CN117963038A - Rigid-flexible coupling bionic mechanical foot with buffering and anti-sinking functions - Google Patents
Rigid-flexible coupling bionic mechanical foot with buffering and anti-sinking functions Download PDFInfo
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- CN117963038A CN117963038A CN202410389778.XA CN202410389778A CN117963038A CN 117963038 A CN117963038 A CN 117963038A CN 202410389778 A CN202410389778 A CN 202410389778A CN 117963038 A CN117963038 A CN 117963038A
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- 238000005859 coupling reaction Methods 0.000 title claims abstract description 13
- 239000004576 sand Substances 0.000 claims abstract description 51
- 230000000670 limiting effect Effects 0.000 claims abstract description 14
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Abstract
The invention discloses a rigid-flexible coupling bionic mechanical foot with buffering and anti-sinking functions, which belongs to the technical field of bionic robots and comprises an installation interface module, a touch pressing module, a sand fixing current limiting module and an anti-skid buffering module; the mounting interface module is fixedly connected to the upper end of the support pressing plate, three guide holes are formed in the support pressing plate in a non-load area of the support pressing plate, the left side and the right side of the bottom of the support pressing plate are symmetrically connected with side connecting rods and front connecting rods in a rotating mode through small cylindrical pins, the lower ends of the two side connecting rods are respectively connected with a side foot bottom plate in a rotating mode through small cylindrical pins, and the lower ends of the two front connecting rods are respectively connected with a left foot web and a right foot web in a rotating mode through small cylindrical pins; when the robot falls down, the bionic mechanical feet can gather and press the sand scattering substrate, so that sinking and slipping of the bionic mechanical feet are avoided; after the robot lifts the legs, the support pressing plate can automatically move upwards to drive the left foot fin, the right foot fin and the side sole plates to reset, the mobility of the sand is restored again, and the bionic mechanical foot can be smoothly lifted off the ground.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a rigid-flexible coupling bionic mechanical foot with buffering and anti-sinking functions.
Background
In the field of bionic robots, land bionic robots are one of important branches, and can be mainly divided into three categories of wheeled robots, crawler robots, leg-foot robots and the like according to the moving mode of the land bionic robots. The bionic legged robot is widely studied and applied with higher flexibility and adaptability, and a mechanical foot in contact with the ground is a key factor of the legged robot adapting to different scenes.
The development of the mechanical foot of the bionic leg-foot robot has various forms so far, and is mainly divided into a planar foot, a curved foot, a spherical foot and the like. However, the mechanical foot has simpler structure and function, is more suitable for walking on hard ground, has poorer walking effect on the surface of soft media such as sand, and is easy to have the problems of deep sinking, slipping, difficult foot discharging, slower moving speed and the like. Especially for a more flexible jump robot, the problems are easier to occur due to larger landing impact force, and the application of the jump robot on the surface of soft media such as sand is severely restricted.
At present, the research on mechanical feet in the application environment of soft sandy lands at home and abroad is less, and the functions of buffering, damping, stable walking, smooth foot output and the like are still difficult to integrate in some existing mechanical foot structural designs. From the bionics perspective, through researching the feet of some typical sand animals, some implications can be provided for the design of the bionic mechanical feet.
Disclosure of Invention
The invention provides a rigid-flexible coupling bionic mechanical foot with buffering and anti-sinking functions, which aims to solve the technical problems that the mechanical foot is prevented from sinking too deeply, is difficult to get out of the foot, is large in vibration, and slips, and the like on a soft sand ground, so that a leg-foot robot can stably and flexibly move on the soft sand ground.
The design of the invention is coupled with various biological coupling elements, including camel sole structures, jerboa toe structures, exendin sole scale structures, feline foot pad structures and the like, and the rigid-flexible coupling bionic mechanical foot with buffering and sinking resisting functions is designed according to the structural or functional characteristics of the biological coupling elements.
A rigid-flexible coupling bionic mechanical foot with buffering and anti-sinking functions comprises an installation interface module, a touch pressing module, a sand fixing current limiting module and an anti-skid buffering module;
The touch pressing module comprises a bracket pressing plate, a side connecting rod and a front connecting rod;
The mounting interface module is fixedly connected to the upper end of the support pressing plate, three guide holes are formed in the support pressing plate in a non-load area of the support pressing plate, the left side and the right side of the bottom of the support pressing plate are symmetrically connected with side connecting rods and front connecting rods in a rotating mode through small cylindrical pins, the lower ends of the two side connecting rods are respectively connected with a side foot bottom plate in a rotating mode through small cylindrical pins, and the lower ends of the two front connecting rods are respectively connected with a left foot web and a right foot web in a rotating mode through small cylindrical pins;
The sand fixation and flow limiting module comprises a reset spring, a foot bottom plate, a side foot bottom plate, a sliding block, a screw rod, a left foot web, a fixed toe plate, a right foot web, a small cylindrical pin, a large cylindrical pin and a small spring;
The upper end of the foot bottom plate is provided with three guide shafts, the upper ends of the three guide shafts are respectively and slidably connected in three guide holes of the support pressing plate, three reset springs are respectively sleeved outside the three guide shafts, the upper ends and the lower ends of the reset springs are respectively connected with the support pressing plate and the sole plate, two side surfaces of the sole plate are rotationally connected with the two side sole plates through large cylindrical pins, the bottom surface of the side foot bottom plate is provided with an arrayed three-dimensional scaly inclined surface structure, the front end of the foot bottom plate is positioned between the left foot web and the right foot web, two sliding grooves are symmetrically formed in the front end of the foot bottom plate, small springs are respectively arranged inside the sliding grooves, one end of each sliding block is connected with the small springs, one sliding block is fixedly connected with the small cylindrical pins connected between the front connecting rod and the left foot web through screws, the other sliding block is fixedly connected with the small cylindrical pins connected between the front connecting rod and the right foot web through screws, and the anti-skid buffer module is arranged on the lower surface of the sole plate.
Preferably, the lower end of the support pressing plate is of an inverted trapezoid structure, the support pressing plate is of a lightweight design, and the inner diameter of a guide hole is the same as the diameter of a guide shaft on the sole plate.
Preferably, the mounting support is of a hollow cylinder structure, the side surface of the mounting support is provided with a positioning pin hole, and the mounting support can be connected with the leg mechanism of the robot and is fixed through the side surface positioning pin hole.
Preferably, the side foot bottom plate is of a long rectangular structure, the length of the side foot bottom plate is the same as the side edge of the sole plate, and the side foot bottom plate is inclined downwards by 45 degrees by taking the horizontal plane as a reference.
Preferably, the three-dimensional scaly inclined plane structure is a biological coupling element structure imitating Sha Xi sole lamellar scales, and has the functions of increasing friction and assisting in sand fixation and current limiting; the plane shape of the three-dimensional scaly slope structure is a secondary parabolic curve obtained by fitting the surface curve of the sabina scale, and the three-dimensional scaly slope structure is an inclined conical surface with thickness formed by the secondary parabolic curve; x represents the abscissa and y represents the ordinate, then the quadratic parabolic curve equation is:
y=0.215 x 2 +0.43x+2; wherein: x is more than or equal to 2 and less than or equal to 4.
Preferably, the design of the left fin and the right fin imitates the function of contracting and fixing sand when jerboa toes fall into the sand: when jerboa feet touch the ground, the toes on two sides of the three toes press the sand to the middle to press the sand, and when the left foot web and the right foot web of the bionic mechanical foot fall into the sand, the sand is pressed to the fixed toe board in the same way; the left fin and the right fin are round shovel structures, the lower ends of the left fin and the right fin are sharp surfaces extending out, and the side surfaces of the left fin and the right fin are wrapped thin-wall structures, so that the volume of sand fixation can be increased, and the sand fixation and flow limiting effects are enhanced.
Preferably, the anti-slip buffer module comprises a sole cushion and a heel cushion, and the sole cushion has an elliptical curved surface structure; the heel cushion has a symmetrical curved convex hull, and the sole cushion and the heel cushion are made of rubber and are fixedly connected with the front end and the rear end of the bottom surface of the sole plate respectively through colloid.
Preferably, the mounting interface module comprises a mounting support, and the mounting support is connected to the upper end of the support pressing plate through a connecting bolt and a fixing nut.
The invention has the beneficial effects that:
The invention mainly uses the downward pressure and upward lifting force of the legs of the leg-foot robot as a power source when the leg-foot robot moves, and realizes the automatic compression and resetting of the bionic mechanical foot under the condition of not adding other driving parts; when the robot falls down, the bionic mechanical foot can buffer the reaction force of the ground, and meanwhile, the bionic mechanical foot can gather and compress the sand scattering substrate, so that sinking and slipping of the bionic mechanical foot can be avoided, and the ground grabbing force and stability of the robot are improved; after the robot lifts the legs, the bracket pressing plate can automatically move upwards to drive the left and right flippers to reset with the side plantar plates, the mobility of the sand is restored again, and the bionic mechanical foot can be smoothly lifted off the ground;
The traditional leg foot type robot has the advantages that the foot ends of the leg foot type robot are mostly plane feet, curved feet and spherical feet, smooth movement on the soft medium surfaces such as sandy lands is difficult, based on the biological coupling element characteristics of a plurality of sandy land animals and felines, the bionic mechanical foot which has the advantages that the ground touching stress automatically compresses and fixes sand, the ground impact force is automatically relaxed, the friction coefficient is high, slipping is difficult, the self-adaptive adjustment capability of lifting the legs is not affected by the smooth sand discharging, the whole mechanism is light in weight, the structure is simple, the sand crossing process is simple and convenient, and the moving performance of the leg foot type robot on the soft medium surfaces such as sandy lands is remarkably improved under the condition that new driving pieces are not introduced.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a bottom view of the present invention;
FIG. 4 is a diagram showing the whole structure of the present invention when the present invention is pressed after touching the ground;
FIG. 5 is a front view of the present invention after touchdown while in compression;
FIG. 6 is a front view of a three-dimensional scaly ramp structure;
fig. 7 is a bottom view of a three-dimensional scaly ramp structure.
Wherein: 1. a mounting support; 2. a connecting bolt; 3. a fixing nut; 4. a support pressing plate; 5. a return spring; 6.a side connecting rod; 7. a foot sole plate; 8. a side foot sole plate; 9. a slide block; 10. a screw; 11. left fin; 12. fixing the toe board; 13. a right fin; 14. a front connecting rod; 15. a small cylindrical pin; 16. a large cylindrical pin; 17. a small spring; 18. sole cushion; 19. heel cushion.
Detailed Description
Referring to fig. 1 to 7, a rigid-flexible coupling bionic mechanical foot with buffering and anti-sinking functions comprises a mounting interface module, a touch compression module, a sand fixation current limiting module and an anti-skid buffering module;
The mounting interface module is a connecting tie of the leg of the robot and the bionic mechanical foot;
The touch compacting module starts to compact under the action of ground supporting force when being pressed by the legs of the robot;
the sand fixation and flow limiting module can drive plantar sand to gather when being pressed by the pressing force, so that the mobility of the sand is limited, and the sand scattering substrate is pressed to enhance the trafficability;
the anti-skid buffer module can reduce the impact force of the ground when the bionic mechanical foot lands, and the special curved surface shape and arrangement mode can increase the friction force of the foot bottom plate 7 and enhance the grabbing force of the bionic mechanical foot;
the touch pressing module comprises a bracket pressing plate 4, a side connecting rod 6 and a front connecting rod 14;
The mounting interface module is fixedly connected to the upper end of the support pressing plate 4, the support pressing plate 4 is provided with three guide holes in a non-load area, the left side and the right side of the bottom of the support pressing plate 4 are symmetrically and rotationally connected with a side connecting rod 6 and a front connecting rod 14 through small cylindrical pins 15, the lower ends of the two side connecting rods 6 are rotationally connected with a side foot bottom plate 8 through the small cylindrical pins 15, and the lower ends of the two front connecting rods 14 are rotationally connected with a left foot web 11 and a right foot web 13 through the small cylindrical pins 15 respectively;
the sand fixation and flow limiting module comprises a reset spring 5, a sole plate 7, a side sole plate 8, a sliding block 9, a screw rod 10, a left foot web 11, a fixed toe plate 12, a right foot web 13, a small cylindrical pin 15, a large cylindrical pin 16 and a small spring 17;
The upper end of the foot bottom plate 7 is provided with three guide shafts, the upper ends of the three guide shafts are respectively and slidably connected in three guide holes of the support pressing plate 4, three return springs 5 are respectively sleeved outside the three guide shafts, the upper end and the lower end of each return spring 5 are respectively connected with the support pressing plate 4 and the sole plate 7, and the guide shafts and the guide holes are matched to ensure that the support pressing plate 4 moves in the vertical direction; the two sides of the sole plate 7 are rotationally connected with the two side sole plates 8 through large cylindrical pins 16, the bottom surface of the side sole plates 8 is provided with an array three-dimensional scaly inclined plane structure, the front end of the sole plate 7 is fixedly connected with a fixed toe plate 12 between a left foot web 11 and a right foot web 13, two sliding grooves are symmetrically formed in the front end of the sole plate 7, small springs 17 are arranged in the sliding grooves, the sliding blocks 9 are slidably connected in the sliding grooves, one ends of the sliding blocks 9 are connected with the small springs 17, one sliding block 9 is fixedly connected with the small cylindrical pins 15 connected between the front connecting rod 14 and the left foot web 11 through a screw 10, the other sliding blocks 9 are fixedly connected with the small cylindrical pins 15 connected between the front connecting rod 14 and the right foot web 13 through the screw 10, the sliding grooves can limit the moving range of the sliding blocks 9, the sliding blocks can slide only in the horizontal direction and reset in time, and the anti-skid buffer modules are arranged on the lower surface of the sole plate 7.
Referring to fig. 1 to 3, the lower end of the support platen 4 is preferably of an inverted trapezoid structure, which is lightweight, and has the same diameter as the guide shaft on the sole plate 7.
Referring to fig. 1, the mounting support 1 is preferably a hollow cylinder structure, and a positioning pin hole is formed in a side surface of the mounting support 1, and the mounting support 1 can be connected with a leg mechanism of a robot and fixed through the positioning pin hole in the side surface.
Referring to fig. 4, the preferred structure of the side sole plate 8 is a narrow and long rectangular structure similar to the two sides of the arena and jerboa sole, and the length of the side sole plate is the same as the side edge of the sole plate 7, so that the effect of the bionic mechanical foot for fixing sand and limiting flow can be enhanced, and the side sole plate 8 is arranged in a downward inclined manner by 45 degrees based on the horizontal plane.
Referring to fig. 5 to 7, the preferred three-dimensional scaly slope structure is a bio-coupler structure imitating Sha Xi sole lamellar scales, and has the functions of increasing friction and assisting in sand fixation and flow limiting; the plane shape of the three-dimensional scaly slope structure is a secondary parabolic curve obtained by fitting the surface curve of the sabina scale, and the three-dimensional scaly slope structure is an inclined conical surface with a certain thickness formed by the secondary parabolic curve; x represents the abscissa (parallel to the long side direction of the side plantar plate 8) and y represents the ordinate (parallel to the narrow side direction of the side plantar plate 8), the quadratic parabolic curve equation is:
y=0.215 x 2 +0.43x+2; wherein: x is more than or equal to 2 and less than or equal to 4.
Referring to fig. 1, 4 and 5, the design of the left and right flippers 11 and 13 preferably mimics the function of jerboa to shrink and fix sand when three toes fall into the sand: when jerboa feet touch the ground, the two side toes of the three toes press the sand to the middle to press the sand, and when falling into the sand, the left foot web 11 and the right foot web 13 of the bionic mechanical foot press the sand to the fixed toe board 12 in the same way; the left fin 11 and the right fin 13 are round shovel structures, the lower ends of the left fin and the right fin are sharp surfaces extending out, and the side surfaces of the left fin and the right fin are wrapped thin-wall structures, so that the volume of sand fixation can be increased, and the sand fixation and flow limiting effects are enhanced.
Referring to fig. 1 and 3, the anti-slip buffer module preferably comprises a sole cushion 18 and a heel cushion 19, wherein the sole cushion 18 has an elliptical curved surface structure, and the curved surface structure is obtained by rubbing analysis and fitting of a curved sole pad at the front end of the sole of a feline; the structural shape of the heel cushion 19 is a symmetrical curved convex hull that is biomimetic to the structural function of the feline heel cushion bio-coupler. By fitting analysis of the edge of the feline heel pillow, a set of irregular curves is obtained, which are combined to give a heel cushion 19 of "convex" curve configuration; the sole cushion 18 and the heel cushion 19 are made of rubber materials with certain elasticity and ductility, and are respectively fixedly connected with the front end and the rear end of the bottom surface of the sole plate 7 through colloid.
Referring to fig. 1, the mounting interface module preferably includes a mounting bracket 1, and the mounting bracket 1 is connected to an upper end of a bracket pressing plate 4 by a connection bolt 2 and a fixing nut 3.
The working principle of the invention is as follows:
In the process of walking on sand, when the legs fall to the ground, the feet of the bionic mechanical feet land firstly, the impact force of the ground is greatly reduced through the buffering of the sole cushion 18 and the heel cushion 19, and meanwhile, the friction force of the foot bottom plate 7 is also increased due to the curved surface shape and special arrangement of the sole cushion 18 and the heel cushion 19, so that the grabbing force of the bionic mechanical feet is improved; the foot bottom plate 7 stops moving downwards after being landed, and the left foot web 11, the right foot web 13 and the side foot bottom plate 8 are driven to move by compressing the reset spring 5;
the left foot web 11 and the right foot web 13 draw together along the sliding groove towards the middle of the plantar plate 7, and the sand is shoveled towards the fixed toenail 12 by the shovel-shaped coating structure; the side foot bottom plate 8 drives sand to approach the inner side of the sole through a three-dimensional scaly inclined plane structure of the bottom surface of the side foot bottom plate, so that the bionic mechanical foot can compress the sand scattering substrate, and sinking and slipping of the bionic mechanical foot are avoided;
After the leg-foot robot lifts the leg, the downward pressure disappears, the leg generates upward lifting force to the bionic mechanical foot, the auxiliary support pressing plate 4 moves upwards to reset faster under the action of the reset spring 5, and the left foot web 11, the right foot web 13 and the side foot bottom plate 8 return to the horizontal position again to complete automatic reset; the compression of the bionic mechanical foot to the sand scattering substrate is synchronously resolved, sand begins to scatter, and the fluidity of the sand is restored again, so that the bionic mechanical foot can smoothly leave the sand from the ground.
Referring to fig. 5 and 6, the bottom surface of the side sole plate 8 has an array of three-dimensional scaly inclined structures, which imitates Sha Xi sole layered scale bio-coupler structures; the structure is arranged on the bottom surface of the side sole plate 8 in an array mode, is a concave small inclined surface, has the function of increasing friction auxiliary sand fixation and current limiting effects, and has a plane structure shown in figure 7.
The above-described embodiments merely represent embodiments of the invention, the scope of the invention is not limited to the above-described embodiments, and it is obvious to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (8)
1. The utility model provides a just flexible coupling bionic mechanical foot with buffering and anti function of sinking which characterized in that: the device comprises a mounting interface module, a touch pressing module, a sand fixing and current limiting module and an anti-slip buffer module;
The touch pressing module comprises a bracket pressing plate (4), a side connecting rod (6) and a front connecting rod (14);
The mounting interface module is fixedly connected to the upper end of the support pressing plate (4), the support pressing plate (4) is provided with three guide holes in a non-load area, the left side and the right side of the bottom of the support pressing plate (4) are symmetrically connected with a side connecting rod (6) and a front connecting rod (14) in a rotating mode through small cylindrical pins (15), the lower ends of the two side connecting rods (6) are respectively connected with a side foot bottom plate (8) in a rotating mode through the small cylindrical pins (15), and the lower ends of the two front connecting rods (14) are respectively connected with a left foot web (11) and a right foot web (13) in a rotating mode through the small cylindrical pins (15);
The sand fixation and flow limiting module comprises a reset spring (5), a plantar plate (7), a side plantar plate (8), a sliding block (9), a screw (10), a left foot web (11), a fixed toe plate (12), a right foot web (13), a small cylindrical pin (15), a large cylindrical pin (16) and a small spring (17);
The foot sole board (7) upper end is equipped with three guiding axle, three guiding axle upper end sliding connection is in three guiding hole of support clamp plate (4) respectively, three return spring (5) cover is put in three guiding axle outsides respectively, and the upper and lower both ends of return spring (5) are connected with support clamp plate (4) and sole board (7) respectively, two sides of sole board (7) are rotated through big cylindric lock (16) and two side sole boards (8) and are connected, the bottom surface of side sole board (8) has the three-dimensional scaly inclined plane structure of array, sole board (7) front end is located between left fin (11) and right fin (13) fixedly connected with fixed toe board (12), two spouts have been seted up to sole board (7) front end symmetry, little spring (17) have all been placed to spout inside, slider (9) sliding connection is inside the spout and slider (9) one end is connected with little spring (17), little slider (15) fixed connection between sole board (15) and the cylindric lock (15) of connecting rod (14) and left fin (11) are connected through screw rod (10), between other one side sole board (15) and sole board (13) are connected through cylindric lock (15).
2. The rigid-flexible coupled bionic mechanical foot with buffering and anti-sinking functions according to claim 1, wherein the bionic mechanical foot is characterized in that: the lower end of the bracket pressing plate (4) is of an inverted trapezoid structure, and the inner diameter of the guide hole is the same as the diameter of the guide shaft on the sole plate (7).
3. The rigid-flexible coupled bionic mechanical foot with buffering and anti-sinking functions according to claim 2, wherein the bionic mechanical foot is characterized in that: the mounting support (1) is of a hollow cylinder structure, the side face of the mounting support is provided with a positioning pin hole, and the mounting support (1) can be connected with the leg mechanism of the robot and is fixed through the side face positioning pin hole.
4. A rigid-flexible coupled bionic mechanical foot with buffering and anti-sinking functions according to claim 3, wherein: the side sole plate (8) is of a long rectangular structure, the length of the side sole plate is the same as the side edge of the sole plate (7), and the side sole plate (8) is inclined downwards by 45 degrees with the horizontal plane as a reference.
5. The rigid-flexible coupled bionic mechanical foot with buffering and anti-sinking functions according to claim 1, wherein the bionic mechanical foot is characterized in that: the plane shape of the three-dimensional scaly inclined plane structure is a secondary parabolic curve obtained by fitting the surface curve of the exendin scale, and the three-dimensional scaly inclined plane structure is an inclined conical surface with thickness formed by the secondary parabolic curve; x represents the abscissa and y represents the ordinate, then the quadratic parabolic curve equation is:
y=0.215 x 2 +0.43x+2; wherein: x is more than or equal to 2 and less than or equal to 4.
6. The rigid-flexible coupled bionic mechanical foot with buffering and anti-sinking functions according to claim 1, wherein the bionic mechanical foot is characterized in that: the left fin (11) and the right fin (13) are round shovel structures, the lower ends of the left fin and the right fin are sharp surfaces extending out, and the side surfaces of the left fin and the right fin are wrapping type thin-wall structures.
7. The rigid-flexible coupled bionic mechanical foot with buffering and anti-sinking functions according to claim 1, wherein the bionic mechanical foot is characterized in that: the anti-slip buffer module comprises a sole cushion (18) and a heel cushion (19), and the structural shape of the sole cushion (18) is an elliptical curved surface structure; the heel cushion (19) is a symmetrical curved convex hull in structure, and the sole cushion (18) and the heel cushion (19) are made of rubber and are fixedly connected with the front end and the rear end of the bottom surface of the sole plate (7) respectively through colloid.
8. The rigid-flexible coupled bionic mechanical foot with buffering and anti-sinking functions according to claim 1, wherein the bionic mechanical foot is characterized in that: the installation interface module comprises an installation support (1), and the installation support (1) is connected to the upper end of the support pressing plate (4) through a connecting bolt (2) and a fixing nut (3).
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| CN202410389778.XA CN117963038B (en) | 2024-04-02 | 2024-04-02 | Rigid-flexible coupling bionic mechanical foot with buffering and anti-sinking functions |
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