CN205365798U - Flat polypody system of walking of topography self -adaptation based on phase difference - Google Patents
Flat polypody system of walking of topography self -adaptation based on phase difference Download PDFInfo
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- CN205365798U CN205365798U CN201520891721.6U CN201520891721U CN205365798U CN 205365798 U CN205365798 U CN 205365798U CN 201520891721 U CN201520891721 U CN 201520891721U CN 205365798 U CN205365798 U CN 205365798U
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Abstract
The utility model discloses a flat polypody system of walking of topography self -adaptation based on phase difference, power are transmitted the bionical sufficient module of each unit festival through the transmission module by gear motor. Eccentric wheel main part in the bionical sufficient module drives the guide arm and does the slider -crank motion. The guide arm drives bionical sufficient motion, with ground intermittent type sexual contact, utilizes drive gear's between the festival frame phase difference, the marcing of operation, and then implementation system in turn. Simultaneously, support the module of moving away to avoid possible earthquakes and utilize shock -proof spring's pulling force and torsion to keep the relative position between section frame, reduce relative displacement between section frame, ability that formation can the complicated topography of self -adaptation. In addition, the design of doing away with a hierarchical system is utilized to leg motion gesture during through the walking of imitate centipede under the complicated topography, realizes the automation that the low appearance of individual soldier in wartime crawled to march. Rub the steadiment in order to increase through imitate poultry class " W " type claw with grabbing to let the system march better.
Description
Technical field
The present invention relates to the flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast, by imitating leg exercise attitude during Scolopendra walking under complicated landform, utilize flattening design, it is achieved wartime, the low appearance of individual soldier was crawled the automatization of traveling.Belong to raising Operational Effectiveness Rat, reduce soldier's physical consumption, reduce the flat polypody pedestrian system of terrain self-adaptive of bullet face area.
Background technology
The low appearance of individual soldier is crept for utilizing short blindage to break the barriers under target or enemy's firepower snugly rapidly.It is carry out on the basis droped to the ground that my the low appearance of army individual soldier is crept, and utilizes arm to advance forward with two the feet step on the ground are harmonious with taking off.But training or under battle conditions in, low appearance is crept and is still suffered from many waiting improvements.
1) when the low appearance of individual soldier is crept, health major part connects with ground is micro-, and frictional force is big, and advance is obstructed.Increase soldier's physical consumption, affect Operational Effectiveness Rat.Meanwhile, when creeping under complicated landform, soldier's health dipping and heaving, easily expanding bullet face area, in turn result in non-essential combat casualty.
Therefore, by imitating leg exercise attitude during Scolopendra walking under complicated landform, utilizing flattening to design, by bionical for the multi-jointed mechanical foot composition flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast, and then the individual soldier's machine first meeting individual combat demand is designed in optimization.Make soldier's health and slightly gap, ground, reduce friction.The energy that the machine first of utilization carries advances, and reduces soldier's physical consumption, preserves combat power.Meanwhile, the flattening design of self adaptation complexity landform, reduces soldier's exposed area, reduces bullet face area, effectively reduce non-combat casualty.
2) when the low appearance of individual soldier is crept, the power of advance is many is provided by arm and bipod.When arm takes off forward ground, colliding with in elbow joint hands bone and ground, causes that elbow epidermis gouge is damaged.Causing training injury when training, wartime is becoming unnecessary non-fight to hinder, and then affects training or operation benefit.
For this, according to the individual soldier's machine first based on the flat polypody pedestrian system optimization design of the terrain self-adaptive of phase contrast, soldier's health and ground are separated, effectively stop the situation of colliding with of soldier's health and ground, it is prevented that the generation of training injury, improve operation benefit wartime.
Summary of the invention
The purpose of the present invention, is to provide and a kind of improves Operational Effectiveness Rat, reduce soldier's physical consumption, reduce bullet face area the flat polypody pedestrian system of terrain self-adaptive.
The object of the present invention is achieved like this: a kind of terrain self-adaptive based on phase contrast flat polypody pedestrian system includes: supports antivibrating module, bionical sufficient module, power and transmission module three part.
The described antivibrating module that supports includes the connection shock-absorbing part that the support frame portion of the flat polypody pedestrian system joint unit of terrain self-adaptive is divided and saved between unit.Support frame portion is divided by driven joint frame, is actively saved frame, front actively connects pole, afterwards actively connects pole and driven company pole forms.The joint unit that multipair joint is configured to, coordinates multipair bionical sufficient module, it is achieved the polypody of system alternately travels motor function.Connect shock-absorbing part to be made up of upper spring(-supported) mount, lower spring frame, lateral spring frame and shock-proof spring, utilize the pulling force of shock-proof spring and torsion to keep the relative position between joint frame, reduce relative displacement between joint frame, be configured to the coupling part of self adaptation complexity landform.Described support antivibrating module and bionical sufficient module together constitute with the main part of the present invention.
Described bionical sufficient module includes eccentric main body, eccentric end cap, guide rod and bionical foot four part.Power by transmission module by motor conduction to the eccentric main body of each bionical sufficient module in bionical sufficient module, eccentric main body drives guide rod along circular motion.Eccentric main body is configured to slider-crank mechanism with guide rod and Ge Jie, in conjunction with the bionical foot of class " W " type, derives the bionical sufficient module of leg exercise attitude when imitating Scolopendra walking.Described bionical sufficient module together constitutes with the main part of the present invention with supporting antivibrating module.
Described power and transmission module include reducing motor, motor output shaft, travelling gear and connecting plate composition.Output speed is that power is passed sequentially through motor output shaft, travelling gear and connecting plate by the JS-50TT reducing motor of 30r/min, eventually arrives at each eccentric main body of each joint unit.And the phase contrast of each bionical sufficient module is controlled by regulating travelling gear.Described power and transmission module are the power core of the flat polypody pedestrian system motion of terrain self-adaptive.
Terrain self-adaptive of the present invention flat polypody pedestrian system have employed above technical scheme, has the following advantages and feature:
1, the flat polypody pedestrian system of terrain self-adaptive utilizes slider-crank mechanism, bionical foot in conjunction with class " W " type, derive simulation Scolopendra complicated landform descending walk time leg exercise attitude bionical sufficient module, completion system leapfrogs action based on the polypody of phase contrast, it is achieved the motion premise that system is advanced, turned.
2, supporting antivibrating module utilizes the pulling force of shock-proof spring and torsion to keep the relative position between joint frame, reduces relative displacement between joint frame, is configured to the antivibrating module of self adaptation complexity landform.
3, power and transmission module utilize multipair different company's pole and travelling gear, are linked together by each joint unit, and control the phase contrast of each bionical sufficient module by regulating travelling gear, it is achieved system is based on the premise of phase contrast.
4, the flat polypody pedestrian system of terrain self-adaptive uses flattening design, reduces whole height, provides safeguard for actual combatization design.
Accompanying drawing explanation
Fig. 1 is the outside drawing of the flat polypody pedestrian system model prototype of a kind of terrain self-adaptive based on phase contrast of the present invention
Fig. 2 is the appearance assumption diagram of the flat polypody pedestrian system model prototype of a kind of terrain self-adaptive based on phase contrast of the present invention
Fig. 3 is the appearance assumption diagram of the present invention a kind of terrain self-adaptive based on phase contrast driven joint unit of flat polypody pedestrian system model prototype
Fig. 4 is the appearance assumption diagram that the flat polypody pedestrian system model prototype of a kind of terrain self-adaptive based on phase contrast of the present invention actively saves unit
Fig. 5 is the appearance assumption diagram of the present invention a kind of terrain self-adaptive based on phase contrast bionical sufficient module of flat polypody pedestrian system model prototype
Fig. 6 is the Assembly order graph of the present invention a kind of terrain self-adaptive based on phase contrast bionical sufficient module of flat polypody pedestrian system model prototype
Fig. 7 is the outside drawing of a kind of terrain self-adaptive based on phase contrast of the present invention flat polypody pedestrian system model prototype transmission module
Fig. 8 is the appearance assumption diagram of a kind of terrain self-adaptive based on phase contrast of the present invention flat polypody pedestrian system model prototype transmission module
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention is a kind of Operational Effectiveness Rat that improves, and minimizing soldier's physical consumption reduces the flat polypody pedestrian system of terrain self-adaptive of bullet face area.Formed by supporting antivibrating module, bionical sufficient module, power and transmission module three part.
One, Fig. 1, Fig. 3 and Fig. 4 are referred to.The present invention a kind of terrain self-adaptive based on phase contrast flat polypody pedestrian system (such as Fig. 1) is connected to form by some joints joint unit (such as Fig. 3, Fig. 4).Joint unit can be divided into driven joint unit (such as Fig. 3) and actively save unit (such as Fig. 4).Saved active cell joint by one and power is provided, drive a number of driven unit joint to output power to bionical sufficient module, and utilize each bionical sufficient alternating movement of phase place official post, and then realize the traveling of system.
Two, support antivibrating module and include the connection shock-absorbing part that the support frame portion of the flat polypody pedestrian system joint unit of terrain self-adaptive is divided and saved between unit.
1, Fig. 2 is referred to.The support frame portion of the present invention a kind of terrain self-adaptive based on phase contrast flat polypody pedestrian system is divided by actively connecting pole after actively connecting pole, A004 before A001 driven joint frame, A002 actively joint, A003 and A005 driven company pole forms.Each joint frame provides assembling to support for bionical sufficient module or motor, respectively connects pole for connecting adjacent unit joint and providing assembling to support for travelling gear.Support frame portion divides the main part constituting the present invention flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast.
2, Fig. 2 is referred to.The connection shock-absorbing part of the flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast of the present invention is made up of spring(-supported) mount, A102 lower spring frame, A103 lateral spring frame and A104 shock-proof spring on A101.Shock-proof spring is assemblied on each spring(-supported) mount, and each spring(-supported) mount utilizes on the fastening of M2 self-tapping screw and each joint frame.When system is advanced, top 2 is overlapped, and the shock-absorbing part of bottom 3 set utilizes the pulling force of shock-proof spring and torsion to keep the relative position between joint frame, reduces relative displacement between joint frame, is configured to the connection antivibrating module of self adaptation complexity landform.
Three, bionical sufficient module includes eccentric main body, eccentric end cap, guide rod and bionical foot four part.Each bionical sufficient module saving frame, utilizes the phase contrast of travelling gear, alternate-running between joint frame, and then realizes the traveling of system.
Refer to Fig. 5, Fig. 6.The each bionical sufficient module (such as Fig. 6) of the present invention a kind of terrain self-adaptive based on phase contrast flat polypody pedestrian system is enough to and the standard component such as bearing, optical axis forms by A201 eccentric main body, A202 eccentric end cap, A203 guide rod, A204 are bionical.Motor power is conducted to A201 eccentric main body by transmission module, and A201 eccentric main body is around main axis.A203 guide rod is placed on A201 eccentric main body countershaft, and other end foot bionical with A204 is connected, straight trough muzzle φ 5 optical axis on joint frame in the middle part of A203 guide rod.It is monolithically fabricated slider-crank mechanism, suitably optimizes, derive the bionical sufficient module of leg exercise attitude when imitating Scolopendra walking.A204 bionical foot imitate birds class " W " type claw grab to strengthen friction, increase stability, to allow system advance better.
Four, power and transmission module include reducing motor, motor output shaft, travelling gear and connecting plate four part composition.By being assemblied in the JS-50TT reducing motor output power actively saved on unit, by transmission module by the bionical sufficient module in power distribution to some driven joint unit, and then realize the traveling of system.
Refer to Fig. 7, Fig. 8.The transmission module (such as Fig. 8) of the flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast of the present invention is made up of A301 motor output shaft, A302 travelling gear, A303 connecting plate and the standard component such as bearing, optical axis.Power is exported by A301 motor output shaft by JS-50TT reducing motor (such as Fig. 8).In active cell joint, A301 motor output shaft, A302 travelling gear and A303 connecting plate are fastenedly connected by screw.In driven unit joint, A302 travelling gear and A303 connecting plate are fastenedly connected by screw.Actively, connected by one group of reverse drive gear between driven unit joint, it is ensured that each output wheel turns to unanimously.
The flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast of the present invention, power is exported by motor output shaft by JS-50TT reducing motor.The bionical sufficient module of each unit joint it is delivered to through transmission module.Eccentric main body in bionical sufficient module drives guide rod to do crank block motion.Guide rod drives bionical foot motion, and with ground intermittent contact, utilization saves the phase contrast of travelling gear, alternate-running between frame, and then realizes the traveling of system.
In the present invention, supporting antivibrating module and utilize the pulling force of shock-proof spring and torsion to keep the relative position between joint frame, reduce relative displacement between joint frame, being formed can the ability of self adaptation complexity landform.
In the present invention, by imitating leg exercise attitude during Scolopendra walking under complicated landform, flattening is utilized design, it is achieved wartime, the low appearance of individual soldier was crawled the automatization of traveling.By imitate birds class " W " type claw grab to strengthen friction, increase stability, to allow system advance better.
The flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast of the present invention, by imitating leg exercise attitude during Scolopendra walking under complicated landform, flattening is utilized to design, by bionical for the multi-jointed mechanical foot composition flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast, and then the individual soldier's machine first meeting individual combat demand is designed in optimization.Make soldier's health and slightly gap, ground, reduce friction.The energy that the machine first of utilization carries advances, it is achieved wartime, the low appearance of individual soldier was crawled the automatization advanced.Reduce soldier's physical consumption, preserve combat power, reduce bullet face area, improve battlefield survival rate, improve Operational Effectiveness Rat.
Claims (4)
- null1. the flat polypody pedestrian system of the terrain self-adaptive based on phase contrast，Purpose is in that: realize wartime the low appearance of individual soldier crawl advance automatization，Reduce soldier's physical consumption，Preserve combat power，Reduce bullet face area，Improve battlefield survival rate，Improve Operational Effectiveness Rat，The support frame portion of described terrain self-adaptive flat polypody pedestrian system joint unit is divided by driven joint frame、Actively save frame、Front actively connect pole、Rear actively connect pole and driven even pole composition，The joint unit that multipair joint is configured to，Coordinate multipair bionical sufficient module，The polypody realizing system alternately travels motor function，Described connection shock-absorbing part is by upper spring(-supported) mount、Lower spring frame、Lateral spring frame and shock-proof spring composition，The pulling force and the torsion that utilize shock-proof spring keep the relative position between joint frame，Reduce relative displacement between joint frame，It is configured to the connection shock-absorbing part of self adaptation complexity landform，Described support antivibrating module and bionical sufficient module together constitute with the main part of the present invention，Described bionical sufficient module includes eccentric main body、Eccentric end cap、Guide rod and bionical foot four part，Power is conducted to the eccentric main body of each bionical sufficient module in bionical sufficient module by motor by transmission module，Eccentric main body drives guide rod along circular motion，Eccentric main body is configured to slider-crank mechanism with guide rod and Ge Jie，Bionical foot in conjunction with class " W " type，Derive the bionical sufficient module of leg exercise attitude when imitating Scolopendra walking，Described bionical sufficient module together constitutes with the main part of the present invention with supporting antivibrating module，Described power and transmission module include reducing motor、Motor output shaft、Travelling gear and connecting plate composition，Power is passed sequentially through motor output shaft by the JS-50TT reducing motor that output speed is 30r/min、Travelling gear and connecting plate，Eventually arrive at each eccentric main body of each joint unit，And the phase contrast of each bionical sufficient module is controlled by regulating travelling gear，Described power and transmission module are the power core of the flat polypody pedestrian system motion of terrain self-adaptive.
- 2. the flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast according to claim 1, it is characterized in that: power is exported by motor output shaft by JS-50TT reducing motor, the bionical sufficient module of each unit joint it is delivered to through transmission module, eccentric main body in bionical sufficient module drives guide rod to do crank block motion, guide rod drives bionical foot motion, with ground intermittent contact, the phase contrast of travelling gear between utilization joint frame, alternate-running, and then realize the traveling of system.
- 3. the flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast according to claim 1, it is characterized in that: support antivibrating module and utilize the pulling force of shock-proof spring and torsion to keep the relative position between joint frame, reducing relative displacement between joint frame, being formed can the ability of self adaptation complexity landform.
- 4. the flat polypody pedestrian system of a kind of terrain self-adaptive based on phase contrast according to claim 1, it is characterized in that: by imitating leg exercise attitude during Scolopendra walking under complicated landform, flattening is utilized to design, realize wartime the low appearance of individual soldier crawl advance automatization, by imitate birds class " W " type claw grab to strengthen friction, increase stability, to allow system advance better.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520891721.6U CN205365798U (en) | 2015-11-10 | 2015-11-10 | Flat polypody system of walking of topography self -adaptation based on phase difference |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520891721.6U CN205365798U (en) | 2015-11-10 | 2015-11-10 | Flat polypody system of walking of topography self -adaptation based on phase difference |
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| CN205365798U true CN205365798U (en) | 2016-07-06 |
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| CN201520891721.6U Withdrawn - After Issue CN205365798U (en) | 2015-11-10 | 2015-11-10 | Flat polypody system of walking of topography self -adaptation based on phase difference |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672104A (en) * | 2015-11-10 | 2017-05-17 | 中国人民解放军军械工程学院 | Terrain self-adapted flat and multi-foot waking system based on phase difference |
| CN106828658A (en) * | 2017-04-01 | 2017-06-13 | 济南大学 | A kind of new considerable adjustable biped bar polypody wheel |
| CN111152192A (en) * | 2020-01-03 | 2020-05-15 | 金陵科技学院 | Bionic robot climbing structure and climbing method thereof |
| CN113975004A (en) * | 2021-09-13 | 2022-01-28 | 东北大学 | Alternate stepping stair climbing device |
-
2015
- 2015-11-10 CN CN201520891721.6U patent/CN205365798U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672104A (en) * | 2015-11-10 | 2017-05-17 | 中国人民解放军军械工程学院 | Terrain self-adapted flat and multi-foot waking system based on phase difference |
| CN106672104B (en) * | 2015-11-10 | 2018-11-06 | 中国人民解放军军械工程学院 | A kind of flat polypody pedestrian system of terrain self-adaptive based on phase difference |
| CN106828658A (en) * | 2017-04-01 | 2017-06-13 | 济南大学 | A kind of new considerable adjustable biped bar polypody wheel |
| CN111152192A (en) * | 2020-01-03 | 2020-05-15 | 金陵科技学院 | Bionic robot climbing structure and climbing method thereof |
| CN111152192B (en) * | 2020-01-03 | 2021-07-02 | 金陵科技学院 | Bionic robot climbing structure and climbing method thereof |
| CN113975004A (en) * | 2021-09-13 | 2022-01-28 | 东北大学 | Alternate stepping stair climbing device |
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Granted publication date: 20160706 Effective date of abandoning: 20181106 |