CN110539285A - Bionic flexible foot type tensioning mechanism - Google Patents
Bionic flexible foot type tensioning mechanism Download PDFInfo
- Publication number
- CN110539285A CN110539285A CN201810521355.3A CN201810521355A CN110539285A CN 110539285 A CN110539285 A CN 110539285A CN 201810521355 A CN201810521355 A CN 201810521355A CN 110539285 A CN110539285 A CN 110539285A
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- foot type
- top plate
- tensioning mechanism
- connecting members
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 19
- 230000003287 optical effect Effects 0.000 claims abstract description 10
- 230000007547 defect Effects 0.000 description 2
- 230000009184 walking Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
Abstract
A bionic flexible foot type tensioning mechanism belongs to the technical field of mechanical equipment and comprises an upper end top plate, a lower end bottom plate, seven connecting components, six ball joint bearings, three gas springs, a linear bearing with a flange seat, an optical axis, a cross universal joint and three tension springs. The optical axis is connected with the upper end top plate through the linear bearing with the flange seat and the connecting component, and is connected with the lower end bottom plate through the cross universal joint, the spring is connected with the upper end connecting component and the lower end connecting component through the spherical joint bearing, and the upper end top plate is connected with the bottom plate through the tension spring. The function of self-adapting to terrain is realized through the deformation of the mechanism, and the mechanism has wide application prospect in the technical field of mechanical equipment.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a bionic flexible robot foot type mechanism.
Background
The traditional bionic moving foot type robot utilizes a motor to drive to ensure that each joint can control and track the movement track of the joint, so that multi-joint movement is realized, and the mechanism cannot well sense the external state because the movement track of the joint cannot be accurately fed back in real time. Meanwhile, the size is large and the structure is heavy.
Although the traditional bionic foot type mobile robot is subjected to flexible treatment, the traditional bionic foot type mobile robot has the defects of self-adaptive walking, buffering and shock absorption under a specific environment.
Disclosure of Invention
In order to solve the problems, the bionic foot type tensioning mechanism is established based on the characteristics of extension, self-stability, deformation and self-adaptation of the tensioning structure, has the self-adaptation characteristic, further realizes the function of self-adaptation of the bionic foot type mobile robot to complex terrains, and can assist the operation of high-risk environments and space detection tasks.
A bionic flexible foot type tensioning mechanism is characterized by comprising an upper end top plate, a lower end bottom plate, seven connecting components, six ball joint bearings, three air springs, a linear bearing with a flange seat, an optical axis, a cross universal joint and three tension springs. The upper end connecting member is fixed with the upper end top plate through a bolt, and the lower end connecting member is fixed with the lower end bottom plate through a bolt. The optical axis is connected with the upper end top plate through a linear bearing with a flange seat and a connecting member and is connected with the lower end bottom plate through a cross universal joint. The air spring is connected with the upper end connecting member and the lower end connecting member through ball joint bearings respectively. The upper end top plate is connected with the lower end bottom plate through a tension spring.
Through the design scheme, the invention can bring the following beneficial effects: the whole mechanism has the characteristics of flexibility, deformation and self-adaption, and overcomes the defects of the traditional bionic foot type robot in the aspect of self-adaption walking in a complex environment. The mechanism can passively adjust the form according to the complex terrain, naturally contacts the ground surface, and realizes the function of self-adapting to the complex terrain. The mechanism provided by the invention is convenient to operate, simple in structure, simple and easy to implement, strong in operability, low in cost and good in practical value, and can be applied to the field of bionic flexible foot type mechanisms.
Drawings
FIG. 1 is an overall structure diagram of a bionic flexible foot type tensioning mechanism.
FIG. 2 is a cross-sectional view of the optical axis connected to the connecting member via a linear bearing and to the lower end plate via a cross universal joint.
Fig. 3 is an overall view illustrating the upper end plate fixed to the connecting member.
Fig. 4 is an overall view illustrating the fixing of the lower end plate to the connecting member.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in figure 1, the bionic flexible foot type tensioning mechanism is characterized by comprising an upper end top plate (1), a linear bearing (2) with a flange seat, connecting members (3), (9), (11), (12), (13), (23), (24), tension springs (6), (18), (20), ball joint bearings (4), (7), (14), (15), (21), (22), air springs (5), (16), (17), a cross universal joint (8), a lower end bottom plate (10) and an optical axis (19).
The upper end top plate (1) is polygonal and is provided with three identical holes for fixing three tension springs.
As shown in fig. 2, the upper end connecting pieces (3), (11), (12) and (13) are fixedly connected with the upper end top plate (1) through bolts.
As shown in fig. 3, the lower end connecting members (9), (23), and (24) are fixedly connected to the lower end base plate (10) by bolts.
The optical axis (19) is connected with the connecting component (11) through the linear bearing (2) with the flange seat and is connected with the lower end bottom plate (10) through the cross universal joint (8), and the section view is shown in figure 4.
The air spring (5) is respectively connected with the connecting members (3) and (9) through ball joint bearings (4) and (7), the air spring (16) is respectively connected with the connecting members (12) and (24) through ball joint bearings (14) and (22), and the air spring (17) is respectively connected with the connecting members (13) and (23) through ball joint bearings (15) and (21).
The upper end top plate (1) is connected with the lower end bottom plate (10) through tension springs (6), (18) and (20).
The bionic flexible foot type tensioning mechanism has the advantages of being telescopic, flexible, deformable and adaptive, and can achieve the function of adapting to terrains according to different complex terrains.
Claims (3)
1. A bionic flexible foot type tensioning mechanism is characterized by mainly comprising an upper end top plate (1), a linear bearing (2) with a flange seat, connecting pieces (3), (9), (11), (12), (13), (23), (24), tension springs (6), (18), (20), ball joint bearings (4), (7), (14), (15), (21), (22), air springs (5), (16), (17), a cross universal joint (8), a lower end bottom plate (10) and an optical axis (19), wherein the upper end top plate (1) is connected with the linear bearing (2) with the flange seat through upper end connecting members (3), (11), (12), (13), the air springs (5), (16), (17), lower end connecting members (9), (23), (24), the optical axis (19), the cross universal joint (8), the tension springs (6), (18), (20) Is connected with the bottom end bottom plate.
2. The bionic flexible foot type tensioning mechanism according to claim 1, characterized in that the upper end connecting members (3), (11), (12), (13) are fixedly connected with the upper end top plate (1) through bolts, the lower end connecting members (9), (23), (24) are fixedly connected with the lower end bottom plate (10) through bolts, the optical axis (19) is connected with the connecting member (11) through a linear bearing (2) with a flange seat and is connected with the lower end bottom plate (10) through a cross universal joint (8) to form a member with space motion, the large ends of the gas springs (5), (16), (17) are respectively connected with the upper end connecting members (3), (12), (13) through ball joint bearings (4), (14), (15), and the small ends are connected with the lower end connecting members (9), (23) through ball joint bearings (7), (21), (22), (24) the upper end top plate (1) is connected with the bottom plate (10) through tension springs (6), (18) and (20).
3. The connection relation of claim 2, wherein the bionic foot type tensioning mechanism is established, and has the characteristic of variability, and the bionic foot type tensioning mechanism is in contact with the ground to realize the function of self-adapting to the terrain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810521355.3A CN110539285A (en) | 2018-05-28 | 2018-05-28 | Bionic flexible foot type tensioning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810521355.3A CN110539285A (en) | 2018-05-28 | 2018-05-28 | Bionic flexible foot type tensioning mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110539285A true CN110539285A (en) | 2019-12-06 |
Family
ID=68700980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810521355.3A Pending CN110539285A (en) | 2018-05-28 | 2018-05-28 | Bionic flexible foot type tensioning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110539285A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604333A (en) * | 2022-05-16 | 2022-06-10 | 鹏城实验室 | Continuous bounce type stretch-draw overall structure and robot |
| CN115285252A (en) * | 2022-08-30 | 2022-11-04 | 内蒙古第一机械集团股份有限公司 | Foot type walking robot cross universal joint foot mechanism |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030009259A1 (en) * | 2000-04-03 | 2003-01-09 | Yuichi Hattori | Robot moving on legs and control method therefor, and relative movement measuring sensor for robot moving on legs |
| US20030163206A1 (en) * | 2002-02-28 | 2003-08-28 | Honda Giken Kogyo Kabushiki Kaisha | Parallel linkage and artificial joint device using the same |
| CN101994799A (en) * | 2009-08-03 | 2011-03-30 | 伊威斯发动机系统有限责任两合公司 | Tensioning device with restraint system |
| CN201833370U (en) * | 2010-08-30 | 2011-05-18 | 苏州博实机器人技术有限公司 | Reconfigurable parallel robot |
| CN104721016A (en) * | 2015-03-25 | 2015-06-24 | 北京航空航天大学 | 3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot |
| CN205817906U (en) * | 2016-07-08 | 2016-12-21 | 淮安信息职业技术学院 | A kind of robot Special flexible attachment means |
| CN206634094U (en) * | 2017-04-17 | 2017-11-14 | 吉林大学 | A kind of too many levels flexible bionic foot for passive biped robot |
| CN209273431U (en) * | 2018-05-28 | 2019-08-20 | 长春工业大学 | A kind of Bionic flexible Zu Shi tensioning mechanism |
-
2018
- 2018-05-28 CN CN201810521355.3A patent/CN110539285A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030009259A1 (en) * | 2000-04-03 | 2003-01-09 | Yuichi Hattori | Robot moving on legs and control method therefor, and relative movement measuring sensor for robot moving on legs |
| US20030163206A1 (en) * | 2002-02-28 | 2003-08-28 | Honda Giken Kogyo Kabushiki Kaisha | Parallel linkage and artificial joint device using the same |
| CN101994799A (en) * | 2009-08-03 | 2011-03-30 | 伊威斯发动机系统有限责任两合公司 | Tensioning device with restraint system |
| CN201833370U (en) * | 2010-08-30 | 2011-05-18 | 苏州博实机器人技术有限公司 | Reconfigurable parallel robot |
| CN104721016A (en) * | 2015-03-25 | 2015-06-24 | 北京航空航天大学 | 3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot |
| CN205817906U (en) * | 2016-07-08 | 2016-12-21 | 淮安信息职业技术学院 | A kind of robot Special flexible attachment means |
| CN206634094U (en) * | 2017-04-17 | 2017-11-14 | 吉林大学 | A kind of too many levels flexible bionic foot for passive biped robot |
| CN209273431U (en) * | 2018-05-28 | 2019-08-20 | 长春工业大学 | A kind of Bionic flexible Zu Shi tensioning mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 姜大伟;胡孔明;张邦成;孙建伟;张昊: "基于单位圆法的仿人机器人行走系统步态规划", 《高技术通讯》, 15 March 2014 (2014-03-15), pages 289 - 295 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604333A (en) * | 2022-05-16 | 2022-06-10 | 鹏城实验室 | Continuous bounce type stretch-draw overall structure and robot |
| CN114604333B (en) * | 2022-05-16 | 2022-08-09 | 鹏城实验室 | Continuous bounce type stretch-draw overall structure and robot |
| CN115285252A (en) * | 2022-08-30 | 2022-11-04 | 内蒙古第一机械集团股份有限公司 | Foot type walking robot cross universal joint foot mechanism |
| CN115285252B (en) * | 2022-08-30 | 2023-04-25 | 内蒙古第一机械集团股份有限公司 | Cross universal joint foot mechanism of foot-type walking robot |
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