CN110654473B - Bionic foot component - Google Patents
Bionic foot component Download PDFInfo
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- CN110654473B CN110654473B CN201910942990.3A CN201910942990A CN110654473B CN 110654473 B CN110654473 B CN 110654473B CN 201910942990 A CN201910942990 A CN 201910942990A CN 110654473 B CN110654473 B CN 110654473B
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- 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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Abstract
The invention discloses a bionic foot component, comprising: the device comprises a base joint driving mechanism, a base joint rotor mechanism, a leg bone mechanism, a shin bone mechanism and a foot mechanism; the base joint rotor mechanism, the leg bone mechanism, the tibia mechanism and the foot mechanism are sequentially connected, a leg tendon mechanism is arranged between the base joint rotor mechanism and the leg bone mechanism and drives the leg bone mechanism to drive the tibia mechanism and the foot mechanism to simultaneously lift or fall, a tibia tendon mechanism is arranged between the base joint rotor mechanism and the tibia mechanism and drives the tibia mechanism and the foot mechanism to simultaneously extend or retract along the lateral direction of the machine body main body; the base joint driving mechanism is arranged on an external machine body lapped with the bionic foot component and connected with the base joint rotor mechanism, and the base joint driving mechanism drives the base joint rotor mechanism to rotate and drives the leg bone mechanism to simultaneously swing clockwise or anticlockwise and transversely by taking the base joint rotor mechanism as an axis. The crawling soft action of similar animals is realized, the noise is low, the weight is light, the miniaturization is realized, and the crawling soft action device can be suitable for various wall surface operations.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a bionic foot assembly.
Background
At present, the bionic robot is widely applied to various dangerous or special occasions. The bionic robot can improve the working efficiency, replace manual work and reduce the potential safety hazard of workers in a dangerous environment.
The transmission mechanism of the traditional bionic robot generally adopts two fluid transmission modes, namely hydraulic transmission and pneumatic transmission, but the traditional hydraulic transmission and pneumatic transmission have the characteristics of easiness in leakage, high noise, high weight-power ratio, difficulty in maintenance and the like. Particularly, the hydraulic transmission has stable movement and large output force, but once the leakage of hydraulic oil occurs, the environmental pollution can be caused, and the hydraulic transmission has high cost and difficult maintenance. Compared with hydraulic transmission, the pneumatic transmission takes compressed air as a working medium, and even if leakage occurs, the pneumatic transmission cannot cause environmental pollution except partial power loss. And the pneumatic transmission action is rapid, and the maintainability is better than the hydraulic transmission. Moreover, the conventional bionic robot is generally large in volume and weight, is mostly in rigid connection, is very noisy during movement, is often rigid in action and has no flexibility, and the defects limit the application range of the bionic robot.
Therefore, a bionic foot assembly which is small in size, light in weight and low in noise needs to be provided, and flexible actions can be realized, so that the bionic robot can be suitable for tasks of various special scenes.
Disclosure of Invention
The invention aims to provide a bionic foot assembly which has the characteristics of small volume, light weight and low noise and can realize flexible action so as to be suitable for tasks of various special scenes.
To achieve the above object, the present invention provides a bionic foot assembly comprising: the device comprises a base joint driving mechanism, a base joint rotor mechanism, a leg bone mechanism, a shin bone mechanism and a foot mechanism;
the base joint rotor mechanism, the leg bone mechanism, the tibia mechanism and the foot mechanism are sequentially connected, a leg tendon mechanism is arranged between the base joint rotor mechanism and the leg bone mechanism, the leg tendon mechanism drives the leg bone mechanism to drive the tibia mechanism and the foot mechanism to simultaneously lift or fall, and the tibia tendon mechanism drives the tibia mechanism and the foot mechanism to simultaneously extend or retract along the lateral direction of the machine body main body;
the base joint driving mechanism is arranged on an outer machine body lapped with the bionic foot component, the base joint driving mechanism is connected with the base joint rotor mechanism, the base joint driving mechanism drives the base joint rotor mechanism to rotate and drive the leg bone mechanism to simultaneously swing clockwise or anticlockwise and transversely by taking the base joint rotor mechanism as an axis, so that the tibia mechanism and the foot mechanism are driven to simultaneously move forwards or backwards.
Optionally, base section rotor mechanism includes base section, base section gear, base section pivot and base section support, the base section gear the base section pivot with the base section support respectively with base section fixed connection, the base section gear with the base section pivot is coaxial, the base section with the one end that the base section gear is relative is equipped with the base section articulated shaft.
Optionally, a first hinge rod is arranged at the upper end of the base section support, a second hinge rod is arranged at the lower end of the base section support, and the base section is arranged between the first hinge rod and the second hinge rod;
the base joint rotating shaft penetrates through the base joint along the vertical direction, a first bearing is arranged at the upper end of the base joint rotating shaft, and a second bearing is arranged at the lower end of the base joint rotating shaft.
Optionally, shin bone mechanism is including the shin bone support of vertical setting, the shin bone support is equipped with shin bone pivot, third hinge pole and fourth hinge pole, the third hinge pole is located the top of shin bone pivot, the fourth hinge pole is located the below of shin bone pivot, foot mechanism locates the bottom of shin bone support.
Optionally, the leg bone mechanism includes a transversely-arranged leg joint support, one end of the leg joint support is hinged to the base section, the other end of the leg joint support is connected to the shank rotating shaft, the one end of the leg joint support is provided with a leg joint rotating shaft, and the other end of the leg joint support is provided with a fifth hinged rod.
Optionally, the leg tendon mechanism includes a leg lifting pneumatic tendon and a leg pressing pneumatic tendon, two ends of the leg lifting pneumatic tendon are respectively hinged to the first hinge rod and the fifth hinge rod, and two ends of the leg pressing pneumatic tendon are respectively hinged to the second hinge rod and the fifth hinge rod.
Optionally, the shin tendon mechanism includes pneumatic tendon of shin stretching and pneumatic tendon of shin retraction, the pneumatic tendon of shin stretching one end with the leg joint pivot is connected, the pneumatic tendon of shin stretching the other end with the third hinge pole is articulated, the pneumatic tendon of shin retraction one end with the leg joint pivot is connected, the pneumatic tendon of shin retraction the other end with the fourth hinge pole is articulated.
Optionally, the base joint driving mechanism includes a rotary cylinder and a cylinder gear, a rotary shaft of the rotary cylinder is fixedly connected to the cylinder gear, and the cylinder gear is engaged with the base joint gear.
Optionally, still include pneumatic controller, the pneumatic tendon of leg press, the pneumatic tendon of shin stretching, the pneumatic tendon of shin contracting, the foot mechanism the rotary cylinder is connected with pneumatic controller respectively.
Optionally, the foot mechanism comprises a suction cup connected to the shank bracket by a gimbal.
The invention has the beneficial effects that:
the bionic foot component is provided with a base joint rotor mechanism, a leg bone mechanism, a shin bone mechanism, a foot mechanism, a leg tendon mechanism and a bionic structure of the shin tendon mechanism, and the bionic foot can realize the functions of lifting, falling, laterally extending out, retracting and transversely swinging back and forth of similar insect legs under the driving of a transmission structure formed by the leg tendon mechanism, the shin tendon mechanism and the base joint drive mechanism, thereby realizing the gentle action of similar insects in crawling, realizing small noise, light weight, miniaturization and being suitable for different tasks in various special environments.
The apparatus of the present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
Figure 1 illustrates a schematic structural view of a biomimetic foot assembly according to one embodiment of the present invention.
Fig. 2 shows an overall schematic diagram of a wall-climbing robot applying a bionic foot assembly according to an embodiment of the invention.
Fig. 3 shows a schematic view of a main body of a wall-climbing robot according to an embodiment of the present invention.
Fig. 4 shows a schematic view of a main body detaching upper plate of a wall-climbing robot according to an embodiment of the present invention.
Description of reference numerals:
1. a biomimetic foot assembly; 2. a main body of the body; 3. a body upper plate; 4. a lower plate of the fuselage; 5a, a first bearing mounting hole; 5b, a second bearing mounting hole; 6. a support pillar; 7. a universal wheel assembly; 8. a rotating cylinder; 9. a cylinder gear; 10. a pneumatic controller; 11. a base gear; 12. a base section; 13. a base section rotating shaft; 14a, a first bearing; 14b, a second bearing; 15. a base section support; 15a, a first hinge lever; 15b, a second hinge lever; 16a, a leg joint rotation shaft; 16b, a fifth hinge lever; 17. pneumatic muscle tendon for lifting leg; 18. pneumatic muscle tendon for pressing leg; 19. stretching the tibia to obtain pneumatic tendon; 20. pneumatic tendon for shin reduction; 21. a shank spindle; 22. a leg-section support; 23. a shank bracket; 23a, a third hinge rod; 23b, a fourth hinge lever; 24. a foot mechanism; 25. and a base section articulated shaft.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Figure 1 shows a schematic structural view of a biomimetic foot assembly according to one embodiment of the present invention, as shown in figure 1, a biomimetic foot assembly according to the present invention comprising: the bionic foot component 1 is provided with a base joint driving mechanism, a base joint 12 rotor mechanism, a leg bone mechanism, a shin bone mechanism and a foot mechanism 24 which are sequentially connected, the base joint 12 rotor mechanism, the leg bone mechanism, the shin bone mechanism and the foot mechanism 24 are sequentially connected, a leg tendon mechanism is arranged between the base joint 12 rotor mechanism and the leg bone mechanism, the leg tendon mechanism drives the leg bone mechanism to drive the shin bone mechanism and the foot mechanism 24 to simultaneously lift or fall, and the shin tendon mechanism drives the shin bone mechanism and the foot mechanism 24 to simultaneously extend out or retract along the lateral direction of the machine body main body 2;
the base joint driving mechanism is arranged on an external machine body which is lapped with the bionic foot component 1, the base joint driving mechanism is connected with the base joint rotor mechanism, the base joint driving mechanism of the base joint driving mechanism is connected with the base joint 12 rotor mechanism, the base joint driving mechanism drives the base joint 12 rotor mechanism to rotate and drives the leg bone mechanism to simultaneously swing clockwise or anticlockwise by taking the base joint 12 rotor mechanism as an axis, so that the tibia mechanism and the foot mechanism 24 are driven to simultaneously move forwards or backwards.
The base joint driving mechanism specifically, the bionic foot component 1 has a base joint rotor mechanism, a leg bone mechanism, a tibia mechanism, a foot mechanism 24, a leg tendon mechanism and a bionic structure of the leg tendon mechanism, the bionic foot component 1 can realize the actions of lifting, falling, lateral extending, retracting and transverse front-back swinging of similar insect legs under the driving of a transmission structure formed by the leg tendon mechanism, the tibia tendon mechanism and the base joint driving mechanism, thereby realizing the soft action of similar insect crawling when the bionic foot component 1 drives the machine body main body 2 to move, and realizing small noise, light weight, miniaturization and being suitable for the operation in various special environments.
In this embodiment, the base section rotor mechanism includes a base section 12, a base section gear 11, a base section rotating shaft 13 and a base section support 15, the base section gear 11, the base section rotating shaft 13 and the base section support 15 are respectively and fixedly connected with the base section 12, the base section gear 11 is coaxial with the base section rotating shaft 13, and a base section hinge shaft 25 is arranged at one end of the base section 12 opposite to the base section gear 11.
In this embodiment, the upper end of the base joint support 15 is provided with a first hinged rod 15a, the lower end of the base joint support 15 is provided with a second hinged rod 15b, and the base joint 12 is arranged between the first hinged rod 15a and the second hinged rod 15 b; the base joint rotating shaft 13 penetrates through the base joint 12 along the vertical direction, a first bearing 14a is arranged at the upper end of the base joint rotating shaft 13, and a second bearing 14b is arranged at the lower end of the base joint rotating shaft 13.
Specifically, referring to fig. 1, the base joint 12 is fixed in the center of the base joint support 15, the base joint support 15 is a rectangular frame structure perpendicular to the main body 2 of the fuselage, the upper and lower ends of the base joint support 15 are respectively provided with a first hinge rod 15a and a second hinge rod 15b, one side of the main body of the base joint 12 facing the main body 2 of the fuselage is provided with a base joint gear 11, the base joint gear 11 is fixedly connected with the main body of the base joint 12, the other side opposite to the base joint gear 11 is provided with a base joint hinge shaft 25 connected with the leg joint support 22, the base joint shaft 13 penetrates through the base joint 12 in the vertical direction, the upper end and the lower end of the base joint shaft 13 are respectively provided with a first bearing 14a and a second bearing 14b, the base joint shaft 13 and the base joint gear 11 are coaxial, and the first bearing 14a and the second bearing 14b are used for connecting the base joint 12 with the main body 2 of the fuselage. The shape and structure of the base section support 15 may be in other forms in other embodiments of the present invention, and are not described in detail herein.
In this embodiment, the tibial mechanism includes a tibial bracket 23 that is longitudinally disposed, the tibial bracket 23 is provided with a tibial rotating shaft 21, a third hinge rod 23a and a fourth hinge rod 23b, the third hinge rod 23a is disposed above the tibial rotating shaft 21, the fourth hinge rod 23b is disposed below the tibial rotating shaft 21, and the foot mechanism 24 is disposed at the bottom end of the tibial bracket 23.
Specifically, referring to fig. 1, the shin-rest 23 is a rectangular frame structure that is longitudinally arranged, a shin-rotating shaft 21 is arranged at the middle upper portion of the shin-rest 23, a third hinge rod 23a is arranged above the shin-rotating shaft 21, a fourth hinge rod 23b is arranged below the shin-rotating shaft 21, and the foot mechanism 24 is located at the bottom end of the shin-rest 23. In this embodiment, the number of the third hinge rod 23a and the number of the fourth hinge rod 23b may also be one or more than two, and those skilled in the art may specifically set the third hinge rod 23a and the fourth hinge rod 23b according to actual situations, and details are not described herein again. In this embodiment, the foot mechanism 24 is a suction cup, and the suction cup is fixed to the bottom of the tibial bracket 23 through a universal joint, but in other embodiments of the present invention, the foot mechanism 24 may also be in other forms to adapt to different wall surfaces, and a person skilled in the art may select a suitable type of the foot mechanism 24 according to actual needs, which is not described herein again.
In this embodiment, the leg bone mechanism includes a leg link bracket 22 transversely disposed, one end of the leg link bracket 22 is hinged to the base 12, the other end of the leg link bracket 22 is connected to the shin link rotating shaft 21, one end of the leg link bracket 22 is provided with a leg link rotating shaft 16a, and the other end of the leg link bracket 22 is provided with a fifth hinge lever 16 b.
Specifically, referring to fig. 1, the transversely disposed leg-link bracket 22 is a rectangular frame structure, one end of the leg-link bracket 22 is hinged to the base 12 through a hinge shaft on the base 12, a leg-link rotating shaft 16a is disposed at a position of the leg-link bracket 22 close to the base 12, the other end of the leg-link bracket 22 is connected to the shin-link rotating shaft 21, a fifth hinge lever 16b is disposed at a position of the leg-link bracket 22 close to the shin-link rotating shaft 21, and in this embodiment, two reinforcing cross bars are further disposed at a middle position of the leg-link bracket 22 to reinforce the overall strength of the leg-link bracket 22.
In this embodiment, referring to fig. 1, the leg tendon mechanism includes a leg raising pneumatic tendon 17 and a leg pressing pneumatic tendon 18, two ends of the leg raising pneumatic tendon 17 are respectively hinged to the first hinge rod 15a and the fifth hinge rod 16b, and two ends of the leg pressing pneumatic tendon 18 are respectively hinged to the second hinge rod 15b and the fifth hinge rod 16 b.
Specifically, the leg tendon mechanism comprises a leg lifting pneumatic tendon 17 and a leg pressing pneumatic tendon 18, the leg lifting pneumatic tendon 17 contracts to pull the leg joint support 22 to rotate upwards around a hinged shaft of the base joint 12, so as to drive the shin joint support 23 and the foot mechanism 24 to lift upwards and simulate the lifting action of the insect leg, correspondingly, the leg pressing pneumatic tendon 18 contracts to pull the leg joint support 22 to rotate downwards around the hinged shaft of the base joint 12, so as to drive the shin joint support 23 and the foot mechanism 24 to move downwards and enable the foot mechanism 24 to fall to a climbing wall surface to be adsorbed, and simulate the falling action of the insect leg, so that the lifting function and the falling function of the leg joint support 22 in the wall climbing process are completed.
In this embodiment, the pneumatic tendon mechanism includes a pneumatic tendon 19 for stretching the shin and a pneumatic tendon 20 for contracting the shin, one end of the pneumatic tendon 19 for stretching the shin is connected to the leg joint rotation shaft 16a, the other end of the pneumatic tendon 19 for stretching the shin is hinged to a third hinge rod 23a, one end of the pneumatic tendon 20 for contracting the shin is connected to the leg joint rotation shaft 16a, and the other end of the pneumatic tendon 20 for contracting the shin is hinged to a fourth hinge rod 23 b.
Specifically, the tibialis tendon mechanism comprises a tibialis stretching pneumatic tendon 19 and a tibialis shrinking pneumatic tendon 20, after the bionic foot component 1 performs the above-mentioned lifting action, the tibialis stretching pneumatic tendon 19 shrinks to pull the tibialis bracket 23 to rotate around the tibialis rotating shaft 21, the upper end of the tibialis bracket 23 is pulled by the tibialis stretching pneumatic tendon 19 to move towards the inner side of the machine body 2, so that the lower end of the tibialis bracket 23 and the foot mechanism 24 move towards the outer side, and at this time, the bionic foot component 1 performs the above-mentioned falling action, so as to realize the function of imitating the leg of the insect to; correspondingly, after the bionic foot component 1 performs the above-mentioned lifting action, the pneumatic tendon 20 for shin retraction contracts to pull the leg holder 23 to rotate around the leg rotating shaft 21, the lower end of the leg holder 23 is pulled by the pneumatic tendon 20 for shin retraction to move inwards, so that the lower end of the leg holder 23 and the inner side of the foot mechanism 24 move, and at this time, the bionic foot component 1 performs the above-mentioned falling action to realize the function of simulating the transverse inner side contraction of the insect leg.
Fig. 2 is a schematic overall view of a wall-climbing robot using a bionic foot assembly according to an embodiment of the present invention, fig. 3 is a schematic body view of a wall-climbing robot according to an embodiment of the present invention, fig. 4 is a schematic body view of a wall-climbing robot according to an embodiment of the present invention, and fig. 2 to 4 are schematic views of a wall-climbing robot in which a body plate is removed from a body of the wall-climbing robot, and the wall-climbing robot includes: the bionic foot comprises a machine body main body 2 and four bionic foot components 1, wherein the four bionic foot components 1 are symmetrically arranged on two sides of the machine body main body 2 in pairs; the main body 2 comprises a body upper plate 3 and a body lower plate 4 which are fixedly connected, the base joint driving mechanism comprises a rotary cylinder 8 arranged below the body lower plate 4 and a cylinder gear 9 arranged between the body lower plate 4 and the body upper plate 3, a rotary shaft of the rotary cylinder 8 penetrates through the upper surface of the body lower plate 4 from the lower surface of the body lower plate 4 and is fixedly connected with the cylinder gear 9, and the cylinder gear 9 is meshed with a base joint gear 11. The foot mechanism in this embodiment is a suction cup that is connected to the bottom of the tibial tray via a gimbal.
Referring to fig. 3 and 4, the upper body plate 3 and the lower body plate 4 are fixedly connected through six support columns 6, a containing space is formed between the upper body plate 3 and the lower body plate 4, four rotary cylinders 8 are arranged on two sides of the lower body plate 4 in pairs, rotary cylinders of the base joint driving mechanism are arranged below the lower body plate 4 and fixedly connected with the lower body plate 4, a rotary shaft of each rotary cylinder 8 is fixedly connected with a cylinder gear 9 above the upper body plate 3, referring to fig. 2, the cylinder gear 9 is engaged with a base joint gear 11 of the bionic foot assembly 1, the cylinder gear 9 can rotate along a direction parallel to the surface of the lower body plate 4, so that the base joint 12 can be driven by the rotary cylinders 8 to drive the whole bionic foot assembly 1 to swing towards the front and the back of the body 2, after the bionic foot assembly 1 performs the action of lifting the tibiode bracket 23, the rotary cylinders 8 drive the base joint gears 11 on the base joints 12 to rotate through the cylinder gears 9, therefore, the bionic foot component 1 can transversely swing towards the front or the rear of the machine body, and then the falling action is matched, so that the foot mechanism 24 on the bionic foot component 1 is adsorbed on the wall surface, and then the bionic foot component 1 is reversely driven by the rotary cylinder 8, so that the machine body main body 2 can be driven to move backwards and forwards. In this embodiment, two sides of the upper plate 3 of the fuselage are provided with four first bearing 14a mounting holes 5a opposite to each other in pairs, two sides of the lower plate 4 of the fuselage are provided with four second bearing 14b mounting holes 5b opposite to each other in pairs, the first bearing 14a mounting holes 5a are fixedly connected with the first bearings 14a, and the second bearing 14b mounting holes 5b are fixedly connected with the second bearings 14 b. Referring to fig. 3, two sides of the upper plate 3 of the body are provided with four first bearing 14a mounting holes 5a opposite to each other in pairs, two sides of the lower plate 4 of the body are provided with four second bearing 14b mounting holes 5b opposite to the first bearing 14a mounting holes 5a, and one first bearing 14a mounting hole 5a and one opposite second bearing 14b mounting hole 5b are respectively and fixedly connected with the first bearing 14a and the second bearing 14b on one base joint 12, so that the transverse swing of the bionic foot assembly 1 can be realized.
In this embodiment, the bionic foot further comprises a pneumatic controller 10, and a leg pneumatic tendon, a leg pressing pneumatic tendon 18, a shin stretching pneumatic tendon 19, a shin contracting pneumatic tendon 20, a foot mechanism 24 and a rotary cylinder 8 on the bionic foot component 1 are respectively connected with the pneumatic controller 10.
Specifically, referring to fig. 2 to 4, the pneumatic controller 10 is disposed between the body upper plate 3 and the body lower plate 4, the wall-climbing robot of the present embodiment includes four pneumatic controllers 10, one pneumatic controller 10 is disposed near each rotary cylinder 8, each pneumatic controller 10 is connected to a corresponding rotary cylinder 8, a leg lifting pneumatic tendon 17, a leg pressing pneumatic tendon 18, a shin stretching pneumatic tendon 19, a shin contracting pneumatic tendon 20, and a foot mechanism 24 on a corresponding bionic foot assembly 1 through hoses, and corresponding bionic motions are realized through different pneumatic input controls. Wherein pneumatic tendon is a tensile driver, can imitate the motion of natural tendon, and it has initial force than big with the traditional cylinder of cylinder diameter, the heavy load dynamic characteristic is good, do not have the removal mechanical part, do not have when moving slowly and beat and creep the phenomenon, need not to use displacement sensor, sealed good, the sound construction, be applicable to and be full of advantages such as dust and dirty environment, and pneumatic tendon is prior art, and its technical principle here is no longer repeated. The pneumatic controller 10 is prior art and the control principle of the pneumatic controller for the pneumatic cylinder is not described herein. Meanwhile, the foot mechanism 24 is a suction cup, the pneumatic controller 10 is connected with the suction cup through a hose, and after the suction cup contacts with the wall surface, the pneumatic controller 10 controls (inhales or inflates) the suction cup to adsorb and separate the wall surface through different air pressures. In the wall climbing robot of this embodiment, still include universal wheel subassembly 7, refer to fig. 1 and fig. 3, universal wheel subassembly 7 can play the supporting role, prevents that fuselage main part 2 from pressing close to the wall or toppling when four bionical sufficient subassemblies 1 carry out the wall climbing action, keeps fuselage main part 2 at the stationarity of removal in-process. It should be noted that the universal wheel assembly 7 should be located at the downward end of the wall-climbing robot when the wall surface is crawling, for example, when the vertical wall surface of the wall-climbing robot is crawling, in order to prevent the bionic foot assembly from overturning, the universal wheel assembly 7 should be arranged at the rear end of the body main body 2 (i.e. the end facing the ground).
Further, as shown in fig. 1, the leg-joint support 22, the shin-joint support 23, and the base-joint support 15 in this embodiment are all hollow, so as to reduce the weight of the entire bionic foot assembly, thereby achieving the effect of light weight.
The bionic foot component in the embodiment is applied to a four-footed wall-climbing robot, the bionic foot component 1 is mainly adsorbed on a wall surface through a sucking disc at the tail end of a foot mechanism 24, and walking movement on the wall surface is realized by controlling the bionic foot component 1 to generate horizontal swing, lift or fall of a leg joint support 22 and stretch or shrink of a shin joint support 23.
The wall-climbing robot applying the bionic foot component 1 can realize the soft action of crawling similar animals, has low noise and light weight, is miniaturized and can be suitable for various wall surface operations.
It should be noted that the bionic foot assembly of the present invention is equally applicable to non-quadruped robots, such as hexapod or octapod robots. When the sucker type foot mechanism is applied to other types of robots except wall climbing robots, the sucker type foot mechanism in the scheme can be replaced by other foot mechanisms to be suitable for different climbing operation surfaces, and the technical personnel in the field can easily realize that the repeated description is omitted.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (3)
1. A biomimetic foot assembly, comprising: the device comprises a base joint driving mechanism, a base joint rotor mechanism, a leg bone mechanism, a shin bone mechanism and a foot mechanism;
the basic joint rotor mechanism, the leg bone mechanism, the tibia mechanism and the foot mechanism are sequentially connected, a leg tendon mechanism is arranged between the basic joint rotor mechanism and the leg bone mechanism and drives the leg bone mechanism to drive the tibia mechanism and the foot mechanism to simultaneously lift up or fall down, a tibia tendon mechanism is arranged between the leg bone mechanism and the tibia mechanism and drives the tibia mechanism and the foot mechanism to simultaneously extend out or retract along the lateral direction of the machine body;
the base joint driving mechanism is arranged on an outer machine body which is in lap joint with the bionic foot component and is connected with the base joint rotor mechanism, and the base joint driving mechanism drives the base joint rotor mechanism to rotate and drives the leg bone mechanism to simultaneously swing clockwise or anticlockwise transversely by taking the base joint rotor mechanism as an axis, so that the tibia mechanism and the foot mechanism are driven to simultaneously move forwards or backwards;
the leg tendon mechanism comprises a leg lifting pneumatic tendon and a leg pressing pneumatic tendon;
the shin tendon mechanism comprises a shin stretching pneumatic tendon and a shin contracting pneumatic tendon;
the foot mechanism comprises a sucker which is connected with the shank bracket through a universal joint;
the base section rotor mechanism comprises a base section, a base section gear, a base section rotating shaft and a base section support, wherein the base section gear, the base section rotating shaft and the base section support are respectively and fixedly connected with the base section;
the upper end of the base section support is provided with a first hinge rod, the lower end of the base section support is provided with a second hinge rod, and the base section is arranged between the first hinge rod and the second hinge rod;
the base joint rotating shaft penetrates through the base joint along the vertical direction, a first bearing is arranged at the upper end of the base joint rotating shaft, and a second bearing is arranged at the lower end of the base joint rotating shaft;
the shin-bone mechanism comprises a shin-bone bracket which is longitudinally arranged, the shin-bone bracket is provided with a shin-bone rotating shaft, a third hinged rod and a fourth hinged rod, the third hinged rod is arranged above the shin-bone rotating shaft, the fourth hinged rod is arranged below the shin-bone rotating shaft, and the foot mechanism is arranged at the bottom end of the shin-bone bracket;
the leg bone mechanism comprises a transversely arranged leg joint support, one end of the leg joint support is hinged with the base joint, the other end of the leg joint support is connected with the shank rotating shaft, a leg joint rotating shaft is arranged at one end of the leg joint support, and a fifth hinge rod is arranged at the other end of the leg joint support;
two ends of the leg-lifting pneumatic tendon are respectively hinged with the first hinge rod and the fifth hinge rod, and two ends of the leg-pressing pneumatic tendon are respectively hinged with the second hinge rod and the fifth hinge rod;
stretch the pneumatic tendon of shin one end with the leg joint pivot is connected, stretch the pneumatic tendon of shin the other end with the third hinge connects the pole articulated, the pneumatic tendon of shin that contracts one end with the leg joint pivot is connected, the pneumatic tendon of shin that contracts the other end with the fourth hinge connects the pole articulated.
2. The biomimetic foot assembly of claim 1, wherein the base drive mechanism includes a rotary cylinder and a cylinder gear, a rotation shaft of the rotary cylinder being fixedly connected to the cylinder gear, the cylinder gear being in meshing engagement with the base gear.
3. The biomimetic foot assembly of claim 2, further comprising a pneumatic controller, wherein the leg pneumatic tendon, the leg press pneumatic tendon, the shin extension pneumatic tendon, the shin retraction pneumatic tendon, the foot mechanism, and the rotation cylinder are respectively connected to the pneumatic controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910942990.3A CN110654473B (en) | 2019-09-30 | 2019-09-30 | Bionic foot component |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910942990.3A CN110654473B (en) | 2019-09-30 | 2019-09-30 | Bionic foot component |
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| CN110654473A CN110654473A (en) | 2020-01-07 |
| CN110654473B true CN110654473B (en) | 2021-08-03 |
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| CN201910942990.3A Active CN110654473B (en) | 2019-09-30 | 2019-09-30 | Bionic foot component |
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| US20070162152A1 (en) * | 2005-03-31 | 2007-07-12 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
| JP4482677B2 (en) * | 2005-05-25 | 2010-06-16 | 学校法人千葉工業大学 | Leg wheel separation type robot |
| EP2172390A1 (en) * | 2008-10-06 | 2010-04-07 | Niederberger Engineering AG | Mobile climbing robot and service system with climbing robot |
| CN101850798B (en) * | 2010-03-29 | 2011-11-16 | 北京航空航天大学 | Bionic cockroach robot based on double-four link mechanism |
| CN105172931A (en) * | 2015-08-14 | 2015-12-23 | 哈尔滨工业大学 | Biped robot based on pneumatic artificial muscles |
| CN105923067A (en) * | 2016-04-21 | 2016-09-07 | 电子科技大学 | Small wheel-foot combined type hexapod robot |
| CN106672105B (en) * | 2017-03-01 | 2023-03-21 | 吉林大学 | Bionic four-legged robot hind limb with integral tensioning structure |
| CN107512323A (en) * | 2017-09-08 | 2017-12-26 | 重庆大学 | A kind of climbing robot |
| CN108749951B (en) * | 2018-06-11 | 2021-07-30 | 山东大学 | Quadruped robot |
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