CN101618547B - Robot anklebone damping device - Google Patents
Robot anklebone damping device Download PDFInfo
- Publication number
- CN101618547B CN101618547B CN2009101043588A CN200910104358A CN101618547B CN 101618547 B CN101618547 B CN 101618547B CN 2009101043588 A CN2009101043588 A CN 2009101043588A CN 200910104358 A CN200910104358 A CN 200910104358A CN 101618547 B CN101618547 B CN 101618547B
- Authority
- CN
- China
- Prior art keywords
- shell
- robot
- housing
- exciting coil
- magnet exciting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a robot anklebone damping device which comprises a shell, a leaf spring arranged in the shell, a magnet exciting coil circling the outer side of the shell, a circuit board connected with the magnet exciting coil and magneto rheological fluid filled in the shell. The shell is a sealed column-shaped hollow shell, and two end surfaces of the shell are provided with central holes for installing motor rotating shafts connected with baseboards of a robot; the leaf spring is in a bent shape and is installed in the shell, the center line of the leaf spring is fixedly connected with the motor rotating shaft in a superposition mode, and any opposite side of the leaf spring is fixedly connected with the inner wall of the shell; and the magnet exciting coil is connected with the circuit board and changes a magnetic field through changing excitation so as to change the damp of a magneto rheological damper. The invention adopts the magneto rheological damper to carry out damping energy absorption and energy consumption, has more mature technology and is easy to realize. Since the variable damping characteristic of the magneto rheological damper is sufficiently utilized, the damping has very large acting range and obvious effect. In addition, the magneto rheological damper can fast respond so that the robot anklebone damping device can generate a damping function in time.
Description
Technical field
The invention belongs to the anthropomorphic robot technical field, be specifically related to the anklebone damping device structure of anthropomorphic robot.
Background technology
In the anthropomorphic robot technical field, use " joint " that be similar to the people to connect and control mutually between each parts of robot usually.But there is very big active force each other in each parts that in many cases, the joint connected.The ankle-joint of robot for example, what it connected is shank and sole, when sole landed in the robot ambulation process, ground produced very big impulsive force in the face of tiptoe, and sole also can be delivered to this power on the ankle-joint naturally.If ankle-joint does not have good buffer unit, sole can continue to reach shank to this very big impulsive force of ankle-joint, and this is that sole, ankle-joint and shank are unaffordable.In order to address this problem, many scholars and expert have carried out a large amount of research.Wherein the most frequently used method is to introduce various spring in ankle, utilizes the expansion performance of spring to come it is cushioned.But in some cases, only cushioning with spring is to meet the requirements of, because pin is very big to the impulsive force of ankle-joint, the cushioning effect that spring can play is very limited.Simultaneously, spring is merely able to the energy of pin to the active force generation of ankle-joint temporarily stored, and this part energy can be discharged again after spring recovers deformation, and this may exert an influence to robot stabilized property in advancing.
The ankle-joint structure of existing anthropomorphic robot, disclosed as on April 16th, 2008, publication number is " biomimetic ankle " patent of CN101161427.Disclose a kind of ankle-joint that adopts oscillating bearing, bearing inner race links to each other with shank, and bearing outer ring links to each other with foot, and the relative and inner ring rotation in outer ring drives sole and moves with respect to shank.Motion, rotatablely moving respectively by a pair of pneumatic muscles control around shank axis are stretched in lifting of its ankle-joint.And spring one end links shank, and the other end connects sole, and its effect is to make it to return to the equilbrium position when sideways occurring in robot.This ankle-joint structure mainly contains following shortcoming:
1. though this ankle device adopts the pneumatic muscles ACTIVE CONTROL to combine with control and spring passive, certain buffering effect is arranged, but Pneumatic artificial muscle has the height nonlinear feature, and be attended by hysteresis phenomenon, make to its modeling and control difficulty, and spring is to make it to return to the equilbrium position when being used for sideways occurring in robot, for robot during in walking sole limited to the very big buffering effect that active force had of ankle-joint.
2. because Pneumatic artificial muscle can only provide unidirectional drive power, so need to constitute the power closure of antagonism revolute joint with the realization motion arm by two muscle in the fly up and down mode of flesh of similar biology, this can increase the cost of robot.
Summary of the invention
At the prior art above shortcomings, especially the deficiency of anthropomorphic robot ankle-joint context buffer between shank and sole, the purpose of this invention is to provide a kind of good stability, buffering effect is obvious, and the anklebone damping device of robot simple in structure, that cost is low.
The technical scheme that realizes the object of the invention is: a kind of robot anklebone damping device, it is characterized in that, comprise a MR damper, described MR damper comprises housing, is located at the interior sheet spring of housing, is around in the magnet exciting coil of hull outside, the circuit board that links to each other with magnet exciting coil, and is loaded on the magnetic flow liquid in the housing;
Housing is the cylinder ghost of sealing, and the housing both ends of the surface are provided with centre bore and are used to install the machine shaft that links to each other with the robot sole;
The sheet spring is a curved-surface structure, be installed in the housing and center line overlap with machine shaft affixed, affixed on arbitrary relative edge of sheet spring and the inner walls;
Magnet exciting coil is connected with circuit board; Thereby magnet exciting coil changes the damping that magnetic field changes MR damper by changing exciting current.
Further, described circuit board comprises controller and relevant detection control circuit, detect control circuit and will be converted into the curtage signal of standard through processing afterwards by the signal that the power sensing on the robot foot base plate is obtained, controller is according to the exciting current in this curtage signal controlling magnet exciting coil, to change the magnetic field in the MR damper.
Further again, the described magnetic particle that is filled in the magnetic flow liquid in the housing is selected straight iron powder for use, adds surfactant oleic acid in artificial oil.
The course of work of the present invention is: when robot ambulation, the power sensor that is installed on the foot contacts with ground, is subjected to the very big impulsive force in ground.The power sensor is transferred to circuit board with signal, circuit board is with the input of the standard electric signal after changing as controller, electric current in the control magnet exciting coil, the size of current in the magnet exciting coil has just determined magnetic field size in the MR damper, promptly determines the viscosity size of magnetic flow liquid.When not having electric current in the magnet exciting coil, magnetic flow liquid presents the fluid behaviour of liquid; When exciting current was bigger, magnetic flow liquid viscosity was also bigger, and magnetic flow liquid presents the characteristic (this process is reversible) of class solid.In the process of robot ambulation, sole can rotate together around machine shaft, because of rotating shaft and sheet spring are fixed together, the sheet spring also has the trend of rotation, but the both sides of sheet spring all are fixed on inner walls, so deformation can only take place the sheet spring, the rotation of the sheet spring meeting countershaft after the deformation produces a damping action.Ground is big more in the face of the sole impulsive force, and controller output exciting current is big more, and magnetic flow liquid viscosity is big more, and the damping action that damper produces under the identical deformation is big more.Therefore damper has good damping, has the damping force that very wide sphere of action and very short response time and continuous reversible change, realization buffering energy-absorbing and energy storage.
After the present invention adopts technique scheme, have following major advantage:
1. the present invention has adopted MR damper to be used for carrying out buffering energy-absorbing and power consumption, and the technology comparative maturity is easy to realize.Owing to made full use of the change damping characteristic of MR damper, make buffering have very big sphere of action, effect is obvious, and simultaneously, the MR damper response is fast, makes device can in time produce cushioning effect.
2. this apparatus structure is simple, and cost is lower, and can combine with microcomputer control, has good practicability.
3. the present invention combines MR damper and sheet spring, utilize MR damper to absorb energy, utilize sheet spring storage power, the absorption and the storage ratio of regulating energy by the electric current input of regulating MR damper, have the characteristics such as flexible, that buffering effect is obvious, sphere of action is big, response is timely, temperature stability is good, simple in structure of using, and product can be very thin, and use in the joint that is fit to very much anthropomorphic robot.
Description of drawings
Fig. 1 is the structural representation of robot anklebone damping device of the present invention.
Fig. 2 is the another kind of structural representation of robot anklebone damping device of the present invention.
Fig. 3 is Fig. 1 robot anklebone (Fig. 1) rearview.
Fig. 4 is robot anklebone (Fig. 1) right view.
Among the figure, housing 1, sheet spring 2, magnet exciting coil 3, machine shaft 4, sole 5, shank 6, circuit board 7, motor 8, motor gear 9.
The specific embodiment
The invention will be further described below in conjunction with the specific embodiment, but do not limit the invention.
Embodiment 1:
As shown in Figures 1 to 4, a kind of anklebone damping device of robot, energy to robot anklebone stores and consumes, and critical piece is a MR damper, and MR damper comprises cylindrical shell 1, sheet spring 2, magnet exciting coil 3 and the circuit board 7 that fills magnetic flow liquid.
Magnet exciting coil 3 and cylindrical shell 1 concentricity axle and are connected with circuit board 7 on the lateral surface of cylindrical shell 1.Thereby magnet exciting coil 3 changes the damping that magnetic field changes MR damper by changing exciting current.
Magnetic flow liquid is filled in the housing 1.Magnetic particle is selected the maximum straight iron powder of practical application for use, price comparison is cheap, magnetic saturation is also than other metals, alloy and oxidation object height, and carrier fluid is selected a kind of non magnetic liquid-based carrier fluid for use, adds surfactant oleic acid and prevent iron powder precipitation and irreversible spongy flocculation in artificial oil.The ankle-joint that the present invention can be anthropomorphic robot provides efficient buffer, also can be applied to the stressed joint of other legged robots.
Protection domain of the present invention is not restricted to this specific embodiment, and it can also be made in the protection domain of claim and well known to a person skilled in the art all equivalent variations, and it still belongs to the scope of protection of the invention.
Claims (2)
1. robot anklebone damping device, it is characterized in that, comprise a MR damper, described MR damper comprises housing (1), is located at the interior sheet spring (2) of housing, is around in the magnet exciting coil (3) of hull outside, the circuit board (7) that links to each other with magnet exciting coil, and is loaded on the magnetic flow liquid in the housing (1); The described magnetic particle that is filled in the magnetic flow liquid in the housing is selected straight iron powder for use, adds surfactant oleic acid in artificial oil;
Housing (1) is the cylinder ghost of sealing, and housing (1) both ends of the surface are provided with centre bore and are used to install the machine shaft (4) that links to each other with the robot sole;
Sheet spring (2) is a curved-surface structure, be installed in the housing (1) and center line overlap with machine shaft (4) affixed, affixed on arbitrary relative edge of sheet spring (2) and the inner walls;
Magnet exciting coil (3) is connected with circuit board; Magnet exciting coil (3) thus change the damping that magnetic field changes MR damper by changing exciting current.
2. robot anklebone damping device according to claim 1, it is characterized in that, described circuit board comprises controller and relevant detection control circuit, detect control circuit and will be converted into the curtage signal of standard through processing afterwards by the signal that the power sensing on the robot foot base plate is obtained, controller is according to the exciting current in this curtage signal controlling magnet exciting coil, to change the magnetic field in the MR damper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101043588A CN101618547B (en) | 2009-07-16 | 2009-07-16 | Robot anklebone damping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101043588A CN101618547B (en) | 2009-07-16 | 2009-07-16 | Robot anklebone damping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101618547A CN101618547A (en) | 2010-01-06 |
| CN101618547B true CN101618547B (en) | 2011-04-06 |
Family
ID=41512036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101043588A Expired - Fee Related CN101618547B (en) | 2009-07-16 | 2009-07-16 | Robot anklebone damping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101618547B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922535B (en) * | 2012-10-24 | 2014-11-19 | 北京大学 | Magnetorheological braking ankle joint |
| CN102897244B (en) * | 2012-10-24 | 2014-12-03 | 北京大学 | Direct-drive ankle joint |
| CN104552333B (en) * | 2015-01-14 | 2017-01-11 | 浙江工业大学 | Extra flexible robot joint |
| CN105617632A (en) * | 2016-01-22 | 2016-06-01 | 武汉理工大学 | Intelligent boating machine |
| CN109533078B (en) * | 2018-12-24 | 2020-04-14 | 重庆大学 | Robot foot structure based on magnetorheological technology and robot |
| CN110861119A (en) * | 2019-12-02 | 2020-03-06 | 北京航空航天大学 | Polydimethylsiloxane/liquid metal composite material and preparation method and application thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1758045A (en) * | 2005-10-26 | 2006-04-12 | 重庆大学 | Damping matching test method and system for automobile suspension system based on magnetic rheology technology |
| CN1291175C (en) * | 2002-09-26 | 2006-12-20 | 天津理工学院 | Magnetorheological fluid damp type dynamic vibration absorber and method of mounting thereof |
| CN101126430A (en) * | 2007-09-18 | 2008-02-20 | 重庆大学 | Parallel type vibration isolation buffer based on magneto-rheological technology |
| CN101161427A (en) * | 2007-11-27 | 2008-04-16 | 清华大学 | Bionic anklebone |
-
2009
- 2009-07-16 CN CN2009101043588A patent/CN101618547B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1291175C (en) * | 2002-09-26 | 2006-12-20 | 天津理工学院 | Magnetorheological fluid damp type dynamic vibration absorber and method of mounting thereof |
| CN1758045A (en) * | 2005-10-26 | 2006-04-12 | 重庆大学 | Damping matching test method and system for automobile suspension system based on magnetic rheology technology |
| CN101126430A (en) * | 2007-09-18 | 2008-02-20 | 重庆大学 | Parallel type vibration isolation buffer based on magneto-rheological technology |
| CN101161427A (en) * | 2007-11-27 | 2008-04-16 | 清华大学 | Bionic anklebone |
Non-Patent Citations (2)
| Title |
|---|
| Chengqiu Li.Research and Development of the Intelligently-Controlled Prosthetic Ankle Joint.《Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation》.2006,第1114-1119页. * |
| Junji FURUSHO.Development of Shear Type Compact MR Brake for the Intelligent Ankle-Foot Orthosis and Its Control.《Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics》.2008,第89-94页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101618547A (en) | 2010-01-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101618547B (en) | Robot anklebone damping device | |
| CN207345974U (en) | A kind of quadruped robot | |
| CN105587757B (en) | A kind of permanent magnetism ball-joint and its measuring method for carrying posture sensing | |
| CN104647397B (en) | A kind of flexible joint of stiffness variable | |
| CN105269591B (en) | Two-freedom wide-angle motion biomimeticses elbow joint | |
| CN201875042U (en) | Self-induction type current variable shock absorption damper | |
| CN104895985A (en) | Goat leg joint-shaped vibration reduction joint | |
| CN111005467A (en) | Self-powered self-adaptive magnetorheological damper and electromagnetic damper | |
| CN212001685U (en) | Self-powered self-adaptive magneto-rheological damper | |
| CN101565973B (en) | Magnetorheological-shape memory alloy hollow ball intelligent vibration isolator | |
| CN102092429A (en) | Two-leg walking mechanism | |
| CN114017468A (en) | Combined type magneto-rheological elastomer vibration isolator capable of realizing multidirectional vibration control | |
| CN201400941Y (en) | Intelligent vibration isolator of magnetorheological-shape memory alloy hollow ball | |
| CN108442555A (en) | A kind of half compound magnetic rheological liquid damper of active Self-resetting quality runner | |
| Ramkumar et al. | Synthesis characterization and functional analysis of magneto rheological fluid–a critical review | |
| CN108591351B (en) | Hydraulic electromagnetic vibration reduction system suitable for transplanter and vibration reduction method thereof | |
| CN103991090B (en) | A kind of knuckle type industrial robot compensating cylinder | |
| CN108869614B (en) | A kind of rotary self-adaptive magnetorheological fluid shock absorber | |
| CN101387319B (en) | Toughness changing gravity compensating mechanism for magnetic rheological liquid | |
| CN114474018B (en) | Passive load-bearing exoskeleton knee joint device based on magnetorheological fluid | |
| CN201193665Y (en) | Harmless vibration absorber | |
| CN207379696U (en) | Hydraulic spherical connector with resilient retention mechanism | |
| Zhang et al. | Design and experiment evaluation of a magneto-rheological damper for the legged robot | |
| CN204054079U (en) | A kind of knuckle type industrial robot compensating cylinder | |
| CN203780647U (en) | Bionic mechanical dinosaur |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| 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: 20110406 Termination date: 20140716 |
|
| EXPY | Termination of patent right or utility model |