CN114044069A - A friction damping damping foot rod - Google Patents
A friction damping damping foot rod Download PDFInfo
- Publication number
- CN114044069A CN114044069A CN202111504687.9A CN202111504687A CN114044069A CN 114044069 A CN114044069 A CN 114044069A CN 202111504687 A CN202111504687 A CN 202111504687A CN 114044069 A CN114044069 A CN 114044069A
- Authority
- CN
- China
- Prior art keywords
- foot rod
- ferrule
- foot
- damping
- mounting seat
- 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.)
- Pending
Links
- 238000013016 damping Methods 0.000 title claims abstract description 31
- 230000009467 reduction Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 238000001125 extrusion Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Images
Classifications
-
- 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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vibration Prevention Devices (AREA)
Abstract
本发明涉及了一种摩擦阻尼减振足杆，所述摩擦阻尼减振足杆包括足杆安装座、足杆和弹性套圈组。所述弹性套圈组包括内套圈、外套圈和侧套圈，其中外套圈的内圈、内套圈的外圈和侧套圈的内圈一侧均存在一定的楔角，三种套圈依次套装在足杆上，所述足杆穿设于足杆安装座，足杆安装座固接在足杆上方。当足杆受到轴向冲击力时，外套圈和侧套圈的开口变大，套圈之间相互摩擦，足杆安装座相对于足杆高度下降，进而产生一定的减振作用。本发明结构简单,安全可靠。
The invention relates to a friction damping vibration damping foot rod. The friction damping vibration damping foot rod comprises a foot rod mounting seat, a foot rod and an elastic ferrule group. The elastic ferrule group includes an inner ferrule, an outer ferrule and a side ferrule, wherein the inner ring of the outer ferrule, the outer ring of the inner ferrule and the inner ring of the side ferrule all have a certain wedge angle on one side. The rings are sequentially sheathed on the foot rod, the foot rod is passed through the foot rod mounting seat, and the foot rod mounting seat is fixedly connected above the foot rod. When the foot rod is subjected to an axial impact force, the openings of the outer ring and the side ferrule become larger, the ferrules rub against each other, and the height of the foot rod mounting seat is lowered relative to the foot rod, thereby producing a certain vibration reduction effect. The invention is simple in structure, safe and reliable.
Description
Technical Field
The invention relates to the field of multi-legged robots, in particular to a multi-legged wheel robot.
Background
With the continuous development of science and technology, more and more foot robots are presented in front of our eyes, and because the vibration amplitude of the foot robots is larger when the feet and the legs are switched at present, the foot robots are difficult to perform high-difficulty operation. Therefore, a need exists for a shock absorbing foot bar.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the friction damping vibration attenuation foot bar which can play an effective vibration attenuation role in the walking of the multi-legged wheel robot.
The technical problem solved by the invention is realized by adopting the following technical scheme.
A friction damping vibration attenuation foot rod comprises a foot rod, a foot rod mounting seat and an elastic ferrule group. The three elastic ferrules are sleeved on the foot rod, the foot rod is arranged on the foot rod mounting seat in a penetrating mode, and the foot rod mounting seat is fixedly connected to the foot rod.
The vibration reduction foot rod is assembled in the multi-foot-wheel robot by sequentially sleeving the elastic ferrule and the foot rod mounting seat on the foot rod, so that the vibration reduction foot rod can be used for a vibration reduction test of the multi-foot-wheel robot. The quantity of the elastic ferrules can be increased or decreased according to different test terrains, so that the vibration reduction effect of the multi-legged wheel robot is better.
Preferably, the foot rod is provided with a device or a structure for fixing the elastic ferrule. In the optimized scheme, the ferrule is sleeved on the foot rod from one end, and the elastic ferrule can be axially fixed at the other end through a device or a structure, so that the structure is simple and the production is convenient.
As optimization, one end of the foot rod mounting seat is cylindrical, and the other end of the foot rod mounting seat is provided with a mounting hole. The mounting holes are used for fixedly connecting with the foot rods.
Preferably, the outer diameter of the inner ferrule is equal to the inner diameter of the outer ferrule and the inner diameter of the side ferrule. To ensure the fit between the three types of elastic ferrules.
Preferably, the outer ring and the side rings are provided with openings. The opening is existed in the collar in the optimized scheme, so that the inner diameter of the outer collar and the inner diameter of the side collar are enlarged when the outer collar and the side collar are mutually extruded, and the vibration reduction effect is further realized.
Preferably, the outer ring of the inner ring, the inner ring of the outer ring and the inner ring at one side of the side ring are sequentially attached together through wedge angles and sleeved on the foot rod. In the optimized scheme, as the three elastic ferrules are provided with certain wedge angles, the adjacent elastic ferrules are extruded to generate radial pressure on the foot rod, and meanwhile, the axial distance between the elastic ferrules is reduced, so that vibration energy is consumed by utilizing friction between inclined planes, and a vibration damping effect is generated.
The invention has the beneficial effects that: simple structure, the assembly of being convenient for makes three kinds of elastic ferrule utilize the wedge angle extrusion through foot pole atress, and the damping performance can also be adjusted through increase and decrease elastic ferrule quantity, has effectively alleviated the foot pole impact force of multiple-legged wheel robot for the walking of multiple-legged wheel robot is more stable, and speed also promotes to some extent, can accomplish actions such as higher difficult obstacle surmounting, climbing.
Drawings
FIG. 1 is a drawing of the present invention: a cross-sectional view of a friction damping vibration-absorbing foot bar.
FIG. 2 is a drawing of the present invention: a friction damping vibration attenuation foot bar perspective view.
FIG. 3 is a drawing of the present invention: elastic ferrule cross-sectional view.
FIG. 4 is a drawing of the present invention: a front view and a left view of the foot bar mounting base.
FIG. 5 is a drawing of the present invention: a foot bar is shown schematically.
FIG. 6 is a drawing of the present invention: a side collar front view and a left side view.
FIG. 7 is a drawing of the present invention: a front view of the inner collar and a left view.
FIG. 8 is a drawing of the present invention: front view and left view of the outer ferrule.
As shown in fig. 1: 1.1, a foot rod, 1.2 and a foot rod mounting seat.
As shown in fig. 3: 3.1, a side ferrule, 3.2, an inner ferrule, 3.3 and an outer ferrule.
Detailed Description
The invention will be further described with reference to the following detailed description, which is provided for purposes of illustration and understanding of the specific features of the invention as embodied and broadly described.
Referring to fig. 1, a friction damping vibration absorbing foot bar comprises a foot bar 1.1, a foot bar mounting base 1.2 and an elastic ferrule group. The foot rod 1.1 is cylindrical and penetrates through the foot rod mounting seat 1.2, the foot rod mounting seat 1.2 is fixedly connected above the foot rod 1.1, and the three elastic ferrules are sleeved on the foot rod 1.1.
One end of the foot rod 1.1 is provided with a device or a structure for fixing the elastic ferrule. One end of the foot bar mounting seat 1.2 is provided with a mounting hole for fixedly connecting with the foot bar 1.1. The three elastic ferrules with different structures respectively comprise an inner ferrule 3.2, an outer ferrule 3.3 and a side ferrule 3.1, wherein a certain wedge angle exists between the inner ring of the outer ferrule 3.3 and the outer ring of the inner ferrule 3.2, a certain wedge angle also exists on one side of the inner ring of the side ferrule 3.1, and the three elastic ferrules are sequentially sleeved on the foot rod.
The side ferrule 3.1 and the outer ferrule 3.3 are both provided with openings, the outer ring of the inner ferrule 3.2, the inner rings of the outer ferrule 3.3 and the side ferrule 3.1 are closely attached together through wedge angles, the diameters of the outer ferrule 3.3 and the side ferrule 3.1 are increased by utilizing the mutual friction and extrusion of the wedge angles between the elastic ferrules, the axial length is reduced while radial pressure is generated on the foot rod 1.1, and vibration energy is consumed by utilizing the friction of inclined planes, so that the vibration reduction effect is generated.
During specific manufacturing, the foot rod can axially fix the elastic ferrule through a structure, or a certain device can be added on the foot rod to axially fix the elastic ferrule, and the form of the foot rod can be selected according to actual conditions. The damping foot rod is assembled to the multi-foot wheel mechanism, the damping performance of the multi-foot wheel robot can be improved, the number of the elastic ferrules can be adjusted according to different terrains, and the requirement of the robot for operation under various terrains is met.
The foregoing merely illustrates and explains the principles and essential features of the invention, together with advantages thereof. Variations and modifications of the present invention may be made without departing from the spirit and scope of the invention, and these variations and modifications are within the scope of the invention as claimed.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111504687.9A CN114044069A (en) | 2021-12-10 | 2021-12-10 | A friction damping damping foot rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111504687.9A CN114044069A (en) | 2021-12-10 | 2021-12-10 | A friction damping damping foot rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114044069A true CN114044069A (en) | 2022-02-15 |
Family
ID=80212839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111504687.9A Pending CN114044069A (en) | 2021-12-10 | 2021-12-10 | A friction damping damping foot rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114044069A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030222384A1 (en) * | 2002-05-28 | 2003-12-04 | Tokai Rubber Industries, Ltd. | Vibration damping bushing |
| CN107379005A (en) * | 2017-08-31 | 2017-11-24 | 国机智能技术研究院有限公司 | It is a kind of to damp joint and the main hand of damping with position retaining function |
| CN110406610A (en) * | 2019-07-22 | 2019-11-05 | 南京理工大学 | A robot buffer foot with adjustable preload |
| CN112356943A (en) * | 2020-11-27 | 2021-02-12 | 四川轻化工大学 | Foot contact type sensing device for foot type robot |
-
2021
- 2021-12-10 CN CN202111504687.9A patent/CN114044069A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030222384A1 (en) * | 2002-05-28 | 2003-12-04 | Tokai Rubber Industries, Ltd. | Vibration damping bushing |
| CN107379005A (en) * | 2017-08-31 | 2017-11-24 | 国机智能技术研究院有限公司 | It is a kind of to damp joint and the main hand of damping with position retaining function |
| CN110406610A (en) * | 2019-07-22 | 2019-11-05 | 南京理工大学 | A robot buffer foot with adjustable preload |
| CN112356943A (en) * | 2020-11-27 | 2021-02-12 | 四川轻化工大学 | Foot contact type sensing device for foot type robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20220215 |