CN107458490B

CN107458490B - Bionic flea jumping auxiliary device

Info

Publication number: CN107458490B
Application number: CN201710650084.7A
Authority: CN
Inventors: 廖晓玲; 徐文峰; 杨悬; 杨梅
Original assignee: Chongqing University of Science and Technology
Current assignee: Chongqing University of Science and Technology
Filing date: 2017-08-02
Publication date: 2023-03-10
Anticipated expiration: 2037-08-02

Abstract

The invention provides a bionic flea jumping auxiliary device which mainly comprises a trunk part and a lower limb part, wherein the lower limb part comprises a pair of bionic flea legs and two hydraulic buffer support rods. The trunk comprises an upper protective shell supporting rod, an upper protective shell and an upper limb connecting band. The top end of the upper protective shell supporting rod is fixed with the top end of the upper protective shell in a cap shape. The circular bottom end of the upper protective shell in the shape of a cap is matched with the upper end of the middle protective shell, and the upper protective shell covers the middle protective shell. The upper limb connecting belt is fixed on the upper protective shell supporting rod. The invention has the advantages of high stability in jumping time and space, stable landing and high jumping height. The invention can be used in the aspects of outward travel, field exploration and the like, and has wide application prospect in the military field.

Description

Bionic flea jumping auxiliary device

Technical Field

The invention relates to a bionic jumping device, in particular to a bionic flea jumping auxiliary device used in the fields of engineering and the like.

Background

At present, exoskeleton bionic research based on a land animal motion mode has two mature main types of strength and endurance. The strength or endurance exoskeleton can greatly enhance the function of a human body, but cannot be used for the crossing of large obstacles, so that the research on the bionic assistive device in a jump enhancing mode needs to be further developed. However, the common defects of the existing robot are that the mechanical structure and control are unstable, the bouncing efficiency is not high, the air balance mechanism is unstable, and the like. The fleas can pass through the barrier that is more than one dozen times to several hundred times of oneself, also because of this characteristic, bionical flea auxiliary device will improve the ability that people adapt to the topography greatly.

Therefore, the invention provides a wearable biological auxiliary device for the bionic flea, which can jump farther and is more stable, and the auxiliary device plays an important role in the exploration of the earth.

Disclosure of Invention

In order to achieve the effects, the invention provides the flea-like jumping auxiliary appliance which has the advantages of simple structure, high-distance jumping, stable air balance and stable landing.

The technical scheme of the invention is as follows: the utility model provides a bionical flea jump auxiliary device, mainly comprises trunk portion and low limbs part two parts, its characterized in that: the lower limb part comprises a pair of legs of the bionic fleas and two hydraulic buffer support rods. Each leg is firstly an additional foot horizontally contacted with the ground from bottom to top, and the unconnected end of the two additional feet faces to the back of the device. The other end of each auxiliary foot, namely the front face of the device faces, is connected with one end of a first lower limb with an inclined horizontal plane through a hinged joint, the other end of the first lower limb is connected with one end of a second lower limb with the opposite inclination direction through a hinged joint, the other end of the second lower limb is connected with one end of a vertical connecting rod through a hinged joint, and the other end of the connecting rod is connected with one end of a third lower limb with the opposite inclination direction of the second lower limb through a hinged joint; the other end of the third lower limb is fixed on the fixed rotating shaft of the trunk part through a twisting joint. The first lower limb, the second lower limb and the third lower limb are arranged in a mutually parallel zigzag space. And a pneumatic cylinder or a hydraulic device is arranged in each of the first lower limb, the second lower limb and the third lower limb, and hinged joints are arranged at two ends of the pneumatic cylinder or the hydraulic device to form a pneumatic cylinder or a hydraulic device in a double-joint mechanism mode. This design adopts the pneumatic cylinder or the hydraulic means of double joint mechanism form, utilizes the stopper that a plurality of sizes are different to double joint's mounting means has increased shank strength, reaches rational arrangement. The twisting connection structure device is a chelating rotating shaft between the power devices, so that mutual transmission between the power devices is achieved, and the effect of the power device with jumping function can be well exerted. The use of a plurality of limbs can not only enhance the bouncing force, but also reduce the impact pressure when falling to the ground. Most of the auxiliary jumping machines are conventional knee-bending jumping, have great defects in jumping height and energy utilization rate, and the invention adopts a mode of simulating flea jumping, namely slingshot jumping. When jumping, the fleas bend and tighten the two thighs to form a slingshot shape by tightening the toes and kicking the feet onto the ground. When the flea's thighs are no longer compressed down to contract, it will be ejected at an extremely rapid rate. When the flea jumps, only the toe of the foot contacts the ground. The jump mode is used as an auxiliary jump assisting mode, so that the jump height can be greatly increased, and the energy consumption in the energy storage stage is reduced.

The hydraulic cushion for the upper articulated joints of the third lower limbs of the two legs and the trunk part are jointly installed at the joint of the trunk part and the lower limb part of the whole device, which is equivalent to the waist part, and are fixedly and constantly arranged on the same horizontal line through a fixed rotating shaft. The fixed rotating shaft fixes the hydraulic buffering cushion in the middle, then the left side and the right side are respectively fixed with a left bionic flea leg and a right bionic flea leg, and two ends of the fixed rotating shaft are provided with and fixed with a circular arc waist belt-shaped metal middle protective shell to play a role in protecting an operator and a device. Two ends of the fixed rotating shaft outside the middle protective shell are respectively provided with a balance fin transmission rod joint, and the two balance fin transmission rod joints are respectively connected with a balance fin. The interior of the balance fin transmission rod joint is provided with a micro power device of the balance fin. The design of the balance fins is used to balance the attitude. When the floor falls, the resistance can be increased, and the impact can be reduced. The balance wings adjust the posture in the air after jumping up, so as to achieve the effect of safety and stability.

The hydraulic buffer cushion is in a circular shape or a shape of two elliptic petals, and a main power supply and a main control system of the device are arranged in the hydraulic buffer cushion; two hydraulic buffer support rods which are vertically downward are symmetrically connected below the diameter of the round parallel fixed rotating shaft of the hydraulic buffer cushion or the centers of the two oval petals in the shape of a petal. Lower limb connecting belts are respectively installed at the middle parts of the rods of the left hydraulic buffer supporting rod and the right hydraulic buffer supporting rod between the two legs for preventing fleas, one end of each lower limb connecting belt is fixed on the hydraulic buffer supporting rod, and the other end of each lower limb connecting belt is fixed at the inner side of the lower limb II of the leg close to the lower limb connecting belt. The lower part of each hydraulic buffer support rod is fixedly provided with a fixed foot pad, and the vertical downward bottom end of each hydraulic buffer support rod is provided with a distance sensor. The hydraulic buffer device comprises a hydraulic buffer cushion and a hydraulic buffer support frame. Hydraulic cushion and hydraulic cushion bracing piece are placed in the junction of bionical flea both legs and device waist, and when hydraulic cushion and hydraulic cushion bracing piece experienced collision pressure, kinetic energy transmitted the piston through stopper and accelerating spring to remove along opposite direction, the process of the buffer solution of compressed is the process through piston extrusion oil, and a large amount of kinetic energy of this process consumption play the cushioning effect. The distance sensor plays a role in transmitting a signal to the hydraulic buffering supporting rod in advance, and buffering preparation is made so as to keep the jumping process stable and prevent the jumping from being too violent in buffering and falling greatly. The safety and the stability are kept.

The trunk part also comprises an upper protective shell supporting rod, an upper protective shell, an upper limb connecting band and a three-axis gyroscope module. The upper protective shell supporting rods are divided into a left side and a right side, and are symmetrically arranged on the left side and the right side of the upward surface of the hydraulic buffering cushion along the direction parallel to the fixed rotating shaft. The upper protective shell supporting rod is divided into two sections, the bottom end of the lower section is fixedly connected with the hydraulic buffering cushion through an adjustable fixed shaft, and the upper end of the lower section is connected with the upper section of the upper protective shell supporting rod through a driving rotating shaft. And the upper half section of each upper protective shell supporting rod is respectively provided with a three-axis gyroscope module, and each three-axis gyroscope module comprises a three-axis gyroscope and a signal processor. The signal processor of the triaxial gyroscope module can control the adjustable fixed shaft, the driving rotating shaft, the micro power device of the balance fin and the hydraulic buffer supporting rod through wired or wireless signals. The control panel of the device is arranged on the left upper protective shell support rod and the right upper protective shell support rod, and is provided with a control handle or a control button. The top ends of the upper half sections of the two upper protective shell supporting rods are supported and installed with a detachable egg-shaped cap-shaped upper protective shell; the circular bottom end of the upper protective shell in the shape of an egg-shaped cap is matched with the upper end of the middle protective shell in a clearance of 5-30mm, the outer diameter of the upper protective shell is larger than that of the middle protective shell, and the upper protective shell is sleeved on the middle protective shell. The existence of the gap is beneficial to the posture adjustment during jumping and protects the safety of operators and equipment. The upper limb connecting band of the semicircular arc shape connecting the two upper protective shell supporting rods is further installed in the backward direction of the upper half section of the upper protective shell supporting rod, and the upper limb connecting band can be fixed in a telescopic mode, so that the operator can feel comfortable.

In the technical scheme, when the output of the signal processor of the triaxial gyroscope module adopts a wired mode, a signal wire can be installed and detached on the connector of the balance fin transmission rod; the three-axis gyroscope of the three-axis gyroscope module comprises a gyroscope frame, a universal coordinate system, a rotating shaft, a rotor and a gyroscope fixing shaft.

In the technical scheme, the lower limb connecting belt has elasticity and high strength; a safety fastening device is arranged on the upper limb connecting belt; the two hydraulic buffer support rods are both provided with a safety fastening device; and the two fixed foot pads are provided with safety fastening devices. The design is favorable for the safety protection of operators.

In the technical scheme, the control handles or control buttons arranged on the left upper protective shell supporting rod and the right upper protective shell supporting rod are wired or wireless; the upper protective shell is completely transparent or is transparent in the range of 180 degrees in front, so that the operator can be protected from having a good view.

In the technical scheme, the signal processor of the three-axis gyroscope module can receive signals of the three-axis gyroscope, brain mind signals of an operator and signals of the distance sensor, and transmits the signals to the master control system in the hydraulic buffering cushion. The main control system bears the jumping feet, the hinge joints, the first lower limb, the second lower limb and the third lower limb, the hydraulic buffer supporting rods and the adjustable fixed shafts of the main coordination control device, and drives the rotating shafts and the balance wings to work.

In the above technical solution, the length proportional size of the lower limb portion is preferably: the auxiliary foot is one leg, two legs, a connecting rod and three legs, wherein the ratio of the auxiliary foot to the first leg to the second leg is 5 to 6: 3 to 5: 4 to 5: 1: 6 to 9.

The invention has the technical characteristics of convenient operation and professionalism. The invention has the following beneficial effects: and (1) the stability in the air is high. A three-axis gyroscope is introduced to enhance the stability of the whole biological assistive device; and (2) the floor falls smoothly. Balance fins are added in the design to stabilize the aerial and landing postures; and (3) the bounce height is high. The manner of auxiliary jumping adopts the slingshot type jumping of fleas.

Drawings

Fig. 1 is a schematic structural view of a biomimetic flea leg of the present invention.

Fig. 2 is a schematic view of the waist and lower limb of the present invention.

FIG. 3 is a schematic overall side view of the present invention.

Fig. 4 is a schematic side front perspective view of the present invention without a protective cover.

Fig. 5 is a schematic side-back perspective view of the present invention without a protective cover.

Fig. 6 is a schematic side-front perspective view of the present invention.

Fig. 7 is a perspective view of the entire side and back of the present invention.

Fig. 8 is a schematic perspective view of a three-axis gyroscope according to the present invention.

In the figure: 1. the device comprises an auxiliary foot, 2, a hinged joint, 3, a first lower limb, 4, a second lower limb, 5, a connecting rod, 6, a third lower limb, 7, a hydraulic cushion pad, 8, a fixed rotating shaft, 9, a middle protective shell, 10, a hydraulic cushion supporting rod, 11, a lower limb connecting belt, 12, a fixed foot pad, 13, an upper protective shell, 14, a balance wing, 15, a balance wing transmission rod joint and 16, a distance sensor; 17. the adjustable fixed shaft 18, the upper protective shell supporting rod 19, the three-axis gyroscope module 20, the upper limb connecting belt 21 and the driving rotating shaft; 25. torso portion, 26 lower limb portion; 30. gyroscope frame, 31 universal coordinate system, 32 rotating shaft, 33 rotor, 34 gyroscope fixed shaft.

Detailed Description

The invention is further described below with reference to the figures and examples.

Referring to the shape structure of fig. 1-8, a bionic flea jump auxiliary device, in order to reach higher bionic flea jump mode, refer to the limb segment proportion of flea shank, the proportion in the two legs of design bionic flea is: the ratio of the foot-attaching part 1 to the lower limb part I3 to the lower limb part II 4 to the connecting rod 5 to the lower limb part III 6 is 6: 3: 4: 1: 9. The hinge joint 2 increases leg strength in a double-joint installation mode, achieves reasonable arrangement and helps a power system of the auxiliary device. In the preparation stage of jumping, the 6 pneumatic cylinders of the two legs are contracted to make the two legs of the device in a low state, and in the jumping process, the 6 pneumatic cylinders work simultaneously and drive the articulation joint 2 to operate simultaneously, so that the auxiliary device is quickly pushed to jump upwards. The jumping height of the jumping mode can be several times higher than the height of the flea, which is the characteristic of the bionic flea jumping of the invention.

Referring to the configuration of fig. 1 to 8, the present invention also considers a strong impact force at the time of landing because of a high jump height, and designs a hydraulic cushion system for the apparatus, including a hydraulic cushion pad 7, and two hydraulic cushion support rods 10 installed at both inner sides of both legs, respectively, and the hydraulic cushion pad 7 is installed above the hydraulic cushion support rods 10. In the falling phase, when the hydraulic cushion 7 is subjected to collision pressure, kinetic energy is transferred to the piston through the plug and the spring to move in the opposite direction, and the piston presses the cushion oil. This process consumes a large amount of kinetic energy and thus acts as a buffer. The hydraulic cushion 7 is fixed between the two legs of the bionic flea through the fixed rotating shaft 8, and the protective shell 9 is fixed on one layer outside the hydraulic cushion 7 and used as a protective guard to prevent an operator from being injured when falling sideways. The middle of the hydraulic buffer support rod 10 is also respectively provided with a lower limb connecting band 11, which is used for limiting the first lower limb 3, the second lower limb 4 and the third lower limb 6 of the bionic leg, preventing the lower limbs from inclining outwards and protecting the life safety of an operator. The bottommost parts of the two hydraulic buffer support rods 10 are respectively provided with a fixed foot pad 12, so that an operator can stably step on the fixed foot pads.

Referring to the shape structure of fig. 1 to 8, since the present invention mounts the device with the three-axis gyro module 19 and the balance fin 14 in consideration of the case where the auxiliary device is subjected to attitude bias in the air, the three-axis gyro module 19 includes a three-axis gyro, a signal processor. The three-axis gyroscope is a signal acquisition device and transmits the overall balance condition information of the auxiliary device to the signal processor, and if the overall balance condition of the device is not within the standard range, the signal processor transmits signals to the balance fins 14, so that the operation of the signal processor improves the overall balance condition of the device. The upper protective shell 13 is fixed at the top end of the upper protective shell support rod 18, so that the upper protective shell 13 is stably sleeved on the middle protective shell 9. An upper limb connecting belt 20, a semicircular upper limb connecting belt 20, an upper protective shell 13 and various fastening devices are arranged between the two upper protective shell supporting rods 18, so that the random swing of limbs of an operator is prevented through supporting, and the operator is protected. The operator's brain mind signals through the mind machine, the signals from the three-axis gyroscope, and the signals from the distance sensor 16 are processed by the signal processor of the three-axis gyroscope module 19. The output signal of the signal processor is used for coordinating and controlling the jumping of the device through a main control system arranged in a hydraulic buffer cushion 7, wherein the main control system is used for driving all parts of a rotating shaft 21 and a balance wing 14 to work through the foot attachment 1, the articulated joint 2, the first lower limb 3, the second lower limb 4, the third lower limb 6, the hydraulic buffer supporting rod 10 and the adjustable fixed shaft 17.

Description of the drawings: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, but the scope of the present invention is not limited thereto, and any person skilled in the art of the present invention can modify the technical solutions of the present invention or substitute the equivalent without departing from the spirit and scope of the technical solutions of the present invention and shall be covered by the claims of the present invention.

Claims

1. The utility model provides a bionical flea jump auxiliary device, mainly comprises trunk portion (25) and low limbs part (26) two parts, its characterized in that: the lower limb part (26) comprises a pair of bionic flea legs and two hydraulic buffer support rods (10); each leg is an auxiliary foot (1) which is horizontally contacted with the ground from bottom to top, and the direction of the unconnected end of the two auxiliary feet (1) is the back direction of the device; the other end of each auxiliary foot (1), namely the front face of the device faces, is respectively connected with one end of a first lower limb (3) with an inclined horizontal plane through a hinge joint (2); the other end of the first lower limb (3) is connected with one end of a second lower limb (4) with opposite inclination directions through a hinged joint (2), the other end of the second lower limb (4) is connected with one end of a vertical connecting rod (5) through the hinged joint (2), and the other end of the connecting rod (5) is connected with one end of a third lower limb (6) with opposite inclination directions of the second lower limb (4) through the hinged joint (2); the other end of the lower limb III (6) is fixed on a fixed rotating shaft (8) of the trunk part (25) through a twisting joint (2); the pair of the first lower limbs (3), the second lower limbs (4) and the third lower limbs (6) are arranged in a mutually parallel zigzag space; a pneumatic cylinder or a hydraulic device is arranged in each of the first lower limb (3), the second lower limb (4) and the third lower limb (6), and hinged joints (2) are arranged at two ends of the pneumatic cylinder or the hydraulic device to form a pneumatic cylinder or a hydraulic device in a double-joint mechanism mode; the upper end hinge joints (2) of the lower limbs III (6) of the two legs and the hydraulic buffer cushion (7) of the trunk part (25) are jointly installed at the joint of the trunk part (25) and the lower limb part (26) of the whole device, which is equivalent to the waist part, and are fixedly kept and arranged on the same horizontal line through a fixed rotating shaft (8); a hydraulic buffer cushion (7) is fixed at the middle by a fixed rotating shaft (8), then a left bionic flea leg and a right bionic flea leg are respectively fixed at the left side and the right side, and a circular arc waist belt-shaped metal middle protective shell (9) is fixedly arranged at two ends of the fixed rotating shaft (8); two ends of the fixed rotating shaft (8) outside the middle protective shell (9) are respectively provided with a balance fin transmission rod joint (15), and the two balance fin transmission rod joints (15) are respectively connected with a balance fin (14); a micro power device of the balance fin (14) is arranged in the joint (15) of the balance fin transmission rod; the hydraulic buffer cushion (7) is in a circular shape or a shape of two elliptic petals, and a main power supply and a main control system of the device are arranged in the hydraulic buffer cushion; two hydraulic buffer support rods (10) which are vertically downward and are arranged between two legs for preventing fleas are symmetrically connected below the diameter of a round parallel fixed rotating shaft (8) of the hydraulic buffer cushion (7) or the centers of two elliptic petals in the shape of petals; lower limb connecting belts (11) are respectively installed at the middle parts of the left hydraulic buffer supporting rod and the right hydraulic buffer supporting rod (10), one end of each lower limb connecting belt (11) is fixed on the hydraulic buffer supporting rod (10), and the other end of each lower limb connecting belt is fixed at the inner side of a lower limb II (4) of one leg close to each lower limb connecting belt; a fixed foot pad (12) is fixedly arranged at the lower part of each hydraulic buffer support rod (10), and a distance sensor (16) is arranged at the vertically downward bottom end of each hydraulic buffer support rod (10); the trunk part (25) also comprises an upper protective shell supporting rod (18), an upper protective shell (13), an upper limb connecting belt (20) and a three-axis gyroscope module (19); the upper protective shell supporting rods (18) are divided into a left side and a right side, and are symmetrically arranged along the direction parallel to the fixed rotating shaft (8) and arranged on the left side and the right side of the upward surface of the hydraulic buffer cushion (7); the upper protective shell supporting rod (18) is divided into an upper section and a lower section, the bottom end of the lower section is fixedly connected with the hydraulic buffer cushion (7) through an adjustable fixed shaft (17), and the upper end of the lower section is connected with the upper section of the upper protective shell supporting rod (18) through a driving rotating shaft (21); the upper half section of each upper protective shell supporting rod (18) is respectively provided with a three-axis gyroscope module (19), and each three-axis gyroscope module (19) comprises a three-axis gyroscope and a signal processor; a signal processor of the triaxial gyroscope module (19) can control the adjustable fixed shaft (17), the driving rotating shaft (21), the micro power device of the balance fin (14) and the hydraulic buffer supporting rod (10) through wired or wireless signals; the control panel of the device is arranged on the left upper protective shell support rod (18) and the right upper protective shell support rod (18), and is provided with a control handle or a control button; the top ends of the upper half sections of the two upper protective shell supporting rods (18) are jointly supported and installed with an egg-shaped detachable cap-shaped upper protective shell (13); the circular bottom end of an egg-shaped cap-shaped upper protective shell (13) is matched with the upper end of a middle protective shell (9) in a clearance of 5-30mm, the outer diameter of the upper protective shell (13) is larger than that of the middle protective shell (9), and the upper protective shell (13) is sleeved on the middle protective shell (9); the upper half section of the upper protective shell supporting rod (18) is also provided with a semicircular upper limb connecting belt (20) which is connected with the two upper protective shell supporting rods (18) in the backward direction, and the upper limb connecting belt (20) can be fixed in a telescopic way.

2. A bionic flea jump assist device as claimed in claim 1 wherein: when the output of the signal processor of the triaxial gyroscope module (19) adopts a wired mode, a signal wire can be installed and detached on the balance fin transmission rod joint (15); the three-axis gyroscope of the three-axis gyroscope module (19) comprises a gyroscope frame (30), a universal coordinate system (31), a rotating shaft (32), a rotor (33) and a gyroscope fixing shaft (34).

3. The flea jump aid of claim 1 wherein: the lower limb connecting belt (11) has elasticity and high strength; a safe fastening device is processed and installed on the upper limb connecting belt (20); the two hydraulic buffer support rods (10) are provided with a safety fastening device; and the two fixed foot pads (12) are provided with safety fastening devices.

4. A bionic flea jump assist device as claimed in claim 1 wherein: the control handles or control buttons arranged on the left upper protective shell supporting rod (18) and the right upper protective shell supporting rod (18) are wired or wireless; the upper protective shell (13) is completely transparent or transparent within 180 degrees in front.

5. A bionic flea jump assist device as claimed in claim 1 wherein: the signal processor of triaxial gyroscope module (19) can receive the signal of triaxial gyroscope, the brain idea signal of operator's idea machine, and distance sensor (16)'s signal, and transmit the total control system of hydraulic cushion (7) inside, total control system undertakes the operation of each part of total coordinated control device jump sufficient (1), the hank joint (2), low limbs one (3), low limbs two (4), low limbs three (6), hydraulic cushion bracing piece (10), adjustable fixed axle (17), drive pivot (21), balanced wing (14).

6. A bionic flea jump assist device as claimed in claim 1 wherein: the length proportion and the size of the lower limb part (26) are respectively (1) foot-attaching (1), one (3) lower limb, two (4) lower limb, connecting rod (5) and three (6) lower limb (5 to 6: 3 to 5: 4 to 5: 1: 6 to 9).