阅读说明：本技术 基于张拉整体结构的仿生足机构 (Bionic foot mechanism based on integral tensioning structure ) 是由 孙建伟 宋广生 刘文瑞 曹学敏 薛娜 于 2018-05-28 设计创作，主要内容包括：本发明属于机械设备技术领域,特别是涉及到一种具有缓冲和减震特性的仿生足机构,其特征包括连接件,拉簧,固定杆,球关节轴承,轴,直线轴承,套筒,压簧。基于张拉整体结构弹性变形的特点,提出一种仿生足机构的设计方法,具有结构简单,尺寸相对较小,成本低廉的特点,能够实现缓冲与减震功能。本发明可应用于机器人行走装置以减缓地面冲击力。(The invention belongs to the technical field of mechanical equipment, and particularly relates to a bionic foot mechanism with buffering and damping characteristics. Based on the characteristic of elastic deformation of a stretching integral structure, the design method of the bionic foot mechanism is provided, has the characteristics of simple structure, relatively small size and low cost, and can realize the functions of buffering and shock absorption. The invention can be applied to the robot walking device to reduce the impact force on the ground.)

1. The bionic foot type mechanism based on the tension integral structure is characterized by comprising connecting pieces (1), (7), (13), (23), (25), tension springs (2), (8), (10), (11), (22), (24), a fixing rod (9), a ball joint bearing (12), shafts (3), (14), (15), linear bearings (4), (16), (17), sleeves (5), (18), (19), compression springs (6), (20) and (21), and the bionic flexible foot type mechanism is established through connection of all parts.

2. The device according to claim 1, characterized in that the connecting member (1) is connected to the fixing rod (9) by a screw connection, the fixing rod (9) is connected to the ball joint bearing (12) by a screw connection, the ball joint bearing (12) is connected to the connecting member (13) by a screw connection, the connecting member (13) is connected to the shaft (3), (14), (15) by a screw connection, the sleeve (5), (18), (19) has a built-in compression spring (6), (20), (21) connected to the shaft (3), (14), (15) by the linear bearing (4), (16), (17) for rotation and sliding, the sleeve (5), (18), (19) is connected to the connecting member (7), (23), (25) in turn by a screw connection, the connecting piece (1) is respectively connected with the connecting pieces (7), (23) and (25) through tension springs (2), (10) and (11), and the connecting pieces (7), (23) and (25) are connected through tension springs (8), (22) and (24).

3. The mechanism of claim 2, wherein the mechanism has flexibility based on the characteristics of the integral tensioning structure, and the flexibility of the mechanism is utilized to absorb and release the impact force on the ground, so as to realize the functions of buffering and shock absorption.

Technical Field

The invention belongs to the technical field of mechanical equipment, and particularly relates to a bionic foot mechanism with buffering and shock-absorbing characteristics.

Background

The traditional bionic foot type mechanism is manufactured by utilizing a rigid connecting rod and has poor flexibility. Meanwhile, the mechanism is relatively large in size, complex in structure and high in cost, and has defects in buffering and damping, so that the mechanism is easy to cause mechanical damage in a dangerous environment, and the robot loses mobility.

Disclosure of Invention

In order to solve the problems, the bionic foot type mechanism has the advantages of good buffering and damping characteristics, simple structure, easiness in assembly and low cost and realizes the buffering and damping effects of the bionic foot type mechanism on the basis that the stretching mechanism has multiple degrees of freedom and continuous deformation capability, and the shape and the size of the structure of the stretching mechanism are changed within a certain range.

The bionic foot mechanism based on the integral tensioning structure is characterized by comprising connecting pieces (1), (7), (13), (23), (25), tension springs (2), (8), (10), (11), (22), (24), a fixing rod (9), a ball joint bearing (12), shafts (3), (14), (15), linear bearings (4), (16), (17), sleeves (5), (18), (19), and compression springs (6), (20), (21).

Through the design scheme, the invention can bring the following beneficial effects: the invention has the characteristic of being deformable, so that the flexibility of the mechanism is better, and the function of buffering and shock absorption can be realized through the characteristic of self structural deformation.

Drawings

FIG. 1 is an overall structure diagram of a bionic foot mechanism based on a tension overall structure.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The bionic foot mechanism based on the integral tensioning structure is characterized by comprising connecting pieces (1), (7), (13), (23), (25), tension springs (2), (8), (10), (11), (22), (24), a fixing rod (9), a ball joint bearing (12), shafts (3), (14), (15), linear bearings (4), (16), (17), sleeves (5), (18), (19), and compression springs (6), (20), (21).

The connecting piece (1) through threaded connection with mounting (9) are connected, dead lever (9) through threaded connection with ball joint bearing (12) are connected, ball joint bearing (12) through threaded connection with connecting piece (13) are connected, connecting piece (13) through threaded connection with axle (3), (14), (15) be connected.

The sleeves (5), (18) and (19) are internally provided with compression springs (6), (20) and (21) and are connected with the shafts (3), (14) and (15) through the linear bearings (4), (16) and (17) to realize the functions of rotation and sliding. The sleeves (5), (18) and (19) are connected with the connecting pieces (7), (23) and (25) in sequence through threaded connection.

The connecting piece (1) is respectively connected with the connecting pieces (7), (23) and (25) through tension springs (2), (10) and (11), and the connecting pieces (7), (23) and (25) are connected through tension springs (8), (22) and (24).