CN203020440U - Flexible hinge with bidirectional variable rigidity - Google Patents
Flexible hinge with bidirectional variable rigidity Download PDFInfo
- Publication number
- CN203020440U CN203020440U CN 201320029274 CN201320029274U CN203020440U CN 203020440 U CN203020440 U CN 203020440U CN 201320029274 CN201320029274 CN 201320029274 CN 201320029274 U CN201320029274 U CN 201320029274U CN 203020440 U CN203020440 U CN 203020440U
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- flexible
- disk
- robot
- connection rod
- flexible link
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Abstract
The utility model discloses a flexible hinge with bidirectional variable rigidity. The flexible hinge mainly comprises a disk and four flexible supporting units, wherein the four flexible supporting units are uniformly distributed along the circumferential direction of the disk to form a parallel mechanism. Each flexible supporting unit comprises a supporting plate, a first flexible connection rod, a connection plate and a second flexible connection rod; the first flexible connection rod is arranged between the supporting plate and the connection plate; the second flexible connection rod is arranged between the connection plate and the disk; arc notches are formed in the first flexible connection rod and the second flexible connection rod; and fixing holes are formed in the supporting plate. And connection holes are formed in the disk. By the flexible hinge, the self-adjustment capacity of a robot during handling of foot landing impact is improved, and a human-simulated robot can walk steadily and comfortably.
Description
Technical field
The utility model belongs to the service robot technical field, relates to a kind of flexible hinge with bidirectional variable rigidity.
Background technology
Service robot is different from general industrial robot, because it is not to be fixed on a position.Underline this robot of toy robot and have running gear flexibly, can arrive some and be difficult for or the occasion of beneficial arrival not, complete the work that people or intelligence system set in advance.With respect to wheeled or caterpillar type robot, its alerting ability is good, working space is broad, mobile " blind area " is little, power consumption is little, go beyond the obstacle ability strong, can adapt to complicated ground, these characteristics have determined bipod walking robot unrivaled preceence in actual applications, so bipod walking robot has vast potential for future development more.
One of gordian technique of bipod walking robot is to have failure-free traveling gear, the speed during its walking, working ability and the efficient that stationarity directly affects robot.In the process of walking, contact with ground at the bottom of robot foot and can be impacted, produce vibration, this impact meeting is transmitted all whole trunks of robot by ankle-joint, running to robot each joint exerts an influence, and its dynamical equilibrium is interfered, and causes instability of gait fixed; And can to injuries such as the motor of joint of robot inside, retarders, affect robot ambulation speed, kinematic accuracy and stability and control.So, should consider the problems such as impact-absorbing, stored energy when robot step mechanism design.
In order to address the above problem, developed multiple bipod walking robot foot structure that can impact-absorbing during walking at present.
The people such as the Zhu Qiuguo of Zhejiang University have developed patent No. CN102632508A plane torsion spring that is applicable to joint of robot, this scheme comprises the torsion spring outer ring, torsion spring inner ring and some elastic bodys, elastic body distributes along even circumferential, two ends connect respectively torsion spring outer ring and torsion spring inner ring, each elastic body is comprised of two elastomer units of symmetry, each elastomer unit comprises outer circle hole groove, interior circle hole groove and tie-beam, connects by tie-beam between torsion spring inner ring and interior circle hole groove, between interior circle hole groove and outer circle hole groove and between outer circle hole groove and torsion spring outer ring.Circle hole groove generation elastic deformation in the torsion spring inner ring of plane torsion spring drives by tie-beam when rotating, interior circle hole groove drives outer circle hole groove generation elastic deformation by tie-beam then, by the series connection elastic deformation of interior circle hole groove and outer circle hole groove, realized the wide-angle distortion of torsion spring.But this invention has just realized the buffering of rotary joint, does not cushion for torsion and straight-line displacement.
Tsing-Hua University old earnestly waited in the patent No. CN101161427A biomimetic ankle of people's application, and ankle-joint adopts oscillating bearing, and bearing inner ring is connected with shank, outside race be connected enough, the outer ring rotates with respect to inner ring, the drive robot foot moves with respect to shank.The lifting of ankle-joint stretch motion, around the rotatablely moving of shank axis, control by a pair of pneumatic muscles respectively, the side on oscillation of ankle-joint is controlled by a pair of spring.This invention can realize the concentric flexible motion of ankle-joint three axles, be beneficial to the effect that reduces waste of power and can reach buffering, but this joint be from structure by part be used in combination to reach these functions, virtually make structure complicated, control difficulty and strengthened.
Summary of the invention
The purpose of this utility model is in order to overcome the weak point of prior art, a kind of flexible hinge with bidirectional variable rigidity to be provided.
The utility model is achieved through the following technical solutions: it mainly is comprised of disk and four flexible supporting units, and four flexible supporting units evenly distribute along the circumferencial direction of disk, consist of a parallel institution; Each flexible supporting unit comprises stay bearing plate, the first flexible link, connecting panel and the second flexible link, and the first flexible link is arranged between stay bearing plate and connecting panel, and the second flexible link is arranged between connecting panel and disk; All have the circular arc notch on the first flexible link and the second flexible link; Have fixed orifice on stay bearing plate; Have connecting bore on disk.
The beneficial effects of the utility model: the stay bearing plate of the flexible hinge of the bidirectional variable rigidity that the utility model uses is connected with the robot foot base plate, and disk is connected with the robot anklebone supporting base; When robot foot lands, disk by flexible link drive connecting panel, connecting panel partly drives stay bearing plate by flexible link and produces straight-line displacement or pitch angle or roll angle, and its rigidity is changed; Thereby obviously improved the self-adjustment capability of robot when the reply foot lands impact, more steady when making Humanoid Robot Based on Walking, comfortable; Can absorb simultaneously and impact the energy that produces when landing, when lifting the pin starting, compressed flexible hinge can discharge elastic deformation energy, plays energy-conservation purpose in the walking process of robot.
Description of drawings
Fig. 1 is schematic diagram of mechanism of the present utility model;
Fig. 2 is 3 dimensional drawing of the present utility model;
Fig. 3 is planar view of the present utility model;
Deformation schematic diagram when Fig. 4 is the utility model axially loaded;
In figure, stay bearing plate 1, connecting panel 2, circular arc notch 3, disk 4, connecting bore 5, fixed orifice 6, flexible link 7, flexible link 8.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, the utility model is comprised of disk 4 and four flexible supporting units, and four flexible supporting units evenly distribute along the circumferencial direction of disk 4, consist of a parallel institution; Each flexible supporting unit comprises stay bearing plate 1, flexible link 7, connecting panel 2 and flexible link 8, between stay bearing plate 1 and connecting panel 2, flexible link 7 is arranged, and between connecting panel 2 and disk 4, flexible link 8 is arranged.
Working process of the present utility model is as follows, and flexible hinge is fixed on the robot foot base plate by the fixed orifice 6 on stay bearing plate 1, and the ankle support seat is connected with whole flexible hinge by the connecting bore 5 on disk 4; During work, disk 4 is subject to the power from the ankle supporting seat, and elastic deformation occurs flexible link 8, and power is delivered to flexible link 7 by connecting panel 2, makes it that elastic deformation also occur; By the series connection elastic deformation of flexible link 7 and flexible link 8, realized the whole large displacement deformation of flexible hinge.
When disk 4 was subject to the power of different sizes, different directions, the deflection of each flexible supporting unit was different, and therefore, flexible hinge can produce different pitch angle or roll angle, and its rigidity is changed.
By the size and shape that changes circular arc notch 3 and the thickness of adjusting flexible hinge integral body, can change the integral rigidity of flexible hinge.
Above by with reference to the exemplary embodiment of expression in the accompanying drawings, the utility model having been done special displaying and explanation, to one skilled in the art, should be understood that, not deviating from various modifications and the change of making under thought of the present utility model and scope in the form and details, will be all the infringement to the utility model patent.So real thought and scope that the utility model will be protected are limited by appending claims.
Claims (1)
1. flexible hinge with bidirectional variable rigidity, it is characterized in that: it mainly is comprised of disk and four flexible supporting units, and four flexible supporting units evenly distribute along the circumferencial direction of disk, consist of a parallel institution; Each flexible supporting unit comprises stay bearing plate, the first flexible link, connecting panel and the second flexible link, and the first flexible link is arranged between stay bearing plate and connecting panel, and the second flexible link is arranged between connecting panel and disk; All have the circular arc notch on the first flexible link and the second flexible link; Have fixed orifice on stay bearing plate; Have connecting bore on disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320029274 CN203020440U (en) | 2013-01-18 | 2013-01-18 | Flexible hinge with bidirectional variable rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320029274 CN203020440U (en) | 2013-01-18 | 2013-01-18 | Flexible hinge with bidirectional variable rigidity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203020440U true CN203020440U (en) | 2013-06-26 |
Family
ID=48644441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320029274 Expired - Fee Related CN203020440U (en) | 2013-01-18 | 2013-01-18 | Flexible hinge with bidirectional variable rigidity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203020440U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112516A (en) * | 2013-01-18 | 2013-05-22 | 杭州电子科技大学 | Flexible hinge with double-direction variable rigidity |
-
2013
- 2013-01-18 CN CN 201320029274 patent/CN203020440U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112516A (en) * | 2013-01-18 | 2013-05-22 | 杭州电子科技大学 | Flexible hinge with double-direction variable rigidity |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130626 Termination date: 20150118 |
|
| EXPY | Termination of patent right or utility model |