CN108725623B - Bionic sea cockroach leg structure with buffering function - Google Patents
Bionic sea cockroach leg structure with buffering function Download PDFInfo
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- CN108725623B CN108725623B CN201810426143.7A CN201810426143A CN108725623B CN 108725623 B CN108725623 B CN 108725623B CN 201810426143 A CN201810426143 A CN 201810426143A CN 108725623 B CN108725623 B CN 108725623B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a bionic sea cockroach leg structure with a buffering function, which comprises a power source connecting device, a plurality of bionic limb sections and a claw, wherein the bionic limb sections are sequentially connected, and the claw is arranged on the tail end bionic limb section; the most front bionic limb joint is connected with the power output rod, the adjacent bionic limb joints are movably connected through a connecting piece, and a corner limiting structure and a buffer structure are arranged between the adjacent bionic limb joints, so that each bionic limb joint can be freely adjusted within a certain angle range; the claw and the tail-most bionic limb joint are rotationally connected through a connecting piece, and a locking limiting structure is arranged between the claw and the tail-most bionic limb joint, so that the claw can be freely adjusted within a certain angle range. The folding chair has a simple structure, can be folded, and has high space utilization rate; the road condition adaptability of the structure is strong; the climbing capacity is realized, and the functionality is strong; the shock absorber can effectively buffer rigid shock between components, has certain shock resistance integrally, and has wide application prospect.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a bionic sea cockroach leg structure with a buffering function.
Background
The research of robots has been a popular field in recent years, even more than ten years, including the aspects of robot structure, appearance, control system, artificial intelligence, remote control, etc. Moreover, robots have been used in a wide variety of industries including aerospace, manufacturing, service, scientific research, military, and so on.
With the continuous improvement of the scientific and technical level, robots with various functions are produced. However, under some conditions of limited space and extreme road conditions, most of the walking structures of the robots show the defects of being too complex, large in structural size, poor in road condition adaptability, too single in function, not having certain impact resistance in the whole, rigid impact between the link parts and the like.
Therefore, a new robot walking structure is urgently needed to solve the above problems. The invention related to the bionic structure of the leg of the sea cockroach is not found in the existing patent search, and the significance of the invention is more confirmed through the analysis.
Disclosure of Invention
The invention aims to provide a bionic sea cockroach leg structure with a buffering function.
In order to achieve the purpose, the invention adopts the following technical scheme:
a bionic sea cockroach leg structure with buffering function comprises a power source connecting device, a plurality of sequentially connected bionic limb joints and a claw arranged on the most tail end bionic limb joint, wherein the claw is provided with a groove
The power source connecting device comprises a limiting block and a power output rod;
the most front bionic limb joint is connected with the power output rod, the adjacent bionic limb joints are movably connected through a connecting piece, and a corner limiting structure and a buffer structure are arranged between the adjacent bionic limb joints, so that each bionic limb joint can be freely adjusted within a certain angle range;
the claw and the tail-most bionic limb joint are rotationally connected through a connecting piece, and a locking limiting structure is arranged between the claw and the tail-most bionic limb joint, so that the claw can be freely adjusted within a certain angle range.
As the improvement of the technical scheme, the power source connecting device is used for connecting the power source of the robot with the bionic limb joint, the limiting blocks are arranged on the robot, the gaps of the limiting blocks are adjustable, one end of the power output rod is connected with the power source of the robot, the other end of the power output rod is fixed on a ball hinge, and the ball hinge is arranged at the top end of the most front bionic limb joint.
As an improvement of the above technical scheme, the bionic limb joint comprises a first limb joint, a second limb joint, a third limb joint, a fourth limb joint, a fifth limb joint and a sixth limb joint which are sequentially connected, wherein the power output rod is connected with the first limb joint, and the hook claw is arranged at the tail end of the sixth limb joint.
As an improvement of the above technical scheme, the tail ends of the first to fifth limb sections are provided with corner limiting blocks, the lower parts of the corner limiting blocks are provided with buffering pads to form a corner limiting structure and a buffering structure, the tail end of the sixth limb section is provided with a claw locking rod and a claw limiting rod to form a locking limiting structure, and the tail end of the sixth limb section is provided with a buffering pad.
As an improvement of the above technical solution, the hook comprises a large hook and a small hook, the hook locking lever comprises a large hook locking lever and a small hook locking lever for locking the hook in a certain rotation angle state, and the hook limiting lever comprises a large hook limiting lever and a small hook limiting lever for limiting a limit rotation angle of the hook. The claw can be retracted or released according to task requirements, and the size and the shape of the tip of the claw can be adjusted according to use or design requirements.
As an improvement of the above technical scheme, the corner stopper is the structure with the terminal integrated into one piece of bionical limb or installs in the terminal independent structure of bionical limb, the corner stopper between first limb festival, the second limb festival is different with the restriction of the corner stopper between third limb festival, fourth limb festival, the fifth limb festival, the former is used for restricting clockwise turning, the latter is used for restricting anticlockwise turning for the curved opposite of second limb festival, third limb festival and fourth limb festival, fifth limb festival, sixth limb festival.
As an improvement of the technical scheme, the buffer pad is a substance with certain elasticity, such as a rubber pad, or a structure or a device with a buffer function.
As an improvement of the technical scheme, the connecting piece is a hinge or pin structure or other movable connecting structures with adjustable angles.
As an improvement of the technical scheme, the claw limiting rod is of a structure integrally formed with the tail end of the sixth limb segment or an independent structure arranged at the tail end of the sixth limb segment.
As an improvement of the above technical scheme, when the robot normally travels, the claw or the cushion pad at the tail end of the sixth limb segment is selected to be in contact with the road surface according to the road condition;
when the robot travels or adjusts the posture of the leg, impact can be generated among all bionic limb joints of the leg, and the buffer cushion arranged on the corner limiting block plays a role in buffering;
when the robot jumps down from a certain height, the posture of the leg is adjusted, the hook claw is retracted, and the cushion pad at the tail end of the sixth limb segment lands;
when the robot crawls in an environment with limited space, the first limb segment, the second limb segment and the third limb segment are folded to save space;
when the robot climbs, the suitable hook corner is adjusted in real time according to the requirement, and the hook is locked by the hook locking rod.
The invention has the beneficial effects that:
the bionic sea cockroach leg structure with the buffering function is simple in structure, capable of being folded and adjusted in a telescopic mode and high in space utilization rate; the road condition adaptability of the structure is strong; the climbing capacity is realized, and the functionality is strong; the shock absorber can effectively buffer the rigid shock between the parts, reduces the vibration and shock between the limbs and the ground, has certain shock resistance integrally, and has wide application prospect.
Drawings
The invention will be further described with reference to the accompanying drawings and specific embodiments,
FIG. 1 is a schematic diagram of the overall structure of a bionic sea cockroach leg structure with a buffering function;
figure 2 is an enlarged partial view of part a of figure 1, distal to the first limb segment;
FIG. 3 is an enlarged view of portion B of FIG. 1 showing a portion of the finger;
figure 4 is an enlarged partial view of part C of figure 1, distal to the sixth limb segment;
the sequence numbers in the figure correspond to:
1-limiting block, 2-power output rod, 3-ball hinge, 4-first limb joint, 5-corner limiting block, 6-second limb joint, 7-third limb joint, 8-fourth limb joint, 9-fifth limb joint, 10-sixth limb joint, 11-connecting piece, 12-buffer pad, 13-claw limiting rod, 14-claw locking rod and 15-claw.
Detailed Description
Example 1
A bionic sea cockroach leg structure with a buffer function.
Referring to the attached drawing 1, this bionical sea cockroach leg structure includes power supply connecting device, the bionical limb joint that six sections connect gradually and set up the hook 15 on sixth limb joint 10, wherein, power supply connecting device is used for being connected the robot power supply with bionical limb joint, it includes stopper 1, power take off pole 2 and ball hinge 3, stopper 1 is installed on the robot, and two stoppers 1's clearance is adjustable, 2 one end of power take off pole are connected with the robot power supply, the other end is fixed on a ball hinge 3, ball hinge 3 installs on the top of first limb joint 4.
The first limb joint 4 is connected with the power output rod 2, the adjacent bionic limb joints are movably connected through the connecting piece 11, and a corner limiting structure and a buffer structure are arranged between the adjacent bionic limb joints, so that each bionic limb joint can be freely adjusted within a certain angle range. The claw 15 is also rotatably connected with the sixth limb segment 10 through a connecting piece 11, and a locking limit structure is arranged between the claw 15 and the sixth limb segment, so that the claw 15 can be freely adjusted within a certain angle range.
Referring to fig. 2, the corner limiting structure and the buffering structure specifically refer to: the tail ends of the first limb joint 9 to the fifth limb joint 9 are provided with corner limiting blocks 5, and the lower parts of the corner limiting blocks 5 are provided with cushion pads 12 to form a corner limiting structure and a cushion structure. Referring to fig. 3, the above-mentioned locking and limiting structure refers to: the tail end of the sixth limb segment 10 is provided with a claw locking rod 14 and a claw limiting rod 13 to form a locking limiting structure, and referring to fig. 4, the tail end of the sixth limb segment 10 is simultaneously provided with a cushion pad 12.
Specifically, the hook claw 15 includes a large hook claw and a small hook claw, the hook claw lock rod 14 includes a large hook claw lock rod and a small hook claw lock rod correspondingly, the hook claw lock rod is used for locking the hook claw 15 in a certain rotation angle state, and the hook claw limiting rod 13 includes a large hook claw limiting rod and a small hook claw limiting rod correspondingly, and the large hook claw limiting rod and the small hook claw limiting rod are used for limiting a limit rotation angle of the hook claw 15. The claw 15 can be retracted or released according to task requirements, and the size and the shape of the tip can be adjusted according to use or design requirements.
In different embodiments, the corner limiting block 5 may be a structure integrally formed with the end of the bionic limb segment, or an independent structure installed at the end of the bionic limb segment.
The limiting and steering of the corner limiting blocks 5 between the first limb joint 4 and the second limb joint 6 is different from the limiting and steering of the corner limiting blocks 5 between the third limb joint 7, the fourth limb joint 8 and the fifth limb joint 9, the former is used for limiting clockwise steering, and the latter is used for limiting anticlockwise steering, so that the bending directions of the second limb joint 6 and the third limb joint 7 are opposite to the bending directions of the fourth limb joint 8, the fifth limb joint 9 and the sixth limb joint 10.
In various embodiments, the cushion 12 may be a material with certain elasticity, such as a rubber pad, or may be some structure or device with a cushioning effect.
In various embodiments, the connecting member 11 may be an adjustable angle hinge or pin structure, or other movable connection structure.
In different embodiments the finger restraint 13 may be an integrally formed structure with the distal end of the sixth limb segment 10 or a separate structure mounted to the distal end of the sixth limb segment 10.
Example 2
A robot with a bionic sea cockroach leg structure and a buffering function.
When the robot travels normally, the claws 15 or the cushion pads 12 at the end of the sixth limb segment 10 are selected to be used to contact the road surface according to the road conditions.
When the robot travels or adjusts the posture of the leg, the bionic limb joints of the leg can generate impact, and the buffer pad 12 arranged on the corner limiting block 5 plays a role in buffering.
When the robot jumps from a certain height, the leg position is adjusted and the finger 15 is retracted and landed with the cushion pad 12 at the end of the sixth limb segment 10.
When the robot crawls in a space-constrained environment, the first limb segment 4, the second limb segment 6 and the third limb segment 7 are collapsed to save space.
When the robot climbs, the proper rotating angle of the hook claw 15 is adjusted in real time according to the requirement, and the hook claw 15 is locked by the hook claw locking rod 14.
While various embodiments of the present invention have been described above, it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, which are merely preferred embodiments of the present invention and should not be considered as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
It should also be understood that although the present description has been described in terms of embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as a whole to form other embodiments as would be understood by those skilled in the art.
Claims (5)
1. The utility model provides a bionical sea cockroach leg structure with buffer function which characterized in that: comprises a power source connecting device, a plurality of bionic limb joints which are sequentially connected and a claw arranged on the most tail end bionic limb joint, wherein
The power source connecting device comprises a limiting block and a power output rod;
the bionic limb joints arranged at the foremost ends are connected with the power output rod, the adjacent bionic limb joints are movably connected through a connecting piece, and a corner limiting structure and a buffer structure are arranged between the adjacent bionic limb joints, so that each bionic limb joint can be freely adjusted within a certain angle range;
the claw is rotatably connected with the bionic limb joint at the tail end through a connecting piece, and a locking limiting structure is arranged between the claw and the bionic limb joint, so that the claw can be freely adjusted within a certain angle range;
the power source connecting device is used for connecting a robot power source with the bionic limb joint, a limiting block is arranged on the robot, the gap between the limiting blocks is adjustable, one end of a power output rod is connected with the robot power source, the other end of the power output rod is fixed on a ball hinge, and the ball hinge is arranged at the top end of the most front bionic limb joint;
the bionic limb joint comprises a first limb joint, a second limb joint, a third limb joint, a fourth limb joint, a fifth limb joint and a sixth limb joint which are sequentially connected, wherein the power output rod is connected with the first limb joint, and the hook claw is arranged at the tail end of the sixth limb joint;
the tail ends of the first limb joint, the second limb joint and the third limb joint are provided with a hook claw locking rod and a hook claw limiting rod respectively, and the tail ends of the first limb joint, the second limb joint and the third limb joint are provided with buffer cushions respectively;
the corner limiting block is of a structure integrally formed with the tail end of the bionic limb joint or an independent structure arranged at the tail end of the bionic limb joint, the limiting steering of the corner limiting block between the first limb joint and the second limb joint is different from the limiting steering of the corner limiting block between the third limb joint, the fourth limb joint and the fifth limb joint, the first limb joint is used for limiting clockwise steering, and the second limb joint and the third limb joint are used for limiting anticlockwise steering, so that the bending directions of the second limb joint, the third limb joint, the fourth limb joint, the fifth limb joint and the sixth limb joint are opposite;
when the robot normally travels, the claw or the cushion pad at the tail end of the sixth limb segment is selected to be in contact with the road surface according to the road condition;
when the robot travels or adjusts the posture of the leg, impact can be generated among all bionic limb joints of the leg, and the buffer cushion arranged on the corner limiting block plays a role in buffering;
when the robot jumps down from a certain height, the posture of the leg is adjusted, the hook claw is retracted, and the cushion pad at the tail end of the sixth limb segment lands;
when the robot crawls in an environment with limited space, the first limb segment, the second limb segment and the third limb segment are folded to save space;
when the robot climbs, the suitable hook corner is adjusted in real time according to the requirement, and the hook is locked by the hook locking rod.
2. The bionic sea cockroach leg structure with the buffering function as claimed in claim 1, wherein: the hook claw comprises a large hook claw and a small hook claw, the hook claw locking rod comprises a large hook claw locking rod and a small hook claw locking rod, the hook claw locking rod is used for locking the hook claw in a certain corner state, and the hook claw limiting rod comprises a large hook claw limiting rod and a small hook claw limiting rod, and is used for limiting a limit corner of the hook claw.
3. The bionic sea cockroach leg structure with the buffering function as claimed in claim 1, wherein: the buffer pad is a substance with certain elasticity or a structure or a device with a buffer function.
4. The bionic sea cockroach leg structure with the buffering function as claimed in claim 1, wherein: the connecting piece is a hinge or pin shaft structure with an adjustable angle.
5. The bionic sea cockroach leg structure with the buffering function as claimed in claim 1, wherein: the knuckle limiting rod is of a structure integrally formed with the tail end of the sixth limb segment or an independent structure arranged at the tail end of the sixth limb segment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426143.7A CN108725623B (en) | 2018-05-07 | 2018-05-07 | Bionic sea cockroach leg structure with buffering function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810426143.7A CN108725623B (en) | 2018-05-07 | 2018-05-07 | Bionic sea cockroach leg structure with buffering function |
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| CN108725623A CN108725623A (en) | 2018-11-02 |
| CN108725623B true CN108725623B (en) | 2021-04-09 |
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| CN110525150B (en) * | 2019-09-12 | 2020-07-14 | 重庆大学 | Combined type deformation leg suitable for amphibious environment |
| CN112372666B (en) * | 2020-10-30 | 2022-03-08 | 电子科技大学 | Flexible joint and adopt this flexible joint's micro-robot |
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| US7603199B2 (en) * | 2003-11-27 | 2009-10-13 | Honda Motor Co., Ltd. | Control device for mobile body |
| DE102011102960A1 (en) * | 2011-05-23 | 2012-11-29 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Self-propelled platform |
| CN102717847A (en) * | 2012-06-28 | 2012-10-10 | 中国科学院自动化研究所 | Leg-foot mechanism with low rotational inertia configuration for four-footed robot |
| CN203996535U (en) * | 2014-07-17 | 2014-12-10 | 华中科技大学 | A kind of bionical quadruped robot with storage effect |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
| CN205387156U (en) * | 2016-03-18 | 2016-07-20 | 中国石油大学(华东) | High performance four -footed spider robot |
| CN107223104B (en) * | 2016-06-23 | 2019-02-12 | 深圳市大疆创新科技有限公司 | Multi-foot robot |
| CN106828654B (en) * | 2017-01-20 | 2019-04-12 | 深圳源创智能机器人有限公司 | A kind of four-leg bionic robot |
| CN206825433U (en) * | 2017-05-09 | 2018-01-02 | 山东科技大学 | A kind of bionical scorpion Detecting Robot |
| CN107161231B (en) * | 2017-05-27 | 2019-10-25 | 郑州大学 | It is a kind of suitable for drag-line bridge Sarasota and the biomimetic climbing robot of cable |
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