CN206336346U - A kind of machinery foot of imitative ram's horn expansion performance - Google Patents

Abstract

The utility model discloses a kind of machinery foot of imitative ram's horn expansion performance, including sole and toe, it is characterized in that it is three apotelus to set toe, the expansion performance of imitative ram's horn is obtained with the stretching motion of three apotelus；Three apotelus are root apotelus, middle apotelus and preceding apotelus respectively；Root apotelus is hinged on the front end of sole, and middle apotelus is hinged between root apotelus and preceding apotelus, forms " ∧ " shape and " ∨ " shape structure of series connection, the claw in hook is fixedly connected in the front end of preceding apotelus；Utilize three apotelus in drive mechanism synchronously driving toe so that " ∧ " shape reduces angle with " ∨ " shape structure synchronization, realize contraction of the toe in length, and lifted on claw；Or, utilize three apotelus in drive mechanism synchronously driving toe so that " ∧ " shape increases angle with " ∨ " shape structure synchronization, realizes stretching, extension of the toe in length, and hook under claw.The utility model is really achieved the expansion performance of imitative ram's horn, and light, easy to control.

Description

A kind of machinery foot of imitative ram's horn expansion performance

Technical field

The utility model is related to a kind of machinery foot of imitative ram's horn expansion performance, belongs to mechanical bionic field.

Background technology

In recent years, scientific and technical progress has promoted the development of mobile robot, and increasing mobile robot is by people Apply among daily life and industrial production.For some complex operating environments, single ground moving or climb Wall robot can not complete task, therefore people are higher to being proposed in terms of the performance, volume and structure of mobile robot It is required that.It is one of development trend of current mobile robot with reference to bionic design dependency structure.

It is well known that the claw of cat has retractile characteristic, in rest, walking, claw is general in contraction state, Friction can be so reduced, muscle power is saved；When hunting, climbing, claw is in extended configuration, plays booster action.The sole of cat There is meat pad, the effect with silencing and damping.

Chinese patent CN102267507A, discloses a kind of climbing walking bionic cat-pad mechanism, including metacarpal bone and Three finger joint bones, three finger joint bones are driven by single motor by worm gearing, utilize worm and gear Transmission device makes each finger joint bone be bent downwardly or stretch upwards, and realizes that ram's horn shows climbing and two kinds of activities of stabilized walking coarse Patten transformation, although the mechanism imitates ram's horn in structure, ram's horn expansion performance is not imitated on motion mode, meanwhile, its Number of motors for driving finger joint bone to rotate reaches as many as 12, and the Collaborative Control problem of each motor is not only existed, and So that ram's horn overall volume is big, weight big, the portability of imitative ram's horn can not be really achieved.

Utility model content

The utility model be for avoid present in above-mentioned prior art not enough there is provided a kind of machine of imitative ram's horn expansion performance Tool foot, to be really achieved the expansion performance of imitative ram's horn, and its portability, simplify control.

The utility model adopts the following technical scheme that to solve technical problem：

The utility model imitates the machinery foot of ram's horn expansion performance, including sole and toe, and it is structurally characterized in that：Toe is set For three apotelus, the expansion performance of imitative ram's horn is obtained with the stretching motion of three apotelus；

Three apotelus is root apotelus, middle apotelus and preceding apotelus respectively；The tail end of described apotelus passes through the first hinge bar The front end of sole is hinged on, the front end of root apotelus is hinged by the tail end of the second hinge bar and middle apotelus, the front end of middle apotelus leads to The tail end for crossing the 3rd hinge bar and preceding apotelus is hinged so that described apotelus is hinged to " ∧ " shape structure, middle apotelus with middle apotelus " ∨ " shape structure is hinged to preceding apotelus；The claw in hook is fixedly connected in the front end of the preceding apotelus；

The telescoping movement refers to：Utilize three apotelus in drive mechanism synchronously driving toe so that " ∧ " shape Structure reduces angle with " ∨ " shape structure synchronization, realizes contraction of the toe in length, and lifted on claw；Or, utilize driving Mechanism synchronously drives three apotelus in toe so that " ∧ " the shape structure increases angle with " ∨ " shape structure synchronization, realizes pin Stretching, extension of the toe in length, and hook under claw.

The design feature that the utility model imitates the machinery foot of ram's horn expansion performance is lain also in：The drive mechanism is fixed peace Motor in the inner chamber of sole, the rotation output of motor is transferred to the first hinge bar by bevel gear steering, described the First belt gear is set between one hinge bar and the second hinge bar, between second hinge bar and the 3rd hinge bar Second belt gear is set；First hinge bar, to be rotatably hinged, is to be fixedly connected with root apotelus with sole；Institute The second hinge bar is stated with root apotelus to be rotatably hinged, is to be fixedly connected with middle apotelus；3rd hinge bar and middle apotelus It is to be fixedly connected with preceding apotelus to be rotatably hinged.

The design feature that the utility model imitates the machinery foot of ram's horn expansion performance is lain also in：First belt gear With the second belt gear it is made up of driving pulley, driven pulley and belt, the belt is set to halved belt；The master The diameter with diameter greater than driven pulley of movable belt pulley.

The design feature that the utility model imitates the machinery foot of ram's horn expansion performance is lain also in：The two of second hinge bar End is provided with middle section button spring, and the two ends of the 3rd hinge bar are provided with prosthomere button spring；Utilize the middle section button spring and prosthomere Button spring provides reverse cushion effect for the contractile motion of toe, and in mechanical sufficient climbing sports, provides and helps for the stretching, extension of toe Power, makes claw firmly fit in climbing surface.

Compared with the prior art, the utility model has the beneficial effect that：

1st, the utility model is truly realized the expansion performance of imitative ram's horn with the stretching motion of three apotelus；

2nd, the utility model is in telescopic process, and its toe occupy-place is small, greatly reduces wanting for space needed for activity Ask, be more suitable for moving in small space；

3rd, in a contracted state, the shortening of its toe length makes foot barycenter be offset to sole to the utility model, improves The stabilization that sole is acted under corresponding state；

4th, a toe is only driven by a motor in the utility model, and each apotelus is realized by belt transmission Linkage, it is accurate that it is acted, and control mode is simple, has more greatly simplified structure setting, and weight is greatly reduced, and reduces volume, Light and flexible, further enhances the adaptability in small space；

5th, belt transmission is used in the utility model, it is that the regulation of each phalanx different length can be achieved to change centre-to-centre spacing, from And adapt to different application demands；

6th, the button spring set in the utility model provides reverse cushion effect for the contractile motion of claw, when mechanical foot is climbed Torsion spring can then make claw preferably fit climbing surface when climbing motion, can be according to robot weight, climbing surface smooth degree etc. Adjust torsion spring stiffness, therefore, it is possible to be prevented effectively from the rigid collision of hook and contact surface, improve machinery foot work stability and Reliability.

Brief description of the drawings

Fig. 1 is the utility model structural representation；

Fig. 2 is sole structural representation in the utility model；

Fig. 3 is toe drive mechanism schematic diagram in the utility model；

Fig. 4 is toe systolic view in the utility model；

Fig. 5 is toe extended configuration schematic diagram in the utility model；

Label in figure：1 sole, 2 claws, apotelus before 3, apotelus, 5 apotelus, 6 supports, 7 trip bolts, 8 end face spiral shells in 4 Nail, 9 Rubber shock-absorbing pads, 10 motors, 11 driving bevel gears, 12 first hinge bars, 13 driven bevel pinions, 14 second driving pulleys, In 15 first save button spring, 16 second hinge bars, 17 second halved belts, 18 first prosthomere button springs, 19 the 3rd hinge bars, 20 second from Movable belt pulley, 21 second prosthomere button springs, 22 first driven pulleys save button spring, 24 first halved belts, 25 first main belt in 23 second Wheel.

Embodiment

Referring to Fig. 1, Fig. 4 and Fig. 5, the machinery foot of ram's horn expansion performance is imitated in the present embodiment includes sole and toe, sets Toe is three apotelus, and the expansion performance of imitative ram's horn is obtained with the stretching motion of three apotelus.

As shown in figures 1 and 3, three apotelus are root apotelus 5, middle apotelus 4 and preceding apotelus 3 respectively in the present embodiment；Root apotelus 5 Tail end the front side of sole 1 is hinged on by the first hinge bar 12, the front end of root apotelus 5 passes through the second hinge bar 16 and middle apotelus Tail end be hinged, the front end of middle apotelus is hinged by the tail end of the 3rd hinge bar 19 and preceding apotelus so that root apotelus and middle apotelus " ∧ " shape structure is hinged to, middle apotelus is hinged to " ∨ " shape structure with preceding apotelus；It is fixedly connected in the front end of preceding apotelus 3 in hook Claw 2.

Telescoping movement refers in the present embodiment：Utilize three apotelus in drive mechanism synchronously driving toe so that " ∧ " Shape structure reduces angle with " ∨ " shape structure synchronization, realizes contraction of the toe in length, and is lifted on claw, as shown in Figure 4.Profit With three apotelus in drive mechanism synchronously driving toe so that " ∧ " shape structure realizes pin with " ∨ " shape structure synchronization increase angle Stretching, extension of the toe in length, and hook under claw, as shown in Figure 5；Telescoping movement allows to capable of expansion and contraction in limited space.

It is in the inner chamber of sole 1 as shown in figure 3, realizing drive lacking mode in the present embodiment with the drive mechanism of optimization Motor 10 is fixedly mounted, the rotation output of motor 10 passes through intermeshing driving bevel gear 11 and driven bevel pinion 13 are turned to by 90 ° and are transferred to the first hinge bar 12, and the first belt is set between the first hinge bar 12 and the second hinge bar 16 Transmission mechanism, the second belt gear is set between the second hinge bar 16 and the 3rd hinge bar 19；First hinge bar 12 with Sole 1, to be rotatably hinged, is to be fixedly connected with root apotelus 5；Second hinge bar 16 is rotatably to be hinged with root apotelus 5, It is to be fixedly connected with middle apotelus 4；3rd hinge bar 19, to be rotatably hinged, is to be fixedly connected with preceding apotelus 3 with middle apotelus 4； This drive lacking mode coordination is good, it is easier to adapt to non-structure environment.

In specific implementation, the first belt gear and the second belt gear be by driving pulley, driven pulley and Belt is constituted, and belt is set to halved belt, and rotating backward for two apotelus that are connected is realized using halved belt；The diameter of driving pulley is big In the diameter of driven pulley, the effect amplified step by step is played, root apotelus rotates a less angle, it becomes possible to realize that hook is stretched Exhibition and the action shunk, flexible movements, it is easy to implement.It is by the first driving pulley 25, the first driven pulley 22 and shown in Fig. 3 One halved belt 24 constitutes the first belt gear, by the second driving pulley 14, the second driven pulley 20 and the second halved belt 17 The second belt gear is constituted, wherein, the diameter with diameter greater than the first driven pulley 22 of the first driving pulley 25, the second master The diameter with diameter greater than the second driven pulley 20 of movable belt pulley 14.

Button spring is saved in being set at the two ends of the second hinge bar 16, is to save button spring in section button spring 15 and second in first respectively 23, the two ends of the 3rd hinge bar 19 are provided with prosthomere button spring, are the first prosthomere button spring 18 and the second prosthomere button spring 21 respectively；Profit Reverse cushion effect is provided for the contractile motion of toe with middle section button spring and prosthomere button spring, and in mechanical sufficient climbing sports, is The stretching, extension of toe provides power-assisted, claw 2 is firmly fitted in climbing surface.

Corresponding structure setting also includes in specific implementation：

Whole machinery foot is, using sole 1 as frame, groove to be set on the front end face of sole 1, and motor 10 is installed It is fixed in the inner chamber formed by groove, and with trip bolt 7, in order to realize the connection between root apotelus, in sole Front end utilizes the mounting bracket 6 of end face screw 8 by the position of each toe, and root apotelus 5 is real by the first hinge bar 12 with support 6 Now it is hinged；Rubber shock-absorbing pad 9 is installed in the bottom of sole 1, plays a part of damping sound insulation.

The rotation of motor 10 is transferred to the first hinge bar 12 by a pair of intermeshing bevel gears, utilizes the first hinge bar 12 drive with apotelus, and in being realized by belt gear apotelus and preceding apotelus linkage.

When mechanical foot is in static or walking states, it is in state as shown in Figure 4 that hook, which shrinks, now bears whole by sole Machine weight, toe was both protected, and the state of it also avoid is interfered.

When mechanical foot, which is in, runs or climb pattern, it is in state as shown in Figure 5 that hook, which stretches, is now aided in using hook Run, or climbed using hook.

Claims (4)

1. a kind of machinery foot of imitative ram's horn expansion performance, including sole and toe, it is characterized in that：Setting toe is three apotelus, with The stretching motion of three apotelus obtains the expansion performance of imitative ram's horn；

Three apotelus is root apotelus (5), middle apotelus (4) and preceding apotelus (3) respectively；The tail end of described apotelus (5) passes through One hinge bar (12) is hinged on the front end of sole (1), and the front end of root apotelus (5) passes through the second hinge bar (16) and middle apotelus (4) Tail end be hinged, the front end of middle apotelus (4) is hinged by the tail end of the 3rd hinge bar (19) and preceding apotelus (3) so that described Apotelus (5) is hinged to " ∧ " shape structure with middle apotelus (4), and middle apotelus (4) is hinged to " ∨ " shape structure with preceding apotelus (3)；Institute The front end for stating preceding apotelus (3) is fixedly connected claw (2) in hook；

The telescoping movement refers to：Utilize three apotelus in drive mechanism synchronously driving toe so that " ∧ " the shape structure Angle is reduced with " ∨ " shape structure synchronization, contraction of the toe in length is realized, and lifted on claw；Or, utilize drive mechanism Three apotelus in synchronous driving toe so that " ∧ " the shape structure increases angle with " ∨ " shape structure synchronization, realizes that toe exists Stretching, extension in length, and hook under claw.

2. the machinery foot of imitative ram's horn expansion performance according to claim 1, it is characterized in that：

The drive mechanism is fixedly mounted at the motor (10) in the inner chamber of sole (1), and the rotation output of motor (10) passes through Bevel gear is turned to and is transferred to the first hinge bar (12), and the is set between first hinge bar (12) and the second hinge bar (16) One belt gear, the second belt gear is set between second hinge bar (16) and the 3rd hinge bar (19)； First hinge bar (12) is to be fixedly connected with root apotelus (5) to be rotatably hinged with sole (1)；Described second is hinged Bar (16) is to be fixedly connected with middle apotelus (4) to be rotatably hinged with root apotelus (5)；3rd hinge bar (19) is with Apotelus (4), to be rotatably hinged, is to be fixedly connected with preceding apotelus (3).

3. the machinery foot of imitative ram's horn expansion performance according to claim 2, it is characterized in that：First belt gear With the second belt gear it is made up of driving pulley, driven pulley and belt, the belt is set to halved belt；The master The diameter with diameter greater than driven pulley of movable belt pulley.

4. the machinery foot of imitative ram's horn expansion performance according to claim 2, it is characterized in that：In second hinge bar (16) Two ends be provided with it is middle section button spring, the two ends of the 3rd hinge bar (19) are provided with prosthomere button spring；Utilize the middle section button Spring and prosthomere button spring provide reverse cushion effect for the contractile motion of toe, and are stretching for toe in mechanical sufficient climbing sports Exhibition provides power-assisted, claw (2) is firmly fitted in climbing surface.