CN105346620A - Energy-saving walking leg mechanism simulating ostrich hindlimb movement function characteristic - Google Patents
Energy-saving walking leg mechanism simulating ostrich hindlimb movement function characteristic Download PDFInfo
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- CN105346620A CN105346620A CN201510917098.1A CN201510917098A CN105346620A CN 105346620 A CN105346620 A CN 105346620A CN 201510917098 A CN201510917098 A CN 201510917098A CN 105346620 A CN105346620 A CN 105346620A
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- energy
- ostrich
- shank
- metatarsal
- toes
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- 241000272534 Struthio camelus Species 0.000 title claims abstract description 39
- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 22
- 210000001872 metatarsal bone Anatomy 0.000 claims abstract description 27
- 210000000689 upper leg Anatomy 0.000 claims abstract description 4
- 210000003371 toe Anatomy 0.000 claims description 23
- 238000004134 energy conservation Methods 0.000 claims description 11
- 238000004146 energy storage Methods 0.000 claims description 3
- 239000011232 storage material Substances 0.000 claims description 3
- 210000001699 lower leg Anatomy 0.000 abstract description 25
- 210000002414 leg Anatomy 0.000 abstract description 7
- 210000001137 tarsal bone Anatomy 0.000 abstract 1
- 238000013461 design Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 210000004341 tarsal joint Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- YGANSGVIUGARFR-UHFFFAOYSA-N dipotassium dioxosilane oxo(oxoalumanyloxy)alumane oxygen(2-) Chemical compound [O--].[K+].[K+].O=[Si]=O.O=[Al]O[Al]=O YGANSGVIUGARFR-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052627 muscovite Inorganic materials 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000001739 rebound effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007306 turnover 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses an energy-saving walking leg mechanism simulating ostrich hindlimb movement function characteristic. The energy-saving walking leg mechanism comprises a rack, a crank connection rod mechanism, a rebounding mechanism and a toe, wherein the crank connection rod mechanism comprises a crank, a thigh and a rocking rod; the rebounding mechanism comprises a fixed sliding block, a crus, a movable sliding block, a connection rod, a spring, a baffle plate, a ratchet mechanism, a brake cable, an angle limiter and metatarsal bones. The energy-saving walking leg mechanism is designed on the basis of the size parameters of the ostrich hindlimb and the rebounding characteristics of joints between ostrich tarsal bones; an energy-saving and efficient walking leg is designed by simulating the ostrich hindlimb movement; the metatarsal bones automatically stretch by using the rebounding force generated by compressing the spring, so that the energy loss is reduced; the energy-saving and efficient walking leg simulating ostrich hindlimb movement function characteristic can achieve the energy-saving and efficient purpose.
Description
Technical field
The invention belongs to robot field, relate to a kind of energy-conservation walking-leg mechanism of imitative ostrich hind limb motor functional characteristic.
Background technology
Ostrich is the fastest biped of running in the world at present.Research display, at ostrich leg from case of bending to extension process, when the angle of shank and metatarsal is greater than 108 °, ostrich metatarsal can extension automatically.This passive extension process, can save the energy ezpenditure of ostrich motion.Meanwhile, the running speed of ostrich in desert can reach 50-60Km/h, and can continue 30 minutes.Due to ostrich motion possess energy-conservation and high velocity characteristic, ostrich speed and energy-conservation in more superior than other bipeds.According to engineering bionics principle, the high performance of ostrich can be applied in the middle of the design of biped robot." fast runner " ostrich anthropomorphic robot that U.S. national defense research high-level plan office subsidizes development can accelerate to 32,000 ms/h from static, maximum speed per hour 43 km within 15 seconds, and manufactured in 2012 and test.From Muscovite quadrumvir, made a cost only 1500 dollars can manned ostrich robot.Although carried out Primary Study to ostrich robot abroad, main consideration kinematic velocity and cost, not yet found that structure is simple, the imitative ostrich hind leg energy-conservation walking-leg mechanism correlative study report of low energy consumption at present.
The present invention is bionical prototype with the ostrich hind leg efficiently moved, to be run hind limb motor Parameter analysis by ostrich, in conjunction with biotomy, determine ostrich hind leg scantling of structure, and according to ostrich intertarsal joint rebound characteristics, optimal design goes out simple, the energy-efficient walking-leg mechanism of structure.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of energy-conservation walking-leg mechanism of imitative ostrich hind limb motor functional characteristic.The present invention enables ostrich robot imitate ostrich walking posture, and has simple, the energy-efficient advantage of structure.The present invention is bionical prototype with the ostrich hind leg efficiently moved, to be run hind limb motor Parameter analysis by ostrich, in conjunction with biotomy, determine ostrich hind leg scantling of structure, and according to ostrich intertarsal joint rebound characteristics, optimal design goes out simple, the energy-efficient walking-leg mechanism of structure.
The present invention includes frame, piston crank mechanism, rebounding mechanism and toes; Piston crank mechanism comprises crank, thigh and rocking bar; Rebounding mechanism comprises fixed slider, connecting rod, metatarsal, brake cable, shank, block, spring, movable slider, ratchet, ratchet and angle limiter; Toes are that flexible energy storage material is made; Fixed slider in rebounding mechanism is fixed in frame, and shank and fixed slider form sliding pair; Spring bottom end contacts with block, and block is fixed on shank, and the spring other end contacts with movable slider, and movable slider can slide on shank; Movable slider is connected with metatarsal by connecting rod; It is hinged that metatarsal and shank pass through angle limiter, and ratchet device comprises pawl-and-gearing, and ratchet device is arranged on the hinged place of metatarsal and shank; Brake cable one end is fixed on ratchet, and the brake cable other end is connected with movable slider; Metatarsal bottom by torsion spring and toes hinged, by External Force Acting time, the angle that metatarsal and toes fold is 120 °.
The crank angle that described toes contacted to earth corresponding to the phase and the crank angle corresponding to the toes liftoff phase are than being 5:19, and toes contact to earth, the phase is identical with liftoff time phase.
Beneficial effect of the present invention:
1, overall employing connecting rod mechanism, and only use an electrical motor to carry out power input, save manufacturing cost, compact overall structure, be conducive to reducing energy transferring loss and raising mechanism reliability of operation.
2, be bionical prototype with the ostrich hind leg efficiently moved, to be run hind limb motor Parameter analysis by ostrich, in conjunction with biotomy, determine ostrich hind leg scantling of structure, and according to ostrich intertarsal joint rebound characteristics, optimal design goes out simple, the energy-efficient walking-leg mechanism of structure.
Accompanying drawing explanation
Fig. 1 is energy-conservation walking-leg mechanism of the present invention schematic perspective view.
Fig. 2 is lateral plan of the present invention.
Fig. 3 is the schematic perspective view of ratchet device of the present invention and angle limiter.
Fig. 4 is the schematic perspective view of ratchet device of the present invention.
Wherein: 1-frame; 2-rocking bar; 3-thigh; 4-first hinge; 5-fixed slider; 6-connecting rod; 7-second hinge; 8-metatarsal; 9-toes; 10-ratchet device; 11-brake cable; 12-shank; 13-block; 14-spring; 15-movable slider; 16-crank; 17-ratchet; 18-ratchet; 19-angle limiter.
Detailed description of the invention
Refer to shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the present invention includes frame 1, piston crank mechanism, rebounding mechanism and toes 9; Piston crank mechanism comprises crank 16, thigh 3 and rocking bar 2; Rebounding mechanism comprises fixed slider 5, connecting rod 6, metatarsal 8, brake cable 11, shank 12, block 13, spring 14, movable slider 15, ratchet 17, ratchet 18 and angle limiter 19; Toes 9 are made for flexible energy storage material.
As shown in Figure 2, the fixed slider 5 in rebounding mechanism is fixed in frame 1, and shank 12 and fixed slider 5 form sliding pair; Spring 14 bottom contacts with block 13, and block 13 is fixed on shank 12, and spring 14 other end contacts with movable slider 15, and movable slider 15 can slide on shank 12; Movable slider 15 is connected with metatarsal 8 by connecting rod 6; Metatarsal 8 is hinged by angle limiter 19 with shank 12, and ratchet device 10 comprises ratchet 17 and ratchet 18, and ratchet device 10 is arranged on the hinged place of metatarsal 8 and shank 12; Brake cable 11 one end is fixed on ratchet 17, and brake cable 11 other end is connected with movable slider 15; Metatarsal 8 bottom by torsion spring and toes 9 hinged, time by External Force Acting, the angle that metatarsal 8 and toes 9 fold is 120 °.
Crank 16 corner that described toes 9 contacted to earth corresponding to the phase and crank 16 corner corresponding to the toes 9 liftoff phase are than being 5:19, and toes 9 contact to earth, the phase is identical with liftoff time phase.
Working process of the present invention:
For energy-conservation walking-leg mechanism kinematic one-period:
With toes 9 will be liftoff position for starting point, crank 16 left-hand revolution.Crank 16 drives shank 12 upward movement, and the motion of shank 12 can be decomposed into rotation around the first hinge 4 and the motion upwards of relative fixed slider 5.Now, block 13 is fixed on shank 12, static relative to shank 12, due to shank 12 upward movement and fixed slider 5 maintain static, movable slider 15 fixed slider 5 extrude under move downward along shank 12, spring 14 is compressed, stored energy, and pull brake cable 11 when movable slider 15 moves downward, ratchet 17 is lifted, self-locking releasing, metatarsal 8 can rotate counterclockwise around the second hinge 7; Meanwhile, movable slider 15 acts on metatarsal 8 top by connecting rod 6, makes it rotate counterclockwise around the second hinge 7, completes the action of lifting leg.
Crank 16 turn over vertex to shank 12 conllinear after, drive shank 12 move downward process, its motion can be decomposed into around the rotation of the first hinge 4 motion downward with relative fixed slider 5.Now, block 13 moves downward along with shank 12, because fixed slider 5 maintains static, the spacing between block 13 and fixed slider 5 increases gradually, movable slider 15 under the rebound effect of spring 14 along shank 12 upward movement, realize the rebound characteristics of imitative ostrich hind leg, meanwhile, declutch line 11, and ratchet 17 falls after rise, ratchet 17 and ratchet 18 form self-locking mechanism, and metatarsal 8 can not be rotated counterclockwise around the second hinge 7; And movable slider 15 acts on metatarsal 8 top by connecting rod 6, make it rotate clockwise around the second hinge 7, under the effect of angle limiter 19, make metatarsal 8 be 168 ° with the maximum angle of shank 12, prepare for toes 9 contact to earth.
Claims (3)
1. an energy-conservation walking-leg mechanism for imitative ostrich hind limb motor functional characteristic, is characterized in that: comprise frame (1), piston crank mechanism, rebounding mechanism and toes (9); Piston crank mechanism comprises crank (16), thigh (3) and rocking bar (2); Rebounding mechanism comprises fixed slider (15), connecting rod (6), metatarsal (8), brake cable (11), shank (12), block (13), spring (14), movable slider (15), ratchet (17), ratchet (18) and angle limiter (19);
Fixed slider (5) in rebounding mechanism is fixed in frame (1), and shank (12) and fixed slider (5) form sliding pair; Spring (14) bottom contacts with block (13), block (13) is fixed on shank (12), spring (14) other end contacts with movable slider (15), and movable slider (15) can in the upper slip of shank (12); Movable slider (15) is connected with metatarsal (8) by connecting rod (6); Metatarsal (8) is hinged by angle limiter (19) with shank (12), ratchet device (10) comprises ratchet (17) and ratchet (18), and ratchet device (10) is arranged on the hinged place of metatarsal (8) and shank (12); Brake cable (11) one end is fixed on ratchet (17), and brake cable (11) other end is connected with movable slider (15); Metatarsal (8) bottom by torsion spring and toes (9) hinged, time by External Force Acting, the angle that metatarsal (8) and toes (9) fold is 120 °.
2. the energy-conservation walking-leg mechanism of a kind of imitative ostrich hind limb motor functional characteristic according to claim 1, it is characterized in that: described toes (9) contact to earth crank (16) corner corresponding to the phase and crank (16) corner corresponding to toes (9) the liftoff phase than being 5:19, and toes (9) contact to earth, the phase is identical with liftoff time phase.
3. the energy-conservation walking-leg mechanism of a kind of imitative ostrich hind limb motor functional characteristic according to claim 1, is characterized in that: described toes (9) are made for flexible energy storage material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510917098.1A CN105346620B (en) | 2015-12-11 | 2015-12-11 | The energy-conservation walking leg mechanism of imitative ostrich hind limb motor functional characteristic |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510917098.1A CN105346620B (en) | 2015-12-11 | 2015-12-11 | The energy-conservation walking leg mechanism of imitative ostrich hind limb motor functional characteristic |
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| Publication Number | Publication Date |
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| CN105346620A true CN105346620A (en) | 2016-02-24 |
| CN105346620B CN105346620B (en) | 2017-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510917098.1A Expired - Fee Related CN105346620B (en) | 2015-12-11 | 2015-12-11 | The energy-conservation walking leg mechanism of imitative ostrich hind limb motor functional characteristic |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105853145A (en) * | 2016-04-12 | 2016-08-17 | 合肥工业大学 | Leg mechanical mechanism enabling walking functionality |
| CN106184461A (en) * | 2016-07-28 | 2016-12-07 | 吉林大学 | A kind of imitative Ostriches hind leg pedipulator |
| CN106428289A (en) * | 2016-12-08 | 2017-02-22 | 吉林大学 | Bionic passive rebound mechanical leg |
| CN108216409A (en) * | 2017-12-21 | 2018-06-29 | 香港中文大学（深圳） | A kind of flexible wiggle climbing robot |
| CN113423631A (en) * | 2019-02-18 | 2021-09-21 | 马克思-普朗克科学促进协会 | Robot leg and robot system |
| CN114987644A (en) * | 2022-04-27 | 2022-09-02 | 南京理工大学 | Bionic robot with changeable gait |
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| CN87209117U (en) * | 1987-06-15 | 1988-03-23 | 曹继光 | Doll machine imitating walking animals with four feet |
| CN201424067Y (en) * | 2009-06-24 | 2010-03-17 | 吴玉禄 | Walking mechanism using crank rocker |
| CN101767615A (en) * | 2010-03-12 | 2010-07-07 | 北京工业大学 | Leg bouncing mechanism for frog-type robot |
| CN102556200A (en) * | 2012-01-13 | 2012-07-11 | 燕山大学 | Four-feet walker |
| US20130192406A1 (en) * | 2012-01-31 | 2013-08-01 | Johnny Godowski | Fast Runner Limb Articulation System |
| CN205150021U (en) * | 2015-12-11 | 2016-04-13 | 吉林大学 | Imitative ostrich hind leg motion functional characteristics's energy -conservation leg mechanism of walking |
-
2015
- 2015-12-11 CN CN201510917098.1A patent/CN105346620B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87209117U (en) * | 1987-06-15 | 1988-03-23 | 曹继光 | Doll machine imitating walking animals with four feet |
| CN201424067Y (en) * | 2009-06-24 | 2010-03-17 | 吴玉禄 | Walking mechanism using crank rocker |
| CN101767615A (en) * | 2010-03-12 | 2010-07-07 | 北京工业大学 | Leg bouncing mechanism for frog-type robot |
| CN102556200A (en) * | 2012-01-13 | 2012-07-11 | 燕山大学 | Four-feet walker |
| US20130192406A1 (en) * | 2012-01-31 | 2013-08-01 | Johnny Godowski | Fast Runner Limb Articulation System |
| CN205150021U (en) * | 2015-12-11 | 2016-04-13 | 吉林大学 | Imitative ostrich hind leg motion functional characteristics's energy -conservation leg mechanism of walking |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105853145A (en) * | 2016-04-12 | 2016-08-17 | 合肥工业大学 | Leg mechanical mechanism enabling walking functionality |
| CN105853145B (en) * | 2016-04-12 | 2020-10-09 | 合肥工业大学 | Leg mechanical mechanism capable of realizing walking function |
| CN106184461A (en) * | 2016-07-28 | 2016-12-07 | 吉林大学 | A kind of imitative Ostriches hind leg pedipulator |
| CN106184461B (en) * | 2016-07-28 | 2018-07-24 | 吉林大学 | A kind of imitative ostrich hind leg pedipulator |
| CN106428289A (en) * | 2016-12-08 | 2017-02-22 | 吉林大学 | Bionic passive rebound mechanical leg |
| CN108216409A (en) * | 2017-12-21 | 2018-06-29 | 香港中文大学（深圳） | A kind of flexible wiggle climbing robot |
| CN108216409B (en) * | 2017-12-21 | 2023-10-27 | 香港中文大学（深圳） | Flexible peristaltic climbing robot |
| CN113423631A (en) * | 2019-02-18 | 2021-09-21 | 马克思-普朗克科学促进协会 | Robot leg and robot system |
| CN113423631B (en) * | 2019-02-18 | 2023-09-19 | 马克思-普朗克科学促进协会 | Robot leg and robot system |
| CN114987644A (en) * | 2022-04-27 | 2022-09-02 | 南京理工大学 | Bionic robot with changeable gait |
| CN114987644B (en) * | 2022-04-27 | 2024-03-22 | 南京理工大学 | Gait-convertible bionic robot |
Also Published As
| Publication number | Publication date |
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| CN105346620B (en) | 2017-11-07 |
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