CN101712156B - Gasbag robot leg buffer mechanism with adjustable rigidity - Google Patents
Gasbag robot leg buffer mechanism with adjustable rigidity Download PDFInfo
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- CN101712156B CN101712156B CN2009102085446A CN200910208544A CN101712156B CN 101712156 B CN101712156 B CN 101712156B CN 2009102085446 A CN2009102085446 A CN 2009102085446A CN 200910208544 A CN200910208544 A CN 200910208544A CN 101712156 B CN101712156 B CN 101712156B
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Abstract
The invention discloses a gasbag robot leg buffer mechanism with adjustable rigidity, which comprises a connecting block, a gasbag, an outer barrel of a leg, a telescopic link and a force sensor. The connecting block is arranged at an upper end of the outer barrel of the leg, the telescopic link is arranged in the outer barrel of the leg, the lower part of the telescopic link extends out of the outer barrel of the leg. An oil chamber is formed between a piston part at the upper end of the telescopic link and the inner top of the outer barrel of the leg. The oil chamber is divided into an upper part and a lower part by a partition plate, wherein the gasbag is arranged on the upper part of the oil chamber, and hydraulic oil is stored in the lower part of the oil chamber and is connected with an external pressure regulation loop. A damping hole is formed on the partition plate, and the force sensor which is used for measuring magnitude and direction of contact force between foot and ground is arranged at the lower end of the telescopic link. The gasbag robot leg buffer mechanism with adjustable rigidity can regulate rigidity of an air spring on line according to the ground rigidity information detected by a sensing unit, reduce the impact of the round to the robot and improve the stability of dynamic walk of the robot. Then the robot walks in the most stable state.
Description
Technical field
The present invention relates to a kind of hydraulically powered imitative mammal mobile robot's leg buffer mechanism, belong to polypody mobile robot technology field.
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 frictional resistance 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 transmission efficiency is low.Do not have wheel and be wheeled robot or caterpillar type robot all can only be on earth less than half land walking, and the walking Anywhere that the human and animal can be on land.Therefore, leg type mobile robot has stronger adaptive capacity to environment than wheeled and caterpillar mobile robot.
The bionics (Bionics) that appearance was interpenetrated, mutually combined by life science and engineering science the sixties in 20 century.From this time just, the U.S. has taken the lead in carrying out the research of bio-robot, and has been developed in the world four feet walking robot on first Modern Significance, that have the control function by the Mosher of GE in nineteen sixty-eight.1977, the Robert McGhee of Ohio State Univ-Columbus USA developed the walking bionic robot of first digital computer control in the world.From the eighties in 20th century, the research institution of countries such as the U.S., Japan, Canada, Switzerland, Germany all begins one's study to imitate and feeds class animal leg type mobile robot, and other has the imitative reptile mobile robot of a lot of mechanisms research.
The imitative mammal robot of four-footed is a multi-body system with advanced dynamic problem.Robot has three legs to support ground when quiet gait is walked, and generally can keep stable; But have only two legs to support ground when moving gait is walked, the ground shock power that foot is subjected to when landing very easily makes robot fall.Therefore, the stable problem of dynamically walking is a difficult problem of the imitative mammal robot of four-footed.The main path that solves this difficult problem at present is to develop novel elasticity and pliability mechanical system.
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 quadric chain of frame is composited by four groups of flexible members in parallel with the robot leg shell, its operation principle is: when the walking robot foot lands, body is owing to the inertia of stepping on down, driving lower link compression spring by robot leg moves downward, lower link drives connecting rod swing again, because spring conductor rod links to each other with the support foot, the upper hinge of then going up connecting rod is connected with stationary end.When upper and lower connecting rod was straight line owing to the compression of spring, linkage arrived the dead-centre position, holds lower link so that linkage remains on the dead-centre position by the control electromagnet, thereby the impact energy that absorbs in the spring is locked in the elastic leg.Magnechuck 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 is subjected to when foot lands has been alleviated to a certain extent in this mechanism, but complex structure, and spring rate can not be carried out online adjusting according to the ground environment of different hardness.
Summary of the invention
The present invention is directed to the deficiency of the leg structure buffer technology existence of existing leg type mobile robot, but provide the gasbag robot leg buffer mechanism of a kind of base area surface hardness regulating spring rigidity, this mechanism 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.
The gasbag robot leg buffer mechanism of a kind of adjustable rigidity of the present invention adopts following technical solution:
This robot leg buffer mechanism comprises contiguous block, air bag, the leg urceolus, expansion link and power sensor, contiguous block is installed in the upper end of leg urceolus, expansion link is installed in the leg urceolus, the bottom protruding leg urceolus of expansion link, space between the upper end piston portion of expansion link and the leg urceolus inner top is the grease chamber, the grease chamber is divided into two parts up and down by a dividing plate, top is provided with air bag, the bottom storage has hydraulic oil and links to each other with the pressure regulation circuit of outside, dividing plate is provided with damping hole, and the lower end of expansion link is equipped with the power sensor of the size and Orientation that is used for measuring the contact force between foot and the ground.
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, hydraulically-controlled one-way valve is connected with the bottom, grease chamber, pressure sensor is installed between bottom, grease chamber and the hydraulically-controlled one-way valve, be used for measuring the pressure of hydraulic oil in the grease chamber, and send the ROBOT CONTROL system to.
The outer cup rubber sleeve of described power sensor is used for increasing the frictional force between foot and ground, and plays certain buffering and damping effect.
This buffer gear is as the minor details of multi-foot robot leg, and contiguous block is used for being connected with the other parts of shank.Expansion link can be in the leg urceolus linear reciprocating motion, reduce friction by the linear bearing that is installed between leg urceolus and the expansion link.Air bag in the grease chamber is used in the face of the impulsive force of robot with absorbing, make robot keep stable, damping hole is used in the face of the impact energy of robot with consuming, and the big I of damping hole is provided with as required, change the initial pressure of air bag by the storage capacity that changes hydraulic oil in the grease chamber, regulate its rigidity.
The present invention directly utilizes the hydraulic oil source of drive system of robot, robot control system can be according to the rigidity of the online adjusting air spring of detected ground of sensing device surface hardness information, 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 present invention 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 gasbag robot leg buffer mechanism of adjustable rigidity of the present invention.
Fig. 2 is the pressure regulation circuit principle schematic among the present invention.
Fig. 3 is the theory diagram that air bag spring rate of the present invention is regulated.
Among the figure: 1. contiguous block, 2. air bag, 3. leg urceolus, 4. damping hole, 5. hydraulic oil interface, 6. grease chamber, 7. oil sealing, 8. linear bearing, 9. axle sleeve, 10. linear bearing, 11. lids thoroughly, 12. dust-proof seal ring, 13. expansion links, 14. pressure sensors, 15. rubber sleeve, 16. pressure sensors, 17. hydraulic control one-way valves, 18. electrohydraulic servo valve, 19. constant pressure oil sources, 20. fuel tanks.
The specific embodiment
Structure of the present invention mainly comprises contiguous block 1, air bag 2, leg urceolus 3, expansion link 13, power sensor 14 and rubber sleeve 15 as shown in Figure 1.The present invention 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 robot shank other parts.Expansion link 13 in leg urceolus 3, has been provided with the axle sleeve 9 of isolation positioning action by 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.11 pairs of linear bearings 10 of saturating lid play the role of positioning, and embedded dust-proof seal ring 12 prevents that dust from entering linear bearing 10 from the gap between expansion link 13 and the saturating lid 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.The closed airbag 2 of inflation in advance 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, exports as power when the energy that absorbs when air bag 2 lands in robot is can be in robot liftoff.Because the volume of grease chamber 6 is certain, when when grease chamber 6 is oil-filled, air bag 2 is further compressed, and the gas pressures in the air bag 2 raise, the corresponding increase of its spring rate.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 regulator solution hydraulic circuit shown in Figure 2.Strong sensor 14 is installed in the lower end of expansion link 13, is used for the size and Orientation of the contact force between robot measurement foot and the ground, and offers robot control system.Power sensor 14 outer cup rubber sleeves 15 are used for increasing the frictional force between foot and ground, and play certain buffering and damping effect.
The pressure regulation circuit that is connected with grease chamber 6 as shown in Figure 2.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 when active adjustment grease chamber 6 internal pressures, hydraulic control one-way valve 17 can two-way circulate under the control of electrohydraulic servo valve 18.Hydraulic fluid pressures and by the oil mass in the pairing hydraulic fluid pressure rapid adjustment of the spring rate 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 rate adjustment process of air bag 2 as shown in Figure 3.The spring rate of air bag 2 is relevant with the gas pressure in it, and the pressure of the hydraulic oil that gas pressure and grease chamber 6 are interior is identical.The adjusting of grease chamber's 6 interior hydraulic fluid pressures must be positioned at unsettled phase time at leg to be carried out, because the pressure of pressure sensor 16 measurements this moment is static pressures of gases in the air bag 2.Control system base area surface information is determined best spring rate, and compares with the pressure that pressure sensor 16 is measured according to the gas pressure of this spring rate correspondence, sends corresponding current signal to electrohydraulic servo valve 18 then.Electrohydraulic servo valve 18 is adjusted oil mass in the grease chamber 6 rapidly according to current signal, and the gas pressure that the pressure of measuring until pressure sensor 16 is corresponding with best spring rate is equal.
Claims (3)
1. the gasbag robot leg buffer mechanism of an adjustable rigidity, comprise contiguous block, air bag, the leg urceolus, expansion link and power sensor, contiguous block is installed in the upper end of leg urceolus, it is characterized in that: expansion link is installed in the leg urceolus, the bottom protruding leg urceolus of expansion link, space between the upper end piston portion of expansion link and the leg urceolus inner top is the grease chamber, the grease chamber is divided into two parts up and down by a dividing plate, top, grease chamber is provided with the closed airbag of inflation in advance, the storage of bottom, grease chamber has hydraulic oil and links to each other with the pressure regulation circuit of outside, dividing plate is provided with damping hole, and the lower end of expansion link is equipped with the power sensor of the size and Orientation that is used for measuring the contact force between foot and the ground; Hydraulic fluid pressure and by the oil mass in the pairing hydraulic fluid pressure rapid adjustment of the spring rate grease chamber of the air bag of ground surface hardness decision in the grease chamber that electrohydraulic servo valve in the pressure regulation circuit is measured according to pressure sensor.
2. the gasbag robot leg buffer mechanism of adjustable rigidity according to claim 1, it is characterized in that: described 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 bottom, grease chamber, and pressure sensor is installed between bottom, grease chamber and the hydraulic control one-way valve.
3. the gasbag robot leg buffer mechanism of adjustable rigidity according to claim 1 is characterized in that: the outer cup rubber sleeve of described power sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102085446A CN101712156B (en) | 2009-10-16 | 2009-10-16 | Gasbag robot leg buffer mechanism with adjustable rigidity |
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| CN2009102085446A CN101712156B (en) | 2009-10-16 | 2009-10-16 | Gasbag robot leg buffer mechanism with adjustable rigidity |
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| CN101712156A CN101712156A (en) | 2010-05-26 |
| CN101712156B true CN101712156B (en) | 2011-08-31 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101973037B (en) * | 2010-11-22 | 2011-12-21 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| CN102179821B (en) * | 2011-06-10 | 2013-03-27 | 北方工业大学 | Rigidity-adjustable elastic linear telescopic passive robot joint |
| CN102330783A (en) * | 2011-07-24 | 2012-01-25 | 杨洁 | Air spring with functions of regulating static rigidity and dynamic rigidity by filled liquid and membrane hole and reducing impact |
| CN107389876A (en) * | 2017-08-31 | 2017-11-24 | 洛阳高昌机电科技有限公司 | A kind of building pipe welding point connects flaw detection detent mechanism with spring |
| CN108724186B (en) * | 2018-06-08 | 2023-11-03 | 吉林大学 | Ostrich-like robot control system with man-machine-environment co-fusion characteristic |
| CN109249382B (en) * | 2018-09-27 | 2021-06-04 | 上海交通大学 | Large-span variable-rigidity driving unit |
| CN109397337B (en) * | 2018-11-30 | 2020-12-04 | 荆门它山之石电子科技有限公司 | Leg damper of robot |
| CN110132474A (en) * | 2019-06-10 | 2019-08-16 | 哈尔滨理工大学 | A kind of liquid-type, which contacts to earth, detects sufficient end |
| CN111360844B (en) * | 2020-03-24 | 2022-02-22 | 北京理工大学 | Rigidity active control's end limb pole and contain bionic robot of this end limb pole |
| CN112043549A (en) * | 2020-09-29 | 2020-12-08 | 深圳市艾利特医疗科技有限公司 | Rehabilitation device for upper and lower limb movement and control system thereof |
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| US5375823A (en) * | 1992-06-25 | 1994-12-27 | Societe Psi | Application of an improved damper to an intervertebral stabilization device |
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| US6106560A (en) * | 1999-03-30 | 2000-08-22 | Michael O'Byrne | Hydraulic knee joint |
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| CN201005810Y (en) * | 2007-03-12 | 2008-01-16 | 陈森荣 | Hydraulic buffer unit for knee joint and knee joint having the same |
| CN201506402U (en) * | 2009-10-16 | 2010-06-16 | 山东大学 | Rigidity-adjustable air bag type robot leg cushioning mechanism |
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2009
- 2009-10-16 CN CN2009102085446A patent/CN101712156B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5375823A (en) * | 1992-06-25 | 1994-12-27 | Societe Psi | Application of an improved damper to an intervertebral stabilization device |
| US5720474A (en) * | 1995-04-17 | 1998-02-24 | Sugiyama; Kazuo | Shock absorbing mechanism of displacement for stick, leg, etc. |
| US6113642A (en) * | 1996-06-27 | 2000-09-05 | Mauch, Inc. | Computer controlled hydraulic resistance device for a prosthesis and other apparatus |
| US6106560A (en) * | 1999-03-30 | 2000-08-22 | Michael O'Byrne | Hydraulic knee joint |
| US6820866B2 (en) * | 2001-08-10 | 2004-11-23 | Goodbar Llc | Attenuator apparatus |
| CN2579376Y (en) * | 2002-11-25 | 2003-10-15 | 德林股份有限公司 | Knee joint device |
| CN201005810Y (en) * | 2007-03-12 | 2008-01-16 | 陈森荣 | Hydraulic buffer unit for knee joint and knee joint having the same |
| CN201506402U (en) * | 2009-10-16 | 2010-06-16 | 山东大学 | Rigidity-adjustable air bag type robot leg cushioning mechanism |
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| CN101712156A (en) | 2010-05-26 |
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