CN109677503A - A kind of Multifunctional foot for polypody bio-robot - Google Patents
A kind of Multifunctional foot for polypody bio-robot Download PDFInfo
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- CN109677503A CN109677503A CN201910163528.3A CN201910163528A CN109677503A CN 109677503 A CN109677503 A CN 109677503A CN 201910163528 A CN201910163528 A CN 201910163528A CN 109677503 A CN109677503 A CN 109677503A
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- Prior art keywords
- robot
- claw
- polypody
- multifunctional foot
- axis
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- 241000592274 Polypodium vulgare Species 0.000 title claims abstract description 32
- 210000000078 claw Anatomy 0.000 claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000013016 damping Methods 0.000 claims abstract description 8
- 238000005265 energy consumption Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 6
- 238000009825 accumulation Methods 0.000 claims abstract description 5
- 230000000694 effects Effects 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 4
- 235000017771 Acacia greggii Nutrition 0.000 claims description 3
- 244000023431 Proboscidea parviflora Species 0.000 claims description 3
- 235000019096 Proboscidea parviflora Nutrition 0.000 claims description 3
- 238000004146 energy storage Methods 0.000 claims description 3
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 2
- 239000000956 alloy Substances 0.000 claims description 2
- 239000002131 composite material Substances 0.000 claims description 2
- 229910001234 light alloy Inorganic materials 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 238000003860 storage Methods 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 description 17
- 230000005540 biological transmission Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 244000082490 Proboscidea louisianica Species 0.000 description 2
- 235000015926 Proboscidea louisianica ssp. fragrans Nutrition 0.000 description 2
- 235000015925 Proboscidea louisianica subsp. louisianica Nutrition 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of Multifunctional foot for polypody bio-robot, including elastic sole, claw, axis, power mechanism and leg support, elastic sole is fixed on the bottom of leg support, and axis is connected with power mechanism and is fixed on the lower part of leg support, and claw is directly connected to axis or is connect by lantern ring.The design of Multifunctional foot of the present invention makes the polypody of polypody bio-robot have multiple functions: polypody bio-robot is substantially improved to the adaptability of complicated landform in the grip function etc. that hooking when vibration damping accumulation of energy function when walking, climbing is embedding when grabbing function, crawl；Structure is simple, is driven using single power source, not only simplifies its control mode, has more greatly simplified structure setting, alleviate weight, reduces volume；Energy efficiency can not only play damping effect, can also be translated into the power of walking using elastic ball absorption and storage impact energy, and the energy consumption in traveling process is effectively reduced, and improve the cruising ability of polypody bio-robot.
Description
Technical field
The present invention relates to bio-robot fields, and in particular to a kind of Multifunctional foot for polypody bio-robot.
Background technique
In recent years, multi-foot robot largely applies in daily life and industrial production, but most of polypody machines
The mechanical foot of people has a single function, can only be movable under particular circumstances, for some environment complicated and changeable, as level walking,
When the landform complicated and changeable such as ice face walks, runs, obstacle detouring, climbing, rock-climbing, it is difficult to competent.
To adapt to landform complicated and changeable, foot/pawl of natural imitation circle biology to mechanical foot progress bionics Study at
Hot spot.CN 201700013845.8 discloses a kind of machinery foot of imitative ram's horn expansion performance, including sole and toe, toe point
For root apotelus, middle apotelus and preceding apotelus, the front end of a toe is controlled by gear and belt transmission using a motor
The contraction of claw, and buffering is provided using button spring, there are many places deficiencies: the quantity of 1. motors is more, and a foot needs four electricity
Machine controls the contraction of its claw；2. structure is complicated, a foot has 12 apotelus, and its structure is complicated, and volume is larger；3. claw
Hook grip it is weak and without grippage, be easy to skid using belt transmission, it is difficult to the biggish power of transmitting in small-sized machinery foot,
Its hook grip is weak, while only imitating the flexible of ram's horn, does not have grippage；4. the utilization rate of energy is low, Multi-stage transmission is utilized
Reduce the utilization rate of energy；5. easily damage, motor and transmission mechanism are easily damaged in walking still in vola；6. energy consumption
Height, button spring are only claw and provide buffering, the whole buffer shock-absorbing of mechanical foot act on it is insufficient, while when can not also be landed to its pawl
Impact energy utilize again.
CN 201610844002.8 discloses a kind of spider detection bio-robot, (thorniness) with two pairs of imitative insects
Mechanical digitus, the middle part of digitus is equipped with wheel, and realizes the switching between mechanical digitus and wheel by hydraulic-driven, exists
Shortcoming be: the mechanical digitus of 1. thorniness is poor to the ground grip ability of hard landform, and the mechanical digitus of thorniness is improved to low
The ground grip ability of hardness landform, to hard landform (such as rock, ice face) because the reduction of its contact area makes its ground grip ability substantially
Decline；2. the mechanical digitus of thorniness is without grippage without grippage；3. vibration is big, the buffer capacity of mechanical digitus and wheel
Minimum, the Oscillation Amplitude in traveling is big；4. impact energy when mechanical digitus can not land it is effectively absorbed and utilized, when traveling
Energy consumption it is high.
In conclusion existing machinery foot still has many shortcomings, robot is significantly limited in the application in field.
Summary of the invention
The technical problem to be solved by the present invention is to it is simple to overcome the deficiencies of the prior art and provide a kind of structure, can accumulation of energy
It is vibration damping, energy-saving, have the function of that hooking is embedding and grabs and the Multifunctional foot of the polypody bio-robot of grip function.
The technical solution used to solve the technical problems of the present invention is that a kind of for the multi-functional of polypody bio-robot
Foot, including elastic sole, claw, axis, power mechanism and leg support, the elasticity sole are fixed on the bottom of leg support, axis and
Power mechanism is connected and is fixed on the lower part of leg support, and claw is directly connected with axis or is connected by lantern ring with axis.
Further, the claw quantity is 1~4.
Further, the elastic sole provides bottom support for the walking of sufficient leg or standing of polypody bio-robot, described
The claw claw hooking driven by the power mechanism for providing the climbing of polypody bio-robot is embedding to grab function or for the bionical machine of polypody
The polypody of device people provides the grip function of similar palm.
Further, the power mechanism is that servo motor drives power mechanism or hydraulic-driven power mechanism, is claw
Folding and unfolding provides power.
Further, the elastic sole uses lath spring energy-storage and/or helical spring accumulation of energy, can during traveling,
The impact energy that sole generates when being contacted with ground is absorbed, impact energy is stored while playing damping effect, leaves ground in sole
Driving force release is converted it into during face, reduces the energy consumption in traveling process.
Further, there is cavity in the leg support, the cavity is for placing the power mechanism and claw；The leg branch
Location and installation slot, positioning and fixation of the location and installation slot for the elastic sole are additionally provided on frame.
Further, the claw can also be provided at leg support two sides in jumper shape or devils claw or sickle shaped, the claw.
Further, the lantern ring and claw are integral type or split type.
Further, speed reducer is additionally provided in the power mechanism, the speed reducer is worm gear pole speed reducer, harmonic reduction
One of machine, RV speed reducer, cycloidal-pin gear speed reducer or planetary reduction gear.
Further, the leg support and claw material are high-strength light alloy, composite material, one in titanium alloy material
Kind.
The present invention has the positive effect that:
1. function is more, wide adaptability, the design of Multifunctional foot makes the polypody of polypody bio-robot have multiple functions: when walking
The grip function etc. that hooking when vibration damping accumulation of energy function, climbing is embedding when grabbing function, crawl, makes polypody bio-robot to intricately
The adaptability of shape greatly promotes；
2. structure is simple, driven using single power source, not only simplifies its control mode, more greatly simplify and finish
Structure setting, alleviates weight, reduces volume；
3. energy efficiency can not only play damping effect, can also be converted using elastic ball absorption and storage impact energy
For the power of walking, the energy consumption in traveling process is effectively reduced, improves the cruising ability of polypody bio-robot.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the cut-away view of Fig. 1；
Fig. 3 is the structural schematic diagram of the embodiment of the present invention 2；
Fig. 4 is the cut-away view of Fig. 3；
Fig. 5 is the structural schematic diagram of the embodiment of the present invention 3；
Fig. 6 is the cut-away view of Fig. 5；
Fig. 7 is the cut-away structure chart of the embodiment of the present invention 4.
Specific embodiment
With reference to the accompanying drawings and examples, invention is further described in detail.
Embodiment 1
Referring to Figures 1 and 2, the embodiment of the present invention includes leg support 1, elastic sole 2, claw 3, axis 4, power mechanism 5, elastic foots
The palm 2 is fixed on the bottom of leg support 1, and axis 4 is fixed on leg support 1, and is connected with power mechanism 5, and claw 3 passes through bearing and axis
It is connected on 4.
Leg support 1 in "" shape, intermediate type chamber is for accommodating power mechanism 5 and folding and unfolding claw 3；It is also set on leg support 1
It is equipped with location and installation slot 11, location and installation slot 11 is in low wide and up narrow taper, in order to the limit of elastic sole 2, positioning.
Elastic sole 2 is the sole using lath spring energy-storage, is fixed on the lower part of leg support 1, is polypody bionic machine
The sufficient leg of people, which walks or stands, provides bottom support, and the shaped upper part of elastic sole 2 is taper similar with location and installation slot 11,
Be fixed in location and installation slot 11 by the screwed pin in bottom, elastic sole 2 can during traveling, absorb sole with
The impact energy generated when ground face contact stores impact energy while playing damping effect, during sole leaves ground
Driving force release is converted it into, the energy consumption in traveling process is reduced.
Claw 3 is 1, is in jumper shape, and claw 3 is connected by screw with power mechanism 5, is connected with axis 4 by bearing, axis
It holds and is positioned by axle sleeve 42, claw 3 provides that hooking is embedding to grab function under the driving of power mechanism 5 for the climbing of polypody bio-robot
Can or the grasping of similar palm be provided for the polypody of polypody bio-robot together as offensive weapon or with elastic sole 2
Function.
Axis 4 passes through power mechanism 5 and claw 3, and one end is inserted in leg support 1, and the other end is supported by end cap 41, for branch
Support foot pawl 3 and power mechanism 5.
Power mechanism 5 is hydraulic-driven power mechanism, is connected with axis 4, the folding and unfolding for claw 3 provides power.
Embodiment 2
Referring to Fig. 3 and Fig. 4, the present embodiment the difference from embodiment 1 is that:
Leg support 1 is in " Ш " shape, each type chamber accommodates a corpus unguis 31.
Elastic 2 lower part of sole and leg support 1 are fixed by screws in location and installation slot 11 with width.
Claw 3 includes corpus unguis 31, lantern ring 32 and anchor ear 33, and corpus unguis 31 has 2, is in devils claw, is fixed on by anchor ear 33
On lantern ring 32, lantern ring 32 is connected by key with axis 4.
Axis 4 is connected by rolling bearing with leg support 1, and both ends are positioned and sealed by end cap 41, are used to support claw 3.
Power mechanism 5 is outer rotor torque motor driving mechanism, and the stationary part of outer rotor torque motor is fixed on leg branch
On frame 1, rotor portion is connected with lantern ring 32 by screw.
Embodiment 3
Referring to figure 5 and figure 6, the present embodiment the difference from embodiment 1 is that:
Claw 3 has 2, including corpus unguis 31 and lantern ring 32, and corpus unguis 31 and lantern ring 32 are integral type, and whole is in sickle shaped, respectively
Positioned at the two sides of leg support, 32 sets of lantern ring on axis 4, the both ends of lantern ring 32 are fixed by axle sleeve 42 and nut respectively.
Axis 4 is connected by rolling bearing with leg support 1, and claw 3 is used to support.
Power mechanism 5 is servo motor driving mechanism, including motor 51, RV speed reducer 52, motor 51 are fixed on foot support 1
Cavity in, output shaft is connected with RV speed reducer 52, and 52 output shaft of speed reducer is connected with axis 4.
Embodiment 4
Referring to Fig. 7, the present embodiment the difference from embodiment 1 is that:
Claw 3 is 4, including corpus unguis 31, lantern ring 32 and anchor ear 33, wherein 2 are located in the cavity of leg support 1, other two
The two sides of leg support 1 are located at, intracorporal 2 corpus unguis 31 of chamber are fixed on lantern ring 32-1 by anchor ear 33, and lantern ring 32-1 is logical
It crosses key to be connected with axis 4,2 corpus unguis 31 and the lantern ring 32-2 of two sides are integrally fixed, and lantern ring 32-2 covers on axis 4 and consolidated by screw
It is scheduled on axis 4.
Axis 4 is connected by sliding bearing 43 with leg support 1, is used to support claw 3 and is transmitted the driving force of folding and unfolding claw 3.
Power mechanism 5 is fixed on leg branch by outer rotor torque motor driving mechanism, the stationary part of outer rotor torque motor
On frame 1, rotor portion is connected with lantern ring 32-1 by screw；When claw 3 stretches out, torque motor drives lantern ring 32-1 rotation,
Lantern ring 32-1 drives 2 corpus unguis 31 rotation in leg support 1, and drives 2 corpus unguis 31 rotation outside leg support 1 by axis 4, from
And realize that 4 claws 3 are synchronous and stretch out, vice versa.
Those skilled in the art can carry out various modifications to the present invention and modification, if these modifications and variations are at this
Within the scope of invention claim and its equivalent technologies, then these modifications and variations are also within protection scope of the present invention.
The prior art that the content being not described in detail in specification is known to the skilled person.
Claims (9)
1. a kind of Multifunctional foot for polypody bio-robot, which is characterized in that including elastic sole, claw, axis, engine
Structure and leg support, the elasticity sole are fixed on the bottom of leg support, and axis is connected with power mechanism and is fixed under leg support
Portion, claw are directly connected with axis or are connected by lantern ring with axis.
2. the Multifunctional foot according to claim 1 for polypody bio-robot, which is characterized in that the claw quantity
It is 1~4.
3. the Multifunctional foot according to claim 1 or 2 for polypody bio-robot, which is characterized in that the power
Mechanism is that servo motor drives power mechanism or hydraulic-driven power mechanism.
4. the Multifunctional foot according to claim 1 or 2 for polypody bio-robot, which is characterized in that the elasticity
Sole uses lath spring energy-storage and/or helical spring accumulation of energy, can absorb sole during traveling and generate when being contacted with ground
Impact energy, impact energy is stored while playing damping effect, driving is converted it into during sole leaves ground
Power release, reduces the energy consumption in traveling process.
5. the Multifunctional foot according to claim 1 or 2 for polypody bio-robot, which is characterized in that the leg branch
Cavity is equipped in frame, the cavity is for placing the power mechanism and claw；Location and installation is additionally provided on the leg support
Slot, positioning and fixation of the location and installation slot for the elastic sole.
6. the Multifunctional foot according to claim 1 or 2 for polypody bio-robot, which is characterized in that the claw
In jumper shape or devils claw or sickle shaped.
7. the Multifunctional foot according to claim 1 or 2 for polypody bio-robot, which is characterized in that the lantern ring
It is integral type or split type with claw.
8. the Multifunctional foot according to claim 1 or 2 for polypody bio-robot, which is characterized in that the power
Speed reducer is additionally provided in mechanism, the speed reducer is worm gear pole speed reducer, harmonic wave speed reducing machine, RV speed reducer, cycloidal-pin wheel deceleration
One of device or planetary reduction gear.
9. the Multifunctional foot according to claim 1 or 2 for polypody bio-robot, which is characterized in that the leg branch
Frame and claw material are one of high-strength light alloy, composite material, titanium alloy material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910163528.3A CN109677503A (en) | 2019-03-05 | 2019-03-05 | A kind of Multifunctional foot for polypody bio-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910163528.3A CN109677503A (en) | 2019-03-05 | 2019-03-05 | A kind of Multifunctional foot for polypody bio-robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109677503A true CN109677503A (en) | 2019-04-26 |
Family
ID=66197488
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910163528.3A Pending CN109677503A (en) | 2019-03-05 | 2019-03-05 | A kind of Multifunctional foot for polypody bio-robot |
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| Country | Link |
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| CN (1) | CN109677503A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406609A (en) * | 2019-07-27 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of the bionical of intelligent robot seeks connections with movement mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1087253A (en) * | 1992-11-17 | 1994-06-01 | 斯科特·爱伦 | Coil spring prosthetic foot |
| CN104709375A (en) * | 2015-03-12 | 2015-06-17 | 哈尔滨工程大学 | Energy-storage type leapfrog-simulation robot |
| CN105383587A (en) * | 2015-11-25 | 2016-03-09 | 济南大学 | Four-leg robot for detecting mine tunnel |
| CN105644649A (en) * | 2015-12-23 | 2016-06-08 | 北京工业大学 | Leg and foot structure of bionic robot of changed structure |
| CN106906742A (en) * | 2017-02-28 | 2017-06-30 | 青岛大学 | Railway bridge-checking vehicle supporting leg and its control method |
| CN108297966A (en) * | 2018-03-28 | 2018-07-20 | 长沙紫宸科技开发有限公司 | A kind of bowstring type elastic buffer accumulation of energy Form of Bionics Mechanical Legs |
| CN209683855U (en) * | 2019-03-05 | 2019-11-26 | 长沙紫宸科技开发有限公司 | Multifunctional foot for polypody bio-robot |
-
2019
- 2019-03-05 CN CN201910163528.3A patent/CN109677503A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1087253A (en) * | 1992-11-17 | 1994-06-01 | 斯科特·爱伦 | Coil spring prosthetic foot |
| CN104709375A (en) * | 2015-03-12 | 2015-06-17 | 哈尔滨工程大学 | Energy-storage type leapfrog-simulation robot |
| CN105383587A (en) * | 2015-11-25 | 2016-03-09 | 济南大学 | Four-leg robot for detecting mine tunnel |
| CN105644649A (en) * | 2015-12-23 | 2016-06-08 | 北京工业大学 | Leg and foot structure of bionic robot of changed structure |
| CN106906742A (en) * | 2017-02-28 | 2017-06-30 | 青岛大学 | Railway bridge-checking vehicle supporting leg and its control method |
| CN108297966A (en) * | 2018-03-28 | 2018-07-20 | 长沙紫宸科技开发有限公司 | A kind of bowstring type elastic buffer accumulation of energy Form of Bionics Mechanical Legs |
| CN209683855U (en) * | 2019-03-05 | 2019-11-26 | 长沙紫宸科技开发有限公司 | Multifunctional foot for polypody bio-robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406609A (en) * | 2019-07-27 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of the bionical of intelligent robot seeks connections with movement mechanism |
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