CN108725623A - Bionical extra large cockroach leg structure with pooling feature - Google Patents
Bionical extra large cockroach leg structure with pooling feature Download PDFInfo
- Publication number
- CN108725623A CN108725623A CN201810426143.7A CN201810426143A CN108725623A CN 108725623 A CN108725623 A CN 108725623A CN 201810426143 A CN201810426143 A CN 201810426143A CN 108725623 A CN108725623 A CN 108725623A
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- China
- Prior art keywords
- podomere
- bionical
- hook
- extra large
- pooling feature
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Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Toys (AREA)
- Catching Or Destruction (AREA)
Abstract
The bionical extra large cockroach leg structure with pooling feature that the invention discloses a kind of, including power source attachment device, several sequentially connected bionical podomeres and the hook being set on the bionical podomere of least significant end, wherein the power source attachment device includes limited block and power output rod；The bionical podomere in front end is connect with power output rod, is flexibly connected by connector between adjacent bionical podomere, and be arranged between corner locating structure and buffer structure so that each bionical podomere can freely adjust within the scope of certain angle；It is rotatablely connected by connector between the hook and the bionical podomere of least significant end, has been arranged between locking position limiting structure so that hook can freely adjust within the scope of certain angle.The configuration of the present invention is simple can fold, and space availability ratio is high；Structure road conditions are adaptable；With climbing ability, functional；Rigid shock that can effectively between buffer unit, and it is whole there is certain impact resistance, have the foreground of being widely applied.
Description
Technical field
The present invention relates to bio-robot field, more particularly to a kind of bionical extra large cockroach leg structure with pooling feature.
Background technology
The research of robot has all been a more popular field, including robot in recent years even since the more than ten years
Structure, appearance, control system, artificial intelligence, remote control etc..And robot is in aerospace, manufacturing industry, service
It has been obtained for quite being widely applied in many industries of industry, scientific research, military affairs etc..
With the continuous improvement of scientific and technological level, of all kinds, various functions robots come into being.However,
Under conditions of certain limited spaces, road conditions are relatively extreme, the walking structure of most robot just manifests excessively complicated, knot
Structure size is big, road conditions adaptability is poor, function is excessively single, entirety does not have between certain impact resistance, link member
For rigid shock the deficiencies of.
Therefore, there is an urgent need to a kind of novel robot walking structures to solve the above problems.To existing patent retrieval, do not send out
The existing invention for closing extra large cockroach leg biomimetic features has more affirmed meaning of the present invention by analyzing above.
Invention content
The bionical extra large cockroach leg structure with pooling feature that the purpose of the present invention is to provide a kind of.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of bionical extra large cockroach leg structure with pooling feature, including it is power source attachment device, several sequentially connected
Bionical podomere and the hook being set on the bionical podomere of least significant end, wherein
The power source attachment device includes limited block and power output rod；
The bionical podomere in front end is connect with power output rod, is connected by connector activity between adjacent bionical podomere
It connects, and has been arranged between corner locating structure and buffer structure so that each bionical podomere can be adjusted freely within the scope of certain angle
Section；
It is rotatablely connected by connector between the hook and the bionical podomere of least significant end, has been arranged between locking limit knot
Structure so that hook can freely adjust within the scope of certain angle.
As an improvement of the above technical solution, the power source attachment device is used for robot power source and bionical podomere
Connection, limited block are installed in robot, and limit block gap is adjustable, power output rod one end and power source company of robot
It connects, the other end is fixed on a spherical hinge, which is installed on the top of the bionical podomere in front end.
As an improvement of the above technical solution, the bionical podomere includes sequentially connected first podomere, the second podomere,
Three podomeres, the 4th podomere, the 5th podomere and the 6th podomere, wherein the power output rod is connected with the first podomere, the hook
It is set to the 6th podomere end.
As an improvement of the above technical solution, the end of the described first to the 5th podomere is both provided with corner locating block, turns
Angle limited block lower part is equipped with cushion pad, constitutes corner locating structure and buffer structure, the end of the 6th podomere are provided with
Hook locking rod, hook gag lever post constitute locking position limiting structure, and the 6th podomere end is provided with cushion pad.
As an improvement of the above technical solution, the hook includes big hook, small hook, and the hook locking rod includes
Large and small hook locking rod, for hook to be locked under a certain corner state, the hook gag lever post includes large and small hook limit
Position bar, the ultimate angle for limiting hook.Hook according to mission requirements it is recoverable or release, size and pointed shape can roots
According to using or design requirement is adjusted.
As an improvement of the above technical solution, the corner locating block be with the integrally formed structure in bionical podomere end or
It is installed on the absolute construction of bionical podomere end, corner locating block and third podomere between first podomere, the second podomere,
The limitation of corner locating block between 4th podomere, the 5th podomere turns to difference, the former is for limiting clockwise steering, the latter
For limiting steering counterclockwise so that second podomere, third podomere and the 4th podomere, the 5th podomere, the 6th podomere it is curved
To opposite.
As an improvement of the above technical solution, the cushion pad is the substance with certain elasticity, such as rubber pad, or have
The structure or device of cushioning effect.
As an improvement of the above technical solution, the connector be can adjust angle hinge pin shaft structure or its
Its movable connection structure.
As an improvement of the above technical solution, the hook gag lever post be with the integrally formed structure in the 6th podomere end or
It is installed on the absolute construction of the 6th podomere end.
As an improvement of the above technical solution, when robot normally advances, the 6th podomere end is used according to road conditions selection
The hook or cushion pad at end are contacted with road surface；
When robot advances or reconciles leg posture, each Bionic limb internode in leg will produce impact, is mounted on corner and limits
Cushion pad on the block of position plays cushioning effect；
When robot is jumped off from certain altitude, adjusts leg posture and pack up hook, with the slow of the 6th podomere end
Punching cushions land；
When robot creeps in the environment of limited space, the first podomere, the second podomere and third podomere are packed up to save
About space；
When robot is climbed, suitable hook corner is adjusted in real time according to demand, and hook is locked with hook locking rod.
Beneficial effects of the present invention：
The bionical extra large cockroach leg structure with pooling feature of the present invention, it is simple in structure, it can fold, telescopic adjustment, it is empty
Between utilization rate it is high；Structure road conditions are adaptable；With climbing ability, functional；Rigidity punching that can be effectively between buffer unit
Hit, reduce between podomere and the vibration between podomere and ground and impact, and it is whole there is certain impact resistance, have wide
General application prospect.
Description of the drawings
Below in conjunction with the accompanying drawings and specific embodiment the invention will be further described,
Attached drawing 1 is the bionical extra large cockroach leg structure overall structure diagram that the present invention has pooling feature；
Attached drawing 2 is part A in attached drawing 1, i.e. the first podomere end partial enlarged view；
Attached drawing 3 is part B in attached drawing 1, i.e. hook partial enlarged view；
Attached drawing 4 is C portion in attached drawing 1, i.e. the 6th podomere end partial enlarged view；
Serial number corresponds in figure：
1- limited blocks, 2- power output rods, 3- spherical hinges, the first podomeres of 4-, 5- corner locating blocks, the second podomeres of 6-, 7-
Third podomere, the 4th podomeres of 8-, the 5th podomeres of 9-, the 6th podomeres of 10-, 11- connectors, 12- cushion pads, 13- hook gag lever posts,
14- hook locking rods, 15- hooks.
Specific implementation mode
Embodiment 1
A kind of bionical extra large cockroach leg structure with pooling feature.
With reference to attached drawing 1, this bionical extra large cockroach leg structure includes power source attachment device, the six sequentially connected bionical podomeres of section
And it is set to the hook 15 on the 6th podomere 10, wherein power source attachment device is used for robot power source and bionical podomere
Connection comprising limited block 1, power output rod 2 and spherical hinge 3, limited block 1 are installed in robot, and two pieces of limited blocks 1
Gap is adjustable, and 2 one end of power output rod is connect with robot power source, and the other end is fixed on a spherical hinge 3, and spherical hinge 3 is pacified
Top loaded on the first podomere 4.
First podomere 4 is connect with power output rod 2, is flexibly connected by connector 11 between adjacent bionical podomere, and
Corner locating structure and buffer structure have been arranged between it so that each bionical podomere can freely adjust within the scope of certain angle.Hook
It is rotatablely connected also by connector 11 between pawl 15 and the 6th podomere 10, has been arranged between locking position limiting structure so that hook 15
It can freely adjust within the scope of certain angle.
With reference to attached drawing 2, above-mentioned corner locating structure and buffer structure specifically refer to：The end of first to the 5th podomere 9
It is both provided with corner locating block 5,5 lower part of corner locating block is equipped with cushion pad 12, constitutes corner locating structure and buffer structure.
With reference to attached drawing 3, above-mentioned locking position limiting structure refers to：The end of 6th podomere 10 is provided with hook locking rod 14, hook limit
Bar 13 constitutes locking position limiting structure, and with reference to attached drawing 4,10 end of the 6th podomere is provided with cushion pad 12 simultaneously.
Specifically, hook 15 includes big hook, small hook, corresponding hook locking rod 14 includes large and small hook locking rod,
For hook 15 to be locked under a certain corner state, corresponding hook gag lever post 13 includes large and small hook gag lever post, for limiting
The ultimate angle of hook 15 processed.Hook 15 is recoverable or release according to mission requirements, and size and pointed shape can be according to using
Or design requirement is adjusted.
In various embodiments, corner locating block 5 can be with the bionical integrally formed structure in podomere end, also may be used
To be mounted to the absolute construction of bionical podomere end.
Wherein, the corner locating block 5 between the first podomere 4, the second podomere 6 and third podomere 7, the 4th podomere 8, the 5th limb
The limitation of corner locating block 5 between section 9 turns to difference, the former is for limiting clockwise steering, and the latter is for limiting the inverse time
Needle turns to so that the second podomere 6, third podomere 7 and the 4th podomere 8, the 5th podomere 9, the 6th podomere 10 bend towards it is opposite.
In various embodiments, cushion pad 12 can be the substance with certain elasticity, and such as rubber pad can also be
Certain structure with cushioning effect or device.
In various embodiments, connector 11 can be adjustable-angle hinge pin shaft structure or it is other can
Realize the structure of flexible connection.
In various embodiments, hook gag lever post 13 can be with the integrally formed structure in 10 end of the 6th podomere,
Or it is installed on the absolute construction of 10 end of the 6th podomere.
Embodiment 2
The robot of bionical extra large cockroach leg structure with pooling feature.
When robot normally advances, according to road conditions selection using 10 end of the 6th podomere hook 15 or cushion pad 12 with
Road surface contacts.
When robot advances or reconciles leg posture, each Bionic limb internode in leg will produce impact, is mounted on corner and limits
Cushion pad 12 on the block 5 of position plays cushioning effect.
When robot is jumped off from certain altitude, adjusts leg posture and pack up hook 15, with 10 end of the 6th podomere
Cushion pad 12 land.
When robot creeps in the environment of limited space, the first podomere 4, the second podomere 6 and third podomere 7 pack up with
Save space.
When robot is climbed, suitable 15 corner of hook is adjusted in real time according to demand, and lock with hook locking rod 14
Hook 15.
Above describe different embodiments of the invention, it is obvious to a person skilled in the art that the present invention is not limited to
The details of above-mentioned exemplary embodiment, the above are only presently preferred embodiments of the present invention, should not be construed as limiting this hair
Bright practical range.Any changes and modifications in accordance with the scope of the present application should all still belong to the special of the present invention
Within sharp covering scope.
Simultaneously it should be appreciated that although this specification is described according to embodiment, not each embodiment only includes one
This narrating mode of independent technical solution, this specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solutions in the various embodiments may also be suitably combined for bright book, and forming those skilled in the art can be with
The other embodiment of understanding.
Claims (10)
1. a kind of bionical extra large cockroach leg structure with pooling feature, it is characterised in that：Including power source attachment device, Ruo Ganyi
The bionical podomere of secondary connection and the hook being set on the bionical podomere of least significant end, wherein
The power source attachment device includes limited block and power output rod；
The bionical podomere in front end is connect with power output rod, is flexibly connected by connector between adjacent bionical podomere,
And corner locating structure and buffer structure have been arranged between it so that each bionical podomere can freely adjust within the scope of certain angle；
It is rotatablely connected by connector between the hook and the bionical podomere of least significant end, has been arranged between locking position limiting structure, has made
Hook is obtained to can freely adjust within the scope of certain angle.
2. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 1, it is characterised in that：It is described dynamic
Power source attachment device is for robot power source to be connect with bionical podomere, and limited block is installed in robot, and limited block
Gap is adjustable, and power output rod one end is connect with robot power source, and the other end is fixed on a spherical hinge, spherical hinge peace
Top loaded on the bionical podomere in front end.
3. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 1 or 2, it is characterised in that：Institute
It includes sequentially connected first podomere, the second podomere, third podomere, the 4th podomere, the 5th podomere and the 6th limb to state bionical podomere
Section, wherein the power output rod is connected with the first podomere, the hook is set to the 6th podomere end.
4. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 3, it is characterised in that：Described
The end of one to the 5th podomere is both provided with corner locating block, and corner locating block lower part is equipped with cushion pad, constitutes corner locating
The end of structure and buffer structure, the 6th podomere is provided with hook locking rod, hook gag lever post, constitutes locking limit knot
Structure, the 6th podomere end are provided with cushion pad.
5. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 4, it is characterised in that：The hook
Pawl includes big hook, small hook, and the hook locking rod includes large and small hook locking rod, for hook to be locked in a certain turn
Under horn shape state, the hook gag lever post includes large and small hook gag lever post, the ultimate angle for limiting hook.
6. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 4 or 5, it is characterised in that：Institute
It is with the integrally formed structure in bionical podomere end or to be installed on the absolute construction of bionical podomere end to state corner locating block, described
Corner locating block between corner locating block between first podomere, the second podomere and third podomere, the 4th podomere, the 5th podomere
Limitation turn to different, the former is for limiting clockwise steering, and the latter is for limiting steering counterclockwise so that second limb
Section, third podomere and the 4th podomere, the 5th podomere, the 6th podomere bend towards it is opposite.
7. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 6, it is characterised in that：It is described slow
Punching pad is the substance with certain elasticity or the structure with cushioning effect or device.
8. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 6, it is characterised in that：The company
Fitting is the hinge or pin shaft structure that can adjust angle.
9. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 6, it is characterised in that：The hook
Pawl gag lever post is with the integrally formed structure in the 6th podomere end or to be installed on the absolute construction of the 6th podomere end.
10. a kind of bionical extra large cockroach leg structure with pooling feature according to claim 6, it is characterised in that：
When robot normally advances, select to contact with road surface using the hook or cushion pad of the 6th podomere end according to road conditions；
When robot advances or reconciles leg posture, each Bionic limb internode in leg will produce impact, be mounted on corner locating block
On cushion pad play cushioning effect；
When robot is jumped off from certain altitude, adjusts leg posture and pack up hook, with the cushion pad of the 6th podomere end
It lands；
When robot creeps in the environment of limited space, the first podomere, the second podomere and third podomere are packed up to save sky
Between；
When robot is climbed, suitable hook corner is adjusted in real time according to demand, and hook is locked with hook locking rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426143.7A CN108725623B (en) | 2018-05-07 | 2018-05-07 | Bionic sea cockroach leg structure with buffering function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426143.7A CN108725623B (en) | 2018-05-07 | 2018-05-07 | Bionic sea cockroach leg structure with buffering function |
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| Publication Number | Publication Date |
|---|---|
| CN108725623A true CN108725623A (en) | 2018-11-02 |
| CN108725623B CN108725623B (en) | 2021-04-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810426143.7A Active CN108725623B (en) | 2018-05-07 | 2018-05-07 | Bionic sea cockroach leg structure with buffering function |
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| CN (1) | CN108725623B (en) |
Cited By (2)
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|---|---|---|---|---|
| CN110525150A (en) * | 2019-09-12 | 2019-12-03 | 重庆大学 | Combined type deformation leg suitable for amphibious environment |
| CN112372666A (en) * | 2020-10-30 | 2021-02-19 | 电子科技大学 | Flexible joint and adopt this flexible joint's micro-robot |
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| CN112372666B (en) * | 2020-10-30 | 2022-03-08 | 电子科技大学 | Flexible joint and adopt this flexible joint's micro-robot |
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|---|---|
| CN108725623B (en) | 2021-04-09 |
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