CN107628141B - A kind of apery machine shank with take-off pooling feature - Google Patents
A kind of apery machine shank with take-off pooling feature Download PDFInfo
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- CN107628141B CN107628141B CN201710880150.XA CN201710880150A CN107628141B CN 107628141 B CN107628141 B CN 107628141B CN 201710880150 A CN201710880150 A CN 201710880150A CN 107628141 B CN107628141 B CN 107628141B
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Abstract
The invention discloses a kind of apery machine shank with take-off pooling feature, belongs to anthropomorphic robot field and shock isolation field.It includes shin bone cylinder body, upper end cover, lower cover, fibula perforated piston module and pressure-proof spring；One end of fibula is fixed in porous mode module；Shin bone cylinder interior is divided into the area cylinder body A and the area cylinder body B by perforated piston module；Viscous fluid is full of inside the area cylinder body A and the area cylinder body B；Perforated piston module includes piston only, the unidirectional hole of multiple tracks cross-section, one-way flow lid A, the unidirectional hole in multiple tracks gradual change section, one-way flow lid B, locking spring A and locking spring B；The lower end of pressure-proof spring is connected with lower cover, and the upper end is free；The unidirectional hole in multiple tracks gradual change section is alternatively arranged with the unidirectional hole of multiple tracks cross-section.The present invention is a kind of shank that can stretch, can absorb impact energy, the shank buffer with skip functionality.
Description
Technical field
The invention mainly relates to anthropomorphic robot field and shock isolation field, refer in particular to a kind of with take-off pooling feature
Apery machine shank.
Background technique
With the development of modern industrialization, the research of anthropomorphic robot has started one scientific and technological upsurge, receives extensive
Concern.Anthropomorphic robot includes the design of manipulator, mechanical foot, head and trunk, and wherein the design of pedipulator is particularly important, this
It is because anthropomorphic robot is difficult to imitate the posture of mankind's jump in the process of walking, it is difficult to realize the suction of greater impact energy
It receives.Prior art apery robot absorbs the vibration damping that impact energy relies primarily on foot, and this effectiveness in vibration suppression is limited.Therefore, if
Counting one kind can be had a very important significance by the apery pedipulator that leg stretching motion absorbs impact energy.
Summary of the invention
Present invention technical problem to be solved is: can not absorb impact energy for mechanical shank of the existing technology
Technical problem, the present invention provide a kind of shank that can stretch, can absorb impact energy, the shank buffering with skip functionality
Device.
To solve the above-mentioned problems, a kind of solution proposed by the present invention are as follows: apery machine with take-off pooling feature
Device shank, including shin bone cylinder body are installed in upper end cover, the lower cover of the shin bone cylinder body upper/lower terminal respectively, may pass through described
The fibula of upper end cover free movement is installed in the perforated piston module and pressure-proof spring of the shin bone cylinder interior；The fibula
One end be fixed in the porous mode module；The shin bone cylinder interior is divided into cylinder body A by the perforated piston module
Area and the area cylinder body B；Viscous fluid is full of inside the area the cylinder body A and the area cylinder body B；
The perforated piston module include piston only, the unidirectional hole of multiple tracks cross-section being opened on the piston only,
The one-way flow lid A for being installed in the unidirectional hole upper end of the multiple tracks cross-section, the multiple tracks gradual change being opened on the piston only are cut
The unidirectional hole in face, the one-way flow lid B for being installed in the unidirectional hole lower end in multiple tracks gradual change section, the connection one-way flow lid A with
Locking spring A, the connection one-way flow lid B and the unidirectional hole lower part in the gradual change section on the unidirectional hole top of cross-section
Locking spring B；The lower end of the pressure-proof spring is connected with the lower cover, and the upper end is free；Multiple tracks gradual change section is unidirectional
Hole is alternatively arranged with the unidirectional hole of multiple tracks cross-section, and center line is parallel to each other；
When the piston only is static or moves upwards, the one-way flow lid A is closed under the action of the locking spring A
Close the unidirectional hole of multiple tracks cross-section；When the piston only moves downward, the one-way flow lid A is under viscous fluid effect
The unidirectional hole of multiple tracks cross-section is opened, the fluid of the shin bone cylinder interior is allowed to flow to the area cylinder body A by the area cylinder body B；
When the piston only is static or moves downward, the one-way flow lid B is closed under the action of the locking spring B
Close the unidirectional hole in gradual change section；When the piston only moves upwards, the one-way flow lid B is beaten under viscous fluid effect
The unidirectional hole in gradual change section is opened, the fluid of the shin bone cylinder interior is allowed to flow to the area cylinder body B by the area cylinder body A.
The resistance to compression bullet will be compressed after the pressure-proof spring is less than its initial length when the piston only moves downward
Spring；It will be disengaged from the pressure-proof spring after the pressure-proof spring is restored to phase initial length when the piston only moves upwards；
The unidirectional hole in gradual change section is the circular through hole of internal diameter linear change, and the upper end aperture is times in lower end aperture；
The unidirectional hole of cross-section is the circular through hole of constant inner diameter, and internal diameter is equal to the 5 of the unidirectional hole maximum inner diameter in the gradual change section
Times.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) when apery machinery shank of the invention shortens, i.e., fibula moves downward, and piston only gradually reduces resistance to compression bullet
Spring, since the internal diameter in the unidirectional hole of cross-section is larger, the damping force of viscous fluid can be ignored compared with spring force, and spring, which absorbs, to be come
From the huge impact force in ground, pressure-proof spring can absorb extraneous impact force immediately.
(2) when apery machinery shank of the invention stretches out, i.e., fibula moves upwards, and pressure-proof spring upper end and piston only are de-
From viscous fluid flows in the unidirectional hole in gradual change section generates relatively small fluid damping forces, and pressure-proof spring is stored because of compression
Energy be gradually converted into the damping force of viscous fluid, to facilitate mechanical shank take-off.
Detailed description of the invention
Fig. 1 is a kind of structure principle chart of apery machine shank with take-off pooling feature of the invention.
In figure, 1-fibula；2-upper end covers；3-shin bone cylinder bodies；31-the areas cylinder body A；32-the areas cylinder body B；40-piston sheets
Body；The unidirectional hole of 41-cross-sections；411-one-way flow lid A；412-locking spring A；42-unidirectional the hole in gradual change sections；421—
One-way flow lid B；422-locking spring B；5-pressure-proof springs；6-lower covers.
Specific embodiment
Below with reference to the drawings and specific embodiments, invention is further described in detail.
A kind of apery machine shank with take-off pooling feature shown in Figure 1, of the invention, including shin bone cylinder body 3,
It is installed in upper end cover 2, the lower cover 6 of 3 upper/lower terminal of shin bone cylinder body respectively, may pass through the fibula 1 of 2 free movement of upper end cover, fills
Set on the perforated piston module and pressure-proof spring 5 of shin bone cylinder interior；One end of fibula 1 is fixed in porous mode module；It is more
3 inside division of shin bone cylinder body is the area cylinder body A 31 and the area cylinder body B 32 by hole piston modules；Inside the area cylinder body A 31 and the area cylinder body B 32
Full of viscous fluid；
Shown in Figure 1, perforated piston module includes piston only 40, the multiple tracks cross-section being opened on piston only 40
Unidirectional hole 41, the one-way flow lid A411 for being installed in unidirectional 41 upper end of hole of multiple tracks cross-section, be opened in it is more on piston only 40
The unidirectional hole 42 in road gradual change section, the one-way flow lid B421 for being installed in unidirectional 42 lower end of hole in multiple tracks gradual change section, connection one-way flow
Dynamic lid A411 and the locking spring A412 on unidirectional 41 top of hole of cross-section, it connect the unidirectional hole one-way flow lid B421 and gradual change section
The locking spring B422 of 42 lower parts；The lower end of pressure-proof spring 5 is connected with lower cover 6, and the upper end is free；Multiple tracks gradual change section is unidirectional
Hole 42 is alternatively arranged with the unidirectional hole 41 of multiple tracks cross-section, and center line is parallel to each other；
Shown in Figure 1, when piston only 40 is static or moves upwards, one-way flow lid A411 is locking spring A412's
Effect is lower to close the unidirectional hole 41 of multiple tracks cross-section；When piston only 40 moves downward, one-way flow lid A411 makees in viscous fluid
With the lower unidirectional hole 41 of opening multiple tracks cross-section, the fluid inside shin bone cylinder body 3 is allowed to flow to the area cylinder body A 31 by the area cylinder body B 32；
Shown in Figure 1, when piston only 40 is static or moves downward, one-way flow lid B421 is locking spring B422's
Effect is lower to close the unidirectional hole 42 in gradual change section；When piston only 40 moves upwards, one-way flow lid B421 is acted in viscous fluid
The lower unidirectional hole 42 in opening gradual change section allows the fluid inside shin bone cylinder body 3 to flow to the area cylinder body B 32 by the area cylinder body A 31.
It is shown in Figure 1, resistance to compression will be compressed after pressure-proof spring 5 is less than its initial length when piston only 40 moves downward
Spring 5；It will be disengaged from pressure-proof spring 5 after pressure-proof spring 5 is restored to phase initial length when piston only 40 moves upwards；
Shown in Figure 1, the unidirectional hole 42 in gradual change section is the circular through hole of internal diameter linear change, and the upper end aperture is lower end
3 times of aperture；The unidirectional hole 41 of cross-section is the circular through hole of constant inner diameter, and internal diameter is equal to the unidirectional most imperial palace of hole 42 in gradual change section
5 times of diameter.
Working principle: when fibula 1 of the invention is moved close to shin bone cylinder body 3, the unidirectional hole 41 of cross-section is made in viscous fluid
With lower opening one-way flow lid A411, while one-way flow lid B421 cuts off the unidirectional hole path 42 in gradual change section, in shin bone cylinder body 3
Portion's fluid flows to the area cylinder body A 31 from the area cylinder body B 32, and piston only 40 compresses pressure-proof spring 5, and the impact force in vertical direction is resisted
Pressing spring 5 absorb, temporarily store, at this time since unidirectional 41 internal diameter of hole of cross-section is larger, internal flow damping force relative to
Spring force can be ignored；When fibula 1 is moved far from shin bone cylinder body 3, one-way flow lid A411 closes the unidirectional hole 41 of cross-section, single
It is opened under the fluid matasomatism in the unidirectional hole 42 in gradual change section to flowing lid B421,3 internal flow of shin bone cylinder body is from the area cylinder body A 31
The area cylinder body B 32 is flowed to, pressure-proof spring 5 and piston only 40 are detached from this time, and viscous fluid passes through the unidirectional hole in gradual change section by big mouth
42 are flowed out by osculum again, and viscous fluid generates damping force, absorb energy when fibula moves upwards.
Claims (2)
1. a kind of apery machine shank with take-off pooling feature, including shin bone cylinder body (3), are installed in the shin bone cylinder respectively
The upper end cover (2), lower cover (6) of body (3) upper/lower terminal may pass through the fibula (1) of the upper end cover (2) free movement, installing
In the perforated piston module and pressure-proof spring (5) of the shin bone cylinder interior；One end of the fibula (1) is fixed on described porous
In mode module；Shin bone cylinder body (3) inside division is the area cylinder body A (31) and the area cylinder body B by the perforated piston module
(32)；Viscous fluid is full of inside the area the cylinder body A (31) and the area cylinder body B (32)；It is characterized by: the perforated piston module
Including piston only (40), the unidirectional hole of multiple tracks cross-section (41) being opened on the piston only (40), be installed in it is described more
The one-way flow lid A (411) of the unidirectional hole of road cross-section (41) upper end, the multiple tracks gradual change being opened on the piston only (40) are cut
The unidirectional hole in face (42), the one-way flow lid B (421) for being installed in multiple tracks gradual change section unidirectional hole (42) lower end, connection described in
One-way flow lid A (411) and the locking spring A (412) on the unidirectional hole of the cross-section (41) top, it connect the one-way flow lid
The locking spring B (422) of B (421) and the unidirectional hole in gradual change section (42) lower part；The lower end of the pressure-proof spring (5) and institute
It states lower cover (6) to be connected, the upper end is free；The unidirectional hole in multiple tracks gradual change section (42) and the unidirectional hole of multiple tracks cross-section
(41) it is alternatively arranged, and center line is parallel to each other；
When the piston only (40) is static or moves upwards, the one-way flow lid A (411) is in the locking spring A (412)
Under the action of close the unidirectional hole of multiple tracks cross-section (41)；When the piston only (40) moves downward, the one-way flow
Lid A (411) opens the unidirectional hole of multiple tracks cross-section (41) under viscous fluid effect, allows the shin bone cylinder body (3) internal
Fluid the area cylinder body A (31) is flowed to by the area cylinder body B (32)；
When the piston only (40) is static or moves downward, the one-way flow lid B (421) is in the locking spring B (422)
Under the action of close the unidirectional hole in gradual change section (42)；When the piston only (40) moves upwards, the one-way flow lid B
(421) the unidirectional hole in gradual change section (42) is opened under viscous fluid effect, the fluid for allowing the shin bone cylinder body (3) internal
The area cylinder body B (32) is flowed to by the area cylinder body A (31).
2. a kind of apery machine shank with take-off pooling feature according to claim 1, it is characterised in that: the work
The pressure-proof spring (5) will be compressed after the pressure-proof spring (5) are less than its initial length when plug body (40) moves downward；Institute
Stating will be disengaged from the pressure-proof spring after the pressure-proof spring (5) is restored to phase initial length when piston only (40) moves upwards
(5)；
The unidirectional hole in gradual change section (42) is the circular through hole of internal diameter linear change, and the upper end aperture is 3 times of lower end aperture；
The unidirectional hole of cross-section (41) is the circular through hole of constant inner diameter, and it is maximum that internal diameter is equal to the unidirectional hole in gradual change section (42)
5 times of internal diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710880150.XA CN107628141B (en) | 2017-09-26 | 2017-09-26 | A kind of apery machine shank with take-off pooling feature |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710880150.XA CN107628141B (en) | 2017-09-26 | 2017-09-26 | A kind of apery machine shank with take-off pooling feature |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107628141A CN107628141A (en) | 2018-01-26 |
| CN107628141B true CN107628141B (en) | 2019-07-26 |
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ID=61102630
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710880150.XA Active CN107628141B (en) | 2017-09-26 | 2017-09-26 | A kind of apery machine shank with take-off pooling feature |
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| Country | Link |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010137815A2 (en) * | 2009-05-28 | 2010-12-02 | 한양대학교 산학협력단 | Length variable type link of walking robot and length variable type leg of walking robot mounted with same |
| CN103407516A (en) * | 2013-08-06 | 2013-11-27 | 北京航空航天大学 | Leg-type buffering device used for selenographic ascending and having posture adjusting function |
| CN103939515A (en) * | 2014-04-22 | 2014-07-23 | 广西大学 | Independent hydraulic anti-rotation buffer damper used for crane hook |
| CN104228993A (en) * | 2014-10-17 | 2014-12-24 | 浙江大学 | Biped robot capable of walking rapidly |
| CN106870619A (en) * | 2015-12-11 | 2017-06-20 | 重庆市涪陵区雄翔纸制品有限公司 | A kind of hydraulic damping device |
-
2017
- 2017-09-26 CN CN201710880150.XA patent/CN107628141B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010137815A2 (en) * | 2009-05-28 | 2010-12-02 | 한양대학교 산학협력단 | Length variable type link of walking robot and length variable type leg of walking robot mounted with same |
| CN103407516A (en) * | 2013-08-06 | 2013-11-27 | 北京航空航天大学 | Leg-type buffering device used for selenographic ascending and having posture adjusting function |
| CN103939515A (en) * | 2014-04-22 | 2014-07-23 | 广西大学 | Independent hydraulic anti-rotation buffer damper used for crane hook |
| CN104228993A (en) * | 2014-10-17 | 2014-12-24 | 浙江大学 | Biped robot capable of walking rapidly |
| CN106870619A (en) * | 2015-12-11 | 2017-06-20 | 重庆市涪陵区雄翔纸制品有限公司 | A kind of hydraulic damping device |
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| Publication number | Publication date |
|---|---|
| CN107628141A (en) | 2018-01-26 |
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