CN115339543B - Bionic mechanical leg applicable to slope ground and having buffering, energy saving and stabilizing functions - Google Patents
Bionic mechanical leg applicable to slope ground and having buffering, energy saving and stabilizing functions Download PDFInfo
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- CN115339543B CN115339543B CN202211152520.5A CN202211152520A CN115339543B CN 115339543 B CN115339543 B CN 115339543B CN 202211152520 A CN202211152520 A CN 202211152520A CN 115339543 B CN115339543 B CN 115339543B
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- hoof
- mechanical leg
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A10/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE at coastal zones; at river basins
- Y02A10/23—Dune restoration or creation; Cliff stabilisation
Abstract
The utility model provides a bionic mechanical leg suitable for slope ground has buffering energy-conserving stable function, including bionic mechanical leg mechanism and bionic mechanical foot mechanism, bionic mechanical leg mechanism comprises movable rod, the sleeve, shock absorber mechanism, the head rod, the second connecting rod, bearing rod and elastic rope, bionic mechanical foot mechanism comprises last fixed bolster, open and shut the pole, first torsional spring, lower fixed bolster, the slider, the hoof shell, the connection support, the sole plate, hang the hoof, joint main shaft and second torsional spring, the ankle joint of mechanical leg has been constituteed with the bearing rod to the connecting rod, the motion structural feature of tame hoof ankle joint has been simulated with two sets of collocation of moving away in the shock insulation, the effect of slowing down impact and absorbed energy has been played. In order to realize the function of opening and closing two toes of the reined deer hoof, the extensor tendon system consisting of the fixed support, the opening and closing rod and the sliding block can control the opening and closing of the hoof shell, so that the stability of the mechanical leg is improved. The invention has the self-adaptive opening and closing mechanism, the four-stage buffer system and the bionic tendon structure, and has the functions of energy conservation, buffering and stabilization.
Description
Technical Field
The invention belongs to the technical field of engineering bionics, and relates to a bionic mechanical leg with buffering, energy saving and stabilizing functions, which is suitable for slope ground.
Background
The topography of China is mostly mountain areas, hills and plateaus, wherein the mountain area accounts for about 2/3 of the total area of the country, and the mountain area has abundant mineral, forestry and water energy resources. In recent decades, with continuous exploration and development of human beings, the range of motion of people is continuously extended to hilly and mountainous environments. Therefore, the design of the walking mechanism suitable for the slope ground has important significance for the development and protection of mountain areas. When the foot robot moves on rugged complex terrain, the adaptability to the ground is strong, and the foot robot has good maneuverability, energy efficiency and stability. The mechanical legs are used as important component parts of the foot type robot, and can directly influence the stability, the walking speed and the load capacity of the foot type robot during movement.
The living beings in nature have more excellent movement capability and flexibility through long-time evolution, and can quickly and stably move on different terrains. Compared with a robot with the same mass, the animal has higher kinetic energy efficiency, which has important research significance on bionic design. Reindeer is a typical multipath surface-migrating animal, good at walking and running in dense forests, mountains, marshes, and icy and snowy ground. The reindeer has relatively short limbs, but large hooves and wide palms. Especially the main and suspension hooves, with many bristles growing around the sole of the foot. When the foot touches the ground, the contact area between the sole and the ground can be increased, the impact load of the hooves due to movement is reduced, and the friction force between the foot and the ground is increased. Therefore, the reindeer has the advantages of energy-saving and stable walking and running on hillsides, hills and rugged roads.
Disclosure of Invention
The invention aims to improve the buffering, stabilizing and energy-saving performance of a foot robot on a slope, takes the superior characteristics of animals in nature as inspiration, and designs a bionic mechanical leg by utilizing the engineering bionics principle.
The invention comprises a bionic mechanical leg mechanism and a bionic mechanical foot mechanism;
the bionic mechanical leg mechanism consists of a movable rod, a sleeve, a shock absorbing mechanism, a first connecting rod, a second connecting rod, a bearing rod and an elastic rope;
the bionic mechanical foot mechanism consists of an upper fixed support, a folding rod, a first torsion spring, a lower fixed support, a sliding block, a shoe shell, a connecting support, a foot bottom plate, a foot bottom pad, a suspension hoof, a joint main shaft and a second torsion spring; the movable rod controls the whole mechanical leg to move forwards and backwards; the first connecting rod, the second connecting rod and the bearing rod form an ankle joint of the mechanical leg, and the ankle joint is matched with the shock absorbing mechanism to simulate the motion structural characteristics of the reindeer hoof ankle joint, so that the effects of reducing impact and absorbing energy are achieved; the joint main shaft corresponds to the reindeer metatarsophalangeal joint part, and the first torsion spring simulates the buffering effect of the metatarsophalangeal joint; the foot bottom plate is two independent parts, is arranged on two sides of the bearing rod, is fixedly connected with the joint main shaft, and takes the bottom surface of the foot bottom plate as a main contact point of the mechanical leg to simulate the curved surface structure of the hoof ball; the suspension hooves can move around the joint main shaft, so that a certain supporting force is provided for the mechanical legs, and the stability is improved; according to the extracted reindeer hoof shell curve, the mechanical leg hoof shell is designed, and the hoof edge and the hoof tip of the mechanical leg hoof shell are of longitudinal and sawtooth-shaped rib structures, so that the adhesion performance of the mechanical leg is improved. The foot pad is arranged at the bottom of the mechanical leg hoof shell, so that the ground impact force can be relieved; in order to realize the function of opening and closing two toes of the reined deer hoof, an extensor tendon system is formed by an upper fixed support, a lower fixed support, an opening and closing rod and a sliding block, and the extensor tendon system controls the opening and closing of the hoof shell so as to increase the stability of the mechanical leg; the extensor tendon system has the effects of buffering and energy conservation in the touchdown period, the bionic mechanical leg elastic rope simulates the reindeer hoof flexor tendon, the upper end of the bionic mechanical leg elastic rope is connected with the first connecting rod, the tail ends of the bionic mechanical leg elastic rope are respectively connected with the two foot bottom plates, and the effects of buffering and energy conservation are achieved through controlling the foot bottom plates.
The hardness of the sole pad is 58HA.
The invention has the beneficial effects that:
the connecting rod and the bearing rod form an ankle joint of a mechanical leg, and the ankle joint and the two groups of shock absorption devices simulate the motion structural characteristics of the ankle joint of the reindeer hoof, so that the effects of reducing impact and absorbing energy are achieved; the extensor tendon system consisting of the fixed support, the opening and closing rod and the sliding block can control the opening and closing of the hooves so as to increase the stability of the mechanical leg; the invention has the self-adaptive opening and closing mechanism, the four-stage buffer system and the bionic tendon structure, and has the functions of energy conservation, buffering and stabilization.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a side view of the present invention;
FIG. 5 is a diagram of a bionic mechanical foot structure of the present invention;
fig. 6 is a block diagram of the plantar pad of the present invention.
Detailed Description
As shown in fig. 1 to 6, the invention comprises a bionic mechanical leg mechanism 1 and a bionic mechanical foot mechanism 2;
the bionic mechanical leg mechanism 1 consists of a movable rod 3, a sleeve 4, a shock absorbing mechanism 5, a first connecting rod 6, a second connecting rod 7, a bearing rod 8 and an elastic rope 9;
the bionic mechanical foot mechanism 2 consists of an upper fixed support 10, an opening and closing rod 11, a first torsion spring 12, a lower fixed support 13, a sliding block 14, a shoe shell 15, a connecting support 16, a plantar plate 17, a plantar pad 18, a suspension shoe 19, a joint main shaft 20 and a second torsion spring 21; the movable rod 3 controls the whole mechanical leg to move forwards and backwards; the first connecting rod 6, the second connecting rod 7 and the bearing rod 8 form an ankle joint of a mechanical leg, and the ankle joint is matched with the shock absorbing mechanism 5 to simulate the motion structural characteristics of the reindeer hoof ankle joint, so that the effects of reducing impact and absorbing energy are achieved; the joint spindle 20 corresponds to the reindeer metatarsophalangeal joint part, and the first torsion spring 12 simulates the buffering effect of the metatarsophalangeal joint; the sole plate 17 is two independent components, is arranged on two sides of the bearing rod 8, is fixedly connected with the joint main shaft 20, and takes the bottom surface of the sole plate 17 as a main contact point of a mechanical leg to simulate the curved surface structure of a hoof ball; the suspension hooves 19 can move around the joint main shaft 20 to provide certain supporting force for the mechanical legs, so that the stability is improved; according to the extracted reindeer hoof shell curve, the mechanical leg hoof shell 15 is designed, and the hoof edge and the hoof tip of the mechanical leg hoof shell 15 are of longitudinal and sawtooth-shaped rib structures, so that the adhesion performance of the mechanical leg is improved. The foot pad 18 is arranged at the bottom of the mechanical leg hoof shell 15, so that the ground impact force can be relieved; in order to realize the function of opening and closing two toes of the reined deer hoof, an extensor tendon system is formed by an upper fixed support 10, a lower fixed support 13, an opening and closing rod 11 and a sliding block 14, and the extensor tendon system controls the opening and closing of a hoof shell 15 so as to increase the stability of a mechanical leg; the extensor tendon system has the effects of buffering and energy conservation in the touchdown period, the bionic mechanical leg elastic rope 9 simulates a wintergreen tendon, the upper end of the bionic mechanical leg elastic rope 9 is connected with the first connecting rod 6, the tail end of the bionic mechanical leg elastic rope 9 is respectively connected with the two plantar plates 17, and the effects of buffering and energy conservation are achieved by controlling the plantar plates 17.
The plantar pad 18 HAs a hardness of 58HA.
The working process of the invention comprises the following steps:
before the bionic mechanical leg touches the ground, the two hooves are in a closed state, the included angle between the bearing rod and the hooves is 165 degrees, the included angle between the connecting rod and the bearing rod is 120 degrees, and the angles of the metatarsophalangeal joint and the ankle joint are respectively simulated. When the foot touches the ground, the toe of the foot touches the ground firstly, and the shoe shell, the sole and the suspension hooves touch the ground sequentially along with the rotation of the movable rod. In the early stage of touchdown, the metatarsophalangeal joints are gradually buckled, so that the opening and closing rod control slide block moves forward along the sliding groove of the hoof shells, and the two hoof shells are gradually opened. In the later stage of touchdown, the metatarsophalangeal joints are gradually stretched, and the two hooves are gradually closed, so that the self-adaptive function of automatic opening and closing of the hooves in the touchdown process is realized, and the stability of the mechanical leg is effectively improved.
In the early stage of grounding, the sole pad at the bottom of the hoof shell is used as a first-stage buffer, and is firstly contacted with the ground to slow down the impact force of the ground on the mechanical legs. As the metatarsophalangeal joint flexes, the first torsion spring is compressed to absorb the impact force, at which point the first torsion spring acts as a secondary cushion. In addition, the elastic strands are stretched downward as the metatarsophalangeal joints flex. In the mid-contact period, the elastic cord is stretched upward as the ankle flexes, at which time the elastic cord acts as a third level of cushioning. When the sole contacts the ground, the ankle joint and the knee joint start to flex, the shock absorbing spring absorbs the impact force and is compressed, and the shock absorbing spring serves as fourth-stage buffering.
Claims (2)
1. Bionic mechanical leg suitable for slope ground and having buffering, energy saving and stabilizing functions, and is characterized in that: comprises a bionic mechanical leg mechanism (1) and a bionic mechanical foot mechanism (2);
the bionic mechanical leg mechanism (1) consists of a movable rod (3), a sleeve (4), a shock absorbing mechanism (5), a first connecting rod (6), a second connecting rod (7), a bearing rod (8) and an elastic rope (9);
the bionic mechanical foot mechanism (2) consists of an upper fixed support (10), a folding rod (11), a first torsion spring (12), a lower fixed support (13), a sliding block (14), a hoof shell (15), a connecting support (16), a plantar plate (17), a plantar pad (18), a suspension hoof (19), a joint main shaft (20) and a second torsion spring (21); the movable rod (3) controls the whole mechanical leg to move forwards and backwards; the first connecting rod (6), the second connecting rod (7) and the bearing rod (8) form an ankle joint of a mechanical leg, and the ankle joint and the shock absorbing mechanism (5) are matched to simulate a motion structure of the reindeer foot ankle joint; the joint main shaft (20) is a metatarsophalangeal joint part, and the first torsion spring (12) simulates the buffering effect of the metatarsophalangeal joint; the foot bottom plate (17) is two independent parts, is arranged on two sides of the bearing rod (8), is fixedly connected with the joint main shaft (20), and takes the bottom surface of the foot bottom plate (17) as a main ground contact point of a mechanical leg to simulate the curved surface structure of a hoof ball; the suspension hoof (19) can move around the joint main shaft (20); the hoof edge and the hoof tip of the hoof shell (15) are of longitudinal and sawtooth-shaped rib structures, a foot sole pad (18) is arranged at the bottom of the hoof shell (15), an extensor tendon system is formed by an upper fixed support (10), a lower fixed support (13), an opening and closing rod (11) and a sliding block (14), the extensor tendon system controls the opening and closing of the hoof shell (15), the extensor tendon system has the functions of buffering and saving energy in a grounding period, the upper end of an elastic rope (9) is connected with a first connecting rod (6), and the tail end of the elastic rope (9) is respectively connected with two plantar plates (17) to realize the functions of buffering and saving energy by controlling the plantar plates (17);
before the bionic mechanical leg touches the ground, the two hooves are in a closed state, the included angle between the bearing rod and the hooves is 165 degrees, the included angle between the connecting rod and the bearing rod is 120 degrees, the angles of the metatarsophalangeal joint and the ankle joint are respectively simulated, when the bionic mechanical leg touches the ground, the toe of the foot touches the ground firstly, and the hooves, the sole and the suspension hooves touch the ground sequentially along with the rotation of the movable rod; in the early stage of grounding, the metatarsophalangeal joint is gradually buckled, so that the opening and closing rod control slide block moves forwards along the slide groove of the hoof shell, and the two hoof shells are gradually opened; in the later stage of the ground contact, the metatarsophalangeal joints are gradually stretched, and the two hooves are gradually closed, so that the self-adaptive function of automatic opening and closing of the hooves in the ground contact process is realized, and the stability of the mechanical leg is effectively improved;
in the early stage of grounding, the sole pad at the bottom of the hoof shell is used as a first-stage buffer, is firstly contacted with the ground, slows down the impact force of the ground on the mechanical leg, and as the metatarsophalangeal joint flexes, the first torsion spring is compressed to absorb the impact force, and at the moment, the first torsion spring is used as a second-stage buffer, and in addition, when the metatarsophalangeal joint flexes, the elastic rope is stretched downwards; in the middle of the ground contact, the elastic rope is stretched upwards when the ankle joint is bent, and the elastic rope is used as a third-stage buffer; when the sole contacts the ground, the ankle joint and the knee joint start to flex, the shock absorbing spring absorbs the impact force and is compressed, and the shock absorbing spring serves as fourth-stage buffering.
2. The bionic mechanical leg with buffering, energy-saving and stabilizing functions suitable for the slope ground according to claim 1, wherein the bionic mechanical leg is characterized in that: the hardness of the sole pad (18) is 58HA.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211152520.5A CN115339543B (en) | 2022-09-21 | 2022-09-21 | Bionic mechanical leg applicable to slope ground and having buffering, energy saving and stabilizing functions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211152520.5A CN115339543B (en) | 2022-09-21 | 2022-09-21 | Bionic mechanical leg applicable to slope ground and having buffering, energy saving and stabilizing functions |
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| Publication Number | Publication Date |
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| CN115339543A CN115339543A (en) | 2022-11-15 |
| CN115339543B true CN115339543B (en) | 2023-06-20 |
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| CN202211152520.5A Active CN115339543B (en) | 2022-09-21 | 2022-09-21 | Bionic mechanical leg applicable to slope ground and having buffering, energy saving and stabilizing functions |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114852210B (en) * | 2022-04-26 | 2023-03-03 | 中国北方车辆研究所 | Occlusable large-gradient bionic foot |
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| US20070043449A1 (en) * | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
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