CN112879486A - Ankle buffer system based on humanoid robot - Google Patents
Ankle buffer system based on humanoid robot Download PDFInfo
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- CN112879486A CN112879486A CN202110110736.4A CN202110110736A CN112879486A CN 112879486 A CN112879486 A CN 112879486A CN 202110110736 A CN202110110736 A CN 202110110736A CN 112879486 A CN112879486 A CN 112879486A
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- humanoid robot
- connecting column
- ankle
- barrel
- fixedly connected
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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
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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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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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention discloses an ankle buffering system of a humanoid robot, and belongs to the technical field of humanoid robot design. The ankle buffering system comprises a top plate, an upper barrel, a hydraulic buffer, a sliding plate, a thick ball bushing, a lower barrel, a bottom plate, a guide pillar, a connecting column and a thin ball bushing; the upper barrel is fixedly connected with the top plate, the lower barrel is fixedly connected with the bottom plate, a thick ball bushing is arranged on the inner wall of the lower barrel, a thin ball bushing is arranged at the center of the sliding plate, the connecting column penetrates through the thin ball bushing, one end of the connecting column is fixedly connected with the center of the top plate, and the other end of the connecting column is fixedly connected with the center of the bottom plate; and the sliding plate is provided with an oil buffer, the guide pillar penetrates through the sliding plate, and one end of the guide pillar is fixedly connected with the bottom plate. The ankle buffering system has the characteristics of good buffering performance and suitability for the bionic robot.
Description
Technical Field
The invention belongs to the technical field of humanoid robot design, and particularly relates to an ankle buffering system based on a humanoid robot.
Background
The humanoid robot has a limb structure similar to a human body, can realize various postures and actions of human beings, is similar to the human bodies in terms of the growth of the human bodies, and enables the human bodies to have natural intimacy, so that the humanoid robot is a preferred robot model for old-age care, home-care and disabled helping in the future. Has wide market space and application value.
At present, the domestic humanoid robot is in the primary stage internationally, no product with wide influence in the world exists, and the foreign advanced products comprise ATLAS of Boston power in the United states and ASIMO and HRP series in Japan. They are sensitive in response, large in force, strong in adaptability, good in motion stability and disturbance resistance.
The humanoid robot has a structure similar to that of a human, but is limited to machinery, material level and control and sensing technologies, and is difficult to move with the dexterity like a human at present, particularly in the aspect of a buffer function. Because the human body is a natural buffer system, buffer tissues such as meniscus and the like are arranged at joints, muscles are arranged at soles, and the shock can be reduced by adjusting the included angles of large and small legs at the knees and the arch structure with radian capable of being adjusted according to load. Therefore, the human jumps from a high place, and the internal organs of the upper body are slightly impacted by the buffer layer by layer. Even if we run and jump without wearing shoes, the body has no abnormality. However, the whole body of the humanoid robot is a rigid structure, has no natural buffer tissue, and has a large impact on the body if the humanoid robot is kicked on the ground, so that a buffer system needs to be arranged.
The buffer design is a difficult problem, and the buffer stroke is inevitably brought by the buffer, and the specific value of the buffer stroke is uncertain along with the change of the impact force, so that the control difficulty is increased. The set gait will have errors due to the cushioning stroke, which affects the accuracy of the follow-up movement.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an ankle buffering system based on a humanoid robot, which enables the robot to buffer efficiently and track and monitor the buffering effect in real time.
In order to achieve the purpose, the invention adopts the following technical scheme: an ankle cushioning system based on a humanoid robot, comprising: the device comprises a top plate, an upper barrel, a hydraulic buffer, a sliding plate, a thick ball bushing, a lower barrel, a bottom plate, a guide pillar, a connecting column and a thin ball bushing; the upper barrel is fixedly connected with the top plate, the lower barrel is fixedly connected with the bottom plate, a thick ball bushing is arranged on the inner wall of the lower barrel, a thin ball bushing is arranged at the center of the sliding plate, the connecting column penetrates through the thin ball bushing, one end of the connecting column is fixedly connected with the center of the top plate, and the other end of the connecting column is fixedly connected with the center of the bottom plate; and the sliding plate is provided with an oil buffer, the guide pillar penetrates through the sliding plate, and one end of the guide pillar is fixedly connected with the bottom plate.
Furthermore, four thread grooves are arranged on the sliding plate, oil buffers are correspondingly arranged on the upper side and the lower side of each thread groove respectively, the oil buffers on the upper side are connected in parallel, the oil buffers on the lower side are connected in parallel, and the oil buffers on the upper side and the oil buffers on the lower side which are connected in parallel are connected in series.
Further, the guide post is arranged between any two thread grooves.
Further, the lower surface of the top plate is also provided with an acceleration sensor.
Further, the acceleration sensor is disposed at an edge of the top plate.
Furthermore, the two ends of the connecting column are provided with threads, and the length of the threads at one end of the connecting column connected with the top plate is 2.5 times that of the threads at one end of the connecting column connected with the bottom plate.
Furthermore, the length of the guide post is 1/2-2/3 of the connecting post.
Furthermore, the upper barrel and the lower barrel are in sleeve connection, and the length of the upper barrel in the lower barrel is 1/3-1/2 of the length of the lower barrel.
Further, the radial distance between the balls in the coarse ball bush is 15 degrees, and the diameter of each ball is 1.02-1.05 times of the thickness of the coarse ball bush.
Compared with the prior art, the invention has the following beneficial effects: (1) because the hydraulic cushion is required to absorb more energy per unit distance of compression than a spring, the ankle cushion system of the present invention is able to consume large impact energy at shorter strokes; (2) the buffer stroke is only along the axial direction, no shearing deformation occurs, and because the upper barrel and the lower barrel are connected by the sleeve, only axial sliding is performed, and the position errors in other directions cannot be increased; (3) because the compression force of the hydraulic buffer is directly influenced by the compression speed in the compression process, the greater the compression speed is, the more the hydraulic buffer absorbs energy, and therefore, when the hydraulic buffer is impacted at a high speed, the better buffer effect is achieved in comparison with a spring.
Drawings
Fig. 1 is a schematic view of an ankle cushioning system according to the present invention;
fig. 2 is a top plan view of the ankle cushioning system of the present invention;
fig. 3 is a schematic view illustrating an inner structure of a tube cavity of the ankle cushioning system according to the present invention;
fig. 4 is a schematic view of a skateboard truck of the ankle cushioning system of the present invention;
fig. 5 is a schematic view of a lower tube of the ankle cushioning system of the present invention;
the device comprises a base, a top plate circular groove and a central through hole, wherein 1, the top plate 101, the top plate circular groove 102 and the central through hole are arranged; 2. the device comprises an upper barrel, a lower barrel, a hydraulic buffer, a sliding plate guide column hole, a; 5. thick ball bush, 6, lower tube, 7, bottom plate, 8, guide pillar, 9, connecting column, 10, thin ball bush, 11 and acceleration sensor.
Detailed Description
As shown in fig. 1, which is a schematic structural diagram of an ankle cushioning system of the present invention, the ankle cushioning system based on a humanoid robot comprises: the device comprises a top plate 1, an upper barrel 2, a hydraulic buffer 3, a sliding plate 4, a thick ball bushing 5, a lower barrel 6, a bottom plate 7, a guide pillar 8, a connecting column 9 and a thin ball bushing 10; fig. 2 is a top plate bottom view of the ankle buffering system according to the present invention, wherein a top plate circular groove 101 is formed on the top plate 1, and the upper tube 2 is disposed in the top plate circular groove 101, and a person skilled in the art can connect the top plate circular groove 101 and the upper tube 2 by using a high strength adhesive; the lower surface of roof 1 still is equipped with acceleration sensor 11, acceleration sensor 11 sets up in the edge of roof 1, acceleration sensor 11 is connected with hydraulic buffer 3, sets up acceleration sensor 11 and can monitor the shock-absorbing capacity and the unbalance loading condition of hydraulic buffer 3 in real time, provides reference data for fuselage joint and drive arrangement's life. The lower barrel 6 is fixedly connected with the bottom plate 7, the inner wall of the lower barrel 6 is provided with a thick ball bush 5, the outer wall surface of the thick ball bush 5 is bonded with the inner wall surface of the lower barrel 6 through high-strength glue, as shown in the schematic diagram of the lower barrel 5, a protruding structure is arranged at the barrel opening of the lower barrel 6 to prevent the thick ball bush 5 from sliding, the radial distance between the balls in the thick ball bush 5 is 15 degrees, so that enough balls are arranged to reduce the friction force between the upper barrel 2 and the lower barrel 6, the diameter of each ball is 1.02-1.05 times of the thickness of the thick ball bush 5, the balls can be in contact with the surfaces of the upper barrel 2 and the lower barrel 6, and the rolling friction between the upper barrel 2 and the lower barrel 6 is enhanced. As shown in fig. 3-4, a thin ball bushing 10 is arranged at the center of the sliding plate 4, the thin ball bushing 10 is connected with the sliding plate 4 through high-strength glue, the connecting column 9 penetrates through the thin ball bushing 10, one end of the connecting column 9 is in threaded connection with the central through hole 102 of the top plate 1, the other end of the connecting column is in threaded connection with the center of the bottom plate 7, the thread length of one end of the connecting column 9 connected with the top plate 1 is 2.5 times that of one end of the connecting column 9 connected with the bottom plate 7, so that the sleeves are not exposed at the upper end and the lower end of the connecting column 9 in an initial state, and interference with a machine body is avoided. The upper surface and the lower surface of the sliding plate 4 are respectively provided with four thread grooves 402, the radial distance between the thread grooves 402 on the same surface is equal, the thread grooves 402 on the upper surface and the lower surface are coaxial in pairs, the depth of each thread groove 402 is 1/3 of the thickness of the sliding plate, the upper side and the lower side of each thread groove 402 are respectively and correspondingly provided with oil buffers 3, the oil buffers 3 on the upper side are connected in parallel, the oil buffers 3 on the lower side are connected in parallel, and then the oil buffers 3 on the upper side and the oil buffers 3 on the lower side after the parallel connection are connected in series, so that the oil buffers 3 can absorb more buffer energy. The guide post 8 is arranged between any two thread grooves 402 and penetrates through the sliding plate 4, one end of the guide post 8 is in threaded connection with the bottom plate 7, meanwhile, the length of the guide post 8 is 1/2-2/3 of the connecting post 9, the sliding plate can be guided by the guide post 8 all the time when moving, the guide post 8 can be prevented from interfering with the upper barrel 2 and the lower barrel 6, and meanwhile, the guide post 8 can be effectively prevented from rotating relative to the upper barrel 2 and the lower barrel 6 to transmit the rotating torque on the upper portion of the robot. The upper barrel 2 and the lower barrel 6 are in sleeve connection, and the length of the upper barrel 2 in the lower barrel 6 is 1/3-1/2 of the length of the lower barrel 6, so that the lower barrel 6 cannot be clamped due to unbalance loading of the upper barrel 2.
The working principle of the invention is specifically as follows: the oil pressure buffer in the ankle buffering system is used as a buffering element, so that impact energy of the body of the humanoid robot can be converted into heat energy, which is a pure energy consumption process without energy storage. If elastic components such as springs and plate springs are used as buffer elements, impact energy is converted into elastic energy to be stored, and the energy is released in subsequent gaits, so that the stability of control is affected. Therefore, the invention can reduce the consumption of the motor at the joint of the robot through oil pressure buffering and improve the stability of the movement. In addition, compared with spring buffering, the compression force of the hydraulic buffer is not greatly influenced by the stroke and is obviously influenced by the speed. Therefore, the maximum damping acceleration of the hydraulic shock absorber is smaller than that of the spring when absorbing the same energy, and the hydraulic shock absorber can absorb more energy than the damping energy of the elastic component when the initial speed is large.
The working process of the invention is as follows: the ankle cushioning system of the present invention is used in a humanoid robot, and when the robot is moving, the top plate 1 of the ankle cushioning system is fixed under the ankle joint and the bottom plate 7 is fixed above the foot plate. When the foot of the robot lands in motion, the upper cylinder 2 is stressed and moves downwards relative to the lower cylinder 6, when the top plate 1 of the upper cylinder 2 is in contact with the hydraulic buffer 3, the contact of the hydraulic buffer 3 is compressed, the sliding plate 4 and the lower hydraulic buffer 3 are driven to compress, when the contact of the hydraulic buffer 3 is compressed to the maximum, the height of the gravity center of the robot leg is minimum, and the energy absorption value of the ankle buffer system is also maximum. When the foot is lifted off the ground, the pressure on the top plate 1 of the upper cylinder 2 is removed, the slide plate 4 and the hydraulic buffer 3 are lifted, and the upper cylinder 2 slides upwards relative to the lower cylinder 6 until the maximum height is restored. Therefore, the ankle buffering system has the characteristics of good buffering performance and suitability for the bionic robot.
Claims (9)
1. An ankle cushioning system based on a humanoid robot, comprising: the device comprises a top plate (1), an upper barrel (2), a hydraulic buffer (3), a sliding plate (4), a thick ball bush (5), a lower barrel (6), a bottom plate (7), a guide post (8), a connecting post (9) and a thin ball bush (10); the upper barrel (2) is fixedly connected with the top plate (1), the lower barrel (6) is fixedly connected with the bottom plate (7), a thick ball bushing (5) is arranged on the inner wall of the lower barrel (6), a thin ball bushing (10) is arranged at the center of the sliding plate (4), the connecting column (9) penetrates through the thin ball bushing (10), one end of the connecting column (9) is fixedly connected with the center of the top plate (1), and the other end of the connecting column is fixedly connected with the center of the bottom plate (7); the hydraulic buffer (3) is arranged on the sliding plate (4), the guide pillar (8) penetrates through the sliding plate (4), and one end of the guide pillar (8) is fixedly connected with the bottom plate (7).
2. The ankle damping system according to claim 1, wherein the sliding plate (4) has four screw grooves (402) on the upper and lower surfaces thereof, the upper and lower sides of the screw grooves (402) are respectively provided with hydraulic dampers (3), the hydraulic dampers (3) on the upper side are connected in parallel, the hydraulic dampers (3) on the lower side are connected in parallel, and the upper hydraulic damper (3) and the lower hydraulic damper (3) connected in parallel are connected in series.
3. The humanoid robot-based ankle damping system according to claim 1, wherein the guide post (8) is disposed between any two thread grooves (402).
4. An ankle damping system according to claim 1, based on a humanoid robot, characterized in that the lower surface of the top plate (1) is also provided with an acceleration sensor (11).
5. The humanoid robot-based ankle damping system according to claim 4, characterized in that the acceleration sensor (11) is provided at the edge of the top panel (1).
6. The humanoid robot-based ankle damping system according to claim 1, wherein both ends of the connecting column (9) are threaded, and the length of the thread at the end of the connecting column (9) connected to the top plate (1) is 2.5 times the length of the thread at the end of the connecting column (9) connected to the bottom plate (7).
7. The humanoid robot-based ankle damping system according to claim 1, wherein the guide post (8) has a length of 1/2-2/3 of the connecting post (9).
8. The humanoid robot-based ankle damping system according to claim 1, wherein the upper tube (2) is in a sleeve connection with the lower tube (6), the upper tube (2) having a length in the lower tube (6) of 1/3-1/2 of the length of the lower tube (6).
9. The humanoid robot-based ankle damping system according to claim 1, wherein the balls in the coarse ball bushing (5) have a radial spacing of 15 ° between them, the diameter of the balls being 1.02-1.05 times the thickness of the coarse ball bushing (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110736.4A CN112879486B (en) | 2021-01-27 | 2021-01-27 | Ankle buffer system based on humanoid robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110736.4A CN112879486B (en) | 2021-01-27 | 2021-01-27 | Ankle buffer system based on humanoid robot |
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| CN112879486A true CN112879486A (en) | 2021-06-01 |
| CN112879486B CN112879486B (en) | 2022-07-12 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003083394A (en) * | 2001-09-13 | 2003-03-19 | Tokuo Watanabe | Rolling bearing type base isolation member |
| CN103774551A (en) * | 2014-01-25 | 2014-05-07 | 广州大学 | Novel three-dimensional seismic isolation device |
| CN205132076U (en) * | 2015-11-09 | 2016-04-06 | 浪潮电子信息产业股份有限公司 | Shock attenuation tray with adjustable shock -absorbing capacity |
| CN207483109U (en) * | 2017-09-29 | 2018-06-12 | 上海龙钰电梯配件有限公司 | A kind of elevator buffer device |
| CN210371795U (en) * | 2019-04-23 | 2020-04-21 | 浙江西子富沃德电机有限公司 | Oil buffer |
| CN212056370U (en) * | 2019-12-18 | 2020-12-01 | 四川景成金属制造有限公司 | Damping device for tenoning machine |
| CN112077210A (en) * | 2020-08-27 | 2020-12-15 | 钟小玲 | Novel stamping device for hardware processing |
-
2021
- 2021-01-27 CN CN202110110736.4A patent/CN112879486B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003083394A (en) * | 2001-09-13 | 2003-03-19 | Tokuo Watanabe | Rolling bearing type base isolation member |
| CN103774551A (en) * | 2014-01-25 | 2014-05-07 | 广州大学 | Novel three-dimensional seismic isolation device |
| CN205132076U (en) * | 2015-11-09 | 2016-04-06 | 浪潮电子信息产业股份有限公司 | Shock attenuation tray with adjustable shock -absorbing capacity |
| CN207483109U (en) * | 2017-09-29 | 2018-06-12 | 上海龙钰电梯配件有限公司 | A kind of elevator buffer device |
| CN210371795U (en) * | 2019-04-23 | 2020-04-21 | 浙江西子富沃德电机有限公司 | Oil buffer |
| CN212056370U (en) * | 2019-12-18 | 2020-12-01 | 四川景成金属制造有限公司 | Damping device for tenoning machine |
| CN112077210A (en) * | 2020-08-27 | 2020-12-15 | 钟小玲 | Novel stamping device for hardware processing |
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| CN112879486B (en) | 2022-07-12 |
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