CN205150021U - Imitative ostrich hind leg motion functional characteristics's energy -conservation leg mechanism of walking - Google Patents
Imitative ostrich hind leg motion functional characteristics's energy -conservation leg mechanism of walking Download PDFInfo
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- CN205150021U CN205150021U CN201521028423.0U CN201521028423U CN205150021U CN 205150021 U CN205150021 U CN 205150021U CN 201521028423 U CN201521028423 U CN 201521028423U CN 205150021 U CN205150021 U CN 205150021U
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Abstract
The utility model discloses an imitative ostrich hind leg motion functional characteristics's energy -conservation leg mechanism of walking comprises frame, crank link mechanism, resilience mechanism and toes, and crank link mechanism includes crank, thigh and rocker, resilience mechanism including decide slider, shank, move the slider, connecting rod, spring, dog, ratchet, floodgate line, angular limitation ware and metatarsal, the utility model relates to a based on the dimension parameter of ostrich hind leg and ostrich intertarsal joints's resilience characteristic, through the motion design of imitate ostrich hind leg an energy -conservation, efficient leg of walking. The resilience force that produces when utilizing spring compression realizes that the automatic of metatarsal extends, reduces energy loss. The leg is walked through imitate ostrich hind leg motion functional characteristics's energy -conservation and energy -conservation, efficient target can be realized.
Description
Technical field
The utility model belongs to robot field, relates to a kind of energy-conservation walking-leg mechanism of imitative ostrich hind limb motor functional characteristic.
Background technology
Ostrich is the fastest biped of running in the world at present.Research display, at ostrich leg from case of bending to extension process, when the angle of shank and metatarsal is greater than 108 °, ostrich metatarsal can extension automatically.This passive extension process, can save the energy ezpenditure of ostrich motion.Meanwhile, the running speed of ostrich in desert can reach 50-60Km/h, and can continue 30 minutes.Due to ostrich motion possess energy-conservation and high velocity characteristic, ostrich speed and energy-conservation in more superior than other bipeds.According to engineering bionics principle, the high performance of ostrich can be applied in the middle of the design of biped robot." fast runner " ostrich anthropomorphic robot that U.S. national defense research high-level plan office subsidizes development can accelerate to 32,000 ms/h from static, maximum speed per hour 43 km within 15 seconds, and manufactured in 2012 and test.From Muscovite quadrumvir, made a cost only 1500 dollars can manned ostrich robot.Although carried out Primary Study to ostrich robot abroad, main consideration kinematic velocity and cost, not yet found that structure is simple, the imitative ostrich hind leg energy-conservation walking-leg mechanism correlative study report of low energy consumption at present.
The utility model is bionical prototype with the ostrich hind leg efficiently moved, to be run hind limb motor Parameter analysis by ostrich, in conjunction with biotomy, determine ostrich hind leg scantling of structure, and according to ostrich intertarsal joint rebound characteristics, optimal design goes out simple, the energy-efficient walking-leg mechanism of structure.
Summary of the invention
For solving the problems of the technologies described above, the utility model provides a kind of energy-conservation walking-leg mechanism of imitative ostrich hind limb motor functional characteristic.The utility model enables ostrich robot imitate ostrich walking posture, and has simple, the energy-efficient advantage of structure.The utility model is bionical prototype with the ostrich hind leg efficiently moved, to be run hind limb motor Parameter analysis by ostrich, in conjunction with biotomy, determine ostrich hind leg scantling of structure, and according to ostrich intertarsal joint rebound characteristics, optimal design goes out simple, the energy-efficient walking-leg mechanism of structure.
The utility model comprises frame, piston crank mechanism, rebounding mechanism and toes; Piston crank mechanism comprises crank, thigh and rocking bar; Rebounding mechanism comprises fixed slider, connecting rod, metatarsal, brake cable, shank, block, spring, movable slider, ratchet, ratchet and angle limiter; Toes are that flexible energy storage material is made; Fixed slider in rebounding mechanism is fixed in frame, and shank and fixed slider form sliding pair; Spring bottom end contacts with block, and block is fixed on shank, and the spring other end contacts with movable slider, and movable slider can slide on shank; Movable slider is connected with metatarsal by connecting rod; It is hinged that metatarsal and shank pass through angle limiter, and ratchet device comprises pawl-and-gearing, and ratchet device is arranged on the hinged place of metatarsal and shank; Brake cable one end is fixed on ratchet, and the brake cable other end is connected with movable slider; Metatarsal bottom by torsion spring and toes hinged, by External Force Acting time, the angle that metatarsal and toes fold is 120 °.
The crank angle that described toes contacted to earth corresponding to the phase and the crank angle corresponding to the toes liftoff phase are than being 5:19, and toes contact to earth, the phase is identical with liftoff time phase.
The beneficial effects of the utility model:
1, overall employing connecting rod mechanism, and only use an electrical motor to carry out power input, save manufacturing cost, compact overall structure, be conducive to reducing energy transferring loss and raising mechanism reliability of operation.
2, be bionical prototype with the ostrich hind leg efficiently moved, to be run hind limb motor Parameter analysis by ostrich, in conjunction with biotomy, determine ostrich hind leg scantling of structure, and according to ostrich intertarsal joint rebound characteristics, optimal design goes out simple, the energy-efficient walking-leg mechanism of structure.
Accompanying drawing explanation
Fig. 1 is energy-conservation walking-leg mechanism of the present utility model schematic perspective view.
Fig. 2 is lateral plan of the present utility model.
Fig. 3 is the schematic perspective view of the utility model ratchet device and angle limiter.
Fig. 4 is the schematic perspective view of the utility model ratchet device.
Wherein: 1-frame; 2-rocking bar; 3-thigh; 4-first hinge; 5-fixed slider; 6-connecting rod; 7-second hinge; 8-metatarsal; 9-toes; 10-ratchet device; 11-brake cable; 12-shank; 13-block; 14-spring; 15-movable slider; 16-crank; 17-ratchet; 18-ratchet; 19-angle limiter.
Detailed description of the invention
Refer to shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the utility model comprises frame 1, piston crank mechanism, rebounding mechanism and toes 9; Piston crank mechanism comprises crank 16, thigh 3 and rocking bar 2; Rebounding mechanism comprises fixed slider 5, connecting rod 6, metatarsal 8, brake cable 11, shank 12, block 13, spring 14, movable slider 15, ratchet 17, ratchet 18 and angle limiter 19; Toes 9 are made for flexible energy storage material.
As shown in Figure 2, the fixed slider 5 in rebounding mechanism is fixed in frame 1, and shank 12 and fixed slider 5 form sliding pair; Spring 14 bottom contacts with block 13, and block 13 is fixed on shank 12, and spring 14 other end contacts with movable slider 15, and movable slider 15 can slide on shank 12; Movable slider 15 is connected with metatarsal 8 by connecting rod 6; Metatarsal 8 is hinged by angle limiter 19 with shank 12, and ratchet device 10 comprises ratchet 17 and ratchet 18, and ratchet device 10 is arranged on the hinged place of metatarsal 8 and shank 12; Brake cable 11 one end is fixed on ratchet 17, and brake cable 11 other end is connected with movable slider 15; Metatarsal 8 bottom by torsion spring and toes 9 hinged, time by External Force Acting, the angle that metatarsal 8 and toes 9 fold is 120 °.
Crank 16 corner that described toes 9 contacted to earth corresponding to the phase and crank 16 corner corresponding to the toes 9 liftoff phase are than being 5:19, and toes 9 contact to earth, the phase is identical with liftoff time phase.
Working process of the present utility model:
For energy-conservation walking-leg mechanism kinematic one-period:
With toes 9 will be liftoff position for starting point, crank 16 left-hand revolution.Crank 16 drives shank 12 upward movement, and the motion of shank 12 can be decomposed into rotation around the first hinge 4 and the motion upwards of relative fixed slider 5.Now, block 13 is fixed on shank 12, static relative to shank 12, due to shank 12 upward movement and fixed slider 5 maintain static, movable slider 15 fixed slider 5 extrude under move downward along shank 12, spring 14 is compressed, stored energy, and pull brake cable 11 when movable slider 15 moves downward, ratchet 17 is lifted, self-locking releasing, metatarsal 8 can rotate counterclockwise around the second hinge 7; Meanwhile, movable slider 15 acts on metatarsal 8 top by connecting rod 6, makes it rotate counterclockwise around the second hinge 7, completes the action of lifting leg.
Crank 16 turn over vertex to shank 12 conllinear after, drive shank 12 move downward process, its motion can be decomposed into around the rotation of the first hinge 4 motion downward with relative fixed slider 5.Now, block 13 moves downward along with shank 12, because fixed slider 5 maintains static, the spacing between block 13 and fixed slider 5 increases gradually, movable slider 15 under the rebound effect of spring 14 along shank 12 upward movement, realize the rebound characteristics of imitative ostrich hind leg, meanwhile, declutch line 11, and ratchet 17 falls after rise, ratchet 17 and ratchet 18 form self-locking mechanism, and metatarsal 8 can not be rotated counterclockwise around the second hinge 7; And movable slider 15 acts on metatarsal 8 top by connecting rod 6, make it rotate clockwise around the second hinge 7, under the effect of angle limiter 19, make metatarsal 8 be 168 ° with the maximum angle of shank 12, prepare for toes 9 contact to earth.
Claims (3)
1. an energy-conservation walking-leg mechanism for imitative ostrich hind limb motor functional characteristic, is characterized in that: comprise frame (1), piston crank mechanism, rebounding mechanism and toes (9); Piston crank mechanism comprises crank (16), thigh (3) and rocking bar (2); Rebounding mechanism comprises fixed slider (15), connecting rod (6), metatarsal (8), brake cable (11), shank (12), block (13), spring (14), movable slider (15), ratchet (17), ratchet (18) and angle limiter (19);
Fixed slider (5) in rebounding mechanism is fixed in frame (1), and shank (12) and fixed slider (5) form sliding pair; Spring (14) bottom contacts with block (13), block (13) is fixed on shank (12), spring (14) other end contacts with movable slider (15), and movable slider (15) can in the upper slip of shank (12); Movable slider (15) is connected with metatarsal (8) by connecting rod (6); Metatarsal (8) is hinged by angle limiter (19) with shank (12), ratchet device (10) comprises ratchet (17) and ratchet (18), and ratchet device (10) is arranged on the hinged place of metatarsal (8) and shank (12); Brake cable (11) one end is fixed on ratchet (17), and brake cable (11) other end is connected with movable slider (15); Metatarsal (8) bottom by torsion spring and toes (9) hinged, time by External Force Acting, the angle that metatarsal (8) and toes (9) fold is 120 °.
2. the energy-conservation walking-leg mechanism of a kind of imitative ostrich hind limb motor functional characteristic according to claim 1, it is characterized in that: described toes (9) contact to earth crank (16) corner corresponding to the phase and crank (16) corner corresponding to toes (9) the liftoff phase than being 5:19, and toes (9) contact to earth, the phase is identical with liftoff time phase.
3. the energy-conservation walking-leg mechanism of a kind of imitative ostrich hind limb motor functional characteristic according to claim 1, is characterized in that: described toes (9) are made for flexible energy storage material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521028423.0U CN205150021U (en) | 2015-12-11 | 2015-12-11 | Imitative ostrich hind leg motion functional characteristics's energy -conservation leg mechanism of walking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521028423.0U CN205150021U (en) | 2015-12-11 | 2015-12-11 | Imitative ostrich hind leg motion functional characteristics's energy -conservation leg mechanism of walking |
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| Publication Number | Publication Date |
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| CN205150021U true CN205150021U (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521028423.0U Withdrawn - After Issue CN205150021U (en) | 2015-12-11 | 2015-12-11 | Imitative ostrich hind leg motion functional characteristics's energy -conservation leg mechanism of walking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105346620A (en) * | 2015-12-11 | 2016-02-24 | 吉林大学 | Energy-saving walking leg mechanism simulating ostrich hindlimb movement function characteristic |
| DE102018103892A1 (en) * | 2018-02-21 | 2019-08-22 | BenuBot-Projektkooperation GbR (vertretungsberechtigter Gesellschafter Dr. Andreas Karguth, 99869 Tüttleben) | Mobile robot and leg assembly therefor, and method for making a running motion |
-
2015
- 2015-12-11 CN CN201521028423.0U patent/CN205150021U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105346620A (en) * | 2015-12-11 | 2016-02-24 | 吉林大学 | Energy-saving walking leg mechanism simulating ostrich hindlimb movement function characteristic |
| DE102018103892A1 (en) * | 2018-02-21 | 2019-08-22 | BenuBot-Projektkooperation GbR (vertretungsberechtigter Gesellschafter Dr. Andreas Karguth, 99869 Tüttleben) | Mobile robot and leg assembly therefor, and method for making a running motion |
| WO2019162144A1 (en) | 2018-02-21 | 2019-08-29 | Benubot-Projektkooperation Gbr | Mobile robot and method for performing a running/walking movement |
| DE102018103892B4 (en) * | 2018-02-21 | 2021-02-04 | BenuBot-Projektkooperation GbR (vertretungsberechtigter Gesellschafter Dr. Andreas Karguth, 99869 Tüttleben) | Mobile robot and leg assembly therefor, and method for performing a walking motion |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160413 Effective date of abandoning: 20171107 |