阅读说明：本技术 一种具有腿式结构的缓冲装置 (Buffer device with leg structure ) 是由 汪田鸿 金滔 李龙 田应仲 于 2021-07-30 设计创作，主要内容包括：本发明涉及一种具有腿式结构的缓冲装置,包括装置放置板和多条缓冲吸能腿,借鉴蝗虫腿部生理结构和跳跃特性,解决飞行器与目标航天器间接触反弹现象,将动能吸收转化为弹性势能以耗散碰撞接触时的冲击能量,可适应复杂表面特征且具有较高的效率,能够有效解决小型飞行器柔顺接触与稳定着陆的关键问题,本发明在装置放置板(I)圆周方向上均布6个缓冲吸能腿。缓冲吸能腿通过扭簧和单向轴承缓冲吸震,避免出现反弹,采用六腿构型增大缓冲的负载能力,使缓冲装置能够满足非正向碰撞接触缓冲的需求,在此基础上,球副连接的足部具有多个自由度,能够适应目标物的不规则的表面。本发明具有通用性,可为其他领域的缓冲吸震提供应用前景和借鉴。(The invention relates to a buffering device with a leg structure, which comprises a device placing plate and a plurality of buffering energy-absorbing legs, wherein the buffering energy-absorbing legs are uniformly distributed on the circumferential direction of the device placing plate (I), so that the physiological structure and jumping characteristic of locust legs are used for reference, the contact rebound phenomenon between an aircraft and a target spacecraft is solved, kinetic energy is absorbed and converted into elastic potential energy to dissipate impact energy during collision contact, the buffering energy-absorbing legs are suitable for complex surface characteristics and have higher efficiency, and the key problems of flexible contact and stable landing of a small aircraft can be effectively solved. The buffering energy-absorbing leg is cushioned through torsional spring and one-way bearing and is inhaled and inhale, avoids appearing bounce-back, adopts six leg configuration increase buffering's load capacity, makes buffer can satisfy the demand of non-forward collision contact buffering, and on this basis, the foot that the ball is vice to be connected has a plurality of degrees of freedom, can adapt to the anomalous surface of target object. The invention has universality and can provide application prospect and reference for buffering and shock absorption in other fields.)

1. The utility model provides a buffer with legged structure, places board (I) and many buffering energy-absorbing legs (II) including the device, its characterized in that: the buffering energy-absorbing legs (II) are provided with connecting plates (2) which are connected to the device placing plate (I) through bolts (1); each buffering energy-absorbing leg (II) is provided with a plurality of joints, and each joint is provided with a torsion spring (7); when the buffer device is in collision contact with the surface of a target, the angles of all joints of the buffer energy-absorbing legs (II) are changed, so that torsion springs (7) positioned at the joints are deformed, kinetic energy is converted into elastic potential energy, the joints can only perform unidirectional rotation motion, and the phenomenon that the elastic potential energy is converted into the kinetic energy to cause rebound motion and buffer failure is avoided; the buffer device adopts a multi-leg structure, can adapt to the complex surface characteristics of a target object, and improves the stability and the buffer load capacity.

2. The leg-structured cushion apparatus according to claim 1, wherein: buffering energy-absorbing leg (II) contain support leg (3), well supporting leg (4), under bracing leg (6) and one-way energy-absorbing structure (5) and constitute, and one-way buffer structure (5) have two sets ofly, go up support leg (3) and well supporting leg (4) between a set of, well support (4) and under bracing leg (6) are a set of.

3. The leg-structured cushion apparatus according to claim 2, wherein: the upper supporting legs (3) are connected with the device placing plate (I) through connecting plates (2), the connecting plates (2) are of a concave structure and are fixedly connected with the two side plates (16) through bolts (8), the upper supporting legs (3) are perpendicular to the device placing plate (I), and connecting holes of the energy absorbing mechanism are formed in the two side plates (16); with curb plate (16) vertical position be fixed with torsional spring fixed plate (15), one side of torsional spring (7) is fixed on torsional spring fixed plate first (15) through a clamp plate (14), the degree of freedom of movement of torsional spring (7) has been restricted, it is clearance fit to go up supporting leg (3) and a root axle (9), it has relative motion to guarantee to go up between supporting leg (3) and well supporting leg (4), when going up supporting leg (3) rotary motion, because axle (9) are fixed and are become the integral structure on well supporting leg (4), thereby form revolute joint.

4. The leg-structured cushion apparatus according to claim 2 or 3, wherein: well supporting leg (4) both sides be leg plate (18), leg plate (18) both sides have shaft hole and both ends to be fixed with torsional spring fixed plate (17), the opposite side of torsional spring (7) is fixed on torsional spring fixed plate second (17) through clamp plate (14), well supporting leg (4) upper end and axle (9) are interference fit, lower extreme and axle (9) are clearance fit.

5. The leg-structured cushion apparatus according to claim 2, wherein: the lower supporting leg (6) comprises a supporting piece (19), a rotating shaft (20), a ball pair (21) and a foot part (22), the supporting piece (19) in the lower supporting leg (6) is connected with the ball pair (21) through the rotating shaft (30), and the lower end of the ball pair (21) is fixed with the foot part (22); wherein, the supporting piece (19) is provided with a corresponding shaft hole and a torsional spring fixing groove; the lower supporting leg (6) is in interference fit with the rotating shaft (20).

6. The leg-structured cushion apparatus according to claim 5, wherein: the ball pair (21) has three degrees of freedom, and the motion space of the ball pair is a cone with a cone angle of 15 degrees, so that a buffer structure is formed.

7. The leg-structured cushion apparatus according to claim 2, wherein: one-way energy-absorbing structure contain torsional spring (7), screw (8), axle (9), key (10), bearing cap (11), one-way bearing (12) and fixation nut (13), one-way energy-absorbing structure (5) in torsional spring (7) cover epaxial, the both ends of torsional spring are fixed on different supporting legs through clamp plate (14) respectively, one-way bearing (12) are connected and are carried out axial positioning through fixation nut (13) and epaxial ladder face key (10) with bearing cap (11) and round pin hub connection through key (10), have the screw hole to be connected with one side supporting leg on axle (9), bearing cap (11) are fixed on the supporting leg through screw (8).

8. The leg-structured cushion apparatus according to claim 1 or 2, wherein: the relative motion between the supporting legs is unidirectional, the redundant relative kinetic energy on the capturing device is stored on the torsion spring (7) along with the relative rotation of the supporting legs, and the energy on the torsion spring (7) cannot be reversely output due to the unidirectional bearing (13) fixed on the shaft (9).

9. The leg-structured cushion apparatus according to claim 2, wherein: the rigidity coefficient of the torsion spring (7) positioned at the joint of the middle supporting leg (4) and the lower supporting leg (6) is smaller than the rigidity coefficient of the torsion spring (7) positioned at the joint of the upper supporting leg (3) and the middle supporting leg (4), so that the two joints can be actuated simultaneously to form an energy absorption and storage device.

10. The leg-structured cushion apparatus according to claim 2, wherein: before initial contact, the angle formed by the central line of the upper supporting leg (3) and the central line of the middle supporting leg (4) and the angle formed by the central line of the middle supporting leg (4) and the central line of the lower supporting leg (6) are all 120 degrees, and the states of all the buffering legs are kept consistent.

Technical Field

The invention relates to a buffering device with a leg structure, and belongs to the field of robots.

Background

With the deep development of the Chinese space technology, deep space exploration and the construction of a space station are steadily carried out, more aircrafts and detectors are sent to the space, and safe interaction among the aircrafts, stable landing of the detectors and the like are the prerequisites that a spacecraft executes space operation and improves efficiency. In the field of space robots, how to stably attach an aircraft flying at high speed to a spacecraft has high scientific research value. The spacecraft can generate larger impulse when moving at high speed, so that huge instantaneous energy can be generated when the spacecraft is in contact with the aircraft in a space environment without gravity, the aircraft is quickly bounced off, and the aircraft cannot be stably attached to the spacecraft. Therefore, the buffering mechanism which can absorb energy and is stable and efficient is adopted, so that the aircraft can be in soft landing on the surface of the spacecraft. The flexible deformation of the flexible material or the compliant mechanism is utilized to store energy and buffer, so that the flexibility of the contact process can be realized, the absorption of collision energy and the suppression of flexible vibration can be realized, and the impact torque on each joint can be distributed through a compliant collision strategy which is reasonably designed and adapted to the flexible deformation.

In the natural world, many insects cross a rugged road surface or an obstacle in a jumping mode, wherein a locust has strong jumping capacity and is one of important simulation objects of the bionic robot, the jumping process of the locust is intermittent jumping, good buffering performance is required after each jumping, the leg structure of the locust can be simplified into a leg joint, a shin joint and a tarsal joint structure, energy absorption is realized through muscle contraction, a robot with good landing buffering performance is designed by taking the physiological structure and jumping characteristics of the robot as a reference, kinetic energy is converted into elastic potential energy to effectively absorb impact, the robot is suitable for complex terrains and has high efficiency, the key problem that a small aircraft is in flexible contact with and stably landed on a spacecraft can be effectively solved, and the robot has important significance for the application field of the robot.

Disclosure of Invention

In order to solve the problems in the prior art, the invention aims to overcome the defects in the prior art, and provides the buffer device with the leg structure, so that the characteristics of flexible leg movement and high energy storage efficiency of the buffer device are realized by taking the physiological structure characteristics of the locust as reference, the dynamic energy is effectively consumed, stored and stored, the structural or functional damage caused by rigid contact with a target object is avoided, and the buffer device has the characteristics of simple structure, high buffering efficiency, stability, reliability and the like.

In order to achieve the purpose of the invention, the invention adopts the following technical scheme:

a buffer device with a leg type structure comprises a device placing plate and a plurality of buffering and energy-absorbing legs, wherein the buffering and energy-absorbing legs are provided with connecting plates which are connected to the device placing plate through bolts; each buffering energy-absorbing leg is provided with a plurality of joints, and each joint is provided with a torsion spring; when the buffer device is in collision contact with the surface of a target, the angles of all joints of the buffer energy-absorbing legs are changed, so that torsion springs at the joints are deformed, kinetic energy is converted into elastic potential energy, the joints can only rotate in a single direction, and the phenomenon that the elastic potential energy is converted into the kinetic energy to cause rebound motion and buffer failure is avoided; the buffer device adopts a multi-leg structure, can adapt to the complex surface characteristics of a target object, and improves the stability and the buffer load capacity.

Preferably, the device placing plate is of a disc structure, is suitable for the appearance structure of a common small-sized spacecraft, is used for installing space equipment such as an aircraft, is provided with a connecting hole in the center, can be installed quickly, is provided with six groups of bolts for installing buffering and energy absorbing legs, and is uniformly distributed on the device placing plate in the circumferential direction, and the device placing plate is provided with threaded holes corresponding to the threaded holes.

Preferably, the buffering energy-absorbing leg comprises an upper supporting leg, a middle supporting leg, a lower supporting leg and a one-way energy-absorbing structure, the number of the one-way buffering structure is two, the upper supporting leg and the middle supporting leg are one, and the middle supporting leg and the lower supporting leg are one.

The buffering and energy-absorbing legs are connected with the device placing plate through bolts and are key functional parts of the buffering device, according to the robot stability criterion ZMP theory, in order to achieve the collision contact process, the gravity center of the buffering device is located in a supporting area so as to avoid the overturning phenomenon, the structural size and the stability criterion of the buffering device are integrated, and six same buffering and energy-absorbing legs are circumferentially arranged on the device placing plate.

Further preferably, the upper support leg is connected with the device placing plate through a connecting plate, the connecting plate is of a concave structure and is fixedly connected with the two side plates through bolts, the upper support leg is perpendicular to the device placing plate, and the two side plates are provided with connecting holes of the energy absorbing mechanism; a torsion spring fixing plate is fixed at the vertical position of the side plate, one side of the torsion spring is fixed on a torsion spring fixing plate A through a pressing plate, the moving freedom degree of the torsion spring is limited, the upper supporting leg and a shaft are in clearance fit, relative motion between the upper supporting leg and the middle supporting leg is guaranteed, and when the upper supporting leg rotates, the shaft is fixed on the middle supporting leg to form an integrated structure, so that a rotary joint is formed.

Further preferably, the two sides of the middle supporting leg are leg plates, the two sides of each leg plate are provided with shaft holes, two ends of each leg plate are fixed with torsion spring fixing plates, the other side of each torsion spring is fixed on a torsion spring fixing plate B through a pressing plate, the upper end of the middle supporting leg is in interference fit with the shaft, and the lower end of the middle supporting leg is in clearance fit with the shaft.

Still further preferably, well supporting leg, its length is greater than last supporting leg, two leg plate outsides on the supporting leg form the face contact with the inboard cooperation of last backup pad, there is the higher shaft hole that has the axiality leg plate both sides, both ends are passed through bolt mounting and leg plate vertically torsional spring fixed plate, prevent leg plate axial motion, the opposite side of torsional spring is fixed on the torsional spring fixed plate through the clamp plate, well supporting leg upper end and axle are interference fit, make axle and well supporting leg form integrated structure, the use formation that cooperates the one-way bearing has one-way motion's joint, thereby realize effectively storing the kinetic energy, avoid producing the bounce-back. The lower end is in clearance fit with the shaft to form a leg joint.

Further preferably, the lower support leg comprises a support member, a rotating shaft, a ball pair and a foot, the support member in the lower support leg is connected with the ball pair through the rotating shaft, and the lower end of the ball pair is fixed with the foot; the supporting piece is provided with a corresponding shaft hole and a torsion spring fixing groove; the lower supporting leg and the rotating shaft are in interference fit.

Still further preferably, the support piece of lower supporting leg is U type structure, alleviates the inertia influence because of self quality brings through the fretwork design, connects through pivot and spherical pair one side, and the spherical pair lower extreme links firmly with the foot through the jackscrew. Wherein support piece is last to have corresponding shaft hole, sets up the torsional spring fixed slot, fixes the other end and the support piece of torsional spring through the clamp plate, restricts its axial motion. The supporting piece of the lower supporting leg is in clearance fit with the rotating shaft to form a rotary joint.

Further preferably, one-way energy-absorbing structure contain torsional spring, screw, axle, key, bearing cap, one-way bearing and fixation nut, one-way energy-absorbing structure in the torsional spring cover epaxial, the both ends of torsional spring are fixed respectively on different supporting legs through the clamp plate, one-way bearing passes through key and bearing cap and pin hub connection and carries out axial positioning through fixation nut and epaxial ladder face key, epaxial screw hole and one side supporting leg connection have, the bearing cap passes through the fix with screw on the supporting leg.

The unidirectional bearing with the unidirectional energy absorption structure is a common technology in the field, can only realize rotation in a single direction, and is characterized in that an inner ring of the unidirectional bearing is connected with a shaft through a key; the epaxial keyway that sets up to at axle head processing screw thread, the axle is the step shaft, is connected with curb plate and leg board as the location reference face, sets up the keyway on the bearing cap, and the key is installed on bearing cap and one-way bearing outer ring get the keyway, restricts the relative rotation between the outer loop of one-way bearing and the bearing cap, and the bearing cap passes through the bolt and is fixed with curb plate or leg board, realize one-way bearing inside and outside ring respectively with each part of buffering energy-absorbing leg is connected, carries out axial positioning through fixation nut and epaxial step face to the bearing.

Preferably, the relative motion between the support legs is unidirectional, and with the relative rotation of the support legs, the redundant relative kinetic energy on the capturing device is stored on the torsion spring, and the energy on the torsion spring cannot be reversely output due to the unidirectional bearing fixed on the shaft.

Preferably, the ball pair has three degrees of freedom, the motion space of the ball pair is a cone with a cone angle of 15 degrees, a buffer structure can be formed, and the buffer problem of complex surface of the target object is effectively solved.

Preferably, the rigidity coefficient of the torsion spring at the joint of the lower supporting leg and the middle supporting leg is smaller than that of the torsion spring at the joint of the upper supporting leg and the middle supporting leg, so that the two joints can be actuated simultaneously, an energy absorption and storage device is formed, and energy is absorbed and stored efficiently.

Preferably, before the initial contact, the angle formed by the central line of the upper supporting leg and the central line of the middle supporting leg, and the angle formed by the central line of the middle supporting leg and the central line of the lower supporting leg are all 120 degrees, and the states of the buffer legs are kept consistent.

Preferably, a six-support-leg structure is adopted, so that energy in all directions can be effectively absorbed, and the execution reliability of the device is improved.

Compared with the prior art, the invention has the following obvious and prominent substantive characteristics and remarkable advantages:

1. the invention adopts the matching of the torsion spring and the one-way buffer structure, the joint absorbs and stores energy, the energy is input in the positive direction, and the one-way motion of the joint avoids the rebound phenomenon generated by outputting the potential energy of the torsion spring;

2. the invention has universality and can adapt to devices with different size functions;

3. the foot end of the invention adopts a ball pair structure, can adapt to the irregular characteristics of the surface of a target object and has environmental adaptability;

4. the device is provided with 6 buffering support legs, has simple structure, good buffering effect and high efficiency, and can meet the buffering requirement of illegal contact collision; the method is simple and easy to implement, low in cost and suitable for popularization and application.

Drawings

Fig. 1 is a schematic view showing the overall structure of a buffer device having a leg structure according to a preferred embodiment of the present invention.

FIG. 2 is a schematic layout of the device placement board and the energy absorbing legs of the preferred embodiment of the present invention.

FIG. 3 is a schematic view of the general structure of the leg of the preferred embodiment of the present invention.

Fig. 4 is a schematic diagram of the structure of the unidirectional buffer according to the preferred embodiment of the present invention.

Fig. 5 is a schematic structural view of an upper support leg of the preferred embodiment of the present invention.

Fig. 6 is a schematic view of the connection manner of the torsion spring according to the preferred embodiment of the present invention.

FIG. 7 is a schematic view of the structure of the middle support leg of the preferred embodiment of the present invention.

Fig. 8 is a schematic view of the lower backing structure of the preferred embodiment of the present invention.

Fig. 9 is a perspective view of the buffer device having the leg structure according to the preferred embodiment of the present invention after operation.

Detailed Description

The above-described scheme is further illustrated below with reference to specific embodiments, which are detailed below:

the first embodiment is as follows:

in the embodiment, referring to fig. 1, a cushioning device with a leg structure comprises a device placing plate I and a plurality of cushioning legs II, wherein the cushioning legs II are provided with connecting plates 2 connected to the device placing plate I through bolts 1; each buffering energy-absorbing leg II is provided with a plurality of joints, and each joint is provided with a torsion spring 7; when the buffer device is in collision contact with the surface of a target, the angles of all joints of the buffer energy-absorbing legs II are changed, so that the torsion springs 7 at the joints are deformed, kinetic energy is converted into elastic potential energy, the joints can only perform unidirectional rotation motion, and the phenomenon that the elastic potential energy is converted into the kinetic energy to cause rebound motion and buffer failure is avoided; the buffer device adopts a multi-leg structure, can adapt to the complex surface characteristics of a target object, and improves the stability and the buffer load capacity.

The embodiment has the buffer device of leg structure, and the physiological structure characteristics of the locust is used for reference, realizes that buffer device leg motion is nimble, the efficient characteristics of energy storage, and effective consumption and storage kinetic energy avoid with the structure or the functional damage that the target object rigidity contact caused, have simple structure, cushion characteristics such as high efficiency, reliable and stable.

Example two:

this embodiment is substantially the same as the first embodiment, and is characterized in that:

in this embodiment, the buffering energy-absorbing leg II comprises an upper supporting leg 3, a middle supporting leg 4, a lower supporting leg 6 and a one-way energy-absorbing structure 5, the one-way buffering structure 5 has two sets, one set is between the upper supporting leg 3 and the middle supporting leg 4, and the middle supporting leg 4 and the lower supporting leg 6 are one set.

In this embodiment, the upper support leg 3 is connected to the device placement board I through a connection board 2, the connection board 2 is in a zigzag structure and is fixedly connected to the two side boards 16 through bolts 8, the upper support leg 3 is perpendicular to the device placement board I, and the two side boards 16 are provided with connection holes of the energy absorbing mechanism; and a torsional spring fixing plate 15 is fixed at the vertical position of the side plate 16, one side of the torsional spring 7 is fixed on a torsional spring fixing plate A15 through a pressing plate 14, the moving freedom degree of the torsional spring 7 is limited, the upper supporting leg 3 and a shaft 9 are in clearance fit, the relative motion between the upper supporting leg 3 and the middle supporting leg 4 is ensured, and when the upper supporting leg 3 rotates, the shaft 9 is fixed on the middle supporting leg 4 to form an integrated structure, so that a rotary joint is formed.

In this embodiment, the two sides of the middle supporting leg 4 are leg plates 18, the two sides of the leg plates 18 are provided with shaft holes, two ends of each leg plate are fixed with a torsion spring fixing plate 17, the other side of each torsion spring 7 is fixed on a torsion spring fixing plate B17 through a pressing plate 14, the upper end of the middle supporting leg 4 and the shaft 9 are in interference fit, and the lower end of the middle supporting leg and the shaft 9 are in clearance fit.

In this embodiment, the lower supporting leg 6 comprises a supporting member 19, a rotating shaft 20, a ball pair 21 and a foot 22, the supporting member 19 of the lower supporting leg 6 is connected with the ball pair 21 through the rotating shaft 30, and the lower end of the ball pair 21 is fixed with the foot 22; wherein, the supporting piece 19 is provided with a corresponding shaft hole and a torsional spring fixing groove; the lower supporting leg 6 and the rotating shaft 20 are in interference fit.

In this embodiment, one-way energy-absorbing structure contain torsional spring 7, screw 8, axle 9, key 10, bearing cap 11, one-way bearing 12 and fixation nut 13, one-way energy-absorbing structure 5 in torsional spring 7 cover epaxial, the both ends of torsional spring are fixed on different supporting legs through clamp plate 14 respectively, one-way bearing 12 through key 10 and bearing cap 11 with pin hub connection and through fixation nut 13 and epaxial ladder face key 10 carry out axial positioning, have the screw hole to be connected with one side supporting leg on the axle 9, bearing cap 11 passes through screw 8 to be fixed on the supporting leg.

In this embodiment, the relative motion between the legs is unidirectional, with the relative rotation of the legs, the excess relative kinetic energy of the capturing device is stored in the torsion spring 7 and the energy in the torsion spring 7 cannot be output reversely due to the unidirectional bearing 13 fixed on the shaft 9.

In the embodiment, the torsion spring is matched with the one-way buffer structure, the joint absorbs and stores energy, the energy is input in the positive direction, and the one-way motion of the joint avoids the rebound phenomenon caused by outputting the potential energy of the torsion spring; the embodiment has universality and can adapt to devices with different size functions; the foot end of the embodiment adopts a ball pair structure, can adapt to the irregular characteristics of the surface of a target object and has environmental adaptability; the device has 6 buffering support legs, has simple structure, good buffering effect and high efficiency, and can meet the buffering requirement of illegal contact collision; the method is simple and easy to implement, low in cost and suitable for popularization and application.

Example three:

this embodiment is substantially the same as the above embodiment, and is characterized in that:

in the present embodiment, the ball pair 21 has three degrees of freedom, and the movement space thereof is a cone with a cone angle of 15 °, and constitutes a buffer structure.

In the embodiment, the rigidity coefficient of the torsion spring 7 at the joint of the middle supporting leg 4 and the lower supporting leg 6 is smaller than the rigidity coefficient of the torsion spring 7 at the joint of the upper supporting leg 3 and the middle supporting leg 4, so that the two joints can be actuated simultaneously to form the energy absorbing and storing device.

In this embodiment, before the initial contact, the angle formed by the center line of the upper support leg 3 and the center line of the middle support leg 4, and the angle formed by the center line of the middle support leg 4 and the center line of the lower support leg 6 are all 120 °, and the states of the respective buffer legs are kept the same.

The buffering device with the leg type structure is easy to control, simple in structure, good in buffering effect and high in efficiency, and can meet the buffering requirement of non-directional contact collision; the method is simple and easy to implement, low in cost and suitable for popularization and application.

Example four:

this embodiment is substantially the same as the above embodiment, and is characterized in that:

in this embodiment, as shown in fig. 2, a buffering device with a leg structure includes a device placing plate I and buffering energy-absorbing legs II, wherein six identical buffering energy-absorbing legs II are circumferentially arranged on the device placing plate I, and the device placing plate is fixedly connected with a connecting plate 2 on an upper supporting leg 3 through a countersunk head screw 1.

In this embodiment, the included angle between the center line of the upper support leg 3 on the buffering and energy absorbing leg II and the center line of the middle support leg 4, and the included angle between the center line of the middle support leg 4 and the center line of the lower support leg 6 are all 120 °. The torsion spring 7 is in a natural state, and two ends of the torsion spring are fixed on torsion spring fixing plates 15 and 17 through a pressing plate 14. In the initial state, the key groove of the one-way bearing 12 is aligned with the key groove of the bearing cover 11, the mounting key 10 limits the movement of the outer ring of the one-way bearing 12, and the inner ring is integrated with the shaft 9 through the key 10.

In this embodiment, when the device is in collision contact with the target surface:

foot 22 and target surface contact, six buffering energy-absorbing legs are in the same state, produce the forward collision contact force along lower supporting leg 6 central line simultaneously, the device is placed board I and is continued the downstream under the effect of inertial force, the joint of last supporting leg 3 department takes place the rotation, it rotates to go up supporting leg 3 relative well supporting leg 4, bearing cap 11 fixed on curb plate 16 drives one-way bearing 12 and rotates, because curb plate 16 and the axle 9 of going up supporting leg 3 are clearance fit, the upper portion shaft hole and the axle 9 of the leg board 18 of well supporting leg 4 are interference fit, the inner ring and the axle 9 of one-way bearing 12 pass through key 10 and install, consequently, only produce one-way rotary motion at the joint of last supporting leg, the contained angle of going up supporting leg 3 and well supporting leg 4 reduces, partial kinetic energy is stored in torsional spring 7 department. Similarly, the joint angle between the lower support leg 6 and the middle support leg 4 is reduced, the support piece 19 on the lower support leg 6 is in interference fit with the shaft 9, the lower shaft hole of the leg plate 18 on the middle support leg 4 is in clearance fit with the shaft 9, the middle support leg 4 and the lower shaft 9 can rotate relatively, and energy is stored at the joint torsion spring 7.

In this embodiment, the stiffness coefficient of the torsion spring 9 at the joint of the lower support leg 6 and the middle support leg 4 is smaller than the stiffness coefficient of the torsion spring at the joint of the upper support leg 3 and the middle support leg 4, and it can be understood that, due to the ball pair 21, the central line of the lower support leg 6 in the buffering stage will be shifted inwards, so that the resultant moment of the lower joint of the buffering energy-absorbing leg II is smaller than the resultant moment of the upper joint, and therefore, the torsion spring 9 with a smaller stiffness coefficient can be used in the lower joint to fully exert the working space of the lower joint.

In the embodiment, the number of the buffering and energy-absorbing legs II is six, and when the target surface is a plane and the collision direction is the forward direction, the buffering and energy-absorbing legs II almost simultaneously contact the surface, so that the buffering efficiency can be fully exerted; when the inclined plane collision buffering is carried out, the ball pair 21 has three degrees of freedom, and forms a certain angle with the lower supporting leg 6 when contacting the surface, so that the contact force is transmitted to the joint deformation.

The above-described embodiment has the cushioning device of the leg structure. It places board I and many buffering energy-absorbing legs II including the device, borrows for the reference locust shank physiological structure and jump characteristic, solves aircraft and target spacecraft and contacts bounce-back phenomenon, converts kinetic energy absorption into the impact energy of elastic potential energy when contacting with dissipation collision, adaptable complicated surface characteristic and have higher efficiency, can effectively solve the gentle and agreeable contact of small-size aircraft and stabilize the key problem that lands, and technical scheme is: 6 buffering energy-absorbing legs II are uniformly distributed on the circumferential direction of the device placing plate I. Buffering energy-absorbing leg II is inhaled through torsional spring and one-way bearing buffering and is inhaled, avoids appearing bounce-back, adopts six leg configuration increase buffering's load capacity, makes buffer can satisfy the demand of non-forward collision contact buffering, and on this basis, the foot that the ball is vice to be connected has a plurality of degrees of freedom, can adapt to the anomalous surface of target object. The device of the embodiment has universality, and can provide application prospect and reference for buffering and absorbing in other fields.

The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and the present invention shall fall within the protection scope of the present invention without departing from the technical principle and inventive concept of the present invention.