CN105691485B - A kind of hydraulic robot active compliance foot mechanism - Google Patents
A kind of hydraulic robot active compliance foot mechanism Download PDFInfo
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- CN105691485B CN105691485B CN201610150872.5A CN201610150872A CN105691485B CN 105691485 B CN105691485 B CN 105691485B CN 201610150872 A CN201610150872 A CN 201610150872A CN 105691485 B CN105691485 B CN 105691485B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of hydraulic robot active compliance foot mechanism, belongs to hydraulic pressure legged type robot field.The invention aims to solve the problems, such as that sufficient end and ground contact force are big and concussion causes upper mounting plate unstable, there is provided a kind of hydraulic robot active compliance foot mechanism.Foot sleeve in foot mechanism is the hollow sleeve of bottom end opening, and convex is arranged at top, and pin hole is provided with convex and is used to be connected with robot leg joint, and the barrel of foot sleeve is provided with opening, and opening is corresponding with hydraulic cylinder；Hydraulic cylinder is placed in inside foot sleeve, and Barrel of Hydraulic Cylinders is fixedly connected with foot sleeve；Displacement transducer is located in hydraulic cylinder；Servo valve is fixedly connected by the opening of foot sleeve with hydraulic cylinder；Hydraulic cylinder cylinder rod is connected with force snesor, sliding block, spring, sufficient side pole and sufficient end hemisphere successively；Pretension screw is used for fixing foot side pole, and adjusts the pretightning force of spring；The present invention can also realize that damping in the case of varying load and rigidity are adjustable.
Description
Technical field
The present invention relates to a kind of hydraulic robot active compliance foot mechanism, belongs to hydraulic pressure legged type robot field.
Background technology
Legged type robot has stronger landform adaptability relative to robots such as wheeled, crawler types.For apery
Biped robot or the four-footed or multi-foot robot of imitative animal, its foot are all the important machines that machine human and environment is contacted
Structure.When carrying out environment contact, it is desirable to which the interaction force between machine human and environment is small, and concussion number is few, that is, realizes robot
Compliance between environment contacts.Therefore, Robot foot mechanism reasonable in design is to reduce interaction force and concussion time
Several keys.
Legged type robot has a variety of type of drive, including motor, pneumatic and hydraulic pressure etc..Motor and pneumatic actuation are due to it
Power to volume ratio is small, is restricted in heavy load, high dynamic robot field.The legged type robot of hydraulic-driven is to realize big bear
Carry, the effective solution of high dynamic walking.But conventional hydraulic driving is typical rigidity driving, its position controls rigidity
Greatly, greater impact power will be produced when carrying out environment contact, brings the unstable of robot upper mounting plate.Therefore, to realize hydraulic pressure
The heavy load high dynamic walking of legged type robot, first has to the contact force for solving the problems, such as between its sufficient end and environment.
Traditional legged type robot foot structure is generally without submissive or passive compliance structure, such as rigid structure or rigidity knot
Structure adds flexible sufficient end, or sufficient end add can not variation rigidity spring.These methods do not possess the energy of any adaptation environmental change
Power, it is impossible to the rigidity at active accommodation foot end and damping.In load and environmental change, the contact process of sufficient end and environment
Cannot active accommodation, so as to produce larger interaction force or produce the concussion of robot upper mounting plate.
Chinese patent CNIO2582714A discloses a kind of hydraulic-driven double-foot robot lower limb machine with heavy burden ability
Structure, using pure rigid foot, it is stable so as to influence robot upper mounting plate that larger contact force will be produced when being contacted with ground.
Chinese patent CNIO3407514A discloses a kind of Four-foot bio-robot leg, and its sufficient end adds bullet using rigid structure
The mode of spring enters row buffering and damping.Its spring rate is non-adjustable, does not add damping, so as to need hand when loading and changing
Dynamic spring of changing is to adapt to load, and undamped process of contacting to earth will cause the multiple concussion of robot platform.
The content of the invention
The invention aims to solve, sufficient end and ground contact force are big and concussion causes upper mounting plate is unstable to ask
Topic, there is provided a kind of hydraulic robot active compliance foot mechanism, the structure can also realize damping in the case of varying load and
Rigidity is adjustable.
The purpose of the present invention is achieved through the following technical solutions.
A kind of hydraulic robot active compliance foot mechanism, including：Foot sleeve, hydraulic cylinder, servo valve, force snesor,
Sliding block, spring, pretension screw, sufficient side pole, sufficient end hemisphere, displacement transducer；The hydraulic cylinder is by Barrel of Hydraulic Cylinders and hydraulic cylinder
Cylinder rod forms；
Also include pressure-reducing valve, hydraulic pump, overflow valve, fuel tank；
The foot sleeve is the hollow sleeve of bottom end opening, and convex is arranged at top, and pin hole is provided with convex and is used for and machine
Device people leg joint connects, and the barrel of foot sleeve is provided with opening, and opening is corresponding with hydraulic cylinder；Hydraulic cylinder is placed in foot set
Cylinder is internal, and Barrel of Hydraulic Cylinders is fixedly connected with foot sleeve；Displacement transducer is located in hydraulic cylinder；Servo valve passes through foot sleeve
Opening be fixedly connected with hydraulic cylinder；Hydraulic cylinder cylinder rod connects with force snesor, sliding block, spring, sufficient side pole and sufficient end hemisphere successively
Connect；Pretension screw is used for fixing foot side pole, and adjusts the pretightning force of spring；
Hydraulic pump pumps out hydraulic oil from fuel tank；Hydraulic oil flows through the oil inlet of servo valve after being depressurized by pressure-reducing valve,
And then flow into hydraulic cylinder；Hydraulic oil passes through overflow valve overflow oil return box；
The sufficient side pole is T-shaped structure or decussate texture；
The sliding block is in-line structure or T-shaped structure；
Described force snesor side is that internal thread side is external screw thread, and internal thread is connected with the hydraulic cylinder cylinder rod, outside
Screw thread is connected with the sliding block.
The sufficient end hemisphere is increased using elastomeric material and frictional ground force.
The course of work comprises the following steps that：
Step 1: for electricity in whole system, hydraulic oil is pumped into by servo valve, unnecessary liquid by pressure-reducing valve by hydraulic pump
Press oil from overflow valve overflow oil return box.
Step 2: detecting the positional information of hydraulic cylinder cylinder rod by displacement transducer, the positional information is fed back into hydraulic pressure
The control system of cylinder.Control system carries out position control by servo valve to hydraulic cylinder so that hydraulic cylinder cylinder rod reaches given
Position.
Step 3: when sufficient end hemisphere and ground are in contact, band action spot side pole, spring and sliding block move upwards, spring
Compressed, force snesor detects impulsive force.The impulsive force that force snesor is detected feeds back to the control system of hydraulic cylinder, leads to
Cross algorithm control servo valve so that hydraulic cylinder cylinder rod is retracted upwards, to reduce impulsive force.
Step 4: with reference to the information of displacement transducer and force snesor, by the flow of servo valve control hydraulic oil, to adjust
Section hydraulic cylinder cylinder rod extends and retracts so that sufficient end link moves up and down, to adapt to connecing for different sufficient end hemisphere and ground
Touch.
Beneficial effect
A kind of hydraulic robot active compliance foot mechanism of the present invention, after being contacted to earth at sufficient end, is delayed by spring
Punching, and the position signalling that the impulsive force of force snesor detection and position sensor are detected introduces the control system of hydraulic cylinder, profit
Extended and retracted with Active Compliance Control method control hydraulic cylinder cylinder rod, so as to for foot mechanism add adjustable rigidity and
Damping.When sufficient end hemisphere, which contacts to earth, causes stress to change, force snesor by controller of the change real-time delivery of power to hydraulic cylinder,
So as to by the position of servo valve regulation hydraulic cylinder bar, realize the adaptability to extraneous stress of the active compliance foot.
Brief description of the drawings
Fig. 1 is foot mechanism three-dimensional installation diagram of the present invention；
Fig. 2 is foot mechanism installation diagram of the present invention；
Fig. 3 is the hydraulic principle schematic diagram of the present invention；
Fig. 4 is the hydraulic cylinder Active Compliance Control method schematic diagram of the present invention.
In figure：1-foot sleeve, 2-hydraulic cylinder, 3-servo valve, 4-force snesor, 5-sliding block, 6-spring, 7-
Pretension screw, 8-sufficient side pole, 9-sufficient end hemisphere, 10-displacement transducer, 11-Barrel of Hydraulic Cylinders, 12-hydraulic cylinder cylinder rod,
13-pressure-reducing valve, 14-hydraulic pump, 15-overflow valve, 16-fuel tank.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of hydraulic robot active compliance foot mechanism, as depicted in figs. 1 and 2, including：Foot sleeve 1, hydraulic cylinder 2,
Servo valve 3, force snesor 4, sliding block 5, spring 6, pretension screw 7, sufficient side pole 8, sufficient end hemisphere 9, displacement transducer 10；The liquid
Cylinder pressure 2 is made up of Barrel of Hydraulic Cylinders 11 and hydraulic cylinder cylinder rod 12；
Also include pressure-reducing valve 13, hydraulic pump 14, overflow valve 15, fuel tank 16；
The foot sleeve 1 is the hollow sleeve of bottom end opening, and convex is arranged at top, and pin hole is provided with convex and is used for and machine
Device people leg joint connects, and the barrel of foot sleeve 1 is provided with opening, and opening is corresponding with hydraulic cylinder 2；Hydraulic cylinder 2 is placed in foot
Inside portion's sleeve 1, Barrel of Hydraulic Cylinders 11 is fixedly connected with foot sleeve 1；Displacement transducer 10 is located in hydraulic cylinder 2；Servo valve 3
It is fixedly connected by the opening of foot sleeve 1 with hydraulic cylinder 2；Hydraulic cylinder cylinder rod 12 successively with force snesor 4, sliding block 5, spring 6,
Sufficient side pole 8 and sufficient end hemisphere 9 connect；Pretension screw 7 is used for fixing foot side pole 8, and adjusts the pretightning force of spring 6；
Hydraulic pump 14 pumps out hydraulic oil from fuel tank 16；Hydraulic oil flows through servo valve 3 after being depressurized by pressure-reducing valve 13
Oil inlet, and then flow into hydraulic cylinder 2；Hydraulic oil passes through the overflow oil return box 16 of overflow valve 15；
The sufficient side pole 8 is decussate texture, and upper end distal process, which rises, is used for fixed spring 6；
The sliding block 5 is T-shaped structure, and lower end projection is used for fixed spring 6；
The described side of force snesor 4 is that internal thread side is external screw thread, and internal thread is connected with the hydraulic cylinder cylinder rod 12,
External screw thread is connected with the sliding block 5.
The sufficient end hemisphere 9 is increased using elastomeric material and frictional ground force.
The course of work：
Step 1：System electrification and fuel feeding
For electricity in whole system, using the hydraulic circuit shown in Fig. 3, hydraulic oil is passed through by pressure-reducing valve 13 by hydraulic pump 14
It is pumped into servo valve 3, unnecessary hydraulic oil is from the overflow oil return box 16 of overflow valve 15.
Step 2: regulation initial tension of spring
The displacement data that displacement transducer 10 obtains is fed back to the control system (as shown in Figure 4) of hydraulic cylinder 2, makes hydraulic pressure
Cylinder cylinder rod 12 is stretched out, and drives force snesor 4 and sliding block 5 to move downward, and compression spring 6 produces elastic force, adjusts pretension screw
7, the pretightning force of spring is adjusted by the reading of force snesor 4.
The retraction process Step 3: sufficient side pole is contacted to earth
When sufficient end hemisphere 9 contacts to earth, sufficient side pole 8 due to axial direction upward sliding of the impact force action along foot sleeve 1,
And compression spring 6.Spring is pushed movable slider 5 and moved upwards, and caused power is detected by force snesor 4.Power is passed
The data input Active Compliance Control system (Fig. 4) of displacement transducer 10 inside the data and hydraulic cylinder 2 of sensor 4, control is watched
Take valve 3 and be open and buffer sufficient end impulsive force to promote hydraulic cylinder cylinder rod 12 to retract.During hydraulic cylinder cylinder rod 12 is retracted, pass through master
It is that hydraulic cylinder 2 adds adjustable rigidity and damping to move Shared control technology so that whole foot system rigidity and damping are adjustable, and fit
Should sufficient end stress change.
Step 4: sufficient side pole stretches out process
When sufficient end hemisphere 9 and ground contact force reach maximum and start to reduce, spring 6 is compressed to most short and started by pressing
Contracting is changed into extending, while hydraulic cylinder cylinder rod 12 is changed into stretching out also according to Active Compliance Control algorithm from retracting, so as to action spot end
Bar 8 stretches out, until hydraulic cylinder cylinder rod 12 reaches given length.
Claims (5)
- A kind of 1. hydraulic robot active compliance foot mechanism, it is characterised in that：Including：Foot sleeve (1), hydraulic cylinder (2), is watched Take valve (3), force snesor (4), sliding block (5), spring (6), pretension screw (7), sufficient side pole (8), sufficient end hemisphere (9), displacement biography Sensor (10)；The hydraulic cylinder (2) is made up of Barrel of Hydraulic Cylinders (11) and hydraulic cylinder cylinder rod (12)；The foot sleeve (1) is the hollow sleeve of bottom end opening, and convex is arranged at top, and pin hole is provided with convex and is used for and machine People leg joint connects, and the barrel of foot sleeve (1) is provided with opening, and opening is corresponding with hydraulic cylinder (2)；Hydraulic cylinder (2) is put Internal in foot sleeve (1), Barrel of Hydraulic Cylinders (11) is fixedly connected with foot sleeve (1)；Displacement transducer (10) is located at hydraulic pressure In cylinder (2)；Servo valve (3) is fixedly connected by the opening of foot sleeve (1) with hydraulic cylinder (2)；Hydraulic cylinder cylinder rod (12) is successively It is connected with force snesor (4), sliding block (5), spring (6), sufficient side pole (8) and sufficient end hemisphere (9)；Pretension screw (7) is used to fix Sufficient side pole (8), and adjust the pretightning force of spring (6)；The course of work is as follows：Step 1: hydraulic oil is pumped into servo valve (3) by pressure-reducing valve (13) by hydraulic pump (14), unnecessary hydraulic oil is from overflowing Flow valve (15) overflow oil return box (16)；Step 2: detecting the positional information of hydraulic cylinder cylinder rod (12) by displacement transducer (10), the positional information is fed back to The control system of hydraulic cylinder (2)；Control system carries out position control by servo valve (3) to hydraulic cylinder (2) so that hydraulic cylinder Bar (12) reaches given position；Step 3: when sufficient end hemisphere (9) and ground are in contact, band action spot side pole (8), spring (6) and sliding block (5) are transported upwards Dynamic, spring (6) is compressed, and force snesor (4) detects impulsive force；The impulsive force that force snesor (4) detects is fed back into liquid The control system of cylinder pressure (2), servo valve (3) is controlled by algorithm so that hydraulic cylinder cylinder rod (12) is retracted upwards, to reduce impact Power；Step 4: with reference to the information of displacement transducer (10) and force snesor (4), pass through the stream of servo valve (3) control hydraulic oil Amount, to adjust extending and retracting for hydraulic cylinder cylinder rod (12) so that sufficient side pole (8) moves up and down, to adapt to different sufficient end half Ball (9) and the contact force on ground.
- A kind of 2. hydraulic robot active compliance foot mechanism as claimed in claim 1, it is characterised in that：Also include pressure-reducing valve (13), hydraulic pump (14), overflow valve (15), fuel tank (16)；Hydraulic pump (14) pumps out hydraulic oil from fuel tank (16)；Hydraulic oil The oil inlet of servo valve (3) is flowed through after being depressurized by pressure-reducing valve (13), and then is flowed into hydraulic cylinder (2)；Hydraulic oil passes through overflow Valve (15) overflow oil return box (16).
- A kind of 3. hydraulic robot active compliance foot mechanism as claimed in claim 1, it is characterised in that：The sufficient side pole (8) it is T-shaped structure or decussate texture；The sliding block (5) is in-line structure or T-shaped structure.
- A kind of 4. hydraulic robot active compliance foot mechanism as claimed in claim 1, it is characterised in that：Described power sensing Device (4) side is that internal thread opposite side is external screw thread, and internal thread is connected with the hydraulic cylinder cylinder rod (12), external screw thread and the cunning Block (5) is connected.
- A kind of 5. hydraulic robot active compliance foot mechanism as claimed in claim 1, it is characterised in that：The sufficient end hemisphere (9) using elastomeric material increase and frictional ground force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150872.5A CN105691485B (en) | 2016-03-16 | 2016-03-16 | A kind of hydraulic robot active compliance foot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150872.5A CN105691485B (en) | 2016-03-16 | 2016-03-16 | A kind of hydraulic robot active compliance foot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105691485A CN105691485A (en) | 2016-06-22 |
| CN105691485B true CN105691485B (en) | 2018-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610150872.5A Expired - Fee Related CN105691485B (en) | 2016-03-16 | 2016-03-16 | A kind of hydraulic robot active compliance foot mechanism |
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| CN106625580A (en) * | 2016-11-23 | 2017-05-10 | 华南理工大学 | Single-motor-driven robot walking mechanism |
| CN107089277A (en) * | 2017-06-15 | 2017-08-25 | 河北工业大学 | A kind of novel bionic Hexapod Robot |
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| CN107980301B (en) * | 2017-12-27 | 2023-11-21 | 河南科技大学 | Vibration reduction system and vibration reduction method for vegetable transplanting machine |
| CN108749951B (en) * | 2018-06-11 | 2021-07-30 | 山东大学 | Quadruped robot |
| CN108908301B (en) * | 2018-08-10 | 2023-08-04 | 北京钢铁侠科技有限公司 | Lower limb structure of robot and robot |
| CN109855520B (en) * | 2019-01-02 | 2020-09-11 | 广州大学 | Micro-nano precision measurement displacement sensor, system and preparation method |
| CN109774814A (en) * | 2019-01-16 | 2019-05-21 | 浙江大学 | A kind of Multifeet walking robot foot structure for realizing feedback of contacting to earth |
| CN109774813A (en) * | 2019-01-16 | 2019-05-21 | 浙江大学 | A kind of small-sized electric hexapod robot |
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| CN110030234B (en) * | 2019-04-30 | 2023-01-13 | 北京航空航天大学 | Interactive safety control strategy based on hydraulic compliant driver |
| CN110143246B (en) * | 2019-05-29 | 2020-10-27 | 北京理工大学 | Leg-foot robot foot end design with buffering and boosting functions |
| 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 |
| CN111891248B (en) * | 2020-06-19 | 2021-10-29 | 浙江大学 | Multi-foot walking robot and control method thereof and foot end mechanism with improved structure |
| CN112283181A (en) * | 2020-09-25 | 2021-01-29 | 哈尔滨工业大学 | High-power-density auxiliary boosting hydraulic cylinder for foot type robot |
| CN114087926A (en) * | 2021-10-28 | 2022-02-25 | 河北汉光重工有限责任公司 | Hydraulic shock absorber and target vehicle self-adaptive shock absorption system |
| CN114620160B (en) * | 2022-03-23 | 2024-04-05 | 北京理工大学 | Electric quadruped robot based on multistage electric cylinder parallel leg-foot structure |
| CN115447691B (en) * | 2022-09-01 | 2023-06-02 | 南京信息工程大学 | Foot end mechanism with variable rigidity |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU1678692A1 (en) * | 1989-07-03 | 1991-09-23 | Восточно-Сибирский технологический институт | Vehicle walking propeller |
| WO2005025815A1 (en) * | 2003-09-12 | 2005-03-24 | Tmsuk Co., Ltd. | Direct-acting link device and two-legged walking robot with the device |
| CN201179900Y (en) * | 2008-03-26 | 2009-01-14 | 西北工业大学 | Power system of jump robot |
| CN202243769U (en) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | Leg buffer device for robot |
| CN104015202B (en) * | 2014-06-20 | 2016-09-07 | 北京航空航天大学 | hydraulic series elastic driver |
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2016
- 2016-03-16 CN CN201610150872.5A patent/CN105691485B/en not_active Expired - Fee Related
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| CN105691485A (en) | 2016-06-22 |
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