阅读说明：本技术 具有地形适应能力的仿生足式机构 (Bionic foot type mechanism with terrain adaptability ) 是由 孙建伟 宋广生 刘文瑞 曹学敏 孙道昊 于 2018-05-28 设计创作，主要内容包括：仿生柔性足式张拉机构,属于仿生足式机构技术领域,机构具有的可变形与自适应特性,能够实现空间上的转动与运动控制。其特征包括,上端机架,球关节轴承,套筒,压簧,刚性杆,光轴,十字万向节,拉簧,底座,支撑杆,下端底板。本发明采用张拉整体结构,机构本身具有很好的稳定性,相比与传统刚性仿生足式机构,能够在非结构化的环境下保持稳定运动,能够实现地形的适应功能,具有良好的应用前景。(A bionic flexible foot type tensioning mechanism belongs to the technical field of bionic foot type mechanisms, has the characteristics of deformability and self-adaption, and can realize rotation and motion control in space. The device is characterized by comprising an upper end rack, a ball joint bearing, a sleeve, a pressure spring, a rigid rod, an optical axis, a cross universal joint, a tension spring, a base, a supporting rod and a lower end bottom plate. The invention adopts a tensioning integral structure, the mechanism has good stability, and compared with the traditional rigid bionic foot type mechanism, the mechanism can keep stable motion in an unstructured environment, can realize the terrain adaptation function, and has good application prospect.)

1. The bionic foot type mechanism with terrain adaptability is characterized in that the connecting pieces (1), (16) and (17) are fixed with the frame (3) through threaded connection, and the bases (14), (32) and (33) are fixed with the bottom plate (15) through screws; the support rod (13) is connected with and fixed with the bottom plate (15) through a threaded hole, and the linear bearing (4) is fixed with the rack (3) through a jackscrew; the rack (3) is connected with the optical axis (7) through a linear bearing (4) to realize rotation and sliding; the optical axis (7) is connected with the supporting rod (13) through a cross universal joint (11) to realize the rotating function; the sleeves (6), (22) and (25) are connected with the frame (3) through ball joint bearings (5), (20) and (21) to realize space three-dimensional rotation, the sleeves (6), (22) and (25) are internally provided with pressure springs (8), (23) and (24), and one ends of the pressure springs (8), (23) and (24) are fixed with rigid rods (9), (26) and (27); the rigid rods (9), (26) and (27) are connected through ball joint bearings (12), (30) and (31) to realize space three-dimensional rotation; the ball joint bearings (12), (30) and (31) are connected with the bases (14), (32) and (33) through threaded holes and fixed, one ends of the tension springs (2), (18) and (19) are fixed with the connecting pieces (1), (16) and (17), and the other ends are fixed with the connecting pieces (10), (28) and (29).

2. The bionic flexible foot type mechanism of claim 1 has the characteristics of deformation and self-adaptation, and realizes the function of adapting the bionic foot type mobile robot to the terrain by making motion passively.

Technical Field

The invention relates to a bionic foot mechanism capable of adapting to terrain capability, and belongs to the technical field of bionic foot type mechanisms.

Background

The traditional rigid foot type robot is formed by connecting kinematic pairs, the combination of the kinematic pairs forms a working space of a robot end effector, and the foot type robot has the advantage of high motion precision.

The traditional rigid foot type mechanism has large size, heavy structure and poor environmental adaptability, is limited in movement in a narrow space and has defects in terrain adaptation.

Disclosure of Invention

In order to solve the problems, the invention establishes a bionic foot type mechanism based on the characteristics of self stability, flexibility and self adaptation of human feet, has the self-adaptation characteristic, realizes the function of adapting the bionic foot type mobile robot to the terrain, thereby assisting the concealed investigation of the terrain adaptation in the military field and adapting the detection of ruins in emergency rescue.

Bionic foot type mechanism with terrain adaptability is characterized by comprising an upper end rack, ball joint bearings (six), sleeves (three), pressure springs (three), rigid rods (three), an optical axis, a cross universal joint, tension springs (three), a base, a supporting rod and a lower end bottom plate. The upper end frame is connected with the sleeve through a ball joint bearing, the sleeve is connected with the rigid rod through a pressure spring, and the rigid rod is connected with the bottom plate through the ball joint bearing. The upper end frame is connected with the optical axis through a linear bearing, and the optical axis is connected with the supporting rod through a cross universal joint. The front and the back of the upper end frame are connected with the bottom plate through tension springs.

Through the design scheme, the invention can bring the following beneficial effects: the whole mechanism has the characteristic of being deformable and adaptive to terrain, and overcomes the defects of the traditional bionic foot type robot in adapting to terrain walking. The mechanism can passively adjust the form according to the complex terrain, naturally contacts the ground surface, and realizes the function of self-adapting to the complex terrain. Meanwhile, the mechanism can disperse impact force generated by ground collision, reduce potential safety hazards and meet the requirements of specific tasks. The mechanism provided by the invention is convenient to operate, simple in structure, simple and easy to implement, strong in operability and low in cost, and has a good application prospect in the military field and the emergency rescue field.

Drawings

FIG. 1 is an overall structure diagram of a bionic flexible foot type tensioning mechanism.

Detailed Description

The invention is further explained with reference to the drawings.

As shown in figure 1, the bionic foot type mechanism with the terrain adapting capability comprises connecting pieces (1), (10), (16), (17), (28), (29), tension springs (2), (18), (19), a frame (3), a linear bearing (4), ball joint bearings (5), (12), (20), (21), (30), (31), sleeves (6), (22), (25), an optical axis (7), compression springs (8), (23), (24), rigid rods (9), (26), (27), a universal joint cross (11), a supporting rod (13), bases (14), (32), (33) and a bottom plate (15).

The connecting pieces (1), (16) and (17) are fixed with the frame (3) through threaded connection. The base (14), (32), (33) is fixed with the bottom plate through screws; the supporting rod (13) is fixed with the bottom plate (15) through threaded connection.

The linear bearing (4) is fixed with the rack (3) through a jackscrew; the rack (3) is connected with the optical axis (7) through a linear bearing (4) to realize rotation and sliding; the optical axis (7) is connected with the support rod (13) through a cross universal joint (11).

The sleeves (6), (22) and (25) are connected with the frame (3) through ball joint bearings (5), (20) and (21); the sleeves (6), (22) and (25) are internally provided with compression springs (8), (23) and (24), and one ends of the compression springs (8), (23) and (24) are fixed with the rigid rods (9), (26) and (27); the rigid rods (9), (26), (27) are connected to the base (14), (32), (33) via ball joint bearings (12), (30), (31), and the ball joint bearings (12), (30), (31) are fastened to the base (14), (32), (33) via threaded hole connections.

One end of each tension spring (2), (18) and (19) is fixed with the connecting pieces (1), (16) and (17), and the other end is fixed with the connecting pieces (10), (28) and (29).

Through the combination, the bionic flexible foot type structure can realize the movement suitable for the terrain.