CN112589830B - Passive buffer device and hopping robot - Google Patents
Passive buffer device and hopping robot Download PDFInfo
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- CN112589830B CN112589830B CN202011305618.0A CN202011305618A CN112589830B CN 112589830 B CN112589830 B CN 112589830B CN 202011305618 A CN202011305618 A CN 202011305618A CN 112589830 B CN112589830 B CN 112589830B
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- torsion spring
- side plate
- plate
- robot
- transverse shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention provides a passive buffer device suitable for falling to the ground of a robot and a hopping robot, wherein the passive buffer device comprises a base, a fixed arm, a movable arm and a second-order buffer mechanism, the fixed arm is arranged on the base, the movable arm is rotationally arranged on the base, and the second-order buffer mechanism comprises a torsion spring assembly and a damper assembly; the base comprises a first side plate and a second side plate which are opposite; the torsion spring assembly comprises a transverse shaft, a torsion spring and a torsion spring fixing plate, one end of the transverse shaft is rotatably arranged on the first side plate, the torsion spring is sleeved on the transverse shaft, the torsion spring fixing plate is sleeved on the other end of the transverse shaft and is in limited connection with the torsion spring, and the torsion spring fixing plate is connected with the movable arm; the damper assembly comprises a rotary damper and a follower, one side of the rotary damper is connected with the movable arm, and the other side of the rotary damper is connected with the second side plate through the follower; the invention adopts staged buffering to absorb and dissipate impact, and can obviously reduce the impact force generated on the ground.
Description
Technical Field
The invention relates to a passive buffer device suitable for falling to the ground of a robot and a hopping robot.
Background
The traditional buffer device is divided into two types, namely an active buffer mode and a passive buffer mode:
the active buffering mode ensures that the robot can stably land through actively adjusting the joint position of the motor in the landing process. The main structure comprises a motor, a power supply, a control module and the like.
The leg structure of the robot adopting the active buffering mode in the prior art needs extra size to install components such as a driving motor, the device can improve the processing cost of the whole robot and generate unnecessary energy loss, and the control process algorithm is complex, difficult to realize and not beneficial to wide application.
The passive buffering mode mainly utilizes the spring and the damper to jointly act, the spring absorbs and stores impact counter force generated when falling to the ground, the damper dissipates impact energy generated by the devices, and the two devices are combined together to absorb the dissipated impact energy to achieve the purpose of buffering.
The passive buffering joint is simple in structure and low in processing cost, but the joint in the prior art is poor in applicability, large in impact force generated in the floor buffering process, poor in buffering performance and seriously influenced in use performance.
Based on this, this application provides a passive buffer and hopping robot suitable for robot falls to ground to solve the shortcoming that the structure is too complicated among the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a passive buffer device suitable for the landing of a robot and a hopping robot, which adopt staged buffering to absorb and dissipate impact, prolong the whole buffering process, remarkably reduce the impact force generated on the ground and have the advantages of simple structure, small size and small mass.
In order to achieve the above object, the present invention provides a passive damping device suitable for a robot to land on the ground, which includes a base, a fixed arm, a movable arm and a second-order damping mechanism, wherein the fixed arm is disposed on the base, the movable arm is rotatably disposed on the base through the second-order damping mechanism, and the second-order damping mechanism includes:
the torsion spring component can delay and buffer;
a damper assembly capable of absorbing impact;
the base comprises a first side plate and a second side plate which are opposite;
the torsional spring assembly comprises a transverse shaft, a torsional spring and a torsional spring fixing plate, one end of the transverse shaft is rotatably arranged on the first side plate, the torsional spring is sleeved on the transverse shaft, the torsional spring fixing plate is sleeved on the other end of the transverse shaft and is in limited connection with the torsional spring, and the torsional spring fixing plate is connected with the movable arm;
the damper assembly comprises a rotary damper and a follower, one side of the rotary damper is connected with the movable arm, the other side of the rotary damper is connected with the second side plate through the follower, and the follower has an idle stroke with a set angle;
the movable arm can rotate around the transverse shaft in the first stage when falling to the ground, the torsion spring is stressed to deform and absorb the impact until the idle stroke of the follower is finished, the movable arm can rotate around the transverse shaft in the second stage, and the rotary damper starts to act to continuously absorb the impact when the torsion spring is stressed and absorbs the impact.
In the technical scheme of the invention, the impact energy is absorbed and dissipated in the first stage through the torsion spring assembly, at the moment, the damper assembly generates idle stroke motion under the action of the follower without participating in the buffering process, the torsion spring assembly can prolong the buffering period and effectively reduce the impact force generated on the ground;
and then after the idle stroke of the damper assembly is finished, the rotary damper and the torsion spring cooperate to absorb and dissipate impact energy in a second stage until the shock absorber falls to the ground stably.
According to another embodiment of the present invention, the first side plate has a first hole, a bearing is disposed in the first hole, and one end of the cross shaft is rotatably disposed in the first hole through the bearing.
According to another embodiment of the invention, the follower is a roller comprising more than two rolling members, and the second side wall is provided with an annular groove cooperating with the rolling members.
According to another embodiment of the invention, the annular groove covers an included angle ranging from 30 degrees to 60 degrees, the annular groove is consistent with the idle stroke angle range, and the idle stroke angle range can be set as required.
According to another embodiment of the invention, the rolling elements are cam needle bearings.
According to another embodiment of the invention, the second side plate is provided with a second hole, the rotary damper is provided with a positioning shaft matched with the second hole, and the positioning shaft and the transverse shaft are coaxially arranged.
According to another specific embodiment of the present invention, the torsion spring assembly further includes a torsion spring mounting plate disposed on the first side plate, and the torsion spring mounting plate and the torsion spring fixing plate clamp the limiting torsion spring.
According to another specific embodiment of the present invention, the first side plate is provided with a plurality of positioning holes for determining the installation angle of the torsion spring mounting plate, and the torsion spring mounting plate is fixed to the first side plate by bolts passing through the positioning holes.
The initial installation angle of the movable arm can be determined through the installation and the matching of the torsion spring installation plate and different positioning holes.
According to another embodiment of the invention, the base further comprises a top plate and a protection plate, the fixing arm is arranged on one side above the top plate, the first side plate and the second side plate are arranged on one side below the top plate, and the protection plate is connected to the first side plate and the second side plate.
The invention also provides a hopping robot which comprises the passive buffer device suitable for falling to the ground of the robot.
In the invention, the connecting parts of the movable arm, the torsion spring fixing plate and the rotary damper are provided with a plurality of threaded mounting holes, so that the initial angle of the joint can be adjusted according to actual requirements, the applicability of the buffer device is increased, and the size of the idle stroke can be adjusted.
Furthermore, the rigidity of the torsion spring and the damping value of the damper can be changed and adjusted according to the use requirements in different use conditions.
The invention has the following beneficial effects:
the second-order buffer is more stable, and the ground reaction force generated in the landing process of the jumping robot can be obviously reduced; in the buffering process, a part of energy is stored in the torsion spring in the first stage, and the energy is absorbed and dissipated through the torsion spring and the rotary damper in the second stage, so that the whole buffering process is prolonged, and the impact force generated on the ground is remarkably reduced.
The invention has smaller size and mass, avoids adding additional motors and driving modules and reduces the production cost.
The invention has convenient disassembly and compact structure, can change the rigidity and the damping of the buffer device by installing the torsion springs with different sizes, and can adjust the idle stroke time by installing the movable arm and the torsion spring fixing piece so as to adapt to different jumping buffering requirements of the robot.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a cushioning device according to the present invention;
FIG. 2 is an exploded view of the cushioning apparatus of the present invention;
FIG. 3 is a schematic view of the starting position of the hollow stroke of the buffering device according to the present invention;
FIG. 4 is a schematic view of the end position of the hollow stroke of the buffering mechanism of the present invention;
fig. 5 is another side view of fig. 4.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Example 1
A passive damping device adapted for landing a robot, as shown in fig. 1-5, includes a base 10, a stationary arm 20, a movable arm 30, a torsion spring assembly 40, and a damper assembly 50, wherein the torsion spring assembly 40 and the damper assembly 50 form a second order damping mechanism.
The base 10 comprises a top plate 11, a first side plate 12 and a second side plate 13 which are opposite to each other, and a protection plate 14, wherein a fixing arm 20 is arranged on one side above the top plate 11, the first side plate 12 and the second side plate 13 are arranged on one side below the top plate 11, the protection plate 14 is connected to the first side plate 12 and the second side plate 13 to form a stable joint supporting structure, and the first side plate 12 and/or the second side plate 13 are detachably mounted on the top plate 11.
The torsion spring assembly 40 can form a time-delay buffer, as shown in fig. 2, it includes a cross shaft 41, a torsion spring 42, a torsion spring mounting plate 43 and a torsion spring fixing plate 44, a first hole 15 and a positioning hole 16 are formed on the first side plate 12, a bearing 17 is arranged in the first hole 15, one end of the cross shaft 41 is rotatably arranged in the first hole 15 through the bearing 17, the torsion spring mounting plate 43, the torsion spring 42 and the torsion spring fixing plate 44 are matched to form a sleeve ring shape and sleeved on the cross shaft 41, as shown in fig. 2, wherein the torsion spring fixing plate 44 can rotate relative to the torsion spring mounting plate 43 to compress the torsion spring 42 to deform.
Wherein the torsion spring mounting plate 43 is fixed to the first side plate 12 by bolts passing through the positioning holes 16, the torsion spring fixing plate 44 is preferably integrally formed with the other end of the lateral shaft 41, and the movable arm 30 is fixedly disposed on the torsion spring fixing plate 44.
The damper assembly 50 is capable of absorbing shock and, as shown in fig. 2, includes a rotary damper 51, a follower 52, the follower 52 being a roller including three or more rolling elements 52a, the rolling elements 52a preferably being cam needle bearings.
One side of the rotary damper 51 is connected to the movable arm 30, three annular grooves 18 engaged with the rolling members are provided on the second side plate 13, and the other side of the rotary damper 51 is connected to the second side plate 13 through engagement of three rolling members 52a with the annular grooves 18.
Specifically, the annular groove 18 is an angular groove having a backlash of a set angle, for example, 30 ° to 60 °, and a suitable range of backlash angles is set as needed.
Further, the second side plate 13 is provided with a second hole 19, the rotary damper 51 is provided with a positioning shaft 53 engaged with the second hole 19, and the positioning shaft 53 is coaxially arranged with the transverse shaft 41.
One preferred buffering procedure of the present invention is:
when the buffer device does free-fall movement without any driving force during the air movement, the original preset angle is maintained, as shown in fig. 3, after the movable arm 30 contacts the ground, the movable arm 30 starts to rotate around the joint center (the horizontal shaft 41) under the force, the torsion spring fixing plate 44 is driven by the movable arm 30 to rotate around the horizontal shaft 41, the torsion spring 42 is deformed under the force during the process to absorb the impact energy, the rotary damper 51 is also driven by the movable arm 30 to rotate around the positioning shaft, and the rotary damper 51 does not absorb the impact during the process because the follower 52 has the idle stroke;
and then, after the rotary damper 51 rotates to go through the idle stroke, as shown in fig. 4, the second stage of force buffering is started, the torsion spring 42 continues to absorb and dissipate the impact and energy under the driving of the movable arm 30, and simultaneously the rotary damper 51 starts to absorb and dissipate the impact energy until the device falls to the ground stably.
The staged buffering design of the invention can effectively prolong the buffering period, the ground falling process is more stable, and the impact force generated on the ground is greatly reduced.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (9)
1. The utility model provides a passive buffer suitable for robot falls to ground, its includes base, fixed arm, digging arm and second order buffer gear, the fixed arm set up in on the base, the digging arm passes through second order buffer gear rotationally set up in on the base, wherein second order buffer gear includes:
the torsion spring component can delay and buffer;
a damper assembly capable of absorbing impact;
wherein the base comprises a first side plate and a second side plate which are opposite;
the torsional spring component comprises a transverse shaft, a torsional spring and a torsional spring fixing plate, one end of the transverse shaft is rotatably arranged on the first side plate, the torsional spring is sleeved on the transverse shaft, the torsional spring fixing plate is sleeved on the other end of the transverse shaft and is in limit connection with the torsional spring, and the torsional spring fixing plate is connected with the movable arm;
the damper assembly comprises a rotary damper and a follower, one side of the rotary damper is connected with the movable arm, the other side of the rotary damper is connected with the second side plate through the follower, and the follower has a set-angle idle stroke;
the follower is a roller and comprises more than two rolling parts, and an annular groove matched with the rolling parts is formed in the second side wall;
the movable arm can rotate around the transverse shaft in a first stage when falling to the ground, the torsion spring is stressed to deform and absorb impact until the idle stroke of the follower is finished, the movable arm can rotate around the transverse shaft in a second stage, and the torsion spring is stressed to absorb the impact and simultaneously the rotary damper starts to act so as to continuously absorb the impact.
2. The passive bumper system for a robot floor of claim 1, wherein the first side plate has a first aperture, a bearing disposed in the first aperture, and wherein one end of the cross shaft is rotatably disposed in the first aperture via the bearing.
3. A passive bumper system for a robot floor according to claim 1 wherein said annular groove covers an included angle in the range of 30 ° to 60 °.
4. A passive bumper system adapted for a robot landing as claimed in claim 1, wherein said rolling elements are cam needle bearings.
5. The passive bumper system for a robot floor according to claim 1, wherein the second side plate has a second hole, the rotary damper has a positioning shaft engaged with the second hole, and the positioning shaft is coaxially disposed with the transverse shaft.
6. The passive damping device for robot floor stand according to claim 1, wherein the torsion spring assembly further comprises a torsion spring mounting plate disposed on the first side plate, the torsion spring mounting plate and the torsion spring fixing plate clamping and limiting the torsion spring.
7. The passive damping device for robot floor according to claim 6, wherein the first side plate has a plurality of positioning holes for determining the installation angle of the torsion spring mounting plate, and the torsion spring mounting plate is fixed to the first side plate by bolts passing through the positioning holes.
8. The passive bumper system for a robot floor according to claim 1, further comprising a top plate and a guard plate on said base, wherein said fixed arm is disposed on an upper side of said top plate, said first side plate and said second side plate are disposed on a lower side of said top plate, and said guard plate is connected to said first side plate and said second side plate.
9. A hopping robot comprising a passive damping device adapted for landing a robot as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011305618.0A CN112589830B (en) | 2020-11-19 | 2020-11-19 | Passive buffer device and hopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011305618.0A CN112589830B (en) | 2020-11-19 | 2020-11-19 | Passive buffer device and hopping robot |
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| Publication Number | Publication Date |
|---|---|
| CN112589830A CN112589830A (en) | 2021-04-02 |
| CN112589830B true CN112589830B (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011305618.0A Active CN112589830B (en) | 2020-11-19 | 2020-11-19 | Passive buffer device and hopping robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102758994A (en) * | 2012-07-25 | 2012-10-31 | 中国人民解放军空军航空医学研究所 | Dynamic hip joint prosthesis |
| CN108368910A (en) * | 2015-10-15 | 2018-08-03 | 因文图斯工程有限公司 | Rotary damper |
| CN110744526A (en) * | 2019-10-30 | 2020-02-04 | 重庆理工大学 | Passive lower limb movement assistance exoskeleton device |
| CN111360867A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Torsional spring type power-assisted joint and walking-assisting robot |
| CN111840007A (en) * | 2020-06-05 | 2020-10-30 | 中国科学院深圳先进技术研究院 | Passive knee joint assisting exoskeleton device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9682005B2 (en) * | 2012-02-24 | 2017-06-20 | Massachusetts Institute Of Technology | Elastic element exoskeleton and method of using same |
-
2020
- 2020-11-19 CN CN202011305618.0A patent/CN112589830B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102758994A (en) * | 2012-07-25 | 2012-10-31 | 中国人民解放军空军航空医学研究所 | Dynamic hip joint prosthesis |
| CN108368910A (en) * | 2015-10-15 | 2018-08-03 | 因文图斯工程有限公司 | Rotary damper |
| CN111360867A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Torsional spring type power-assisted joint and walking-assisting robot |
| CN110744526A (en) * | 2019-10-30 | 2020-02-04 | 重庆理工大学 | Passive lower limb movement assistance exoskeleton device |
| CN111840007A (en) * | 2020-06-05 | 2020-10-30 | 中国科学院深圳先进技术研究院 | Passive knee joint assisting exoskeleton device |
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| CN112589830A (en) | 2021-04-02 |
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