CN105523099B - One kind is from the deformable mechanical step of damping - Google Patents

One kind is from the deformable mechanical step of damping Download PDF

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Publication number
CN105523099B
CN105523099B CN201610039594.6A CN201610039594A CN105523099B CN 105523099 B CN105523099 B CN 105523099B CN 201610039594 A CN201610039594 A CN 201610039594A CN 105523099 B CN105523099 B CN 105523099B
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China
Prior art keywords
connection
thigh
fold
shank
wheel
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CN201610039594.6A
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Chinese (zh)
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CN105523099A (en
Inventor
王娟
王森
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Kunming University of Science and Technology
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Kunming University of Science and Technology
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Priority to CN201610039594.6A priority Critical patent/CN105523099B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/032Vehicles 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

Abstract

The present invention relates to one kind from the deformable mechanical step of damping, belong to technical field of mechanical innovation.The present invention includes whole steering gear, trunk connector, thigh fold mechanism, connection thigh, shank fold mechanism, function wheel group, steering connections, connection shank, damping, support leg, contact to earth foot;Whole steering gear is mounted on trunk connector, thigh fold mechanism one end is mounted in whole steering gear, thigh is connected to be mounted on the thigh fold mechanism other end, steering connections is mounted on connection thigh, shank fold mechanism one end is mounted on steering connections, it connects shank one end to be mounted on steering connections, support leg is mounted on the connection shank other end, and the foot that contacts to earth is mounted in support leg.Machinery step installation damping of the invention, can guarantee that entirety is steady and advances;It can keep efficiently travelling on multi-state road surface, it is applied widely;Hydraulic stem controls, and can realize that each joint multiple degrees of freedom in leg rotates;Structure is reliable, powerful.

Description

One kind is from the deformable mechanical step of damping
Technical field
The present invention relates to one kind from the deformable mechanical step of damping, belong to technical field of mechanical innovation.
Background technology
Existing bionic mechanical step is widely used in six foots and eight biped robots, but the design of existing machinery step It is not perfect, it can not realize each joint multiple degrees of freedom rotating function, and lack damping, make whole traveling unstable;Meanwhile Single step form driving is slow, only preferable in rough ground driving effect, in relatively flat highway when road surfaces are advanced But rarely has conduct, the mechanical step of single form can not meet the design requirement of the equal efficient operation in multi-state road surface.
The content of the invention
The object of the present invention is to provide one kind from the deformable mechanical step of damping, so that mechanical step can be in step form And wheeled form is mutually converted, and damping is added, ensure that mechanical step can high efficiency smooth traveling on multi-state road surface.
The present invention is realized by following technical scheme:One kind is from the deformable mechanical step of damping, including whole steering gear 1, body Involvement fitting 2, thigh fold mechanism 3, connection thigh 4, shank fold mechanism 5, function wheel group 6, steering connections 7, connection shank 8th, damping 9, support leg 10, contact to earth foot 11;Trunk connector 2 is mounted on other machines, and whole steering gear 1 is mounted on On trunk connector 2,3 one end of thigh fold mechanism is mounted in whole steering gear 1, and connection thigh 4 is mounted on thigh folding machine On 3 other end of structure, steering connections 7 is mounted on connection thigh 4, and 5 one end of shank fold mechanism is mounted on steering connections 7, separately One end is connected with being connected thigh 4, and function wheel group 6 is mounted on steering connections 7, and 8 one end of connection shank is mounted on steering connections 7 On, damping 9 is mounted on connection shank 8, and support leg 10 is mounted on connection 8 other end of shank, and the foot 11 that contacts to earth is installed In support leg 10.
The thigh fold mechanism 3 includes /V link 12, rear end biliquid compression bar 13, preceding hydraulic stem 14, rear connection cunning Block 15, preceding connection sliding block 16;12 one end of /V link is mounted in whole steering gear 1,12 other end of /V link and company It connects thigh 4 to connect, biliquid compression bar 13 one end in rear end is mounted in whole steering gear 1, and the other end is by rear connection sliding block 15 with connecting It connects thigh 4 to connect, preceding 14 one end of hydraulic stem is mounted in whole steering gear 1, and the other end is big with being connected by preceding connection sliding block 16 Leg 4 connects.
The shank fold mechanism 5 includes connection sliding block 17, Foldable hydraulic bar 18, functional component installation axle 19;Function part Part installation axle 19 is mounted on steering connections 7, and 18 one end of Foldable hydraulic bar is mounted on steering connections 7, and the other end passes through connection Sliding block 17 is connected with being connected thigh 4, and function wheel group 6 includes wheel carrier 23, wheel I 24, the axis 25 that is located by connecting, wheel II 26;Wheel carrier 23 by being located by connecting axis 25 in functional component installation axle 19, and wheel I 24 and wheel II 26 are separately mounted to wheel carrier 23 Both ends.
The foot 11 that contacts to earth includes hydraulic stem mounting base 20, adjusting hydraulic stem 21, contact to earth foot 22;The foot 22 that contacts to earth is mounted on 10 lower part of support leg, hydraulic stem mounting base 20, which is mounted on, contacts to earth on foot 22, adjusts 21 one end of hydraulic stem and is installed mounted on hydraulic stem On seat 20, the other end is connected with support leg 10.
One kind is from the deformable dual-purpose mechanical step operation principle of damping:Whole steering on trunk connector 2 The controllable mechanical step of device 1 is whole in the direction parallel rotation parallel to bottom surface;Rear end biliquid compression bar on thigh fold mechanism 3 13 with preceding 14 routing motion of hydraulic stem, and pass through preceding connection sliding block 16 and rear connection sliding block 15 connect thigh 4 on sliding slot in Mobile to carry out /V, /V link 12 carries out angle limit by angle control flume, realizes the stretching motion of connection thigh 4; Foldable hydraulic bar 18 on shank fold mechanism 5 carries out /V, mould by the connection sliding block 17 being mounted in connection 4 sliding slot of thigh Intend the bending motion of spider shutdown;The foot 22 that contacts to earth on foot 11 of contacting to earth is controlled by adjusting hydraulic stem 21, simulation spider foot It rotates;Damping 9 realizes the effect that the vibrations that the foot 11 that contacts to earth transmits are carried out with damping;Coordinate work entirely through hydraulic mechanism Make, realize mechanical step foldable integral so that function wheel group 6 is contacted with ground, completion step form and wheeled form it is mutual Deformation conversion.
A kind of operation principle from the deformable mechanical step of damping is:
The invention has the advantages that:
1st, mechanical step installation damping can guarantee whole steady traveling;
2nd, mechanical step can realize the conversion of step form and wheeled form, can keep efficient row on multi-state road surface It sails, it is applied widely;
3rd, hydraulic stem controls, and can realize that each joint multiple degrees of freedom in leg rotates;
4th, whole progress spider step is bionical, and structure is reliable, powerful.
Description of the drawings
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is the integrated wheel type morphosis schematic diagram of the present invention;
Fig. 3 is the thigh fold mechanism structure diagram of the present invention;
Fig. 4 is the shank fold mechanism structure diagram of the present invention;
Fig. 5 is the foot structure schematic diagram that contacts to earth of the present invention;
Fig. 6 is the function set mechanism schematic diagram of the present invention.
In figure respectively marked as:1:Whole steering gear, 2:Trunk connector, 3:Thigh fold mechanism, 4:Connect thigh, 5:It is small Leg fold mechanism, 6:Function wheel group, 7:Steering connections, 8:Connect shank, 9:Damping, 10:Support leg, 11:Contact to earth foot, 12:/V link, 13:Rear end biliquid compression bar, 14:Preceding hydraulic stem, 15:Connection sliding block, 16 afterwards:Preceding connection sliding block, 17:Connection Sliding block, 18:Foldable hydraulic bar, 19:Functional component installation axle, 20:Hydraulic stem mounting base, 21:Adjust hydraulic stem, 22:Contact to earth foot, 23:Wheel carrier, 24:Wheel I, 25:Be located by connecting axis, 26:Wheel II.
Specific embodiment
With reference to the accompanying drawings and examples, the invention will be further described, but present disclosure be not limited to it is described Scope.
Embodiment 1:As shown in figures 1 to 6, it is a kind of from the deformable mechanical step of damping, it is connected including whole steering gear 1, trunk Part 2, thigh fold mechanism 3, connection thigh 4, shank fold mechanism 5, function wheel group 6, steering connections 7, connection shank 8, damping Mechanism 9, support leg 10, contact to earth foot 11;Trunk connector 2 is mounted on other machines, and whole steering gear 1 connects mounted on trunk On fitting 2,3 one end of thigh fold mechanism is mounted in whole steering gear 1, and it is another that connection thigh 4 is mounted on thigh fold mechanism 3 On end, steering connections 7 is mounted on connection thigh 4, and 5 one end of shank fold mechanism is mounted on steering connections 7, the other end and company It connects thigh 4 to connect, function wheel group 6 is mounted on steering connections 7, and 8 one end of connection shank is mounted on steering connections 7, damping machine Structure 9 is mounted on connection shank 8, and support leg 10 is mounted on connection 8 other end of shank, and the foot 11 that contacts to earth is mounted on support leg 10 On.
Thigh fold mechanism 3 include /V link 12, rear end biliquid compression bar 13, preceding hydraulic stem 14, rear connection sliding block 15, Preceding connection sliding block 16;12 one end of /V link is mounted in whole steering gear 1, and 12 other end of /V link is with being connected thigh 4 connections, 13 one end of rear end biliquid compression bar are mounted in whole steering gear 1, and the other end is by rear connection sliding block 15 with being connected thigh 4 Connection, preceding 14 one end of hydraulic stem are mounted in whole steering gear 1, and the other end is connected by preceding connection sliding block 16 with being connected thigh 4.
Shank fold mechanism 5 includes connection sliding block 17, Foldable hydraulic bar 18, functional component installation axle 19;Functional component is pacified It fills axis 19 to be mounted on steering connections 7,18 one end of Foldable hydraulic bar is mounted on steering connections 7, and the other end passes through connection sliding block 17 connect with being connected thigh 4, and function wheel group 6 includes wheel carrier 23, wheel I 24, the axis 25 that is located by connecting, wheel II 26;Wheel carrier 23 is logical It crosses and is located by connecting axis 25 in functional component installation axle 19, wheel I 24 and wheel II 26 are separately mounted to the two of wheel carrier 23 End.
The foot 11 that contacts to earth includes hydraulic stem mounting base 20, adjusting hydraulic stem 21, contact to earth foot 22;The foot 22 that contacts to earth is mounted on support 10 lower part of leg, hydraulic stem mounting base 20, which is mounted on, contacts to earth on foot 22, adjusts 21 one end of hydraulic stem and is mounted on hydraulic stem mounting base 20 On, the other end is connected with support leg 10.

Claims (2)

  1. It is 1. a kind of from the deformable mechanical step of damping, it is characterised in that:Including whole steering gear(1), trunk connector(2), it is big Leg fold mechanism(3), connection thigh(4), shank fold mechanism(5), function wheel group(6), steering connections(7), connection shank (8), damping(9), support leg(10), contact to earth foot(11);Whole steering gear(1)Mounted on trunk connector(2)On, greatly Leg fold mechanism(3)One end is mounted on whole steering gear(1)On, connect thigh(4)Mounted on thigh fold mechanism(3)The other end On, steering connections(7)Mounted on connection thigh(4)On, shank fold mechanism(5)One end is mounted on steering connections(7)On, it is another End is with being connected thigh(4)Connection, function wheel group(6)Mounted on steering connections(7)On, connect shank(8)One end, which is mounted on, to be turned to Joint(7)On, damping(9)Mounted on connection shank(8)On, support leg(10)Mounted on connection shank(8)On the other end, Contact to earth foot(11)Mounted on support leg(10)On;
    The thigh fold mechanism(3)Including /V link(12), rear end biliquid compression bar(13), preceding hydraulic stem(14), after connect Connect sliding block(15), preceding connection sliding block(16);/V link(12)One end is mounted on whole steering gear(1)On, /V link (12)The other end is with being connected thigh(4)Connection, rear end biliquid compression bar(13)One end is mounted on whole steering gear(1)On, the other end Pass through rear connection sliding block(15)With being connected thigh(4)Connection, preceding hydraulic stem(14)One end is mounted on whole steering gear(1)On, separately One end passes through preceding connection sliding block(16)With being connected thigh(4)Connection;
    The shank fold mechanism(5)Including connection sliding block(17), Foldable hydraulic bar(18), functional component installation axle(19);Work( It can component installation axle(19)Mounted on steering connections(7)On, Foldable hydraulic bar(18)One end is mounted on steering connections(7)On, separately One end passes through connection sliding block(17)With being connected thigh(4)Connection, function wheel group(6)Including wheel carrier(23), wheel I(24), positioning Connecting shaft(25), wheel II(26);Wheel carrier(23)Pass through the axis that is located by connecting(25)Mounted on functional component installation axle(19)On, vehicle Wheel I(24)With wheel II(26)It is separately mounted to wheel carrier(23)Both ends.
  2. It is 2. according to claim 1 from the deformable mechanical step of damping, it is characterised in that:The foot that contacts to earth(11)Including Hydraulic stem mounting base(20), adjust hydraulic stem(21), contact to earth foot(22);Contact to earth foot(22)Mounted on support leg(10)Lower part, liquid Compression bar mounting base(20)Mounted on the foot that contacts to earth(22)On, adjust hydraulic stem(21)One end is mounted on hydraulic stem mounting base(20)On, The other end and support leg(10)Connection.
CN201610039594.6A 2016-01-21 2016-01-21 One kind is from the deformable mechanical step of damping Active CN105523099B (en)

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Application Number Priority Date Filing Date Title
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CN105523099B true CN105523099B (en) 2018-05-25

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106347519B (en) * 2016-11-13 2018-07-27 吉林大学 A kind of adaptive sand ground bionic mechanical foot
CN110206840B (en) * 2019-06-21 2020-07-14 重庆大学 Femoral head-imitated damping structure and walking robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013198910A (en) * 2012-03-23 2013-10-03 Honda Motor Co Ltd Transporting and coupling device of part
CN104260800A (en) * 2014-10-16 2015-01-07 北京理工大学 Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker
CN204871274U (en) * 2015-01-18 2015-12-16 济南大学 Bionical mine robot of polypody
CN105172933A (en) * 2015-08-18 2015-12-23 长安大学 Spider-imitating multi-foot robot platform
CN205524561U (en) * 2016-01-21 2016-08-31 昆明理工大学 But from step of shock attenuation texturing machine tool

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013198910A (en) * 2012-03-23 2013-10-03 Honda Motor Co Ltd Transporting and coupling device of part
CN104260800A (en) * 2014-10-16 2015-01-07 北京理工大学 Elastic damping effect based four connecting rod type four-feet walking device with variable length rocker
CN204871274U (en) * 2015-01-18 2015-12-16 济南大学 Bionical mine robot of polypody
CN105172933A (en) * 2015-08-18 2015-12-23 长安大学 Spider-imitating multi-foot robot platform
CN205524561U (en) * 2016-01-21 2016-08-31 昆明理工大学 But from step of shock attenuation texturing machine tool

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