CN202185918U - Climbing and walking dual-mode type bionic cat pad mechanism - Google Patents
Climbing and walking dual-mode type bionic cat pad mechanism Download PDFInfo
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- CN202185918U CN202185918U CN201120173209XU CN201120173209U CN202185918U CN 202185918 U CN202185918 U CN 202185918U CN 201120173209X U CN201120173209X U CN 201120173209XU CN 201120173209 U CN201120173209 U CN 201120173209U CN 202185918 U CN202185918 U CN 202185918U
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- metacarpal bone
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Abstract
The utility model discloses a climbing and walking dual-mode type bionic cat pad mechanism, which comprises a metacarpal bone and three knuckle bones. The metacarpal bone serves as a frame of the cat pad mechanism and is forked at the front end in the advancing direction of a cat pad, and a rubber buffering cushion is mounted at the bottom of the metacarpal bone. One end of the third knuckle bone is hinged with the forked front end of the cat pad, the other end of the third knuckle bone is hinged with one end of the second knuckle bone, the other end of the second knuckle bond is hinged with the first knuckle bone, and the front end of the first knuckle bone is provided with a claw. A power device drives the third knuckle bone, the second knuckle bone and the first knuckle bone to bend downwards or extend upwards through a transmission mechanism. The climbing and walking dual-mode type bionic cat pad mechanism has the advantages of simple structure, convenience in use and high reliability, and switching of two moving modes including climbing on rough surfaces and stably walking can be realized.
Description
Technical field
The invention belongs to mechanical bionical field, relating to is a kind of bionical ram's horn mechanism.
Background technology
The robot field, how to make robot realize that climb wall is the problem that the scientific research personnel studies always, realization this purpose that the Alcula type wall climbing robot that Harbin Institute of Technology researched and developed just can be successful.Climb wall but its this robot only is directed to, four legs can't be realized walking function smoothly all in health the place ahead, and the working method of its hook realizes that to collude pawl climbing still has scarcely together with real for imitating the needle plug-in type of U.S. Rise robot.Simultaneously, for taking to collude the robot that the pawl formula is climbed wall, be if still take to collude the walking manner that pawl lands in walking, then very easily cause the unnecessary wearing and tearing of hook, thereby reduce the service life of robot.Because it colludes the characteristic that pawl itself has, if colluding pawl can't pack up, very easily catch on barriers such as weeds during place walking in the open air, thereby cause the unstability of robot control simultaneously, influence the use of robot.
Summary of the invention
In order to overcome the deficiency that prior art can't realize matsurface climbing and stabilized walking simultaneously; The present invention provides a kind of double mode climbing walking bionic ram's horn mechanism; The foot structure of cats can successfully be simulated by this mechanism; Be implemented in the rough surface climbing and change, the climbing pattern that promptly the peculiar claw of cats is packed up the stabilized walking pattern and claw stretches out the extremely coarse climbing working environment of exerting oneself also can effectively adapt to the pattern of two kinds of activities of stabilized walking.
The technical solution adopted for the present invention to solve the technical problems is: comprise metacarpal bone, proximal phalanx, middle phalanx and distal phalanx; Said metacarpal bone is as the frame of ram's horn mechanism; At the front end bifurcated of ram's horn direct of travel, the metacarpal bone bottom is equipped with the cushion pad of rubber material; The front end bifurcated of the hinged ram's horn metacarpal bone of distal phalanx one end; One end of the hinged middle phalanx of the other end; The hinged proximal phalanx of the middle phalanx other end; The proximal phalanx front end is for colluding pawl, and power set drive distal phalanx, middle phalanx and proximal phalanx downwarping through transmission mechanism or upwards stretch.
Described metacarpal bone is divided into four forks at the front end of ram's horn direct of travel.
Described distal phalanx is shaped as rectangular groove; Can be considered the connecting rod A mechanism that links to each other with frame, middle phalanx is shaped as rectangular groove, can be considered the connecting rod B mechanism that links to each other with a last connecting rod A; Proximal phalanx contains bionical nail; Be hook, be shaped as crooked rectangular pyramid groove, can be considered the connecting rod C mechanism that links to each other with a last connecting rod B.
Be fixed with motor on the described metacarpal bone, the motor output shaft worm screw that is connected, the worm gear hinge bar between distal phalanx and the middle phalanx that is connected, motor drives the folding and unfolding that turbine is realized proximal phalanx through worm screw; Be fixed with motor on the distal phalanx, the motor output shaft worm screw that is connected, the worm gear hinge bar between middle phalanx and the proximal phalanx that is connected, motor drives the folding and unfolding that turbine is realized proximal phalanx through worm screw; Be connected for spherical joint between proximal phalanx and the middle phalanx; Motor and middle phalanx are connected; Drive two wire spools; One of two gentle ropes is connected with the upper and lower side of bionical proximal phalanx respectively, and the other end is wound in (this sentences two muscle of two gentle rope imitation control ram's horns folding and unfolding) on the wire spool in the opposite direction.The gentle Suo Fangsong in proximal phalanx upper end when motor turns clockwise, the gentle rope in lower end tightens up, and spurs proximal phalanx downwards, thereby realizes the climbing pattern that ram's horn stretches out; The gentle rope in proximal phalanx upper end tightened up when motor was rotated counterclockwise, and the lower end Suo Fangsong that soften upwards spurs proximal phalanx, thus the walking mode that the realization ram's horn is packed up.
The invention has the beneficial effects as follows: the present invention has simple in structure, easy to use; The characteristics of good reliability; And can successfully simulate the foot structure of cats; Being implemented in the rough surface climbing changes with the pattern of two kinds of activities of stabilized walking; Be that the peculiar claw of cats is packed up the stabilized walking pattern and claw stretches out the climbing pattern that firmly also can effectively adapt to extremely coarse climbing working environment, be applicable to the bio-robot of the double mode climbing walking bionic ram's horn of needs mechanism, can be used for multiple aspects such as daily life.
Description of drawings
Fig. 1 is the structural representation top view of the bionical framework of preceding metacarpal bone.
Fig. 2 is the structural representation side view of the bionical framework of preceding metacarpal bone.
Fig. 3 is the structural representation side view of the bionical framework of back metacarpal bone.
Fig. 4 is a view under the structural representation of back metacarpal bone bionical framework.
Fig. 5 is the structural representation of complete dactylus bone.
Fig. 6 is the drive mechanism sketch map of a metacarpal bone worm and gear.
Fig. 7 is the structural representation side view of gentle rope wire spool.
Fig. 8 is the structural representation oblique view of gentle rope wire spool.
Among the figure, 1. bionical metacarpal bone (preceding), 2. bionical distal phalanx (preceding), 3. bionical middle phalanx (preceding), 4. bionical proximal phalanx (preceding); 5. bionical metacarpal bone cushion pad (preceding), 6. bionical metacarpal bone cushion pad A (back), 7. bionical metacarpal bone cushion pad B (back), 8. bionical metacarpal bone (back), 9. bionical distal phalanx (back); 10. bionical middle phalanx (back), 11. bionical proximal phalanxs (back), 12. power A1,13. power input worm screw B1,14. worm gear C1 and axle D1; 15. power A2,16. power input worm screw B2,17. worm gear C2 and axle D2,18. power A3,19. gentle rope wire spool E1; 20. gentle rope fixed bar, 21. gentle rope wire spool E2,22 gentle rope F1,23 gentle rope F2.
The specific embodiment
A kind of double mode climbing walking bionic ram's horn of the present invention mechanism, comprise the bionical framework of cat metacarpal bone (palm before and after dividing, it is shaped as cat sole bone shape, preceding branch four forks; For four of cat refers to foundation, can regard frame as), and bionical cushion pad (two groups, the rubber quality; Shape and cat sole bone photo seemingly, and fit with it), bionical distal phalanx (is shaped as rectangular groove, interior dress transmission mechanism and actuating unit; Be connected on the bionical framework of cat metacarpal bone, can be considered the connecting rod A mechanism that links to each other with frame), bionical middle phalanx (is shaped as rectangular groove, interior dress transmission mechanism and actuating unit; Be connected on the bionical distal phalanx, can be considered the connecting rod B mechanism that links to each other with a last connecting rod A), bionical proximal phalanx (contains bionical nail, i.e. hook; Be shaped as crooked rectangular pyramid groove, interior dress transmission mechanism and actuating unit are connected on the bionical middle phalanx; Can be considered the connecting rod C mechanism that links to each other with a last connecting rod B), worm gearing, motor and gentle rope.Bionical distal phalanx is connected on the bionical framework of cat metacarpal bone, and motor and worm screw are fixed on the bionical framework, and worm gear and bionical distal phalanx are connected, and with the driven by motor worm screw, worm screw drives the folding and unfolding that worm gear is realized the joint.Bionical middle phalanx is connected on the bionical distal phalanx, and motor and worm screw are fixed on bionical distal phalanx, and worm gear and bionical middle phalanx are connected, and with the driven by motor worm screw, worm screw drives the folding and unfolding that worm gear is realized the joint.Bionical proximal phalanx is connected on the bionical middle phalanx; And connect for spherical joint between the two; Motor and bionical middle phalanx are connected; A wire spool is respectively arranged in the motor both sides, and one of two gentle ropes is connected with the upper and lower side of bionical proximal phalanx respectively, and the other end is wound in (two muscle of one or two gentle rope imitation control ram's horn folding and unfolding here) on the coil winding machine in the opposite direction.The gentle Suo Fangsong in bionical proximal phalanx upper end when motor turns clockwise, the gentle rope in lower end tightens up, and spurs bionical proximal phalanx downwards, thereby realizes the climbing pattern that ram's horn stretches out; The gentle rope in bionical proximal phalanx upper end tightened up when motor was rotated counterclockwise, and the lower end Suo Fangsong that soften upwards spurs bionical proximal phalanx, thus the walking mode that the realization ram's horn is packed up.A bionical cat palm is connected with four complete dactylus bone photos altogether.
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The present invention includes bionical metacarpal bone (preceding) 1, bionical distal phalanx (preceding) 2, bionical middle phalanx (preceding) 3, bionical proximal phalanx (preceding) 4, bionical metacarpal bone cushion pad (preceding) 5; Bionical metacarpal bone cushion pad A (back) 6, bionical metacarpal bone cushion pad B (back) 7, bionical metacarpal bone (back) 8, bionical distal phalanx (back) 9; Bionical middle phalanx (back) 10, bionical proximal phalanx (back) 11, power A1 12, power input worm screw B1 13; Worm gear C1 and axle D1 14, power A2 15, power input worm screw B2 16, worm gear C1 and axle D1 17; Power A3 18, gentle rope wire spool E1 19, gentle rope fixed bar 20, gentle rope wire spool E2 21.
Embodiment one
Bionical metacarpal bone (preceding) is installed bionical metacarpal bone cushion pad (preceding) 5 for 1 time.
There is wherein bionical distal phalanx (preceding) 2 to be connected on the bionical metacarpal bone (preceding) 1; Power A1 12 and power input worm screw B1 13 are fixed on the bionical metacarpal bone (preceding); Worm gear and bionical distal phalanx (preceding) 2 are connected; And with power A1 12 drive power input worm screw B1 13, power input worm screw B1 13 drives the folding and unfolding in worm gear C1 and axle D1 14 realization joints.
Bionical middle phalanx (preceding) 3 is connected in bionical distal phalanx (preceding) 2; Power A2 15 and power input worm screw B2 16 are fixed on bionical distal phalanx (preceding) 2; Worm gear C2 and axle D2 17 are connected with middle phalanx; And with power A3 18 drive worm screw B2 16, power input worm screw B2 16 drives the folding and unfolding in worm gear C2 and axle D2 17 realization joints.
Bionical proximal phalanx (preceding) 4 is connected on the bionical middle phalanx (preceding) 3; Power A3 18 is connected with bionical middle phalanx (preceding) 3, and a gentle rope wire spool E1 19 is respectively arranged in power A3 18 both sides, gentle rope wire spool E2 21; Two gentle ropes; One of promptly gentle rope F1 22 and gentle rope F2 23 is connected with the gentle rope fixed bar 20 of bionical proximal phalanx (preceding) 4 respectively, and the other end is wound in a gentle rope wire spool E1 19 in the opposite direction, on the rope wire spool E2 21 that softens.The gentle rope F1 22 in bionical proximal phalanx (preceding) 4 upper ends loosened when power A3 18 turned clockwise, and the gentle rope F2 23 in lower end tightens up, and spurs bionical proximal phalanx downwards, thereby realizes the climbing pattern that hook stretches out; The gentle rope F1 22 in bionical proximal phalanx (preceding) 4 upper ends tightened up when power A3 18 was rotated counterclockwise, and the gentle rope F2 23 in lower end loosens, and upwards spurs bionical proximal phalanx (preceding), thereby realizes the walking mode that hook is packed up.
Embodiment two
Bionical metacarpal bone (back) is installed bionical metacarpal bone cushion pad A (back) 6 for 8 times, bionical metacarpal bone cushion pad B (back) 7.
Wherein bionical distal phalanx (back) 9 is connected on the bionical metacarpal bone (back) 8; Power A1 12 and power input worm screw B1 13 are fixed on the bionical metacarpal bone (back) 8; Worm gear and bionical distal phalanx (back) 9 are connected; And with power A1 12 drive power input worm screw B1 13, power input worm screw B1 13 drives the folding and unfolding in worm gear C1 and axle D1 14 realization joints.
Bionical middle phalanx (back) 10 is connected in bionical distal phalanx (back) 9; Power A2 15 and power input worm screw B2 16 are fixed on bionical distal phalanx (back) 9; Worm gear C2 and axle D2 17 are connected with middle phalanx; And with power A3 18 drive worm screw B2 16, power input worm screw B2 16 drives the folding and unfolding in worm gear C2 and axle D2 17 realization joints.
Bionical proximal phalanx (back) 11 is connected on the bionical middle phalanx (back) 10; Power A3 18 is connected with bionical middle phalanx (back) 10, and a gentle rope wire spool E1 19 is respectively arranged in power A3 18 both sides, gentle rope wire spool E2 21; Two gentle ropes; One of promptly gentle rope F1 22 and gentle rope F2 23 is connected with the gentle rope fixed bar 20 of bionical proximal phalanx (back) 11 respectively, and the other end is wound in a gentle rope wire spool E1 19 in the opposite direction, on the rope wire spool E2 21 that softens.The gentle rope F1 22 in bionical proximal phalanx (back) 11 upper ends loosened when power A3 18 turned clockwise, and the gentle rope F2 23 in lower end tightens up, and spurs bionical proximal phalanx downwards, thereby realizes the climbing pattern that hook stretches out; The gentle rope F1 22 in bionical proximal phalanx (back) 11 upper ends tightened up when power A3 18 was rotated counterclockwise, and the gentle rope F223 in lower end loosens, and upwards spurs bionical proximal phalanx (back) 11, thereby realizes the walking mode that hook is packed up.
Claims (3)
1. the double mode bionical ram's horn of climbing walking mechanism; Comprise metacarpal bone, proximal phalanx, middle phalanx and distal phalanx; It is characterized in that: said metacarpal bone is as the frame of ram's horn mechanism, and at the front end bifurcated of ram's horn direct of travel, the metacarpal bone bottom is equipped with the cushion pad of rubber material; The front end bifurcated of the hinged ram's horn metacarpal bone of distal phalanx one end; One end of the hinged middle phalanx of the other end; The hinged proximal phalanx of the middle phalanx other end; The proximal phalanx front end is for colluding pawl, and power set drive distal phalanx, middle phalanx and proximal phalanx downwarping through transmission mechanism or upwards stretch.
2. the climbing according to claim 1 double mode bionical ram's horn mechanism of walking, it is characterized in that: described metacarpal bone is divided into four forks at the front end of ram's horn direct of travel.
3. the climbing according to claim 1 double mode bionical ram's horn mechanism of walking; It is characterized in that: be fixed with motor on the described metacarpal bone; The motor output shaft worm screw that is connected; The worm gear hinge bar between distal phalanx and the middle phalanx that is connected, motor drives the folding and unfolding that turbine is realized proximal phalanx through worm screw; Be fixed with motor on the distal phalanx, the motor output shaft worm screw that is connected, the worm gear hinge bar between middle phalanx and the proximal phalanx that is connected, motor drives the folding and unfolding that turbine is realized proximal phalanx through worm screw; For spherical joint is connected, motor and middle phalanx are connected, and drive two wire spools between proximal phalanx and the middle phalanx, and one of two gentle ropes is connected with the upper and lower side of bionical proximal phalanx respectively, and the other end is wound on the wire spool in the opposite direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120173209XU CN202185918U (en) | 2011-05-26 | 2011-05-26 | Climbing and walking dual-mode type bionic cat pad mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120173209XU CN202185918U (en) | 2011-05-26 | 2011-05-26 | Climbing and walking dual-mode type bionic cat pad mechanism |
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| CN202185918U true CN202185918U (en) | 2012-04-11 |
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| CN201120173209XU Expired - Fee Related CN202185918U (en) | 2011-05-26 | 2011-05-26 | Climbing and walking dual-mode type bionic cat pad mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267507A (en) * | 2011-05-26 | 2011-12-07 | 西北工业大学 | Climbing and walking bionic cat-pad mechanism |
| CN107803849A (en) * | 2017-12-30 | 2018-03-16 | 赵孝勇 | A kind of bionic robot finger |
| WO2021146811A1 (en) * | 2020-01-23 | 2021-07-29 | Universite Laval | Mechanical finger for gripper |
| CN113826973A (en) * | 2021-09-27 | 2021-12-24 | 国网江苏省电力有限公司扬州供电分公司 | Safety protection gloves for working aloft |
-
2011
- 2011-05-26 CN CN201120173209XU patent/CN202185918U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267507A (en) * | 2011-05-26 | 2011-12-07 | 西北工业大学 | Climbing and walking bionic cat-pad mechanism |
| CN107803849A (en) * | 2017-12-30 | 2018-03-16 | 赵孝勇 | A kind of bionic robot finger |
| WO2021146811A1 (en) * | 2020-01-23 | 2021-07-29 | Universite Laval | Mechanical finger for gripper |
| CN113826973A (en) * | 2021-09-27 | 2021-12-24 | 国网江苏省电力有限公司扬州供电分公司 | Safety protection gloves for working aloft |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120411 Termination date: 20140526 |