CN111439320A - Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method - Google Patents

Abstract

The invention provides a variable curvature hybrid elastic buffering robot bionic calf and an adjustment method, wherein the variable curvature hybrid elastic buffering robot bionic calf includes a calf connector and a vibration damping mechanism connected thereto, wherein: the calf is connected The connection curvature between the parts and the damping mechanism is adjustable; the damping mechanism is provided with a hybrid elastic buffer mechanism. The hybrid elastic buffering robot bionic calf with variable curvature provided by the present invention can adjust the relationship between the calf connector and the damping mechanism according to the needs of the environment through the structural design of the adjustable curvature of the connection between the calf connector and the damping mechanism. Therefore, the angle of deviation between the force direction of the foot end and the linear direction of the calf connecting rod is reduced, and the extra motion torque that the calf needs to bear; in addition, by using a hybrid elastic buffer mechanism, the single spring reduction It is difficult for the vibration mechanism to adjust the vibration reduction effect of the spring according to its own weight, so that it can well complete the task of supporting and walking on the rough road.

Description

A variable curvature hybrid elastic buffer robot bionic calf and adjustment method

technical field

The invention relates to the field of structure design of a foot-type robot, in particular to a bionic calf of a variable-curvature hybrid elastic buffer robot and an adjustment method.

Background technique

On the vast land where human beings live, due to the complex and changeable terrain structure, the area of hills or swamps almost reaches more than half of the land area. In order to move freely in these complex topographical environments, it is difficult to rely on wheeled machinery alone. The footed robot can walk flexibly in complex terrain such as uneven mountains, hills, swamps, jungles, etc. in unstructured and uneven environments, and then complete post-disaster rescue and relief in environments such as earthquakes, nuclear pollution, chemical pollution, and field military operations. Special tasks such as military material transportation and high-risk environment patrols. Therefore, there is a high enthusiasm in the field of robotics research to study bionic-footed robots.

Most of the existing quadruped robots are like a quadruped bionic robot disclosed in the Chinese patent publication number CN106828654B, which includes a control system and a mechanical system, and the mechanical system includes two torso and is arranged between the two torso. The waist adjustment motor is connected with two leg mechanisms, each leg mechanism includes a multi-degree-of-freedom hybrid mechanism and a drive motor that drives the hybrid mechanism to swing. The swing axis of the hybrid mechanism and the swing axis of the two trunks Parallel, the control system coordinately controls the waist adjustment motor and the drive motor to realize the continuous swing of the two torso and four leg mechanisms to realize the jumping motion. Through the settings of the waist adjustment motor and the four leg mechanisms, the control system coordinates and controls the waist adjustment motor and The driving motor drives the two torso and four leg mechanisms to swing to realize the transformation of the overall mechanism posture, thereby realizing the continuous jumping action.

The calf mechanism of the footed robot disclosed in the above patent is a simple linear link mechanism, which is connected with the knee joint to complete the swing motion. Although the calf mechanism of the straight-shaped link is simple and convenient to design, in the process of walking on the ground with the calf swinging, the direction of the force on the foot end and the linear direction of the calf link have a large deviation angle, which makes the calf need to bear additional motion torque . In addition, the legs of some existing legged robots are also provided with a spring damping mechanism, which is often a single spring damping mechanism, but it is difficult to adjust the damping effect of the spring according to its own weight. It cannot meet the requirements of stable walking with vibration damping and buffering in uneven road conditions.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned background technology pointed out that the force direction of the foot end and the linear direction of the calf link have a large deviation angle, which makes the calf need to bear additional motion torque and it is difficult for a single spring damping mechanism to adjust the spring according to its own weight. The vibration reduction effect cannot meet the problem of stable walking with vibration reduction, buffering and stability in uneven road conditions. The present invention provides a variable curvature hybrid elastic buffering robot bionic calf and an adjustment method, wherein the variable curvature hybrid elastic buffering robot bionic calf includes a calf connector and a vibration damping mechanism connected thereto, wherein:

The connection curvature between the lower leg connecting piece and the damping mechanism is adjustable;

The vibration damping mechanism is provided with a hybrid elastic buffer mechanism.

Further, one end of the lower leg connector can be connected with the thigh, and the other end is provided with several adjustment holes; the several adjustment holes are arranged into multiple groups of adjustment holes with different angles from the horizontal direction;

The vibration damping mechanism is provided with a plurality of positioning holes;

The positioning hole is detachably connected to the adjustment hole through a third connecting piece.

Further, the adjustment hole includes a first adjustment hole, a second adjustment hole and a third adjustment hole, wherein:

The plurality of first adjustment holes are arranged horizontally; the arrangement direction of the plurality of second adjustment holes is at an angle of 20° with the horizontal direction; the arrangement direction of the plurality of third adjustment holes is at an angle of 40° with the horizontal direction.

Further, the hybrid elastic buffer mechanism includes several damping springs; the elastic coefficients of the several damping springs may be different; and the several damping springs act together on the lower leg connecting piece.

Further, three damping springs are provided.

Further, the bottom of the hybrid elastic buffer mechanism is provided with vibration damping rubber.

Further, the damping mechanism further comprises a damping mechanism piston, a piston retaining ring, a first connecting piece, a damping sleeve and a second connecting piece, wherein:

One end of the piston of the damping mechanism is provided with several positioning holes; the several positioning holes are connected with the adjustment holes on the lower leg connecting piece through the third connecting piece;

The open end of the damping sleeve is connected with a piston retaining ring through a first connecting piece;

The bottom of the piston of the damping mechanism is arranged in the damping sleeve; the stroke of the piston of the damping mechanism is limited by the piston retaining ring;

The damping rubber is connected to the bottom of the damping sleeve through a second connecting piece; the bottom of the piston of the damping mechanism is abutted against the damping rubber through a damping spring.

Further, the end of the damping spring is provided with a pressure sensor.

The present invention further provides a variable curvature hybrid elastic buffering robot bionic calf curvature adjustment method as described above, wherein the method steps are as follows:

The lower end of the lower leg connecting piece is provided with a group of adjustment holes with different included angles from the horizontal direction; the vibration damping mechanism is provided with a number of positioning holes;

The positioning hole is connected with the adjustment hole groups of different angles through the third connecting piece, so as to realize the adjustment of the curvature of the calf.

The present invention also provides a variable-curvature hybrid elastic buffering robot bionic calf vibration reduction adjustment method as described above, wherein the method steps are as follows:

The hybrid elastic buffer mechanism is provided with several damping springs; the elastic coefficients of the several damping springs are set as k1, k2, k3...kn; then the comprehensive elastic coefficient is k=k1+k2+k3+...+kn;

According to different usage scenarios, choose a combination of springs with different elastic coefficients to achieve the ideal comprehensive elastic coefficient.

The hybrid elastic buffering robot bionic calf with variable curvature provided by the present invention can adjust the relationship between the calf connector and the damping mechanism according to the needs of the environment through the structural design of the adjustable curvature of the connection between the calf connector and the damping mechanism. Therefore, the angle of deviation between the force direction of the foot end and the linear direction of the calf connecting rod is reduced, and the extra motion torque that the calf needs to bear; in addition, by using a hybrid elastic buffer mechanism, the single spring reduction It is difficult for the vibration mechanism to adjust the vibration damping effect of the spring according to its own weight. The hybrid elastic buffering robot bionic calf with variable curvature provided by the invention can have vibration reduction buffering and stable walking in uneven road conditions, so that it can well complete the supporting walking task on the rough road, and has a simple and practical structure.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

Figure 1 is a schematic diagram of a quadruped robot;

FIG. 2 is a three-dimensional schematic diagram of a bionic calf of a variable curvature hybrid elastic buffer robot provided by the present invention;

Fig. 3 is a partial cross-sectional view of a bionic calf of a variable-curvature hybrid elastic buffer robot;

Figure 4 is a side view of the calf;

FIG. 5 is a schematic cross-sectional view of the piston of the vibration damping mechanism.

Reference number:

10 Calf connector 11 The first adjustment hole 12 The second adjustment hole

13 Third adjustment hole 20 Vibration damping mechanism piston 21 Piston retaining ring

22 The first connecting piece 23 The damping sleeve 24 The damping spring

25 Damping rubber 26 Pressure sensor 27 Second connecting piece

28 Signal line 30 Third connector 201 Positioning hole

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and similar words are used for descriptive purposes only and should not be construed to indicate or imply relative importance. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, optical connections, and the like, whether direct or indirect.

Embodiments of the present invention provide a variable curvature hybrid elastic buffering robot bionic calf and an adjustment method, wherein the variable curvature hybrid elastic buffering robot bionic calf includes a calf connector 10 and a vibration damping mechanism connected thereto, wherein :

The connection curvature between the lower leg connector 10 and the damping mechanism is adjustable;

The vibration damping mechanism is provided with a hybrid elastic buffer mechanism.

In specific implementation, as shown in Figure 1, Figure 2, Figure 3, Figure 4 and Figure 5, the variable-curvature hybrid elastic buffer robot bionic calf includes a calf connector 10 and a vibration damping mechanism connected thereto, wherein:

The connection curvature between the lower leg connector 10 and the damping mechanism is adjustable; the damping mechanism is provided with a hybrid elastic buffer mechanism. Through the structural design of the adjustable connection curvature between the calf connector 10 and the damping mechanism, the curvature between the calf connector 10 and the damping mechanism can be adjusted according to the needs of the environment, so as to reduce the difference between the force direction of the foot and the damping mechanism. The linear direction of the calf link has a large deviation angle, reducing the extra motion torque that the calf needs to bear; in addition, by using a hybrid elastic buffer mechanism, it is difficult for a single spring damping mechanism to adjust the damping effect of the spring according to its own weight. The problem.

The hybrid elastic buffering robot bionic calf with variable curvature provided by the present invention can adjust the relationship between the calf connector and the damping mechanism according to the needs of the environment through the structural design of the adjustable curvature of the connection between the calf connector and the damping mechanism. Therefore, the angle of deviation between the force direction of the foot end and the linear direction of the calf connecting rod is reduced, and the extra motion torque that the calf needs to bear; in addition, by using a hybrid elastic buffer mechanism, the single spring reduction It is difficult for the vibration mechanism to adjust the vibration damping effect of the spring according to its own weight. The hybrid elastic buffering robot bionic calf with variable curvature provided by the invention can have vibration reduction buffering and stable walking in uneven road conditions, so that it can well complete the supporting walking task on the rough road, and has a simple and practical structure.

In specific implementation, one end of the calf connector 10 is provided with a structure that can be connected with the thigh, such as a connecting hole, and the other end is provided with several adjustment holes; the several adjustment holes are arranged into multiple groups of adjustment holes with different angles from the horizontal direction; the vibration damping mechanism A number of positioning holes 201 are provided thereon; the positioning holes 201 are detachably connected to the adjustment holes through a third connecting piece 30, and the third connecting piece 30 includes but is not limited to a bolt structure. Specifically, the adjustment holes include a first adjustment hole 11 , a second adjustment hole 12 and a third adjustment hole 13 , wherein: several first adjustment holes 11 are arranged horizontally; the arrangement direction of several second adjustment holes 12 is 20° from the horizontal direction Oblique angle; the arrangement direction of the plurality of third adjustment holes 13 forms an oblique angle of 40° with the horizontal direction.

When connecting, as shown in FIG. 3 , with the leftmost positioning hole 20 as the center of the circle, the adjustment hole group formed by the first adjustment hole 11 , the adjustment hole group formed by the second adjustment hole 12 , and the adjustment hole formed by the third adjustment hole 13 The groups are distributed in a linear fan shape along the center of the circle, and the damping mechanism is provided with several positioning holes 201 to connect with the adjustment hole groups of adjustment holes with different angles in the horizontal direction, so as to realize the adjustment of the calf curvature. In this embodiment, the adjustment of the curvature of the lower leg is realized through the structural design of the adjustment hole group and the positioning hole 201 , the structure is simple, and the installation is convenient.

In specific implementation, the hybrid elastic buffer mechanism includes three damping springs 24 ; the bottoms of the three damping springs 24 are provided with damping rubbers 25 ; the three damping springs 24 are evenly distributed and act together on the lower leg connector 10 ; The elastic coefficients of the three damping springs 24 may be different.

During specific implementation, the damping mechanism further includes a damping mechanism piston 20 , a piston retaining ring 21 , a first connecting piece 22 , a damping sleeve 23 and a second connecting piece 27 , wherein: the first connecting piece 22 and the second connecting piece 27 including but not limited to bolted structures;

As shown in FIG. 5 , one end of the vibration damping mechanism piston 20 is provided with several positioning holes 201 ; the positions of the several positioning holes 201 are adapted to the positions of the corresponding adjustment holes respectively; The third connecting piece 30 includes, but is not limited to, a bolt and nut structure; the open end of the damping sleeve 23 is laterally extended with a convex edge; the upper surface of the convex edge is provided with a piston retaining ring 21; The convex edge and the corresponding position of the piston retaining ring 21 are provided with a through hole; the first connecting piece 22 passes through the through hole and is fastened with the nut, so as to realize the connection of the piston retaining ring 21 to the damping sleeve 23; the damping mechanism The bottom of the piston 20 is set in the damping sleeve 23, and is connected with the damping rubber 25 at the bottom of the damping sleeve 23 through the damping spring 24; The piston retaining ring 21 limits the stroke of the piston 20 of the damping mechanism; the hemispherical damping rubber 25 is connected to the bottom of the damping sleeve 23 through the second connecting piece 27 . In this embodiment, the purpose of adjusting the curvature of the calf is achieved through the above structural design, and the ideal comprehensive vibration reduction effect is achieved through the structural design of the combination of several damping springs 24 and damping rubber 25 .

Preferably, as shown in FIG. 3 and FIG. 5 , a plurality of cylindrical grooves are provided at the bottom of the piston 20 of the damping mechanism; the fixed damping spring 24 is provided in the cylindrical groove; the cylindrical groove The depth is less than the length of the inner cavity of the damping sleeve 23 . By fixing the damping spring 24 by the cylindrical groove, the problem of unbalanced elastic force caused by the deflection of the damping spring 24 during the movement process can be avoided.

Preferably, a pressure sensor 26 is provided at the end of the damping spring 24 .

In specific implementation, as shown in FIG. 3 , the end of the damping spring 24 is attached to one side of the pressure sensor 26 , and the other side of the pressure sensor 26 is attached to the damping rubber 25 . In this embodiment, the information of the pressure sensor 26 is transmitted through the signal line 28. If the forces measured by the three pressure sensors 26 are F1, F2 and F3, then the pressure on the bionic calf is F=F1+F2+F3. In this embodiment, by setting the pressure sensors 26 at the ends of several damping springs 24, when the robot is under different forces and rough road conditions, the robot can realize the buffering of the legs while detecting the size of the ground buffering force, so as to realize the flexibility for different environmental requirements. Change the curvature of the calf for better ground support and walking ability. The pressure sensor 26 can be a commonly used type in the market, and details are not repeated here.

The present invention further provides a variable curvature hybrid elastic buffering robot bionic calf curvature adjustment method as described above, wherein the method steps are as follows:

The lower end of the lower leg connector 10 is provided with an adjustment hole group with a different angle from the horizontal direction; the vibration damping mechanism is provided with a number of positioning holes 201;

The positioning hole 201 is connected with the adjustment hole groups of different angles through the third connecting member 30, so as to realize the adjustment of the curvature of the calf.

Specifically, as shown in FIG. 3 , the lower end of the calf connector 10 is provided with adjustment holes with an inclination angle of 20° and 40° from the horizontal direction, and the third connector 30 can fix the vibration damping mechanism piston 20 to the calf connector. 10, by being fixed on the adjustment holes of different inclination angles, the piston 20 of the damping mechanism can be connected in the vertical direction or in the directions 20° and 40° different from the vertical direction, so as to achieve the ability to change the curvature of the calf; among them, the third The connector 30 includes, but is not limited to, a bolt-and-nut structure.

The present invention also provides a variable-curvature hybrid elastic buffering robot bionic calf vibration reduction adjustment method as described above, wherein the method steps are as follows:

The hybrid elastic buffer mechanism is provided with a plurality of damping springs 24; the elastic coefficients of the plurality of damping springs 24 are set as k1, k2, k3...kn; then the comprehensive elastic coefficient is k=k1+k2+k3+...+kn ;

According to different usage scenarios, choose a combination of springs with different elastic coefficients to achieve the ideal comprehensive elastic coefficient.

During specific implementation, as shown in FIGS. 2 and 3 , three damping springs 24 are installed in the damping sleeve 23 ; the upper end of the damping spring 24 is fixed in the cylindrical groove of the piston 20 of the damping mechanism, and the lower end is The circular through hole of the vibration sleeve 23 is pressed on the vibration damping rubber 25 at the foot end, and the vibration damping rubber 25 at the foot end and the vibration damping sleeve 23 are fixedly assembled through the second connecting piece 27 . In this embodiment, if the elastic coefficients of the three damping springs are k1, k2 and k3, respectively, then the comprehensive elastic coefficient is k1=k1+k2+k3, so the combination of springs with different elastic coefficients can be selected to achieve the ideal Comprehensive elastic coefficient. At the same time, the vibration damping rubber 25 at the foot end is combined to perform secondary vibration damping, so as to achieve an ideal comprehensive damping effect. Wherein, the second connecting member 27 includes, but is not limited to, a bolt and nut structure. Although terms such as calf connectors, adjustment holes, damping mechanism pistons, piston retaining rings, connectors, damping sleeves, damping springs, damping rubbers, pressure sensors, and positioning holes are often used in this paper, The possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; it is contrary to the spirit of the present invention to interpret them as any kind of additional limitation.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (10)

1. The utility model provides a bionic shank of mixed elasticity buffering robot of variable curvature which characterized in that: comprises a shank connecting piece (10) and a vibration damping mechanism connected with the shank connecting piece, wherein:

the connection curvature between the shank connecting piece (10) and the vibration damping mechanism is adjustable;

the vibration reduction mechanism is provided with a mixed elastic buffer mechanism.

2. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 1, wherein: one end of the shank connecting piece (10) can be connected with a thigh, and the other end is provided with a plurality of adjusting holes; a plurality of adjusting holes are arranged into a plurality of groups of adjusting hole groups with different included angles with the horizontal direction;

a plurality of positioning holes (201) are formed in the vibration damping mechanism;

the positioning hole (201) is detachably connected with the adjusting hole through a third connecting piece (30).

3. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 2, wherein: the regulation hole includes first regulation hole (11), second regulation hole (12) and third regulation hole (13), wherein:

a plurality of first adjusting holes (11) are horizontally arranged; the arrangement direction of the plurality of second adjusting holes (12) forms an included angle of 20 degrees with the horizontal direction; the arrangement direction of the third adjusting holes (13) forms an included angle of 40 degrees with the horizontal direction.

4. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 2 or 3, wherein: the hybrid elastic buffer mechanism comprises a plurality of damping springs (24); the elastic coefficients of the plurality of damping springs (24) can be different; a plurality of damping springs (24) act together on the shank link (10).

5. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 4, wherein: the damping springs (24) are three.

6. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 3, wherein: and the bottom of the mixed elastic buffer mechanism is provided with damping rubber (25).

7. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 6, wherein: damping mechanism still includes damping mechanism piston (20), piston retaining ring (21), first connecting piece (22), damping sleeve (23) and second connecting piece (27), wherein:

one end of the damping mechanism piston (20) is provided with a plurality of positioning holes (201); the positioning holes (201) are connected with the adjusting holes on the shank connecting piece (10) through the third connecting piece (30);

the open end of the damping sleeve (23) is connected with a piston retainer ring (21) through a first connecting piece (22);

the bottom of the damping mechanism piston (20) is arranged in the damping sleeve (23); the stroke of a piston (20) of the vibration reduction mechanism is limited through a piston retainer ring (21);

the damping rubber (25) is connected to the bottom of the damping sleeve (23) through a second connecting piece (27); the bottom of the damping mechanism piston (20) is abutted against the damping rubber (25) through a damping spring (24).

8. The bionic calf of the variable-curvature hybrid elastic buffer robot as claimed in claim 7, wherein: and a pressure sensor (26) is arranged at the tail end of the damping spring (24).

9. The curvature adjusting method of the bionic calf of the variable-curvature hybrid elastic buffer robot according to any one of claims 2-8, characterized by comprising the following steps of: the method comprises the following steps:

the lower end of the shank connecting piece (10) is provided with an adjusting hole group with different included angles with the horizontal direction; a plurality of positioning holes (201) are formed in the vibration damping mechanism;

the positioning hole (201) is connected with the adjusting hole groups with different angles through the third connecting piece (30), so that the adjustment of the lower leg curvature is realized.

10. The method for adjusting the vibration attenuation of the bionic calf of the variable-curvature hybrid elastic buffer robot according to any one of claims 4 to 8, is characterized in that: the method comprises the following steps:

a plurality of damping springs (24) are arranged in the mixed elastic buffer mechanism; the elastic coefficients of the vibration reduction springs (24) are set as k1, k2 and k3... kn; the overall elastic coefficient is k1+ k2+ k3+ - + kn; according to different use scenes, the combination of springs with different elastic coefficients is selected, so that an ideal comprehensive elastic coefficient is achieved.

Images