CN109551474A - A kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate - Google Patents
A kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate Download PDFInfo
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- CN109551474A CN109551474A CN201811386571.8A CN201811386571A CN109551474A CN 109551474 A CN109551474 A CN 109551474A CN 201811386571 A CN201811386571 A CN 201811386571A CN 109551474 A CN109551474 A CN 109551474A
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- rotor housing
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- 230000005389 magnetism Effects 0.000 claims abstract description 26
- 238000013016 damping Methods 0.000 claims abstract description 16
- 238000004804 winding Methods 0.000 claims abstract description 15
- 238000007667 floating Methods 0.000 claims abstract description 11
- 239000012530 fluid Substances 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims description 19
- 239000007787 solid Substances 0.000 claims description 2
- 210000002414 leg Anatomy 0.000 abstract description 22
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 9
- 210000004394 hip joint Anatomy 0.000 abstract description 5
- 210000000689 upper leg Anatomy 0.000 description 5
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The present invention relates to a kind of robot list leg hydraulic actuators based on the control of magnetorheological dynamic rate, the controllable rear end of magnetorheological damping includes shell, the front end of shell is fixedly connected with end cap, the front end of end cap is fixedly connected with connecting lug A, the inside of shell is divided into two chambers via floating piston, and magnetorheological fluid is full of in the chamber of housing rear end；Hydraulic cylinder with double piston rods includes cylinder body, the piston rod set on the cylinder piston of cylinder interior and set on cylinder piston both sides, the front end of cylinder body and the rear end of shell connect firmly, piston rod positioned at cylinder body front end protrudes into the chamber interior positioned at housing rear end and is fixedly connected with soft magnetism piston, soft magnetism piston is internally provided with winding coil, is equipped with magnetism-isolating loop in the outer sheath of winding coil on soft magnetism piston；Connecting lug B is fixedly connected with positioned at the end of the piston rod of rear end of the cylinder block.It is the configuration of the present invention is simple, reasonable and compact, it can effectively solve the problems, such as that it is big to control with kneed stationarity and contact to earth impact force for hip joint in robot list leg motion process.
Description
Technical field:
The invention belongs to the technical fields of hydraulic legged type robot actuator, more particularly to one kind to be based on magnetorheological dynamic rate control
The robot list leg hydraulic actuator of system.
Background technique:
Hydraulic legged type robot take into account hydraulic drive unit high power/weight ratio, load capacity by force with legged type robot rugged topography
Adaptable feature is gradually applied to disaster relief, field Material Transportation, complicated landform construction and ectoskeleton in recent years and helps
The manpowers such as power are difficult to complete and risk occasion.But legged type robot dynamics is relative complex simultaneously, and polypody is mutually alternately
Process can cause complete machine to shake, and single leg landing instant has an enormous impact that ground faces foot again under high load, this vibration and
The stationarity that impact of contacting to earth can not only damage mechanical organ, destroy robot motion, more likely will appear robot and topples over mistake
Situations such as control.
In view of the above-mentioned problems, existing be primarily present two kinds of solutions.A kind of scheme is passive compliance control, is in machine
Device people leg and executor tail end install passive spring or other elastic elements, are absorbed in single leg motion process by passive spring
Surging.This kind of scheme can be realized the quick dynamic motion of robot, but perform poor in low speed tatic range,
Spring is added in system and limits the responsive bandwidth of system, reduces the multifunctionality of robot.Another scheme is actively soft
Sequence system is that reciprocal force of the environment to single leg is introduced feedback and carries out closed-loop control, realizes that robot is held by software control
Power/position servo control of row device is to adapt to the variation of environment.This kind of scheme is capable of the stationarity of effective hoisting machine people movement,
But showed in terms of less impact of contacting to earth it is poor, when robotic transmission be rigidity or very big rigidity when, except it is non-contact when
Between contact to earth impact it is expected that being difficult to reduce using Active Compliance Control.
Summary of the invention:
Improvement is made for the above-mentioned problems of the prior art, i.e., technical problem to be solved by the invention is to provide a kind of bases
In the robot list leg hydraulic actuator of magnetorheological dynamic rate control, it is not only simple in structure, is compact, and can effectively solve machine
Hip joint and the problem that kneed stationarity controls and the impact force that contacts to earth is big in device people's list leg motion process.
To achieve the goals above, the technical solution adopted by the present invention is that: it is a kind of based on magnetorheological dynamic rate control
Robot list leg hydraulic actuator, including the controllable rear end of magnetorheological damping and hydraulic cylinder with double piston rods, the magnetorheological damping can
Controlling rear end includes shell, and the front end of the shell is fixedly connected with end cap, and the front end of the end cap is fixedly connected with connecting lug A, shell
Inside is divided into two chambers via floating piston, and magnetorheological fluid is full of in the chamber of housing rear end；The double piston-rod liquid
Cylinder pressure includes cylinder body, the cylinder piston for being set to cylinder interior and the piston rod for being set to cylinder piston both sides, the cylinder body
Front end and the rear end of shell connect firmly, and the piston rod on both sides stretches out in outside cylinder body, and the piston rod positioned at cylinder body front end, which protrudes into, to be located at
The chamber interior of housing rear end is simultaneously fixedly connected with soft magnetism piston, and the soft magnetism piston is internally provided with winding coil, soft magnetism piston
On in winding coil outer sheath be equipped with magnetism-isolating loop；Connecting lug B is fixedly connected with positioned at the end of the piston rod of rear end of the cylinder block.
Further, the reset spring being set on the outside of the rear end of end cap is equipped in the chamber of housing forward end, it is described
The front and back ends portion of reset spring is abutted against with the front end of shell and floating piston respectively.
Further, there is gap, the outer surface of soft magnetism piston is circumferentially between the soft magnetism piston and the inner wall of shell
Equipped with the annular recess to accommodate winding coil.
Further, the cylinder body includes front-bank rotor housing, rear-bank rotor housing and the connector sleeve to connect front-bank rotor housing and rear-bank rotor housing
Cylinder, the front end of the front-bank rotor housing and the rear end of shell be bolted, the front and rear ends of the connection sleeve respectively with preceding cylinder
Body and rear-bank rotor housing are spirally connected；The cylinder piston is closed with the inner wall for connecting sleeve and is slidably matched, and the rear end of front-bank rotor housing is with after
The front end of cylinder body carries out stroke limit to cylinder piston.
Further, the cylinder piston carries out position via the shaft shoulder on locking nut, check washer and piston rod
It is fixed.
Further, sealing ring A is provided between the front-bank rotor housing, rear-bank rotor housing and cylinder piston and piston rod；Institute
It states and is respectively equipped with sealing ring B between the front and rear end and front-bank rotor housing and rear-bank rotor housing of connection sleeve；The cylinder piston and connector sleeve
Sealing ring C is equipped between the inner wall of cylinder；Sealing ring D is provided between the front end face of the front-bank rotor housing and the rear end face of shell.
Further, sealing ring E is equipped between the soft magnetism piston and the inner wall of shell.
Compared with prior art, the present invention has the effect that the configuration of the present invention is simple, reasonable and compact, can be used as one
On the one hand kind half Active Compliance Control scheme of robot list leg can directly absorb vibration and reduce impact of contacting to earth, on the other hand may be used
As the actuator of Active Compliance Control, is controlled by the dynamic of single leg overall stiffness and matched with load, hoisting machine people
The stationarity of single leg movement.
Detailed description of the invention:
Fig. 1 is the organigram of the embodiment of the present invention；
Fig. 2 is the use state diagram in the embodiment of the present invention.
In figure:
1- end cap；2- reset spring；3- shell；4- floating piston；5- magnetorheological fluid；6- soft magnetism piston；7- winding coil；8- every
Magnet ring；9- front-bank rotor housing；10- locking nut；11- cylinder piston；12- piston rod；13- connection sleeve；14- rear-bank rotor housing；15- magnetic current
The controllable rear end of variable damping；16- hydraulic cylinder with double piston rods；17- connecting lug A；18- connecting lug B；19- check washer；20- spiral shell
Bolt；21- bolt assembly；22- sealing ring A；23- sealing ring B；24- sealing ring C；25- sealing ring D；26- hip；27- hip joint；
28- thigh；29- knee joint；30- shank；31- sealing ring E.
Specific embodiment:
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
As shown in Fig. 1~2, a kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate of the present invention,
Including the controllable rear end 15 of magnetorheological damping and hydraulic cylinder with double piston rods 16, the controllable rear end 15 of magnetorheological damping includes shell 3,
The front end of the shell 3 passes through bolt assembly 21(bolt, nut and gasket) it is fixedly connected with end cap 1, the front end of the end cap 1 is solid
It is associated with the connecting lug A17 revolute is hinged and constituted with robot, the inside of shell 3 is divided via floating piston 4 is
Two chambers are full of magnetorheological fluid 5 in the chamber of 3 rear end of shell；The hydraulic cylinder with double piston rods 16 includes cylinder body, setting
In cylinder interior cylinder piston 11 and be set to the piston rod 12 on 11 both sides of cylinder piston, the front end of the cylinder body and shell 3
Rear end connect firmly, the piston rod 12 on both sides stretches out in outside cylinder body, and the piston rod 12 positioned at cylinder body front end protrudes into after shell 3
The chamber interior at end is simultaneously fixedly connected with soft magnetism piston 6 in end, and the soft magnetism piston 6 is internally provided with winding coil 7, and soft magnetism is living
Magnetism-isolating loop 8 is equipped in the outer sheath of winding coil 7 on plug 6；Positioned at the end of the piston rod 12 of rear end of the cylinder block be fixedly connected with to
Robot is hinged and constitutes the connecting lug B18 of revolute.By hydraulic cylinder with double piston rods 16 and the controllable rear end of magnetorheological damping
15 modes combined are axially displaced to drive soft magnetism piston 6 to move inside shell 3, and then make using piston rod 12
It obtains the magnetorheological fluid 5 inside shell 3 and generates flowing, the variation of 3 rear end chamber of shell is mended by floating piston 4 in flow process
It repays, to guarantee that magnetorheological fluid 5 is full of the chamber of entire 3 rear end of shell, and the magnetorheological fluid 5 flowed between soft magnetism piston 6 and shell 3
Damping force generated to the piston rod 12 of transverse shifting under the action of energization 7 magnetic field of winding coil, the size of damping force can by around
Group 7 electrical current size real-time control of coil.
In the present embodiment, the reset spring 2 being set on the outside of the rear end of end cap 1 is equipped in the chamber of 3 front end of shell,
The front and back ends portion of the reset spring 2 is abutted against with the front end of shell 3 and floating piston 4 respectively, and is in compression shape always
State, to drive floating piston to return to initial position using the screen resilience of reset spring.
In the present embodiment, there is gap, the outer surface edge of soft magnetism piston 6 between the soft magnetism piston 6 and the inner wall of shell 3
It is circumferentially with the annular recess to accommodate winding coil 7, magnetism-isolating loop is located at the outside of annular recess, seals up annular recess.
In the present embodiment, the cylinder body includes front-bank rotor housing 9, rear-bank rotor housing 14 and to connect front-bank rotor housing 9 and rear-bank rotor housing 14
Connection sleeve 13, the front end of the front-bank rotor housing 9 connect with the rear end of shell 3 by bolt 20, before the connection sleeve 13,
Both ends are spirally connected with front-bank rotor housing 9 and rear-bank rotor housing 14 respectively afterwards；The cylinder piston 11 is closed with the inner wall for connecting sleeve 13 and slides
Cooperation, the rear end of front-bank rotor housing 9 and the front end of rear-bank rotor housing 14 carry out stroke limit to cylinder piston 11.
In the present embodiment, the cylinder piston 11 is via the axis on locking nut 10, check washer 19 and piston rod 12
Shoulder carries out position and fixes.
In the present embodiment, it is provided between the front-bank rotor housing 9, rear-bank rotor housing 14 and cylinder piston 11 and piston rod 12 close
Seal A22, to carry out axial seal；Between the front and rear end and front-bank rotor housing 9 and rear-bank rotor housing 14 of the connection sleeve 13 respectively
Equipped with sealing ring B23, to carry out radial seal；Sealing ring is equipped between the cylinder piston 11 and the inner wall for connecting sleeve 13
C24.To carry out axial seal；It is provided with sealing ring D25 between the front end face of the front-bank rotor housing 9 and the rear end face of shell 3, with
Just radial seal is carried out.
In the present embodiment, sealing ring E31 is equipped between the soft magnetism piston 6 and the inner wall of shell 3, it is axial close to carry out
Envelope.
In the present embodiment, in use, as shown in Fig. 2, using two robot lists based on the control of magnetorheological dynamic rate
Leg hydraulic actuator, two hydraulic actuators are setting up and down, and the hydraulic actuator positioned at upside is set to machine human hip 26 and big
Between leg 28, the connecting lug A17 and connecting lug B18 of the hydraulic actuator are cut with scissors with machine human hip 26 and 28 phase of thigh respectively
It connects, constitutes revolute.Hydraulic actuator positioned at downside is set between robot thigh 28 and shank 30, the hydraulic actuator
Connecting lug A17 and connecting lug B18 is hinged with robot thigh 28 with shank 30 respectively, constitutes revolute, and utilization is hydraulic
Robot thigh and the swing of shank and moving up and down for machine human hip are realized in the flexible rotation with revolute of actuator, should
The motion process of robot list leg is completed in movement.It by the real-time controllable of magnetorheological damping, is matched, is realized with load stiffness
Hip joint and kneed stationarity control, and solve the problems, such as that the list leg impact force that contacts to earth is big by tuning up damping.
Specific implementation process are as follows: hydraulic oil enters in the cylinder body of hydraulic cylinder with double piston rods, and the left and right of driving piston rod 12 is horizontal
To movement, the flexible of hydraulic actuator is realized.And the left and right transverse shifting of piston rod 12 drives soft magnetism piston 6 inside shell 3
Mobile, so that the magnetorheological fluid 5 inside shell 3 generates flowing, the variation of 3 rear end chamber of shell passes through floating in flow process
Piston 4 carries out volume compensation, to guarantee that magnetorheological fluid 5 is full of the chamber of entire 3 rear end of shell, and between soft magnetism piston 6 and shell 3
The magnetorheological fluid 5 of flowing generates damping force, damping to the piston rod 12 of transverse shifting under the action of energization 7 magnetic field of winding coil
The size of power can be by 7 electrical current size real-time control of winding coil, and then is changed to overall dynamics rigidity.In robot
The moment that single leg contacts to earth can be absorbed by tuning up damping to Ground shock waves；When robot both legs alternately land, it is big that damping is adjusted
Small change actuator structure rigidity effectively solves robot list integrally shaken to reduce hydraulic robot far from resonance point
Hip joint and the problem that kneed stationarity controls and the impact force that contacts to earth is big in leg motion process.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (7)
1. a kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate, it is characterised in that: including magnetorheological
Controllable rear end and hydraulic cylinder with double piston rods are damped, the controllable rear end of magnetorheological damping includes shell, and the front end of the shell is solid
It is associated with end cap, the front end of the end cap is fixedly connected with connecting lug A, and the inside of shell is divided into two chambers, position via floating piston
In in the chamber of housing rear end be full of magnetorheological fluid；The hydraulic cylinder with double piston rods includes cylinder body, the cylinder for being set to cylinder interior
Body piston and the piston rod for being set to cylinder piston both sides, the front end of the cylinder body and the rear end of shell connect firmly, the piston on both sides
Bar stretches out in outside cylinder body, and the piston rod positioned at cylinder body front end protrudes into the chamber interior positioned at housing rear end and is fixedly connected with soft magnetism and lives
Plug, the soft magnetism piston are internally provided with winding coil, are equipped with magnetism-isolating loop in the outer sheath of winding coil on soft magnetism piston；Position
Connecting lug B is fixedly connected in the end of the piston rod of rear end of the cylinder block.
2. a kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate according to claim 1,
It is characterized in that: being equipped with the reset spring being set on the outside of the rear end of end cap, the reset spring in the chamber of housing forward end
Front and back ends portion abutted against respectively with the front end of shell and floating piston.
3. a kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate according to claim 1,
Be characterized in that: there is gap between the soft magnetism piston and the inner wall of shell, the outer surface of soft magnetism piston circumferentially arranged with to
Accommodate the annular recess of winding coil.
4. a kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate according to claim 1,
Be characterized in that: the cylinder body includes front-bank rotor housing, rear-bank rotor housing and the connection sleeve to connect front-bank rotor housing and rear-bank rotor housing, before described
The front end of cylinder body and the rear end of shell are bolted, it is described connection sleeve front and rear ends respectively with front-bank rotor housing and rear cylinder
Body is spirally connected；The cylinder piston is closed with the inner wall for connecting sleeve and is slidably matched, before the rear end of front-bank rotor housing and rear-bank rotor housing
End carries out stroke limit to cylinder piston.
5. a kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate according to claim 4,
Be characterized in that: the cylinder piston carries out position via the shaft shoulder on locking nut, check washer and piston rod and fixes.
6. a kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate according to claim 4,
It is characterized in that: being provided with sealing ring A between the front-bank rotor housing, rear-bank rotor housing and cylinder piston and piston rod；The connector sleeve
Sealing ring B is respectively equipped between the front and rear end and front-bank rotor housing and rear-bank rotor housing of cylinder；The cylinder piston and the inner wall for connecting sleeve
Between be equipped with sealing ring C；Sealing ring D is provided between the front end face of the front-bank rotor housing and the rear end face of shell.
7. a kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate according to claim 1 or 3,
It is characterized by: being equipped with sealing ring E between the soft magnetism piston and the inner wall of shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811386571.8A CN109551474A (en) | 2018-11-20 | 2018-11-20 | A kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811386571.8A CN109551474A (en) | 2018-11-20 | 2018-11-20 | A kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate |
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| Publication Number | Publication Date |
|---|---|
| CN109551474A true CN109551474A (en) | 2019-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811386571.8A Pending CN109551474A (en) | 2018-11-20 | 2018-11-20 | A kind of robot list leg hydraulic actuator based on the control of magnetorheological dynamic rate |
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| Country | Link |
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| CN (1) | CN109551474A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745327A (en) * | 2019-11-26 | 2020-02-04 | 中冶南方工程技术有限公司 | A variable stiffness floating robot end effector connecting device and robot |
| CN111173878A (en) * | 2020-01-22 | 2020-05-19 | 西北工业大学 | An adaptive viscous damper with self-reset function |
| CN112008693A (en) * | 2020-07-06 | 2020-12-01 | 中国科学院深圳先进技术研究院 | waist assist exoskeleton |
| CN113232014A (en) * | 2021-05-08 | 2021-08-10 | 安徽工程大学 | Variable-rigidity joint hydraulic driving system for exoskeleton robot |
| CN115847386A (en) * | 2022-11-29 | 2023-03-28 | 之江实验室 | Bionic artificial muscle and bionic robot |
| CN118927220A (en) * | 2023-06-07 | 2024-11-12 | 中国科学技术大学 | Linear Actuators and Exoskeletons |
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| RU2036334C1 (en) * | 1991-06-05 | 1995-05-27 | Камский политехнический институт | Plunger mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745327A (en) * | 2019-11-26 | 2020-02-04 | 中冶南方工程技术有限公司 | A variable stiffness floating robot end effector connecting device and robot |
| CN111173878A (en) * | 2020-01-22 | 2020-05-19 | 西北工业大学 | An adaptive viscous damper with self-reset function |
| CN112008693A (en) * | 2020-07-06 | 2020-12-01 | 中国科学院深圳先进技术研究院 | waist assist exoskeleton |
| CN112008693B (en) * | 2020-07-06 | 2022-04-19 | 中国科学院深圳先进技术研究院 | waist assist exoskeleton |
| CN113232014A (en) * | 2021-05-08 | 2021-08-10 | 安徽工程大学 | Variable-rigidity joint hydraulic driving system for exoskeleton robot |
| CN115847386A (en) * | 2022-11-29 | 2023-03-28 | 之江实验室 | Bionic artificial muscle and bionic robot |
| CN118927220A (en) * | 2023-06-07 | 2024-11-12 | 中国科学技术大学 | Linear Actuators and Exoskeletons |
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Application publication date: 20190402 |
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