CN102267507B - Climbing and walking bionic cat-pad mechanism - Google Patents
Climbing and walking bionic cat-pad mechanism Download PDFInfo
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- CN102267507B CN102267507B CN 201110139697 CN201110139697A CN102267507B CN 102267507 B CN102267507 B CN 102267507B CN 201110139697 CN201110139697 CN 201110139697 CN 201110139697 A CN201110139697 A CN 201110139697A CN 102267507 B CN102267507 B CN 102267507B
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Abstract
The invention discloses a climbing and walking bionic cat pad mechanism. The bionic cat pad mechanism comprises a metacarpal bone and three dactylus bones, wherein the metacarpal bone is used as a stander of the cat pad mechanism; buffer gaskets made of rubber materials are arranged at the bottom of the metacarpal bone on front-end branches in a running direction of a cat pad; one end of a third dactylus bone is hinged with the front-end branches of the cat pad and the other end of the third dactylus bone is hinged with one end of a second dactylus bone; the other end of the second dactylus bone is hinged with a first dactylus bone; the front end of the first dactylus bone is provided with a hooking claw; and a power device drives the third dactylus bone, the second dactylus bone and the first dactylus bone through a transmission mechanism to bend downward or stretch upward. The climbing and walking bionic cat pad mechanism has the characteristics of simple structure, convenience in use and high reliability, and can realize switching of the two modes of climbing and stably walking on a rough surface.
Description
Technical field
The invention belongs to mechanical bionical field, relating to is a kind of bionic cat pad mechanism.
Background technology
The robot field, how to make robot realize that climb wall is the problem that the scientific research personnel studies always, the Alcula type wall climbing robot that Harbin Institute of Technology researches and develops just can be successful realizes this purpose.Climb wall but its this robot only is directed to, four legs can't be realized walking function smoothly all in health the place ahead, and the mode of operation of its hook is the needle plug-in type of imitative U.S. Rise robot, with real with hook pawl realize climbing still have scarcely with.Simultaneously, for taking to hook the robot that the pawl formula is climbed wall, if be still to take to hook the walking manner that pawl lands in walking, very easily cause the unnecessary wearing and tearing of hook, thereby reduce the service life of robot.Because it hooks the characteristic that pawl itself has, can't pack up if hook pawl simultaneously, very easily catch on the obstacles such as weeds during place walking in the open air, thereby the fugitiveness that causes robot to control affect the use of robot.
Summary of the invention
Can't realize simultaneously the deficiency of rough surface climbing and stabilized walking in order to overcome prior art, the invention provides a kind of double mode climbing walking bionic cat-pad mechanism, the foot structure of cats can successfully be simulated by this mechanism, realization is in the pattern conversion of rough surface climbing with two kinds of activities of stabilized walking, the climbing pattern that namely the peculiar claw of cats is packed up the stabilized walking pattern and claw stretches out the extremely coarse climbing working environment of exerting oneself also can effectively adapt to.
The technical solution adopted for the present invention to solve the technical problems is: comprise metacarpal bone, proximal phalanx, middle phalanx and distal phalanx, described metacarpal bone is as the frame of cat-pad mechanism, at the front end bifurcated of ram's horn direct of travel, metacarpal bone bottom is equipped with the cushion rubber of quality of rubber materials; The front end bifurcated of the distal phalanx one hinged ram's horn metacarpal bone of end, one end of the hinged middle phalanx of the other end, the hinged proximal phalanx of the middle phalanx other end, the proximal phalanx front end is for hooking pawl, and engine installation drives distal phalanx, middle phalanx and proximal phalanx by transmission device and is bent downwardly or stretches upwards.
Described metacarpal bone is divided into four forks at the front end of ram's horn direct of travel.
Described distal phalanx is shaped as rectangular groove, can be considered the connecting rod A mechanism that is connected with frame, middle phalanx is shaped as rectangular groove, can be considered the connecting rod B mechanism that is connected with a upper connecting rod A, proximal phalanx contains bionical nail, be hook, be shaped as crooked rectangular pyramid groove, can be considered the connecting rod C mechanism that is connected with a upper connecting rod B.
Be fixed with motor on described metacarpal bone, the motor output shaft worm screw that is connected, the worm gear articulated bracket between distal phalanx and middle phalanx that is connected, motor drives by worm screw the folding and unfolding that turbine is realized proximal phalanx; Be fixed with motor on distal phalanx, the motor output shaft worm screw that is connected, the worm gear articulated bracket between middle phalanx and proximal phalanx that is connected, motor drives by worm screw the folding and unfolding that turbine is realized proximal phalanx; Be connected for spherical joint between proximal phalanx and middle phalanx, motor and middle phalanx are connected, drive two wire spools, one of two flexible cables is connected with the upper and lower side of bionical proximal phalanx respectively, and the other end is wound in (this sentences two flexible cables and imitates two muscle controlling the ram's horn folding and unfolding) on wire spool in the opposite direction.During the motor clickwise, proximal phalanx upper end flexible cable is loosened, and the lower end flexible cable is tightened up, and pulls proximal phalanx downwards, thereby realizes the climbing pattern that ram's horn stretches out; During the motor left-hand revolution, proximal phalanx upper end flexible cable is tightened up, and the lower end flexible cable is loosened, and upwards pulls proximal phalanx, thereby realizes the walking mode that ram's horn is packed up.
The invention has the beneficial effects as follows: the present invention has simple in structure, easy to use, the characteristics that reliability is strong, and can successfully simulate the foot structure of cats, realization is in the pattern conversion of rough surface climbing with two kinds of activities of stabilized walking, be that the peculiar claw of cats is packed up the stabilized walking pattern and claw stretches out the climbing pattern that firmly also can effectively adapt to extremely coarse climbing working environment, need to be applicable to the bio-robot of double mode climbing walking bionic cat-pad mechanism, to can be used for the multiple aspects such as daily life.
Description of drawings
Fig. 1 is the structural representation top view of the bionical framework of front metacarpal bone.
Fig. 2 is the structural representation lateral plan of the bionical framework of front metacarpal bone.
Fig. 3 is the structural representation lateral plan of the bionical framework of rear metacarpal bone.
Fig. 4 is view under the structural representation of the bionical framework of rear metacarpal bone.
Fig. 5 is the structural representation of complete dactylus bone.
Fig. 6 is the drive mechanism schematic diagram of a metacarpal bone worm and gear.
Fig. 7 is the structural representation lateral plan of flexible cable wire spool.
Fig. 8 is the structural representation oblique drawing of flexible cable wire spool.
in figure, 1. bionical metacarpal bone (front), 2. bionical distal phalanx (front), 3. bionical middle phalanx (front), 4. bionical proximal phalanx (front), 5. bionical metacarpal bone cushion rubber (front), 6. bionical metacarpal bone cushion rubber A (afterwards), 7. bionical metacarpal bone cushion rubber B (afterwards), 8. bionical metacarpal bone (afterwards), 9. bionical distal phalanx (afterwards), 10. bionical middle phalanx (afterwards), 11. bionical proximal phalanx (afterwards), 12. power A1, 13. power input worm screw B1, 14. worm gear C1 and axle D1, 15. power A2, 16. power input worm screw B2, 17. worm gear C2 and axle D2, 18. power A3, 19. flexible cable wire spool E1, 20. flexible cable fixed link, 21. flexible cable wire spool E2, 22 flexible cable F1, 23 flexible cable F2.
The specific embodiment
a kind of double mode climbing walking bionic cat-pad mechanism of the present invention, comprise the bionical framework of the cat metacarpal bone (palm before and after minute, it is shaped as cat sole bone shape, front minute four forks, four finger foundation for cat, can regard frame as), (two groups of bionical cushion rubbers, the rubber quality, shape and cat sole bone photo are seemingly, and fit with it), bionical distal phalanx (is shaped as rectangular groove, in-built transmission device and actuating unit, be connected on the bionical framework of cat metacarpal bone, can be considered the connecting rod A mechanism that is connected with frame), bionical middle phalanx (is shaped as rectangular groove, in-built transmission device and actuating unit, be connected on bionical distal phalanx, can be considered the connecting rod B mechanism that is connected with a upper connecting rod A), bionical proximal phalanx (contains bionical nail, it is hook, be shaped as crooked rectangular pyramid groove, in-built transmission device and actuating unit, be connected on bionical middle phalanx, can be considered the connecting rod C mechanism that is connected with a upper connecting rod B), worm gearing, motor and flexible cable.Bionical distal phalanx is connected on the bionical framework of cat metacarpal bone, and motor and worm screw are fixed on bionical framework, and worm gear and bionical distal phalanx are connected, and with the driven by motor worm screw, worm screw drives worm gear and realizes the folding and unfolding in joint.Bionical middle phalanx is connected on bionical distal phalanx, and motor and worm screw are fixed on bionical distal phalanx, and worm gear and bionical middle phalanx are connected, and with the driven by motor worm screw, worm screw drives worm gear and realizes the folding and unfolding in joint.Bionical proximal phalanx is connected on bionical middle phalanx, and connect for spherical joint both, motor and bionical middle phalanx are connected, in the motor both sides, a wire spool is arranged respectively, one of two flexible cables is connected with the upper and lower side of bionical proximal phalanx respectively, and the other end is wound in (one or two flexible cable imitated two muscle controlling the ram's horn folding and unfolding) on wire coiling machine in the opposite direction herein.During the motor clickwise, bionical proximal phalanx upper end flexible cable is loosened, and the lower end flexible cable is tightened up, and pulls bionical proximal phalanx downwards, thereby realizes the climbing pattern that ram's horn stretches out; During the motor left-hand revolution, bionical proximal phalanx upper end flexible cable is tightened up, and the lower end flexible cable is loosened, and upwards pulls bionical proximal phalanx, thereby realizes the walking mode that ram's horn is packed up.A driving cat toy palm is connected with four complete dactylus bone photos altogether.
The present invention is further described below in conjunction with drawings and Examples.
the present invention includes bionical metacarpal bone (front) 1, bionical distal phalanx (front) 2, bionical middle phalanx (front) 3, bionical proximal phalanx (front) 4, bionical metacarpal bone cushion rubber (front) 5, bionical metacarpal bone cushion rubber A (afterwards) 6, bionical metacarpal bone cushion rubber B (afterwards) 7, bionical metacarpal bone (afterwards) 8, bionical distal phalanx (afterwards) 9, bionical middle phalanx (afterwards) 10, bionical proximal phalanx (afterwards) 11, power A112, power input worm screw B113, worm gear C1 and axle D114, power A215, power input worm screw B216, worm gear C1 and axle D117, power A318, flexible cable wire spool E119, flexible cable fixed link 20, flexible cable wire spool E221.
Embodiment one
Bionical metacarpal bone (front) is installed bionical metacarpal bone cushion rubber (front) 5 for 1 time.
Having wherein, bionical distal phalanx (front) 2 is connected on bionical metacarpal bone (front) 1, power A112 and power input worm screw B113 are fixed on bionical metacarpal bone (front), worm gear and bionical distal phalanx (front) 2 are connected, and driving power input worm screw B113 with power A112, power input worm screw B113 drives worm gear C1 and axle D114 realizes the folding and unfolding in joint.
Bionical middle phalanx (front) 3 is connected in bionical distal phalanx (front) 2, power A215 and power input worm screw B216 are fixed on bionical distal phalanx (front) 2, worm gear C2 and axle D217 and middle phalanx are connected, and driving worm screw B216 with power A318, power input worm screw B216 drives worm gear C2 and axle D217 realizes the folding and unfolding in joint.
Bionical proximal phalanx (front) 4 is connected on bionical middle phalanx (front) 3, power A318 and bionical middle phalanx (front) 3 are connected, in power A318 both sides, a flexible cable wire spool E119 is arranged respectively, flexible cable wire spool E221, two flexible cables, being flexible cable F122 is connected with the flexible cable fixed link 20 of bionical proximal phalanx (front) 4 respectively with of flexible cable F223, and the other end is wound in a flexible cable wire spool E119 in the opposite direction, on flexible cable wire spool E221.During power A318 clickwise, bionical proximal phalanx (front) 4 upper end flexible cable F122 loosen, and lower end flexible cable F223 tightens up, and pulls bionical proximal phalanx downwards, thereby realize the climbing pattern that hook stretches out; During power A318 left-hand revolution, bionical proximal phalanx (front) 4 upper end flexible cable F122 tighten up, and lower end flexible cable F223 loosens, and upwards pulls bionical proximal phalanx (front), thereby realizes the walking mode that hook is packed up.
Embodiment two
Bionical metacarpal bone (afterwards) is installed bionical metacarpal bone cushion rubber A (afterwards) 6 for 8 times, bionical metacarpal bone cushion rubber B (afterwards) 7.
Wherein bionical distal phalanx (afterwards) 9 is connected on bionical metacarpal bone (afterwards) 8, power A112 and power input worm screw B113 are fixed on bionical metacarpal bone (afterwards) 8, worm gear and bionical distal phalanx (afterwards) 9 are connected, and driving power input worm screw B113 with power A112, power input worm screw B113 drives worm gear C1 and axle D114 realizes the folding and unfolding in joint.
Bionical middle phalanx (afterwards) 10 is connected in bionical distal phalanx (afterwards) 9, power A215 and power input worm screw B216 are fixed on bionical distal phalanx (afterwards) 9, worm gear C2 and axle D217 and middle phalanx are connected, and driving worm screw B216 with power A318, power input worm screw B216 drives worm gear C2 and axle D217 realizes the folding and unfolding in joint.
Bionical proximal phalanx (afterwards) 11 is connected on bionical middle phalanx (afterwards) 10, power A318 and bionical middle phalanx (afterwards) 10 are connected, in power A318 both sides, a flexible cable wire spool E119 is arranged respectively, flexible cable wire spool E221, two flexible cables, being flexible cable F122 is connected with the flexible cable fixed link 20 of bionical proximal phalanx (afterwards) 11 respectively with of flexible cable F223, and the other end is wound in a flexible cable wire spool E119 in the opposite direction, on flexible cable wire spool E221.During power A318 clickwise, bionical proximal phalanx (afterwards) 11 upper end flexible cable F122 loosen, and lower end flexible cable F223 tightens up, and pulls bionical proximal phalanx downwards, thereby realize the climbing pattern that hook stretches out; During power A318 left-hand revolution, bionical proximal phalanx (afterwards) 11 upper end flexible cable F122 tighten up, and lower end flexible cable F223 loosens, and upwards pulls bionical proximal phalanx (afterwards) 11, thereby realizes the walking mode that hook is packed up.
Claims (3)
1. climb walking bionic cat-pad mechanism for one kind, comprise metacarpal bone, proximal phalanx, middle phalanx and distal phalanx, it is characterized in that: described metacarpal bone is as the frame of cat-pad mechanism, and at the front end bifurcated of cat-pad mechanism direct of travel, the metacarpal bone bottom is equipped with the cushion rubber of quality of rubber materials; The front end bifurcated of the distal phalanx one hinged cat-pad mechanism of end, one end of the hinged middle phalanx of the other end, the hinged proximal phalanx of the middle phalanx other end, the proximal phalanx front end is for hooking pawl, and engine installation drives distal phalanx, middle phalanx and proximal phalanx by transmission device and is bent downwardly or stretches upwards; Be connected for spherical joint between proximal phalanx and middle phalanx, the 3rd motor and middle phalanx are connected, drive two wire spools, one of two flexible cables is connected with the upper and lower side of bionical proximal phalanx respectively, and the other end is wound on wire spool in the opposite direction; During the motor clickwise, proximal phalanx upper end flexible cable is loosened, and the lower end flexible cable is tightened up, and pulls proximal phalanx downwards, thereby realizes the climbing pattern that ram's horn stretches out; During the motor left-hand revolution, proximal phalanx upper end flexible cable is tightened up, and the lower end flexible cable is loosened, and upwards pulls proximal phalanx, thereby realizes the walking mode that ram's horn is packed up.
2. climbing walking bionic cat-pad mechanism according to claim 1, it is characterized in that: described metacarpal bone is divided into four forks at the front end of cat-pad mechanism direct of travel.
3. climbing walking bionic cat-pad mechanism according to claim 1, it is characterized in that: be fixed with the first motor on described metacarpal bone, the first motor output shaft first worm screw that is connected, the first worm gear distal phalanx that is connected, the first motor drives by the first worm screw the folding and unfolding that the first turbine is realized distal phalanx; Be fixed with the second motor on distal phalanx, the second motor output shaft second worm screw that is connected, the second worm gear middle phalanx that is connected, the second motor drives by the second worm screw the folding and unfolding that the second turbine is realized middle phalanx.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110139697 CN102267507B (en) | 2011-05-26 | 2011-05-26 | Climbing and walking bionic cat-pad mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110139697 CN102267507B (en) | 2011-05-26 | 2011-05-26 | Climbing and walking bionic cat-pad mechanism |
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| CN102267507A CN102267507A (en) | 2011-12-07 |
| CN102267507B true CN102267507B (en) | 2013-11-06 |
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| CN 201110139697 Expired - Fee Related CN102267507B (en) | 2011-05-26 | 2011-05-26 | Climbing and walking bionic cat-pad mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128971A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104429358B (en) * | 2014-12-03 | 2016-04-20 | 山东华盛农业药械有限责任公司 | The syndeton of the bionical palm |
| CN106697098B (en) * | 2017-01-09 | 2023-05-16 | 中国科学院合肥物质科学研究院 | Mechanical foot imitating cat claw expansion characteristic |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201643658U (en) * | 2009-12-10 | 2010-11-24 | 飞络力电子股份有限公司 | Palm-shaped grasping structure of play station |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5200679A (en) * | 1990-02-22 | 1993-04-06 | Graham Douglas F | Artificial hand and digit therefor |
| CN2689946Y (en) * | 2004-03-23 | 2005-04-06 | 陈大伟 | Anti-foul bionic foot |
| CN201220106Y (en) * | 2008-04-25 | 2009-04-15 | 梁钟铭 | Bionic toy crab |
| KR101164197B1 (en) * | 2009-08-14 | 2012-07-10 | 충남대학교산학협력단 | A robot having the shape of a crab |
| CN202185918U (en) * | 2011-05-26 | 2012-04-11 | 西北工业大学 | Climbing and walking dual-mode type bionic cat pad mechanism |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201643658U (en) * | 2009-12-10 | 2010-11-24 | 飞络力电子股份有限公司 | Palm-shaped grasping structure of play station |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128971A (en) * | 2015-09-07 | 2015-12-09 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
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