CN114954726A - Passive two-degree-of-freedom ankle joint structure imitating crocodile foot - Google Patents
Passive two-degree-of-freedom ankle joint structure imitating crocodile foot Download PDFInfo
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- CN114954726A CN114954726A CN202210665172.5A CN202210665172A CN114954726A CN 114954726 A CN114954726 A CN 114954726A CN 202210665172 A CN202210665172 A CN 202210665172A CN 114954726 A CN114954726 A CN 114954726A
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- sole
- connecting mechanism
- crocodile
- tension spring
- ankle joint
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- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 42
- 210000002683 foot Anatomy 0.000 title claims abstract description 33
- 241000270722 Crocodylidae Species 0.000 title claims abstract description 31
- LNNWVNGFPYWNQE-GMIGKAJZSA-N desomorphine Chemical compound C1C2=CC=C(O)C3=C2[C@]24CCN(C)[C@H]1[C@@H]2CCC[C@@H]4O3 LNNWVNGFPYWNQE-GMIGKAJZSA-N 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000010355 oscillation Effects 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 2
- 210000001699 lower leg Anatomy 0.000 abstract description 49
- 230000001276 controlling effect Effects 0.000 abstract description 7
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 239000011664 nicotinic acid Substances 0.000 description 21
- 210000000629 knee joint Anatomy 0.000 description 7
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000005021 gait Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
Abstract
The invention discloses a passive two-degree-of-freedom ankle joint structure imitating crocodile feet, which comprises a shank, a sole, a connecting mechanism, a plurality of side pendulum tension springs and a plurality of pitching pendulum tension springs, wherein the shank is connected with the sole through the connecting mechanism; a connecting mechanism is arranged between the shank and the sole; the connecting mechanism is provided with a radial connecting shaft and an axial threaded shaft which are perpendicular to each other, the radial connecting shaft is connected with the shank and the connecting mechanism, and the axial threaded shaft is connected with the sole and the connecting mechanism; two ends of the side-swinging tension spring are respectively connected with the crus and the connecting mechanism, and the side-swinging tension spring is used for controlling the two sides of the sole to swing; the two ends of the pitching pendulum tension spring are respectively connected with the sole and the connecting mechanism, and the pitching pendulum tension spring is used for controlling pitching oscillation of the sole. After the structure above adopting, simple compactness, need not the driver, have two passive degrees of freedom of side pendulum and every single move pendulum, appearance and function height are bionical, when imitative crocodile robot meets unsmooth road conditions, through two revolute pair automatically regulated of ankle joint, make sole and ground remain the biggest area of contact all the time, improve stability.
Description
Technical Field
The invention relates to the field of bionic mechanisms, in particular to a passive two-degree-of-freedom ankle joint structure imitating crocodile feet.
Background
With the development of human science and technology, more and more bionic robots appear in industrial production and living services, wherein the legged robot has stronger complex environment adaptability and motion flexibility and is most widely researched at home and abroad. The crocodile-like robot is taken as a typical representative of the four-footed bionic robot, the advantages and disadvantages of the four-footed bionic robot in terms of load capacity, high dynamic characteristics and environmental adaptability are determined by the structure of the four feet, particularly for the leg-foot type bionic robot, hip joints, knee joints and ankle joints of legs and feet have certain degrees of freedom, and in the bionic design, the bionic robot can achieve the bionic function and appearance after all degrees of freedom are met.
The ankle joint of the crocodile is a structure for adjusting the contact form of the sole of the foot and the ground of the crocodile in crawling and running gaits, and for the crocodile-like robot, the ankle joint can increase the stability and the bearing capacity of the crocodile-like robot in crawling and running on the land.
In the existing crocodile-imitated robot, the ankle joint is generally processed by omitting or simplifying structures such as a ball and a cusp, and the single copying design is not performed too much. The reasons for this are mainly the following: firstly, hip joints and knee joints of four feet have more degrees of freedom, each degree of freedom needs to be controlled by an independent motor or structure, and the four feet also need to have certain torque performance and complex structure, so that the control difficulty is increased for controlling the motion of ankle joints; secondly, the structure size of the four feet is small, the ankle joint is close to the ground and far away from the trunk, if a driving motor, a transmission device and the like are arranged near the ankle joint or the knee joint, the structure size of the legs and the feet is increased, the bionic requirement on the appearance is not met, the flexibility of the four feet is influenced, and the ankle joint structure is generally ignored; thirdly, the shape of the four feet is not designed strictly according to the structure of the sole and the lower leg of the bionic object, and is only bionic in function, so that the ankle joint is usually replaced by a ball, a cusp and other structures.
Based on the reasons of the defects, the passive two-degree-of-freedom ankle joint of the crocodile foot simulation system which is simple in structure, completely bionic in appearance, structure and motion mechanism is designed, the requirements of bionic design of four-foot ankle joints of the crocodile-simulation robot can be met, and ideas can be provided for structural design of the ankle joints of other bionic robots.
Disclosure of Invention
The invention aims to provide a passive two-degree-of-freedom ankle joint structure imitating crocodile feet, and aims to solve the problems that the existing foot appearance is not strictly designed according to the structures of soles and shanks of bionic objects, and is only bionic functionally, so that the stability and the bearing capacity of the foot are insufficient when the foot climbs and runs on the land.
In order to solve the technical problem, the invention provides a passive two-degree-of-freedom ankle joint structure imitating crocodile feet, which comprises a shank, a sole, a connecting mechanism, a plurality of side pendulum tension springs and a plurality of pitching pendulum tension springs; the connecting mechanism is arranged between the shank and the sole; the connecting mechanism is provided with a radial connecting shaft and an axial threaded shaft which are perpendicular to each other, the radial connecting shaft is connected with the shank and the connecting mechanism, and the axial threaded shaft is connected with the sole and the connecting mechanism; the two ends of the side-swinging tension springs are respectively connected with the lower leg and the connecting mechanism, the side-swinging tension springs are respectively arranged on two sides of the central axis of the lower leg, and the side-swinging tension springs are used for controlling two sides of the sole to swing; the two ends of the pitching pendulum tension spring are respectively connected with the sole and the connecting mechanism, and the pitching pendulum tension spring is used for controlling pitching oscillation of the sole.
In one embodiment, the shank is provided with a first connecting column and a second connecting column, the connecting mechanism is arranged between the first connecting column and the second connecting column, and the radial connecting shaft sequentially penetrates through the first connecting column, the connecting mechanism and the second connecting column.
In one embodiment, the connecting mechanism is further provided with a plurality of first connecting lugs, one side of the side swing tension spring is fixedly connected with the first connecting lugs, and the other side of the side swing tension spring is fixedly connected with the shank.
In one embodiment, the sole is provided with a third connecting column and a fourth connecting column, the connecting mechanism is arranged between the third connecting column and the fourth connecting column, the axial threaded shafts comprise a plurality of shafts, one of the axial threaded shafts penetrates through the third connecting column and then is in threaded connection with the connecting mechanism, and the other axial threaded shaft penetrates through the fourth connecting column and then is in threaded connection with the connecting mechanism.
In one embodiment, the central axes of the two axially threaded shafts are collinear.
In one embodiment, the connecting mechanism is further provided with a plurality of second mounting lugs and a plurality of limiting devices, the third connecting column and the fourth connecting column are respectively provided with a limiting groove, one side of each limiting device is assembled on the second mounting lug, and the other side of each limiting device is assembled in the limiting groove.
In one embodiment, the limiting device comprises a limiting shaft, a mounting hole and a roller, the mounting hole is arranged at the head end of the limiting shaft, and the tail end of the limiting shaft penetrates through the second mounting lug and then is embedded into the roller.
In one embodiment, the limiting groove is arc-shaped, and the roller is installed inside the limiting groove in a rolling mode.
In one embodiment, one side of the pitching pendulum tension spring is fixedly connected with the mounting hole, and the other side of the pitching pendulum tension spring is fixedly connected with the sole.
In one embodiment, the sole of the foot is provided with a plurality of protrusions.
In one embodiment, a pressure sensor is arranged in the sole and is used for transmitting a pressure signal of the sole to avoid obstacles, sense the environment, recognize road conditions and the like.
In one embodiment, the lower leg is provided with a connection hole for connecting with a knee joint.
The invention has the following beneficial effects:
the crocodile foot-imitating passive two-degree-of-freedom ankle joint structure is simple and compact in structure, does not need to be controlled by an extra driver, has two passive degrees of freedom of lateral swing and pitching direction swing, and is high in bionic degree in appearance and function.
The ankle joint has two passive degrees of freedom, the crus are connected with the connecting mechanism through a lateral swing tension spring to form a revolute pair in a lateral swing direction, and the soles are connected with the connecting mechanism through a pitching swing tension spring to form a revolute pair in a pitching direction.
Two ends of the side-swinging tension spring are respectively connected to the side-swinging tension spring connecting support lug of the connecting frame and the side-swinging tension spring fixing screw on the lower leg, when the foot of the crocodile-like robot is lifted or moves in water, the sole and the lower leg are in a middle balance position through the tension of the side-swinging tension spring, and when the load is applied in the walking or running process, the sole swings left and right to ensure the tight contact with the ground by overcoming the resistance of the tension spring.
Two ends of the pitching pendulum tension spring are respectively connected to a pitching tension spring mounting hole at the head end of the limiting shaft and a pitching tension spring fixing screw on the sole, when the foot of the crocodile-like robot is lifted up or moves in water, under the tensile force of the pitching pendulum tension spring, a roller in the limiting device is at an upper limit position, and the pitching angle between the sole and the shank is maximum; when the walking or running process is loaded, the resistance of the tension spring is overcome, the roller in the limiting device moves towards the direction of the lower limit position, and the pitching angle between the sole and the shank swings back and forth between the two limit positions along with the change of the gait.
This ankle joint installs on imitative crocodile robot four-footed, when imitative crocodile robot sole meets gravel ground, unsmooth ground, when uneven road conditions such as ramp ground, two revolute pair automatically regulated through the ankle joint, make sole and contact ground remain the biggest area of contact throughout, improve the adaptability of crocodile robot to the environment and overall structure's dynamic stability, the ankle joint that this design and structure also can regard as other leg foot class bionic robot simultaneously uses, and wide application prospect has.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure provided by the preferred embodiment of the present invention;
FIG. 2 is a first schematic structural view of a connection mechanism provided in the preferred embodiment of the present invention;
FIG. 3 is a second schematic structural view of a connection mechanism provided in a preferred embodiment of the present invention;
FIG. 4 is a schematic illustration of the connection of the side pendulum tension spring and the pitch pendulum tension spring provided by the preferred embodiment of the present invention;
FIG. 5 is a schematic view of the structure of a preferred embodiment of the present invention providing a lower leg;
FIG. 6 is a schematic view of the sole structure provided by the preferred embodiment of the present invention;
FIG. 7 is a schematic view of the attachment mechanism to the ball of the foot according to the preferred embodiment of the present invention;
FIG. 8 is a schematic structural view of a spacing device provided in the preferred embodiment of the present invention;
FIG. 9 is a first schematic view of the lateral swing limit position provided by the preferred embodiment of the present invention;
FIG. 10 is a second schematic view of the lateral swing limit position provided by the preferred embodiment of the present invention;
FIG. 11 is a third schematic view of the extreme position of the sidesway provided by the preferred embodiment of the present invention;
FIG. 12 is a schematic view of the extreme positions of the pitch pendulum provided by the preferred embodiment of the present invention;
figure 13 is a schematic illustration of the connection to the torso provided by the preferred embodiment of the present invention.
The reference numbers are as follows:
1. a lower leg; 10. a first connecting column; 11. a second connecting column; 12. a first through hole; 13. a first tension spring is perforated; 14. a tension spring fixing hole I; 15. a first fixing screw; 16. connecting holes;
2. a sole of a foot; 20. a third connecting column; 21. a fourth connecting column; 22. a second through hole; 23. a limiting groove; 24. a tension spring is arranged in the through hole II; 25. a tension spring fixing hole II; 26. a second fixing screw; 27. a non-slip mat; 28. a pressure sensor; 29. a wire passing hole;
3. a connecting mechanism; 30. a connecting frame; 300. a first connecting lug; 301. a second connecting lug; 302. a radial through hole; 303 axial threaded hole; 304. a radial shaft sleeve; 305. an axial shaft sleeve; 31. a radial connecting shaft; 32. an axial threaded shaft;
4. a side-swinging tension spring;
5. a pitching pendulum tension spring;
6. a limiting device; 60. a limiting shaft; 600. a bearing; 601. an external thread; 61. mounting holes; 62. a roller;
7. a knee joint;
8. a torso.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention relates to a passive two-degree-of-freedom ankle joint structure imitating crocodile feet, which is shown in figures 1 to 2 and comprises a shank 1, a sole 2, a connecting mechanism 3, a plurality of side pendulum tension springs 4 and a plurality of pitching pendulum tension springs 5; a connecting mechanism 3 is arranged between the shank 1 and the sole 2; the connecting mechanism 3 comprises a connecting frame 30, a radial connecting shaft 31 and an axial threaded shaft 32, the radial connecting shaft 31 and the axial threaded shaft 32 are perpendicular to each other, the radial connecting shaft 31 connects the shank 1 and the connecting frame 30, and the axial threaded shaft 32 connects the sole 2 and the connecting frame 30; two ends of the side-swinging tension springs 4 are respectively connected with the lower leg 1 and the connecting frame 30, the side-swinging tension springs 4 are respectively arranged on two sides of the central axis of the lower leg 1, and the side-swinging tension springs 4 are used for controlling two sides of the sole 2 to swing; two ends of the pitching pendulum tension spring 5 are respectively connected with the sole 2 and the connecting frame 30, and the pitching pendulum tension spring 5 is used for controlling pitching oscillation of the sole 2.
After the mode is adopted, the ankle joint is simple and compact in structure and does not need to be controlled by an additional driver; the sole 2 is connected with the connecting mechanism 3 to form a revolute pair in the pitching direction, and the shank 1 is connected with the connecting mechanism 3 to form a revolute pair in the lateral swinging direction; the shape and the size of the ankle joint are designed according to parameters of a real crocodile foot, and the ankle joint is highly bionic. This ankle joint installs on imitative crocodile robot four-footed, and sole and ground keep in close contact with when can making the robot walk or run under environment such as gravel ground, unsmooth ground, ramp ground, improve crocodile robot to the adaptability of environment and overall structure's dynamic stability, and this structure also can regard as the ankle joint of other leg foot class bionic robot to use simultaneously, has extensive application prospect.
As shown in fig. 1 to 3 and 5, the shank 1 is provided with a first connecting column 10 and a second connecting column 11, the first connecting column 10 and the second connecting column 11 are both provided with a first through hole 12, the connecting frame 30 is arranged between the first connecting column 10 and the second connecting column 11, the connecting frame 30 is further provided with a radial through hole 302 and two radial shaft sleeves 304, the radial connecting shaft 31 sequentially penetrates through the first through hole 12 of the first connecting column 10, the radial through hole 302 and the first through hole 12 of the second connecting column 11, the two radial shaft sleeves 304 are all sleeved on the radial connecting shaft 31, the two radial shaft sleeves 304 are respectively positioned at the inlet end and the outlet end of the radial through hole 302, and the connection and fixation of the connecting mechanism 3 and the shank 1 is realized.
After adopting above mode, the space between first spliced pole 10 of shank 1 and second spliced pole 11 can be used to place link 30 for whole coupling mechanism 3 is connected fixedly through radial connecting axle 31 and shank 1 as the ankle joint of bionical crocodile, simple structure is compact, strengthens coupling structure 3 and shank 1's connection stability simultaneously.
As shown in fig. 1, 3, 5, 9 to 11, the connecting frame 30 further has two first connecting lugs 300, two sides of the central axis of the lower leg 1 are respectively provided with a first tension spring through hole 13, a first tension spring fixing hole 14 and a first fixing screw 15, the first tension spring through holes 13 are respectively arranged at the left side and the right side of the lower leg 1, the first tension spring fixing holes 14 are respectively arranged on the cross section of the lower leg 1 between the first connecting column 10 and the second connecting column 11, the first tension spring through hole 13 is communicated with the first tension spring fixing holes 14, the first fixing screw 15 is rotationally screwed into the lower leg 1 from the first tension spring fixing hole 14 through threads on the surface thereof, the first fixing screw 15 is connected and fixed with the lower leg 1, one side of the side swing tension spring 4 is connected and fixed with the first connecting support lug 300, the other side of the side swing tension spring 4 penetrates through the first tension spring through hole 13 to be connected and fixed with the first fixing screw 15 in the first tension spring fixing hole 14 of the lower leg 1, and the side swing tension spring 4 is connected and fixed with the connecting mechanism 3 and the lower leg 1 respectively.
After the above manner is adopted, the connecting mechanism 3 and the lower leg 1 are connected through the side-swing tension spring 4 to form a revolute pair in the side-swing direction, two ends of the side-swing tension spring 4 are respectively connected to the first connecting lug 300 of the connecting frame 30 and the fixing screw one 15 of the lower leg 1, and the lower leg 1 is provided with a tension spring through hole one 13 providing a working space for the side-swing tension spring 4. When the foot of the crocodile-like robot is lifted or moves in water, the side-swinging tension spring 4 is free from other external force, and the lower leg 1 and the sole 2 are in a state of a middle balance position A; when the foot of the crocodile-like robot walks or runs, the side-swinging tension spring 4 is subjected to external force, and the sole 2 overcomes the resistance of the side-swinging tension spring 4 to swing left and right so as to ensure the close contact with the ground; the relative position between the lower leg 1 and the sole 2 is between the left limit position B and the right limit position C as the contact environment changes.
As shown in the figures 1 to 3 of the drawings, as shown in fig. 6, the sole 2 is provided with a third connecting column 20 and a fourth connecting column 21, both the third connecting column 20 and the fourth connecting column 21 are provided with two through holes 22, the connecting frame 30 is arranged between the third connecting column 20 and the fourth connecting column 21, both the left side and the right side of the connecting frame 30 are provided with an axial threaded hole 303 and two axial shaft sleeves 305, the axial threaded shafts 32 include two axial threaded shafts 32, the central axes of the two axial threaded shafts 32 are collinear, one axial threaded shaft 32 sequentially penetrates through the two through holes 22 and the axial threaded hole 303 of the third connecting column 20 and then is in threaded connection with the connecting frame 30, the other axial threaded shaft sequentially 32 penetrates through the two through holes 22 and the axial threaded hole 303 of the fourth connecting column 21 and then is in threaded connection with the connecting frame 30, the two axial shaft sleeves 305 are all sleeved on the axial threaded shaft 32, the two axial shaft sleeves 305 are respectively located at the outer sides of the left axial threaded hole 303 and the right axial threaded hole 303, and connection fixation of the connecting mechanism 3 and the sole 2 is achieved.
After adopting above mode, the space between the third spliced pole 20 and the fourth spliced pole 21 of sole 2 can be used to place link 30 for whole coupling mechanism 3 is connected fixedly through axial threaded shaft 32 and sole 2 as the ankle joint of bionical crocodile, simple structure is compact, strengthens coupling structure 3 and sole 2's connection stability simultaneously.
As shown in fig. 1 to 2, 4, 6 and 8, the connecting frame 30 further has a plurality of second mounting lugs 301 and a plurality of limiting devices 6, the third connecting column 20 and the fourth connecting column 21 are both provided with limiting grooves 23, one side of each limiting device 6 is assembled on the second mounting lug 301, and the other side of each limiting device 6 is assembled in the limiting groove 23.
After the above manner is adopted, the arrangement of the limiting device 6 can conveniently realize the pitching oscillation between the connecting mechanism 3 and the sole 2.
As shown in fig. 1, 4, 6 and 8, the limiting device 6 includes a limiting shaft 60, a mounting hole 61 and a roller 62, an external thread 601 is provided on the surface of the bearing 600 of the limiting shaft 60, the limiting shaft 60 is rotatably screwed into the second mounting lug 301 through the external thread 601, the mounting hole 61 is disposed at the head end of the limiting shaft 60, the tail end of the limiting shaft 60 is embedded into the roller 62, the limiting groove 23 is arc-shaped, and the roller 62 is roll-mounted inside the limiting groove 23.
After the above manner is adopted, the limiting device 6 is fixedly connected with the connecting frame 30 through the limiting shaft 60, and the limiting device 6 is movably connected with the limiting groove 23 through the roller 62, so that the pitching oscillation between the connecting mechanism 3 and the sole 2 is ensured.
As shown in fig. 1, 6, 8 and 12, two sides of the central axis of the sole 2 are respectively provided with two tension spring through holes 24, two tension spring fixing holes 25 and two fixing screws 26, the two tension spring through holes 24 are respectively arranged at the left and right sides of the sole, the two tension spring fixing holes 25 are respectively arranged on the cross section of the sole 2 between the third connecting column 20 and the fourth connecting column 21, the two tension spring through holes 24 and the two tension spring fixing holes 25 are communicated, the fixing screws 26 are rotationally screwed into the sole 2 from the two tension spring fixing holes 25 through threads on the surface, the pitching pendulum tension spring 5 is fixedly connected with the sole 2, one side of the pitching pendulum tension spring 5 is fixedly connected with the mounting hole 61 of the limiting device 6, and the other side of the pitching pendulum tension spring 5 penetrates through the tension spring through hole II 24 to be fixedly connected with the fixing screw II 26 in the tension spring fixing hole II 25 of the sole 2, so that the pitching pendulum tension spring 5 is fixedly connected with the connecting mechanism 3 and the sole 2 respectively.
After the above manner is adopted, the connecting mechanism 3 and the sole 2 are connected through the pitch pendulum tension spring 5 to form a revolute pair in the pitch direction, two ends of the pitch pendulum tension spring 5 are respectively connected to the mounting hole 61 at the head end of the limiting shaft 60 and the second fixing screw 26 of the sole 2, and the sole 2 is provided with the second tension spring through hole 24 providing a working space for the pitch pendulum tension spring 5. When the foot of the crocodile-like robot is lifted up or moves in water, the sole 2 is suspended without external force, under the action of the tension of the pitching pendulum tension spring 5, the roller 62 in the limiting device 6 is at the upper limit position, the sole 2 is at the position D, and the pitching angle between the shank 1 and the sole 2 is the largest; when the foot of the crocodile-like robot walks or runs, the sole 2 is loaded and overcomes the resistance of the pitching pendulum tension spring 5, the roller 62 in the limiting device 6 moves towards the lower limit position, the sole 2 can move to the position E, and the pitching angle between the sole 2 and the shank 1 swings back and forth between the two limit positions along with the change of the gait.
As shown in fig. 1 and 7, the sole 2 is provided with a recess at the bottom, a non-slip mat 27 is arranged in the recess, and a plurality of bulges are arranged on the surface of the non-slip mat 27.
After adopting the above mode, the anti-slip pad 27 at the bottom of the sole 2 can increase the friction force, prevent the sole 2 from slipping in the work project, and is better suitable for the fields such as swamps and the like.
As shown in fig. 1, 6 and 13, a pressure sensor 28 and a wire through hole 29 are provided in the sole 2, and a signal wire of the pressure sensor 28 passes through the wire through hole 29 to be connected with a main body of the trunk 8.
After the above manner is adopted, the pressure sensor 28 is used for transmitting the pressure signal of the sole 2 to avoid obstacles, sense the environment, recognize road conditions, and the like.
As shown in fig. 1 and 13, the lower leg 1 is provided with a connecting hole 16, and the connecting hole 16 is used for connecting with the knee joint 7 of the bionic crocodile.
After the mode is adopted, the lower leg 1 is connected with the knee joint 7 through the connecting hole 16, and the whole structure is simple and compact and has strong stability.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A passive two-degree-of-freedom ankle joint structure imitating crocodile feet, which is characterized in that,
comprises a shank, a sole, a connecting mechanism, a plurality of side pendulum tension springs and a plurality of pitching pendulum tension springs;
the connecting mechanism is arranged between the shank and the sole;
the connecting mechanism is provided with a radial connecting shaft and an axial threaded shaft which are perpendicular to each other, the radial connecting shaft is connected with the shank and the connecting mechanism, and the axial threaded shaft is connected with the sole and the connecting mechanism;
the two ends of the side-swinging tension springs are respectively connected with the lower leg and the connecting mechanism, the side-swinging tension springs are respectively arranged on two sides of the central axis of the lower leg, and the side-swinging tension springs are used for controlling two sides of the sole to swing;
the two ends of the pitching pendulum tension spring are respectively connected with the sole and the connecting mechanism, and the pitching pendulum tension spring is used for controlling pitching oscillation of the sole.
2. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to claim 1, wherein the shank is provided with a first connecting column and a second connecting column, the connecting mechanism is arranged between the first connecting column and the second connecting column, and the radial connecting shaft sequentially penetrates through the first connecting column, the connecting mechanism and the second connecting column.
3. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to any one of claims 1 or 2, wherein the connecting mechanism is further provided with a plurality of first connecting lugs, one side of the side swing tension spring is fixedly connected with the first connecting lugs, and the other side of the side swing tension spring is fixedly connected with the lower leg.
4. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to any one of claims 1 or 2, wherein a third connecting column and a fourth connecting column are arranged on the sole, the connecting mechanism is arranged between the third connecting column and the fourth connecting column, the axial threaded shafts comprise a plurality of shafts, one axial threaded shaft penetrates through the third connecting column and then is in threaded connection with the connecting mechanism, and the other axial threaded shaft penetrates through the fourth connecting column and then is in threaded connection with the connecting mechanism.
5. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to claim 4, wherein central axes of the two axial threaded shafts are collinear.
6. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to claim 4, wherein the connecting mechanism is further provided with a plurality of second mounting lugs and a plurality of limiting devices, each of the third connecting column and the fourth connecting column is provided with a limiting groove, one side of each limiting device is assembled on the corresponding second mounting lug, and the other side of each limiting device is assembled in the corresponding limiting groove.
7. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to claim 6, wherein the limiting device comprises a limiting shaft, a mounting hole and a roller, the mounting hole is formed in the head end of the limiting shaft, and the tail end of the limiting shaft penetrates through the second mounting lug and then is embedded into the roller.
8. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to claim 7, wherein the limiting groove is arc-shaped, and the roller is installed inside the limiting groove in a rolling manner.
9. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to claim 7, wherein one side of the pitching pendulum tension spring is fixedly connected with the mounting hole, and the other side of the pitching pendulum tension spring is fixedly connected with the sole.
10. The crocodile foot-imitating passive two-degree-of-freedom ankle joint structure according to claim 1, wherein a plurality of bulges are arranged at the bottom of the sole.
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| CN202210665172.5A CN114954726A (en) | 2022-06-13 | 2022-06-13 | Passive two-degree-of-freedom ankle joint structure imitating crocodile foot |
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| CN202210665172.5A CN114954726A (en) | 2022-06-13 | 2022-06-13 | Passive two-degree-of-freedom ankle joint structure imitating crocodile foot |
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Application publication date: 20220830 |