the middle connecting block 111, and a second end of each arc-shaped supporting rod 112 radially extends outwards in the radial direction to form a matching end of each supporting rod group and is clamped with a shock absorption cushion block 113; the supporting structure comprises two supporting rods 120 which are arranged in parallel, it is noted that, when the supporting structure is assembled and applied, a connecting line between the two supporting rods 120 is parallel to the swinging direction of the walking feet, the first ends of the two supporting rods 120 are connected to the shock-absorbing cushion block 113 at the first end of the arch-shaped shock-absorbing structure 110, the second ends of the two supporting rods 120 are connected to the shock-absorbing cushion block 113 at the second end of another shock-absorbing supporting unit 1, and the second ends of the two supporting rods 120 of the shock-absorbing supporting unit 1 positioned at the tail end of the inner layer framework are provided with connecting pieces 2; the middle buffer layer and the outer protective shell (not shown in the figure) are sequentially wrapped outside the inner framework from inside to outside, and the middle buffer layer is used for limiting the deformation of the inner framework; and mounting holes leading to the inner layer framework are formed at two ends of the outer layer protective shell.
Compared with the prior art, the imitated femoral head shock absorption structure provided by the invention simulates the limb of an animal, simultaneously combines the analysis and measurement of the shock absorption structure of the femoral head in the pelvis, adopts an inner, middle and outer three-layer structure, imitates a 'skeleton + muscle + skin' mechanism in a human body, can be made of different materials according to different functions of each layer structure, realizes stress conduction by matching the arch shock absorption structure 110 and the supporting structure, can realize effective shock absorption within a certain deformation limit by the arch shock absorption structure 110, can be made of metal materials with higher strength, such as magnesium, aluminum and the like, can wrap the inner layer skeleton by adopting a protection principle of cross striated muscles on the skeleton by the middle buffer layer, limits the deformation of an inner layer workpiece, and simultaneously avoids the shaping deformation of the inner layer skeleton caused by external impact, and can be made of soft elastic materials with good restorability, the outer protective shell wraps the inner framework and the middle buffer layer, so that the protective shell has a good protective effect and beautifies the appearance, and can be made of materials such as plastics, metals and the like; therefore, the imitated femoral head shock absorption structure of the scheme utilizes a bionic technology to form an inner, middle and outer three-layer structure, can realize a good shock absorption effect, can be made of different materials according to different functions of each layer, and meets the requirements of rigidity and light weight.
In a preferred embodiment, as shown in fig. 1, the connecting member 2 is an arc-shaped rod, and both ends of the arc-shaped rod are respectively connected with the second ends of two support rods 120 in a support structure.
The support rod 120, the arc-shaped support rod 112 and the arc-shaped rod are not limited to solid rod-shaped structures, but may be hollow tubular structures or combined structures with parts of solid and parts of hollow parts.
Preferably, the support rod 120 and the arc-shaped stay 112 are both made of AZ31 magnesium alloy, the middle connecting block 111 is made of titanium alloy, the cushion block 113 is made of ABS engineering plastic, the arc-shaped stay 112 and the middle connecting block 111 are welded together, the support rod 120 and the cushion block 113 are connected by bolts, the middle buffer layer is made of foam plastic, the foam plastic is preferably polystyrene closed-cell foam plastic, the middle buffer layer fills the gap between the outer-layer protective shell and the inner-layer framework, the outer-layer protective shell is made of ABS engineering plastic, and the thickness of the outer-layer protective shell is 1.2 mm.
Further optimizing the above technical solution, as shown in fig. 1, in order to facilitate the matching connection between the arc-shaped shock absorbing structure 110 and the shock absorbing pad 113, in the embodiment of the present invention, the second end of the arc-shaped stay 112 is provided with a clamping boss 114, the clamping bosses 114 on the arc-shaped stay 112 in the elastic rod group are distributed in the circumferential direction to form a clamping structure, and the clamping structure is in clamping fit with the circumferential side wall of the shock absorbing pad 113 to fix the shock absorbing pad 113.
Preferably, the curvature of the arched brace 112 is
Preferably, the length ratio of the arcuate shock absorbing structure 110 to the support structure is 1: 2.5.
Preferably, the distance between the two support rods 120 of the support structure is equal to the length of the radius of the cushion 113.
Based on the simulated femoral head shock absorption structure provided in the above embodiment, the invention further provides a walking robot, which includes a foot component including the simulated femoral head shock absorption structure in the above embodiment, and as the walking robot adopts the simulated femoral head shock absorption structure in the above embodiment, please refer to the above embodiment for the beneficial effects of the walking robot.
Specifically, please refer to fig. 2, fig. 2 is a schematic structural diagram of a foot component of a walking robot according to an embodiment of the present invention, the foot component includes a thigh portion 305 and a lower leg portion 301, wherein the lower leg portion 301 is connected to a steering engine 303 through a mounting bracket 302, an output shaft of the steering engine 303 is fixed to a U-shaped bracket 304, the U-shaped bracket 304 is connected to the thigh portion 305, the simulated femoral head shock absorbing structure in the above embodiment is disposed in the lower leg portion 301, certainly, the simulated femoral head shock absorbing structure can also be directly used as the lower leg portion, one end of the connecting member 2 disposed on the lower leg portion 301 is located at an end of the inner layer skeleton away from the thigh portion 305, an end of the simulated femoral head shock absorbing structure away from the connecting member 2 is directly connected to the mounting bracket 302, and a plane formed by two support.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A femoral head-imitating shock-absorbing structure, comprising:
the inner layer framework comprises at least two shock absorption supporting units, each shock absorption supporting unit comprises an arched shock absorption structure and a supporting structure, each arched shock absorption structure comprises a middle connecting block and two elastic rod groups symmetrically arranged on two sides of the middle connecting block, each elastic rod group comprises a plurality of arc-shaped supporting rods uniformly distributed in the circumferential direction, the first ends of the arc-shaped supporting rods form connecting ends of the elastic rod groups and are connected with the middle connecting block, and the second ends of the arc-shaped supporting rods radially extend outwards in the radial direction to form matching ends of the elastic rod groups and are clamped with shock absorption cushion blocks; the supporting structure comprises two supporting rods which are arranged in parallel, the first ends of the two supporting rods are connected to the shock absorption cushion block at the first end of the arch-shaped shock absorption structure, the second ends of the two supporting rods are connected to the shock absorption cushion block at the second end of the other shock absorption supporting unit, and the second ends of the two supporting rods of the shock absorption supporting unit positioned at the tail end of the inner layer framework are provided with connecting pieces;
the middle buffer layer is wrapped outside the inner layer framework and used for limiting the deformation of the inner layer framework;
wrap up in outer protective housing outside the middle buffer layer, the both ends of outer protective housing are provided with and lead to the mounting hole of inlayer skeleton.
2. The simulated femoral head shock absorbing structure of claim 1, wherein the second ends of the arc-shaped support rods are provided with clamping bosses, and the clamping bosses on the arc-shaped support rods in the elastic rod group form clamping structures to be in clamping fit with the shock absorbing cushion blocks.
3. The simulated femoral head suspension structure of claim 1, wherein the arcuate strut has a curvature of
4. The simulated femoral head suspension structure of claim 1, wherein the arcuate suspension structure to the support structure has a length ratio of 1: 2.5.
5. The simulated femoral head suspension structure of any one of claims 1 to 4, wherein the distance between the two support rods of the support structure is equal to the length of the radius of the cushion block.
6. The simulated femoral head suspension structure of any one of claims 1-4, wherein the support rod and the arc-shaped support rod are made of AZ31 magnesium alloy.
7. The simulated femoral head shock absorbing structure of any one of claims 1 to 4, wherein the intermediate connecting block is made of a titanium alloy.
8. The simulated femoral head suspension structure of any one of claims 1-4, wherein the intermediate cushioning layer is made of foam.
9. The simulated femoral head shock absorbing structure of any one of claims 1 to 4, wherein the outer shell and the shock absorbing spacer are made of ABS engineering plastic, and the thickness of the outer shell is 1.2 mm.
10. A walking robot comprising a foot member, wherein the foot member comprises the simulated femoral head shock absorbing structure of any of claims 1-9.
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| CN201910542602.2A CN110206840B (en) | 2019-06-21 | 2019-06-21 | Femoral head-imitated damping structure and walking robot |
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| CN201910542602.2A CN110206840B (en) | 2019-06-21 | 2019-06-21 | Femoral head-imitated damping structure and walking robot |
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| CN110206840B true CN110206840B (en) | 2020-07-14 |
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| PL221271B1 (en) * | 2013-03-26 | 2016-03-31 | Politechnika Krakowska | Reciprocal orthosis mechatronically assisted |
| KR20140139777A (en) * | 2013-05-28 | 2014-12-08 | 주식회사 중정 | apparatus driving leg of robot |
| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| WO2016148257A1 (en) * | 2015-03-19 | 2016-09-22 | 国立大学法人信州大学 | Intracorporeally implanted motion assisting device and intracorporeally implanted walk assisting device |
| CN105459145A (en) * | 2015-12-14 | 2016-04-06 | 天津理工大学 | External flexible knee joint |
| CN105523099A (en) * | 2016-01-21 | 2016-04-27 | 昆明理工大学 | Self-shock absorption deformable mechanical walking leg |
| CN205848303U (en) * | 2016-04-28 | 2017-01-04 | 怀远县阳光生态农业有限公司 | A kind of trough |
| US10315062B2 (en) * | 2016-07-25 | 2019-06-11 | FRT Co., Ltd. | Wearable soft exoskeleton apparatus |
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| CN107651038A (en) * | 2017-10-09 | 2018-02-02 | 倪晋挺 | A kind of crank block rocker-type carrying robot |
| WO2019103100A1 (en) * | 2017-11-24 | 2019-05-31 | 川崎重工業株式会社 | Knee structure for robot |
| CN107842573A (en) * | 2017-11-28 | 2018-03-27 | 郭姗姗 | A kind of device for furniture damping |
| CN108145743A (en) * | 2017-12-05 | 2018-06-12 | 常州大学 | A kind of dedicated double freedom flexibility knee joint of anthropomorphic robot |
| CN208288697U (en) * | 2018-05-17 | 2018-12-28 | 广东精迅里亚特种线材有限公司 | A kind of big bracing wire column |
| CN109262590A (en) * | 2018-10-16 | 2019-01-25 | 广西科技大学 | A kind of disc type electric machine ectoskeleton structure design |
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