CN207374536U - A kind of bionic mechanical foot - Google Patents
A kind of bionic mechanical foot Download PDFInfo
- Publication number
- CN207374536U CN207374536U CN201721493761.0U CN201721493761U CN207374536U CN 207374536 U CN207374536 U CN 207374536U CN 201721493761 U CN201721493761 U CN 201721493761U CN 207374536 U CN207374536 U CN 207374536U
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- mechanical
- phalanx
- bottom cover
- several
- hypomere
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 229920001971 elastomer Polymers 0.000 claims abstract description 27
- 230000006835 compression Effects 0.000 claims abstract description 24
- 238000007906 compression Methods 0.000 claims abstract description 24
- 239000000463 material Substances 0.000 claims description 6
- 244000043261 Hevea brasiliensis Species 0.000 claims description 3
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 3
- PYLLWONICXJARP-UHFFFAOYSA-N manganese silicon Chemical compound [Si].[Mn] PYLLWONICXJARP-UHFFFAOYSA-N 0.000 claims description 3
- 229920003052 natural elastomer Polymers 0.000 claims description 3
- 229920001194 natural rubber Polymers 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 claims 9
- 210000000988 bone and bone Anatomy 0.000 claims 1
- 239000003292 glue Substances 0.000 claims 1
- 210000003371 toe Anatomy 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 11
- 239000004575 stone Substances 0.000 abstract description 5
- 238000009825 accumulation Methods 0.000 abstract description 3
- 238000013016 damping Methods 0.000 abstract description 3
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 2
- 230000001627 detrimental effect Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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- Prostheses (AREA)
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of bionic mechanical foot,It is made of support base and several mechanical phalanxes,When using and loading,The rubber roll of mechanical phalanx hypomere end contacts at first with ground,Play damping effect,Mechanical phalanx hypomere is opened around afterwards,Bottom cover contacts to earth,The compression spring for continuing to connect on bottom cover after loading will be subject to upward support force and generate deformation,So as to achieve the effect that buffer accumulation of energy,Increase the contact area of entire machinery foot simultaneously,Ensure stability,The state walked at this time for machinery foot in general rough road,If it crosses critical point to continue to load (during connecting rod level),Connecting rod moves upwards,The movement that pulling force recycles so as to which mechanical phalanx hypomere be driven to carry out to bottom cover center is generated to tension spring,Envelope effect when realizing through more stone road surfaces,The utility model is easy to operate,It is easy to use,With the rigid support construction of biology and flexible adaptive structure,Make it that can all be worked normally in general road and more stone road surfaces,With preferable passability.
Description
Technical field
The utility model is related to engineering bionics techniques field, more particularly to a kind of bionic mechanical foot.
Background technology
Bionic mechanical foot spininess carries out the research and design of cross-country traveling ability, the scope of application for a certain special road surface at present
Small and most bionic mechanical is enough using rigid design, and during mechanical movement, the foot termination of robot contacts non-resilient
Impact force is big caused by hard ground, and larger impact force can be to generations such as stability, the securities of firmware of fuselage more
Detrimental effect, it is therefore desirable to which there is certain flexibility at the leg of robot and sufficient end.
The content of the invention
The purpose of this utility model is to solve above-mentioned current bionic mechanical foot spininess to carry out for a certain special road surface
The research and design of cross-country traveling ability, the scope of application is small, and most bionic mechanicals uses rigid design enough, in mechanical movement process
In, the foot termination of robot contacts that impact force caused by non-resilient hard ground is big, and larger impact force can be to the steady of fuselage
The generations such as qualitative, firmware security more detrimental effect the problems such as, and provide a kind of bionic mechanical foot.
A kind of bionic mechanical foot is made of support base and several mechanical phalanxes, and several machinery phalanxes are arranged on support bottom
It is symmetric on seat and by axis of support base, several machinery phalanx structure sizes are identical；
Support base includes head cover, bottom cover, compression spring, several connecting rods, several tension springs and filled rubber, head cover and bottom cover
Diameter is identical, is connected among head cover and bottom cover by compressing spring, and head cover is arranged on above compression spring, and bottom cover is arranged on compression
Below spring, the both ends of connecting rod are hinged respectively with bottom cover and mechanical phalanx, and filled rubber is attached to the bottom of bottom cover；
Head cover has several first hinge holes, and bottom cover has several second hinge holes, and connecting rod has several 3rd articulated link chains
With several crossbeams, the 3rd articulated link chain is respectively distributed to the both ends of connecting rod, and wherein one end is hinged in the second hinge hole；
Mechanical phalanx includes mechanical phalanx epimere and mechanical phalanx hypomere, and mechanical phalanx epimere and mechanical phalanx hypomere pass through
Hinged mode connects；
Mechanical phalanx epimere has the first articulated link chain, the 3rd hinge hole and the 4th hinge hole, the first articulated link chain and the 3rd hinge
Connect the both ends that hole is respectively distributed to mechanical phalanx epimere, the 4th hinge hole it is vertical with the 3rd hinge hole and with the 3rd articulated link chain its
Middle one end is hinged；
Mechanical phalanx hypomere has the second articulated link chain, the first fluting, the second fluting and several rubber rolls；
First articulated link chain is hinged in the first hinge hole, and one end of tension spring is hooked on crossbeam, and the tension spring other end is hooked on
On second fluting, rubber roll is arranged in the first fluting；
The machinery phalanx hypomere tip designs are horizontal short platy structure；
The head cover and bottom cover are annular Steel material；
The compression spring and tension spring are silicon-manganese spring steel material；
The rubber roll and filled rubber are natural rubber；
Former long L=(1.1~1.2) S of compression spring, S is head cover, the diameter of bottom cover, if segment length on mechanical phalanx
It spends for a, segment length is b, length of connecting rod c under mechanical phalanx, then b=1.2~1.4a, b=1.1~1.2c；
Tension spring one end tie point be located at mechanical phalanx hypomere bottom up 1/5~2/5 at, the other end tie point of tension spring
Positioned at connecting rod outer end inside 1/4~1/2 at；
The intensity for compressing spring ensures that the bottom cover after assembling under state of not contacting to earth is more than more than 20mm apart from ground, false
If compressing the stiffness factor of spring for K1, the stiffness factor of tension spring is K2, then K2 ≈ 0.2K1.
The operation principle and process of the utility model：
When using and loading, the rubber roll of mechanical phalanx hypomere end contacts at first with ground, plays the effect of damping
Fruit, since the coefficient of friction of idler wheel is small, mechanical phalanx hypomere can be easier to open around so that and bottom cover contacts to earth, and continues to load,
The compression spring connected on bottom cover will be subject to upward support force and generate deformation, so as to achieve the effect that buffer accumulation of energy, together
When entire machinery foot contact area can also increase, it is ensured that stability, at this time machinery foot walks in general rough road
State continues to load if crossing critical point (during connecting rod level), due to moving upwards for connecting rod, tension spring is generated pulling force so as to
Mechanical phalanx hypomere is driven to carry out the movement recycled to bottom cover center, envelope effect when realizing through more stone road surfaces.
Mechanical foot specific work process is as follows：
The end rubber roll of mechanical phalanx hypomere contacts to earth (ideal situation of non-stand under load is shown in Fig. 4), at this time the utility model
In original state, angle α=45 ° of mechanical phalanx epimere and head cover, the distance between head cover and bottom cover are compression spring
Original is long；
First stage carrying critical value (see Fig. 5), head cover is in a straight line with bottom cover, and α reaches 48.59 ° of maximum,
The whole contact area of mechanical foot reaches maximum S=10514mm2, the best effect of stability is reached on general rough earth
Fruit；
Second stage carrying critical value (see Fig. 6), with the increase of load, bottom cover continues upward movement, while the company of affecting
Bar drives mechanical phalanx hypomere inwardly to collapse, and the power inwardly collapsed gradually increases, when the Distance Shortened of head cover and bottom cover to compression
During the shortest length of spring, machinery foot is in the critical value of second stage state, at this time α=28.48 °, folded by connecting rod and bottom cover
Acute angles beta=39.47 °, energy possessed by mechanical phalanx hypomere reach peak value, have maximum clamping force.
The beneficial effects of the utility model：
The utility model is easy to operate, easy to use, not only with the rigid support construction of biology but also can have a flexibility
Adaptive structure with reference to the advantages of birds walking configuration, is applied it in the design of biped walking machinery, makes it on general road
Face and more stone road surfaces can all work normally, and have preferable passability.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model.
Fig. 2 is the top view of the utility model.
Fig. 3 is the sectional view of the utility model.
Fig. 4 is schematic diagram of the utility model in non-stand under load.
Fig. 5 is schematic diagram of the utility model when first stage critical value is carried.
Fig. 6 is schematic diagram of the utility model when second stage carries critical value.
Fig. 7 is the front view of the head cover of the utility model.
Fig. 8 is the top view of the head cover of the utility model.
Fig. 9 is the front view of the bottom cover of the utility model.
Figure 10 is the top view of the bottom cover of the utility model.
Figure 11 is the front view of the mechanical phalanx hypomere of the utility model.
Figure 12 is the top view of the mechanical phalanx hypomere of the utility model.
Figure 13 is the front view of the mechanical phalanx epimere of the utility model.
Figure 14 is the top view of the mechanical phalanx epimere of the utility model.
Figure 15 is the front view of the connecting rod of the utility model.
Figure 16 is the top view of the connecting rod of the utility model.
Figure 17 is the front view of the rubber roll of the utility model.
Figure 18 is the top view of the rubber roll of the utility model.
Figure 19 is the front view of the filled rubber of the utility model.
Figure 20 is the top view of the filled rubber of the utility model.
Specific embodiment
It please refers to Fig.1 to shown in Figure 20, a kind of bionic mechanical foot is made of, number support base 1 and several mechanical phalanxes 2
A machinery phalanx 2 is arranged in support base 1 and is symmetric with support base 1 for axis, several machinery 2 structure sizes of phalanx
It is identical；
Support base 1 includes head cover 11, bottom cover 12, compression spring 13, several connecting rods 14, several tension springs 15 and filled rubber
16, head cover 11 is identical with 12 diameter of bottom cover, and head cover 11 is connected among bottom cover 12 by compressing spring 13, and head cover 11 is arranged on pressure
13 top of contracting spring, bottom cover 12 are arranged on 13 lower section of compression spring, and the both ends of connecting rod 14 are cut with scissors respectively with bottom cover 12 and mechanical phalanx 2
It connects, filled rubber 16 is attached to the bottom of bottom cover 12；
Head cover 11 has several first hinge holes 111, and bottom cover 12 has several second hinge holes 121, and connecting rod 14 has number
A 3rd articulated link chain 141 and several crossbeams 142, the 3rd articulated link chain 141 are respectively distributed to the both ends of connecting rod 14, and wherein one end is hinged
In the second hinge hole 121；
Mechanical phalanx 2 includes mechanical phalanx epimere 21 and mechanical phalanx hypomere 22, mechanical phalanx epimere 21 and mechanical phalanx
Hypomere 22 is connected by hinged mode；
Mechanical phalanx epimere 21 has the first articulated link chain 211, the 3rd hinge hole 212 and the 4th hinge hole 213, and first is hinged
211 and the 3rd hinge hole 212 of chain is respectively distributed to the both ends of mechanical phalanx epimere 21, the 4th hinge hole 213 and the 3rd hinge hole
212 is vertical and be hinged with wherein one end of the 3rd articulated link chain 141；
Mechanical phalanx hypomere 22 has the 222, second fluting 223 of the second articulated link chain 221, first fluting and several rubber rolls
224；
First articulated link chain 211 is hinged in the first hinge hole 111, and one end of tension spring 15 is hooked on crossbeam 142, tension spring 15
The other end is hooked on the second fluting 223, and rubber roll 224 is arranged in the first fluting 222；
22 tip designs of machinery phalanx hypomere are horizontal short platy structure；
The head cover 11 and bottom cover 12 are annular Steel material；
The compression spring 13 and tension spring 15 are silicon-manganese spring steel material；
The rubber roll 224 and filled rubber 16 are natural rubber；
13 former long L=(1.1~1.2) S of compression spring, S is head cover 11, the diameter of bottom cover 12, if mechanical phalanx
21 length of epimere is a, and mechanical 22 length of phalanx hypomere is b, and 14 length of connecting rod is c, then b=1.2~1.4a, b=1.1~
1.2c；
15 one end tie point of tension spring be located at mechanical 22 bottom of phalanx hypomere up 1/5~2/5 at, the other end of tension spring 15
Tie point be located at 14 outer end of connecting rod inside 1/4~1/2 at；
Compress spring 13 intensity ensure after assembling bottom cover 12 under state of not contacting to earth apart from ground be more than 20mm with
On, it is assumed that the stiffness factor of compression spring 13 is K1, and the stiffness factor of tension spring 15 is K2, then K2 ≈ 0.2K1.
The operation principle and process of the utility model：
It please refers to Fig.1 shown in-Figure 20, a kind of bionic mechanical foot, when using and loading, mechanical 22 end of phalanx hypomere
Rubber roll 224 contacts at first with ground, plays the effect of damping, since the coefficient of friction of idler wheel is small, mechanical phalanx hypomere 22
Can be easier to open around so that bottom cover 12 contacts to earth, and continues to load, the compression spring 13 connected on bottom cover 12 will be subject to
On support force and generate deformation, so as to achieve the effect that buffer accumulation of energy, while the contact area of entire machinery foot can also increase,
Ensure stability, the state walked at this time for mechanical foot in general rough road, if crossing critical point (when connecting rod 14 is horizontal)
Continue to load, then moving upwards due to connecting rod 14, to tension spring 15 generate pulling force so as to drive mechanical phalanx hypomere 22 carry out to
The movement of 12 center of bottom cover recycling, envelope effect when realizing through more stone road surfaces.
Mechanical foot specific work process is as follows：
The end rubber roll 224 of mechanical phalanx hypomere 22 contacts to earth (ideal situation of non-stand under load is shown in Fig. 4), this practicality at this time
It is new to be in original state, angle α=45 ° of mechanical phalanx epimere 21 and head cover 11, the distance between head cover 11 and bottom cover 12
Original for compression spring 13 is long；
First stage carrying critical value (see Fig. 5), head cover 11 are in a straight line with bottom cover 12, and α reaches maximum
48.59 °, the whole contact area of machinery foot reaches maximum S=10514mm2, stability is reached on general rough earth most
Good effect；
Second stage carrying critical value (see Fig. 6), with the increase of load, bottom cover 12 continues upward movement, affects simultaneously
Connecting rod 14 drives mechanical phalanx hypomere 22 inwardly to collapse, and the power inwardly collapsed gradually increases, when the distance of head cover 11 and bottom cover 12
When foreshortening to the shortest length of compression spring 13, machinery foot is in the critical value of second stage state, at this time α=28.48 °, even
Bar 14 reaches peak value with acute angles beta=39.47 °, energy possessed by mechanical phalanx hypomere 22 folded by bottom cover 12, has maximum folder
Clamp force.
Claims (9)
1. a kind of bionic mechanical foot, it is characterised in that：It is made of support base (1) and several mechanical phalanxes (2), several machinery toes
Bone (2) is arranged in support base (1) and is symmetric with support base (1) for axis, several machinery phalanx (2) structure sizes
It is identical；
Support base (1) include head cover (11), bottom cover (12), compression spring (13), several connecting rods (14), several tension springs (15) and
Filled rubber (16), head cover (11) is identical with bottom cover (12) diameter, and head cover (11) is intermediate by compressing spring with bottom cover (12)
(13) connect, head cover (11) is arranged on above compression spring (13), and bottom cover (12) is arranged below compression spring (13), connecting rod
(14) both ends are hinged with bottom cover (12) and mechanical phalanx (2) respectively, and filled rubber (16) is attached to the bottom of bottom cover (12)；
Head cover (11) has several first hinge holes (111), and bottom cover (12) has several second hinge holes (121), connecting rod (14)
With several 3rd articulated link chains (141) and several crossbeams (142), the 3rd articulated link chain (141) is respectively distributed to the two of connecting rod (14)
End, wherein one end is hinged in the second hinge hole (121)；
Mechanical phalanx (2) includes mechanical phalanx epimere (21) and mechanical phalanx hypomere (22), mechanical phalanx epimere (21) and machinery
Phalanx hypomere (22) is connected by hinged mode；
Mechanical phalanx epimere (21) have the first articulated link chain (211), the 3rd hinge hole (212) and the 4th hinge hole (213), first
Articulated link chain (211) and the 3rd hinge hole (212) are respectively distributed to the both ends of mechanical phalanx epimere (21), the 4th hinge hole (213)
It is vertical with the 3rd hinge hole (212) and be hinged with wherein one end of the 3rd articulated link chain (141)；
Mechanical phalanx hypomere (22) has the second articulated link chain (221), the first fluting (222), the second fluting (223) and several rubber
Idler wheel (224)；
First articulated link chain (211) is hinged in the first hinge hole (111), and one end of tension spring (15) is hooked on crossbeam (142), is drawn
Spring (15) other end is hooked on the second fluting (223), and rubber roll (224) is arranged in the first fluting (222).
2. a kind of bionic mechanical foot according to claim 1, it is characterised in that：The former long L=of compression spring (13)
(1.1~1.2) S, S are head cover (11), the diameter of bottom cover (12), if mechanical phalanx epimere (21) length is a, under mechanical phalanx
Section (22) length is b, and connecting rod (14) length is c, then b=1.2~1.4a, b=1.1~1.2c.
3. a kind of bionic mechanical foot according to claim 1, it is characterised in that：Described tension spring (15) one end tie point position
In mechanical phalanx hypomere (22) bottom up 1/5~2/5 at, the other end tie point of tension spring (15) is located at connecting rod (14) outer end
At 1/4~1/2 inside.
4. a kind of bionic mechanical foot according to claim 1, it is characterised in that：The compression spring (13) is in the shape that do not contact to earth
Bottom cover (12) under state is more than 20mm apart from ground.
5. a kind of bionic mechanical foot according to claim 1, it is characterised in that：The stiffness system of the compression spring (13)
Number is K1, and the stiffness factor of tension spring (15) is K2, then K2 ≈ 0.2K1.
6. a kind of bionic mechanical foot according to claim 1, it is characterised in that：Described machinery phalanx hypomere (22) end is set
It is calculated as horizontal short platy structure.
7. a kind of bionic mechanical foot according to claim 1, it is characterised in that：The head cover (11) and bottom cover (12) are ring
Shape Steel material.
8. a kind of bionic mechanical foot according to claim 1, it is characterised in that：The compression spring (13) and tension spring (15)
For silicon-manganese spring steel material.
9. a kind of bionic mechanical foot according to claim 1, it is characterised in that：The rubber roll (224) and filling rubber
Glue (16) is natural rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721493761.0U CN207374536U (en) | 2017-11-10 | 2017-11-10 | A kind of bionic mechanical foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721493761.0U CN207374536U (en) | 2017-11-10 | 2017-11-10 | A kind of bionic mechanical foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207374536U true CN207374536U (en) | 2018-05-18 |
Family
ID=62335250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721493761.0U Withdrawn - After Issue CN207374536U (en) | 2017-11-10 | 2017-11-10 | A kind of bionic mechanical foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207374536U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628140A (en) * | 2017-11-10 | 2018-01-26 | 吉林大学 | A kind of bionic mechanical foot |
-
2017
- 2017-11-10 CN CN201721493761.0U patent/CN207374536U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628140A (en) * | 2017-11-10 | 2018-01-26 | 吉林大学 | A kind of bionic mechanical foot |
| CN107628140B (en) * | 2017-11-10 | 2023-10-27 | 吉林大学 | Bionic mechanical foot |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180518 Effective date of abandoning: 20231027 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180518 Effective date of abandoning: 20231027 |