CN202243769U - Leg buffer device for robot - Google Patents
Leg buffer device for robot Download PDFInfo
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- CN202243769U CN202243769U CN2011204126104U CN201120412610U CN202243769U CN 202243769 U CN202243769 U CN 202243769U CN 2011204126104 U CN2011204126104 U CN 2011204126104U CN 201120412610 U CN201120412610 U CN 201120412610U CN 202243769 U CN202243769 U CN 202243769U
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- leg
- expansion link
- robot
- grease chamber
- way valve
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Abstract
The utility model discloses a leg buffer device for a robot. A leg outer barrel is arranged between a connecting block and a transparent cover; a telescopic rod is arranged in the leg outer barrel; the lower part of the telescopic rod stretches out of the leg outer barrel; a space in the leg outer barrel on the upper part of a piston positioned at the upper end of the telescopic rod is an oil chamber; the oil chamber is divided into an upper part and a lower part through a clapboard; a pre-inflated closed air sac is arranged on the upper part of the oil chamber; hydraulic oil is stored on the lower part of the oil chamber and connected with an external pressure regulating loop; a damping hole is formed in the clapboard; a force sensor for measuring the size and direction of contact force between a foot and the ground is arranged at the lower end of the telescopic rod; a rubber sleeve covers the force sensor; a constant pressure oil source, an electro-hydraulic servo valve and a hydraulic control one-way valve in the pressure regulating loop are sequentially connected; the hydraulic control one-way valve is connected with the oil chamber; and a pressure sensor is arranged between the oil chamber and the hydraulic control one-way valve. The device has a simple and compact structure, and can be applied to a hydraulically driven bionic robot with two feet, four feet, six feet or eight feet and the like.
Description
Technical field
The utility model relates to a kind of hydraulically powered mobile robot's leg shock absorber.
Background technology
At present, wheeled and correlation technique caterpillar mobile robot attains full development, and existing many various mobile robot's products are applied to fields such as amusement, anti-terror explosive removing, hazardous environment operation and military affairs.Wheeled robot has advantages such as friction drag is little, speed is fast, but only is adapted to the flat ground surface environment, and obstacle climbing ability is poor.Caterpillar type robot is strong to the adaptive capacity of environment, but crossing over blockage, speeling stairway, leap trench etc., but driving efficiency is low.Not having wheel is that wheeled robot or caterpillar type robot all can only be walked less than half the land on earth, and the human and animal can be in the walking Anywhere of land.Therefore, leg type mobile robot has stronger adaptive capacity to environment than wheeled with caterpillar mobile robot.
The document " a kind of novel leg structure damping characteristics in the four feet walking robot " that is published in July, 1999 " Shanghai Communications University's journal " has been introduced a kind of elasticity walking mechanism; This mechanism is that the four-bar linkage of frame is composited by four groups of parallel connection elastic elements with the robot leg shell; Its principle of work is: when the walking robot foot lands; Body is because the inertia of stepping on down drives the lower link compression spring through robot leg and moves downward, and lower link drives the boxed rod swing again; Because spring conductor rod links to each other with the support foot, then the upper hinge of boxed rod is connected with stationary end.When upper and lower connecting rod was straight line owing to compression of spring, connecting rod mechanism arrived dead center position, held lower link so that connecting rod mechanism remains on dead center position through the control electromagnet, thereby was locked in the impact energy that absorbs in the spring in the elastic leg.Magnetic chuck in the control elastic leg makes its dead electricity and the energy of storing in the elastic leg is discharged under certain gait then, and auxiliary robot is lifted the leg swing.The ground shock power that receives when foot lands has been alleviated to a certain extent in this mechanism, but complex structure, and spring stiffness can not carry out online adjusting according to the ground environment of different hardness.
The utility model content
The technical matters that (one) will solve
But the technical matters that the utility model will solve provides the robot leg shock absorber that a kind of stronghold surface hardness is regulated air spring rigidity; This device can be used for hydraulically powered multi-foot robot shank minor details; In the face of the impulsive force of robot, improve the stability of the moving gait walking of robot with reducing.
(2) technical scheme
For solving the problems of the technologies described above, the robot leg shock absorber that the utility model adopts comprises contiguous block, air bag, leg urceolus, passes through lid, expansion link and force gauge; The leg urceolus is arranged on contiguous block and passes through between the lid; Expansion link is installed in the leg urceolus; Its underpart protruding leg urceolus, the space of leg urceolus that is positioned at the piston top, upper end of expansion link is the grease chamber, the grease chamber is divided into two parts up and down through a dividing plate; Top, grease chamber is provided with gas filed in advance closed airbag; The bottom storage has hydraulic oil and links to each other with exterior pressure regulation circuit, and dividing plate is provided with damping hole, and the lower end of expansion link is equipped with the force gauge that is used for measuring the contact force size and Orientation between foot and the ground; The outer cup rubber sleeve of force gauge; Pressure regulation circuit comprises constant pressure oil source, electrohydraulic servo valve, hydraulic control one-way valve and pressure sensor; Constant pressure oil source, electrohydraulic servo valve and hydraulic control one-way valve are connected successively; Hydraulic control one-way valve is connected with the grease chamber, and pressure sensor is installed between grease chamber and the hydraulic control one-way valve.
Between leg urceolus and expansion link, be provided with and be used to two linear bearings reducing to rub, between two linear bearings, be provided with axle sleeve.Be provided with dust-proof seal ring between lid and the expansion link thoroughly.Between the upper end of expansion link piston and leg urceolus, be provided with oil sealing.
(3) beneficial effect
The advantage of the utility model is: this device directly utilizes the hydraulic oil source of drive system of robot; Robot control system can be regulated air spring rigidity according to detected ground of sensing device surface hardness News Online; Face the impulsive force of robot with reducing; Improve the stability of the moving gait walking of robot, make robot ambulation in stable status.The utility model is simple in structure, compact, can be applicable on the bio-robots such as hydraulically powered biped, four-footed, six foots or eight foots.
Description of drawings
Fig. 1 is the structural representation of the robot leg shock absorber of the utility model.
Fig. 2 is the pressure regulation circuit principle schematic of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail.Following examples are used to explain the utility model, but can not be used for limiting the scope of the utility model.
Fig. 1 is the structural representation of this device.Can know that by Fig. 1 this shock absorber comprises contiguous block 1, air bag 2, leg urceolus 3, expansion link 13, force gauge 14 and rubber coating 15.The utility model is as the minor details of robot shank, and contiguous block 1 is installed in the upper end of leg urceolus 3, is used for being connected with other part of robot shank.Expansion link 13 in leg urceolus 3, has been provided with the axle sleeve 9 of isolation positioning action through linear bearing 8 and 10 location and installation between 3, two linear bearings 8 of its underpart protruding leg urceolus and 10, expansion link 13 leg urceolus 3 is relatively done linear reciprocating motion.Cover 11 pairs of linear bearings 10 thoroughly and play the role of positioning, embedded dust-proof seal ring 12 prevents that dust from getting into linear bearing 10 from expansion link 13 and the gap covered thoroughly between 11.Space in the upper end piston portion of expansion link 13 and the leg urceolus 3 between the top is grease chamber 6.The middle part of grease chamber 6 is provided with horizontal dividing plate, has damping hole 4 on the dividing plate.Gas filed in advance closed airbag 2 is equipped with in dividing plate top, is used in the face of the impact of robot with cushioning, and storing in the grease chamber 6 has hydraulic oil.Damping hole 4 increases hydraulic oil from the resistance of dividing plate one effluent to opposite side, consumes the impact energy of ground in the face of robot.The size of damping hole 4 is processed as required, and bigger damping hole 4 resistances are less, and the energy that air bag 2 absorbs when robot lands can be as takeoff output when robot is liftoff.Because the volume of grease chamber 6 is certain, when when grease chamber 6 is oil-filled, air bag 2 is by further compression, and the gaseous tensions in the air bag 2 raise, the corresponding increase of its spring stiffness.Expansion link 13 upper end piston portions are equipped with oil sealing 7, are used for sealing the hydraulic oil in the grease chamber 6, keep the pressure in the grease chamber.Hydraulic oil interface 5 links to each other with pressure control hydraulic circuit shown in Figure 2.The lower end of expansion link 13 is equipped with force gauge 14, is used for the size and Orientation of the contact force between robot measurement foot and the ground, and offers robot control system.Force gauge 14 outer cup rubber sleeves 15 are used for increasing the friction force between foot and ground, and play certain buffering and damping of vibrations.
As shown in Figure 2 with grease chamber's 6 bonded assembly pressure regulation circuit.Constant pressure oil source 19 and fuel tank 20 all adopt the constant pressure oil source and the fuel tank of robot fluid power system among the figure, also can be provided with separately.Between grease chamber 6 and the hydraulically-controlled one-way valve 17 pressure sensor 16 is installed, is used for measuring the pressure of hydraulic oil in the grease chamber 6, and sends the ROBOT CONTROL system to.Hydraulic control one-way valve 17 be used for cutting off hydraulic oil from the grease chamber 6 paths to electrohydraulic servo valve 18, prevent that robot is landing the too high compression shock electrohydraulic servo valve 18 of hydraulic oil in the moment grease chamber 6.But during 6 internal pressures, hydraulic control one-way valve 17 can two-way circulate under the control of electrohydraulic servo valve 18 in the active adjustment grease chamber.Hydraulic fluid pressures and by the oil mass in the pairing hydraulic fluid pressure quick adjusting of the spring stiffness grease chamber 6 of the air bag 2 of ground surface hardness decision in the grease chamber 6 that electrohydraulic servo valve 18 is measured according to pressure sensor 16.
The spring stiffness of air bag 2 is relevant with the gaseous tension in it, and the pressure of the hydraulic oil that gaseous tension and grease chamber 6 are interior is identical.The adjusting of hydraulic fluid pressures must be positioned at leg and carry out when unsettled in the grease chamber 6, because the pressure that this moment, pressure sensor 16 was measured is the static pressure of gases in the air bag 2.Control system stronghold surface information is confirmed best spring stiffness, and compares according to the pressure that cooresponding gaseous tension of this spring stiffness and pressure sensor 16 are measured, and sends corresponding current signal to electrohydraulic servo valve 18 then.Electrohydraulic servo valve 18 is adjusted the oil mass in the grease chamber 6 rapidly according to current signal, and the pressure of measuring until pressure sensor 16 equates with the cooresponding gaseous tension of best spring stiffness.
The above is merely the preferred implementation of the utility model; Should be understood that; For those skilled in the art; Under the prerequisite that does not break away from the utility model know-why, can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.
Claims (4)
1. a robot leg shock absorber is characterized in that: comprise contiguous block (1), air bag (2), leg urceolus (3), pass through lid (11) and expansion link (13); Said leg urceolus (3) is arranged between said contiguous block (1) and the said lid (11); Said expansion link (13) is installed in the said leg urceolus (3); Said leg urceolus (3) is stretched out in its underpart; The space of said leg urceolus (3) that is positioned at the piston top, upper end of said expansion link is grease chamber (6); Said grease chamber (6) is divided into two parts up and down through a dividing plate, and top, said grease chamber (6) is provided with gas filed in advance closed airbag (2), and the bottom storage has hydraulic oil and links to each other with exterior pressure regulation circuit; Dividing plate is provided with damping hole (4), and the lower end of said expansion link (13) is equipped with the said force gauge (14) that is used for measuring the contact force size and Orientation between foot and the ground; The outer cup of said force gauge (14) has said rubber coating (15); Said pressure regulation circuit comprises constant pressure oil source (19), electrohydraulic servo valve (18), hydraulic control one-way valve (17) and pressure sensor (16); Said constant pressure oil source (19), said electrohydraulic servo valve (18) and said hydraulic control one-way valve (17) are connected successively; Said hydraulic control one-way valve (17) is connected with said grease chamber (6), and said pressure sensor (16) is installed between said grease chamber (6) and the said hydraulic control one-way valve (17).
2. shock absorber according to claim 1 is characterized in that: between said leg urceolus and said expansion link, be provided with two linear bearings (8,10), between two said linear bearings (8,10), be provided with axle sleeve (9).
3. shock absorber according to claim 1 is characterized in that: between said lid (11) and said expansion link (13), be provided with dust-proof seal ring (12).
4. shock absorber according to claim 1 is characterized in that: between the upper end of said expansion link piston and said leg urceolus (3), be provided with oil sealing (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204126104U CN202243769U (en) | 2011-10-26 | 2011-10-26 | Leg buffer device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204126104U CN202243769U (en) | 2011-10-26 | 2011-10-26 | Leg buffer device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202243769U true CN202243769U (en) | 2012-05-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204126104U Withdrawn - After Issue CN202243769U (en) | 2011-10-26 | 2011-10-26 | Leg buffer device for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202243769U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057619A (en) * | 2013-01-25 | 2013-04-24 | 哈尔滨工业大学 | Foot-end mechanism for supporting leg of heavy-load multi-legged robot |
| CN105691485A (en) * | 2016-03-16 | 2016-06-22 | 北京理工大学 | Active-softening mechanism of hydraulic robot |
| CN105691482A (en) * | 2015-12-31 | 2016-06-22 | 重庆楠婧琳科技开发有限公司 | Robot |
| CN107539387A (en) * | 2017-09-13 | 2018-01-05 | 长沙展朔轩兴信息科技有限公司 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
| CN107685345A (en) * | 2017-09-28 | 2018-02-13 | 深圳市行者机器人技术有限公司 | A kind of damper of biped robot |
| CN107972757A (en) * | 2017-11-27 | 2018-05-01 | 常州大学 | A kind of shock resistance becomes length damping machine device people's leg |
| CN110884587A (en) * | 2019-12-02 | 2020-03-17 | 太原工业学院 | Pneumatic quadruped robot |
| CN111439320A (en) * | 2020-03-31 | 2020-07-24 | 厦门大学 | Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method |
| TWI702039B (en) * | 2018-10-05 | 2020-08-21 | 楊進松 | Assistant device for degenerative joint |
| CN111846003A (en) * | 2020-06-19 | 2020-10-30 | 浙江大学 | Multi-foot walking robot and hydraulic drive system for leg flexion and extension and control method thereof |
| US11141344B2 (en) | 2018-12-27 | 2021-10-12 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
-
2011
- 2011-10-26 CN CN2011204126104U patent/CN202243769U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057619A (en) * | 2013-01-25 | 2013-04-24 | 哈尔滨工业大学 | Foot-end mechanism for supporting leg of heavy-load multi-legged robot |
| CN103057619B (en) * | 2013-01-25 | 2015-01-21 | 哈尔滨工业大学 | Foot-end mechanism for supporting leg of heavy-load multi-legged robot |
| CN105691482A (en) * | 2015-12-31 | 2016-06-22 | 重庆楠婧琳科技开发有限公司 | Robot |
| CN105691485A (en) * | 2016-03-16 | 2016-06-22 | 北京理工大学 | Active-softening mechanism of hydraulic robot |
| CN107539387A (en) * | 2017-09-13 | 2018-01-05 | 长沙展朔轩兴信息科技有限公司 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
| CN107685345A (en) * | 2017-09-28 | 2018-02-13 | 深圳市行者机器人技术有限公司 | A kind of damper of biped robot |
| CN107972757A (en) * | 2017-11-27 | 2018-05-01 | 常州大学 | A kind of shock resistance becomes length damping machine device people's leg |
| TWI702039B (en) * | 2018-10-05 | 2020-08-21 | 楊進松 | Assistant device for degenerative joint |
| US11141344B2 (en) | 2018-12-27 | 2021-10-12 | Chin-Sung Yang | Assistant apparatus for degenerative joint |
| CN110884587A (en) * | 2019-12-02 | 2020-03-17 | 太原工业学院 | Pneumatic quadruped robot |
| CN111439320A (en) * | 2020-03-31 | 2020-07-24 | 厦门大学 | Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method |
| CN111439320B (en) * | 2020-03-31 | 2021-01-08 | 厦门大学 | Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method |
| CN111846003A (en) * | 2020-06-19 | 2020-10-30 | 浙江大学 | Multi-foot walking robot and hydraulic drive system for leg flexion and extension and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120530 Effective date of abandoning: 20120725 |
|
| C20 | Patent right or utility model deemed to be abandoned or is abandoned |