CN210212567U

CN210212567U - Bionic composite bouncing foot structure suitable for surfaces with different roughness

Info

Publication number: CN210212567U
Application number: CN201920841100.5U
Authority: CN
Inventors: Zhongyuan Wang; 汪中原; Weiqiang Wu; 吴炜强; Kebo Deng; 邓克波; Xiaofeng Xu; 徐小峰
Original assignee: CETC 28 Research Institute
Current assignee: CETC 28 Research Institute
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2020-03-31
Anticipated expiration: 2029-06-05

Abstract

The utility model discloses a sufficient structure of bionical compound spring of applicable different roughness surfaces, including the dead lever, the second pole, third pole and fourth pole, dead lever one end is articulated with the second pole, the other end is articulated with the fourth pole, the one end and the third pole upper end that the dead lever was kept away from to the second pole are articulated, the one end that the dead lever was kept away from to the fourth pole articulates on the third pole, the dead lever top sets up the motor, the articulated department at third pole and fourth pole is connected to elastic connection spare's one end, the other end is connected on the transmission shaft of motor, the lower extreme of third pole sets up hook structure and sufficient pad structure, hook structure top is passed through the elastomer and is connected with the third pole, sufficient pad structure bottom sets up first bionical layer of adhering. The utility model provides a current robot bounce mechanism or sole structure can not realize better spring ability in smooth surface jumping well in smooth and rough surface.

Description

Bionic composite bouncing foot structure suitable for surfaces with different roughness

Technical Field

The utility model relates to a sufficient structure of bionical compound spring especially relates to a sufficient structure of bionical compound spring of applicable different roughness surfaces.

Background

In recent years, with the continuous development of robotics, when facing harsh environments and complex terrains, robots often enhance their ability to adapt to terrains and move autonomously by bouncing. However, the conventional bouncing robot can only complete a bouncing action on a rough ground, and the function of the conventional bouncing robot on a smooth ground is often limited.

Fleas have excellent jumping performance and research has shown that fleas have many claw-like structures on their legs that enhance the jumping ability of the fleas. Therefore, the bionic claw structure and the foot pad structure are combined to simulate the leg structure design of the insect, so that the robot can finish jumping actions on various surfaces, and the jumping capability of the robot is enhanced.

At present, no related technology exists in China about a bionic composite foot structure which can be suitable for various terrains and can enhance the jumping capability of a robot. Chinese patent application publication CN101767615A discloses a leg bouncing mechanism of frog robot, whose leg structure is composed of thigh, shank, connecting rod and joint, the leg structure contains a combination of two four-bar mechanisms, the sole is arc, and the sole is provided with foot pad. The structure can improve the jumping capability of the robot, but the robot cannot normally work on a smooth surface. Chinese patent application publication CN103434581A discloses a "robot sole structure" consisting of a contact friction part, an active ground-grasping part and a foot-connecting part. The structure increases the grabbing force of the feet of the robot through contact friction and active grabbing, so that the robot has better adaptability to the mountain slope with complex road conditions, but the claw tooth block needs to be pierced into the ground during working, and the structure cannot adapt to the requirements of various surfaces.

Disclosure of Invention

The purpose of the invention is as follows: the to-be-solved technical problem of the utility model is to provide a sufficient structure of bionical compound spring of applicable different roughness surfaces, solved current robot spring mechanism or sole structure defect that can not jump in smooth surface well, all realize better spring ability in smooth and rough surface.

The technical scheme is as follows: applicable different roughness surface's bionical compound spring sufficient structure, including dead lever, second pole, third pole and fourth pole, dead lever one end is articulated with the second pole, the other end is articulated with the fourth pole, the one end that the dead lever was kept away from to the second pole is articulated with third pole upper end, the one end that the dead lever was kept away from to the fourth pole articulates on the third pole, the dead lever top sets up the motor, the articulated department at third pole and fourth pole is connected to elastic connection's one end, the other end is connected on the transmission shaft of motor, the lower extreme of third pole sets up hook structure and sufficient pad structure, hook structure top is passed through the elastomer and is connected with the third pole, sufficient pad structure bottom sets up first bionical adhesion layer.

Furthermore, a second bionic adhesion layer used for being connected with the robot body is arranged on the outer side surface of the fixing rod.

Furthermore, the second bionic adhesion layer is made of one material of polydimethylsiloxane, polyvinyl siloxane, polyurethane acrylate and polymethyl methacrylate.

Furthermore, the first bionic adhesion layer is formed by obliquely arranging at least one block-shaped structure consisting of carbon nanotube materials according to an angle set with the bottom surface of the foot pad structure.

Further, the set angle is 45 degrees.

Further, the carbon nanotube material is one of polydimethylsiloxane, polyvinyl siloxane, polyurethane acrylate and polymethyl methacrylate.

Further, the elastomer is composed of silica gel.

Further, the elastic connecting piece is a spring.

Has the advantages that: the utility model discloses changed traditional jumping robot's foot structural design, can show the jumping ability that strengthens the robot in various surfaces such as smoothness and roughness, improved adaptability and the working range of robot to the environment. The structure is used as a universal part and is connected with the robot body through a bionic adhesion material, so that the motion capability of the traditional land robot can be expanded, and the robot has the bouncing capability. When not in use, the structure can be folded, and the storage space is reduced.

Drawings

FIG. 1 is a block diagram of an embodiment of the present invention;

FIG. 2 is a schematic diagram of the operation of the present embodiment;

FIG. 3 is a schematic view of the present embodiment in connection with a robot body;

fig. 4 is a schematic view of the contracted state of the present embodiment.

Detailed Description

The utility model discloses the structure of embodiment is as shown in figure 1, including dead lever 1, second pole 2, third pole 31 and

fourth pole

4, 1 one end of dead lever is articulated with second pole 2, the other end is articulated with fourth pole 4, the one end and the third pole 31 upper end that dead lever 1 was kept away from to second pole 2 are articulated, the one end that dead lever 1 was kept away from to fourth pole 4 articulates on third pole 31, dead lever 1 top sets up motor 6, the articulated department at third pole 31 and fourth pole 4 is connected to the one end of elastic connection spare 5, the other end is connected on the transmission shaft of motor 6. The elastic connection 5 may be a spring or other elastic means. The lower end of the third rod 31 is provided with a hook structure 32 and a foot pad structure 34, the upper part of the hook structure 32 is connected with the third rod 31 through a thin elastic body 33, an acute angle is formed between the elastic body 33 and the third rod 31, the elastic body 33 is preferably silica gel, and the hook structure has a certain moving space and can generate certain elastic deformation when contacting with the surface. The first biomimetic adhesive layer 35 is disposed at the bottom of the foot pad structure 34. The first biomimetic adhesive layer 35 is made of a high molecular polymer or a carbon nanotube material, and is preferably one of polydimethylsiloxane, polyvinylsiloxane, polyurethane, urethane acrylate and polymethyl methacrylate. The first biomimetic adhesive layer 35 is specifically composed of the carbon nanotube material as described above, which is configured as bulk structures, and these bulk structures are arranged on the bottom surface of the foot pad structure 34 at a set angle, preferably 45 degrees from the bottom surface. In the preparation process of robot jumping, the first bionic adhesion layer 35 is pressed to be completely contacted with the ground, so that support and ground grabbing force are provided for the robot body, and after jumping is completed, the first bionic adhesion layer can be easily detached from a contact surface at a certain angle under the van der Waals principle.

The structure can be connected to a robot in different modes as a part, for example, the structure is fixedly arranged on the robot through a screw, the preferable mode is that a second bionic adhesion layer 7 is arranged, the second bionic adhesion layer 7 is arranged on the outer side surface of the fixed rod 1 and is made of one material of polydimethylsiloxane, polyvinyl siloxane, polyurethane acrylate and polymethyl methacrylate, and the structure is connected to a robot body through the second bionic adhesion layer 7.

The advancing process of the present embodiment is shown in fig. 2, where the arrow direction is the advancing direction, and the specific movement includes the following processes:

process 1, in an initial state, with the rotation of the motor 6, the elastic connecting piece 5 is compressed, the second rod 2 is within 90 degrees of the advancing direction, and the claw structure 32 is contacted with the target surface;

in the process 2, the elastic connecting piece 5 releases energy, the claw structure 32 and the foot pad structure 34 are simultaneously contacted with the target surface, and the first bionic adhesion layer 35 at the bottom of the foot pad structure 34 is contacted with the target surface under the van der Waals principle;

in process 3, the elastic connecting piece 5 continues to release energy, the claw structure 32 is separated from the target surface, and the foot pad structure 34 is also contacted with the target surface;

in the process 4, the elastic connecting piece 5 becomes the original length, the foot pad structure 34 is separated from the target surface under the action of the van der Waals principle, and the robot also completes the jumping process.

Repeating the

processes

1, 2, 3 and 4 can make the robot move continuously.

The structure is connected with the robot body as shown in figure 3, is connected with the robot body 8 through a second bionic adhesion layer 7, and is contracted to be arranged at two sides of the robot body when not in use.

The collapsed condition of the structure is shown in figure 4, and when not in use, the second bar 2 and the third bar 31 are raised, reducing the storage space of the structure.

Claims

1. The utility model provides a sufficient structure of bionical compound spring of applicable different roughness surfaces which characterized in that: comprises a fixed rod (1) and a second rod (2), third pole (31) and fourth pole (4), dead lever (1) one end is articulated with second pole (2), the other end is articulated with fourth pole (4), the one end and the third pole (31) upper end that dead lever (1) was kept away from in second pole (2) are articulated, the one end that dead lever (1) was kept away from in fourth pole (4) articulates on third pole (31), dead lever (1) top sets up motor (6), the articulated department at third pole (31) and fourth pole (4) is connected to the one end of elastic connection spare (5), the other end is connected on the transmission shaft of motor (6), the lower extreme of third pole (31) sets up hook structure (32) and sufficient pad structure (34), hook structure (32) top is connected with third pole (31) through elastomer (33), sufficient pad structure (34) bottom sets up first bionical adhesion layer (35).

2. The bionic composite bouncing foot structure applicable to surfaces with different roughness as claimed in claim 1, wherein: and a second bionic adhesion layer (7) for connecting the robot body is arranged on the outer side surface of the fixing rod (1).

3. The bionic composite bouncing foot structure applicable to surfaces with different roughness as claimed in claim 2, wherein: the second bionic adhesion layer (7) is made of one of polydimethylsiloxane, polyvinyl siloxane, polyurethane acrylate and polymethyl methacrylate.

4. The bionic composite bouncing foot structure applicable to surfaces with different roughness as claimed in claim 1, wherein: the first bionic adhesion layer (35) is composed of at least one block structure composed of carbon nanotube materials which are arranged in an inclined mode according to an angle set with the bottom surface of the foot pad structure (34).

5. The bionic composite bouncing foot structure applicable to surfaces with different roughness as claimed in claim 4, wherein: the set angle is 45 degrees.

6. The bionic composite bouncing foot structure applicable to surfaces with different roughness as claimed in claim 4, wherein: the carbon nanotube material is one of polydimethylsiloxane, polyvinyl siloxane, polyurethane acrylate and polymethyl methacrylate.

7. The bionic composite bouncing foot structure applicable to surfaces with different roughness as claimed in claim 1, wherein: the elastomer (33) is composed of silicone rubber.

8. The bionic composite bouncing foot structure applicable to surfaces with different roughness as claimed in claim 1, wherein: the elastic connecting piece (5) is a spring.