CN110481668A - A kind of adaptive strain posture bionic mechanical foot - Google Patents
A kind of adaptive strain posture bionic mechanical foot Download PDFInfo
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- CN110481668A CN110481668A CN201910814742.0A CN201910814742A CN110481668A CN 110481668 A CN110481668 A CN 110481668A CN 201910814742 A CN201910814742 A CN 201910814742A CN 110481668 A CN110481668 A CN 110481668A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y70/00—Materials specially adapted for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of adaptive strain posture bionic mechanical foots, can passively adjust the athletic posture of toes in real time according to locating ground environment, change the area that contacts to earth in vola.Including bearing bar, guide rod, the first sliding-block linkage, the second sliding-block linkage, the first toe mechanism, second toe portion mechanism, third toe mechanism；After guide rod sequentially passes through bearing bar, the first sliding-block linkage and the second sliding-block linkage, it is threadedly coupled with the first toe mechanism；A pair of of second toe portion mechanism is respectively hinged at left and right sides of the first toe mechanism；A pair of of third toe mechanism is respectively hinged at the outside of respective side second toe portion mechanism；The both ends of first sliding-block linkage are hinged with the third toe mechanism of respective side respectively；The both ends of second sliding-block linkage are hinged with the second toe portion mechanism of respective side respectively；Spring is socketed on guide rod；Toe mechanism is made of phalanx, foot pad unit and vola.
Description
Technical field
The invention belongs to engineering bionics techniques fields, and in particular to a kind of adaptive strain posture bionic mechanical foot.
Background technique
Compared to wheeled and crawler-type mobile mechanism, Tui Zu formula mobile mechanism contact point when soft terrain passes through is discrete
, it is discontinuous, hauling ability, more husky performance and anti-depression performance all significantly improve.Sufficient end is as Tui Zu formula mobile mechanism
Main actuator, the design of structure, pattern and function etc. will directly affect mobile mechanism can soft terrain smoothly just
Normal passes through.The foot of most of anthropomorphic robots be it is flat, approximation is in rectangle, for example ASIMO and PETMAN.If one
Legged mobile robot will walk in rugged landform, its foot is generally designed to cylindrical type or ball-type, they can be more in this way
Free adaptation to the ground, for example, BigDog, LS3, LittleDog etc..The foot of some robots is irregular shape, especially
When they are to design from bionical angle, for example the arc of Sandbot robot is sufficient (C-shaped).However, these robots
Structure of foot is all fixed and invariable, and can not carry out adaptive real-time adjustment, according to locating terrain environment so as to more preferable
Anti- depression, traction and energy storage vibration damping etc. are provided.
The weight 60-160kg of adult ostrich, continues 50-60 kilometers/hour of running speed, can last about 30 minutes, makes a spurt
Speed is more than 70 kilometers/hour, is the most fast biped birds that land is run.Ostrich bidactylous foot is main during high speed is run
Actuator, provide traction, reduce depression, energy storage and in terms of played an important role.Third toe is main
The load-bearing toe wanted, the 4th toe are Auxiliary support toes.The movement of ostrich toes mainly by be connected with phalanx stretch, flexor tendons are driven
Dynamic.By taking third toe as an example, different phalanxes stretch toe movement be by toe back and the connected different extensor tendons of different phalanxes Lai
Control, while the toe in the wrong movement of different phalanxes is to be controlled by toe bottom from the connected different flexor tendons of different phalanxes.In addition to rising
To outside the effect for connecting and driving phalanx, the permanent liftoff function of articulationes metatarsophalangeae is mainly the effect for the tendon being tensioned.Tendon exists
Proximally and distally all wavy, the pattern and function of spring-like of articulationes metatarsophalangeae, this rises in terms of ostrich foot energy storage vibration damping
Important function is arrived.
A kind of imitative ostrich hind leg pedipulator of Chinese invention patent (application number: 201610604950.4) foot respectively save phalanx it
Between use torsional spring and connect, when mechanical foot is liftoff, each phalanx that saves by the restoring force passively return to primitive age state of torsional spring, and
It is not to consider that ostrich foot is different and stretch/cooperation of flexor tendons and Ge Jie phalanx stretches toe to realize respectively/to bend toe movement.
(application number: being 201610996333.3) to stress two toes to a kind of adaptive sand ground bionic mechanical foot of Chinese invention patent
Separate and closure, it is not by mechanical foot itself that two toes, which are individually an entirety, and artificial by motor active control
According to different ground environments come the adjustment posture of passive adaptation.
A kind of bionical more husky mechanical foot (application number: 201810786878.0) of tendon bone collaboration Coupled Rigid-flexible of Chinese invention patent
Each section phalanx of main toe and auxiliary toe is separated, that emphasizes mechanical foot pedals ground function, passes through servo motor push rod, buffer shock-absorbing
The cooperation of mechanism and flexible passive control mechanism to realize the separation and closed action of two toes, do not refine consider it is different stretch/
Flexor tendons are the adjustment of the athletic posture for stretching toe/toe in the wrong movement and the different phase toes that contact to earth of the different phalanxes of driving, and need
Servo motor auxiliary, is not completely passive.
Summary of the invention
In order to solve the above problems existing in the present technology, the present invention provides a kind of adaptive strain posture bionic mechanical foot,
The function of ostrich vola pedis toe joint, athletic posture, the foot of the phalanx of different phases of contacting to earth have been imitated from two angles of structure and material
The elasticity modulus ratio and assembling sequence and vola pattern etc. of soft tissue are padded, machinery foot can be real according to locating ground environment
When passive adjustment toes athletic posture, change the area that contacts to earth in vola, in anti-depression, improve that traction, energy storage is gentle eats up part of
Vibration etc. is made the most of the advantage, to improve robot in the passage capacity of soft terrain, energy-efficient performance and stability etc..
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of adaptive strain posture bionic mechanical foot, including bearing bar, guide rod, the first sliding-block linkage, the second cunning
Block link mechanism, the first toe mechanism, a pair of of second toe portion mechanism, a pair of of third toe mechanism；Guide rod sequentially passes through load-bearing
After bar, the first sliding-block linkage and the second sliding-block linkage, it is threadedly coupled with the first toe mechanism；A pair of second toe
Mechanism is respectively hinged at left and right sides of the first toe mechanism；A pair of of third toe mechanism is respectively hinged at respective side the second toe machine
The outside of structure；The both ends of first sliding-block linkage are hinged with the third toe mechanism of respective side respectively；Second slide block connecting rod machine
The both ends of structure are hinged with the second toe portion mechanism of respective side respectively；Guiding between the bearing bar and the first sliding-block linkage
The first spring is socketed in rod segment；It is socketed in guiding rod segment between first sliding-block linkage and the second sliding-block linkage
Second spring；Third spring is socketed in guiding rod segment between second sliding-block linkage and the first toe mechanism.
Further, first toe mechanism, second toe portion mechanism, third toe mechanism are by phalanx, foot pad list
Member and vola composition；Foot pad unit is pasted in phalanx in the following, vola is pasted below foot pad unit；First toe mechanism, second
It is hinged between toe mechanism, third toe mechanism by phalanx；Second toe portion mechanism passes through its phalanx and the second sliding block
Link mechanism is hinged, and third toe mechanism is hinged by its phalanx and the first sliding-block linkage.
Further, the foot pad unit is from top to bottom successively by foot pad unit toe bed course, foot pad unit fascia layer and foot
Single pad member skin layer composition, and difference is respectively adopted in foot pad unit toe bed course, foot pad unit fascia layer and foot pad unit skin layer
The hardness content of the silicon rubber of hardness, silicon rubber meets 3:7:11.
Further, the vola is chosen photosensitive resin material and is process by 3D printing technique.
Further, first sliding-block linkage includes the first sliding block, two first connecting rods, the first sliding block both ends
Be respectively articulated with a first connecting rod, the other end of two first connecting rods respectively with it is hinged on the outside of third toe mechanism；Second
Sliding-block linkage includes the second sliding block, two second connecting rods, and the second sliding block both ends are respectively articulated with second connecting rod, and two
The other end of the second connecting rod of root is hinged with second toe portion mechanism outside respectively.
A kind of adaptive strain posture bionic mechanical of the invention has the advantages that enough
The present invention is based on engineering bionic principles, using engineering bionics techniques, with the third toe of ostrich foot for bionical prototype, if
A kind of athletic posture that toes can be adjusted according to the completely passive dynamic for the soft terrain environment self-adaption being presently in is counted.
Firstly, using connecting rod, sliding block, spring, bearing bar, guide rod etc. imitated ostrich foot it is internal it is different stretch/flexor tendons connect
Phalanxes different with driving stretch toe/apodization function in the wrong, so that mechanical foot has the posture of different movements in the different phases of contacting to earth, this
The area that contacts to earth is changed, realizing reduces depression and energy-efficient function；Secondly, the silicon rubber using different hardness has imitated ostrich
The elasticity modulus ratio and its assembling sequence of toe pad, fascia and skin soft tissue, it is determined that the hardness content of silicon rubber realizes
The function of buffer shock-absorbing, improves stability；Finally, respectively ostrich vola pattern has been imitated in the vola of section phalanx, intrusion is reduced
Resistance realizes the function for current limliting of fixing the sand, and improves the hauling ability of mechanical foot.
It is symmetrically that this improves the stability of total in structure that a kind of adaptive strain posture bionic mechanical is sufficient,
But also mechanical foot is more uniformly stressed when contacting to earth, passage capacity of the robot when soft terrain moves will be significantly increased.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is main view of the invention.
Fig. 3 is mechanical foot linear posture schematic diagram when the present invention just contacts to earth.
Fig. 4 is mechanical sufficient Adaptive Attitude schematic diagram when the present invention contacts to earth mid-term or robot marks time.
Fig. 5 is mechanical sufficient arc posture schematic diagram when the present invention is liftoff.
Fig. 6 is partial enlarged view of the invention.
In figure: 1- bearing bar, 2- guide rod, the first spring of 3-, the first sliding block of 4-, 5- first connecting rod, 6- second spring,
The second sliding block of 7-, 8- third spring, the second connecting rod of 9-, 10- ossa suffraginis, 11- the first foot pad unit, 111- the first foot pad list
First toe bed course, 112- the first foot pad unit fascia layer, 113- the first foot pad unit skin layer, the first vola 12-, 13- second toe
Bone, 14- the second foot pad unit, 141- the second foot pad unit toe bed course, 142- the second foot pad unit fascia layer, the second foot pad of 143-
Unit skin layer, the second vola 15-, 16- third phalanx, 17- third foot pad unit, 171- third foot pad unit toe bed course,
172- third foot pad unit fascia layer, 173- third foot pad unit skin layer, 18- third vola.
Specific embodiment
Below in conjunction with Fig. 1 to Fig. 6, the specific embodiment of bionic mechanical foot is illustrated.
A kind of adaptive strain posture bionic mechanical foot, including bearing bar 1, guide rod 2, the first sliding-block linkage, second
Sliding-block linkage, the first toe mechanism, a pair of of second toe portion mechanism, a pair of of third toe mechanism.Guide rod 2, which sequentially passes through, to be held
After second sliding block 7 of weight bar 1, the first sliding block 4 of the first sliding-block linkage and the second sliding-block linkage, with the first toe
Mechanism is threadedly coupled；A pair of of second toe portion mechanism is respectively hinged at left and right sides of the first toe mechanism；A pair of of third toe mechanism
It is respectively hinged at the outside of respective side second toe portion mechanism.Distinguish two 5 ends of first connecting rod of the first sliding-block linkage
It is hinged with the third toe mechanism of respective side；The of two second connecting rod, 9 ends of the second sliding-block linkage and respective side
Two toe mechanisms are hinged；The first spring 3, In is socketed on 2 sections of guide rod between bearing bar 1 and the first sliding-block linkage
It is socketed with second spring 6 on 2 sections of guide rod between first sliding-block linkage and the second sliding-block linkage, in the second sliding block
Third spring 8 is socketed on 2 sections of guide rod between link mechanism and the first toe mechanism.
First sliding-block linkage includes 4, two first connecting rods 5 of the first sliding block；Second sliding-block linkage includes the
Two second connecting rods 9 of sliding block 7, two；First toe mechanism includes ossa suffraginis 10, the first foot pad unit 11, the first vola 12；
Second toe portion mechanism includes the second phalanx 13, the second foot pad unit 14, the second vola 15；Third toe mechanism includes third phalanx
16, third foot pad unit 17, third vola 18.
Guide rod 2 sequentially passes through bearing bar 1, the first spring 3, the first sliding block 4, second spring 6, the second sliding block 7 and third
After spring 8, it is connected through a screw thread and is connected with ossa suffraginis 10.The left and right sides of ossa suffraginis 10 respectively with second phalanx 13
Hingedly.The left side of the second phalanx of the left side 13 with a third phalanx 16 by being hingedly connected, the right side of the second phalanx of the right 13
By being hingedly connected with a third phalanx 16.The both ends of left side first connecting rod 5 left side and a left side with the first sliding block 4 respectively
The left side of side third phalanx 16 is hinged, the both ends of the right first connecting rod 5 respectively with the right side of the first sliding block 4 and the right third toe
The right side of bone 16 is hinged.The both ends of the second connecting rod of the left side 9 left side with the left side of the second sliding block 7 and the second phalanx of the left side 13 respectively
Side is hinged, and the both ends of the second connecting rod of the right 9 are hinged with the right side on the right side of the second sliding block 7 and the second phalanx of the right 13 respectively.
First foot pad unit 11 is by the first foot pad unit toe bed course 111, the first foot pad unit fascia layer 112 and the first foot pad
Unit skin layer 113 forms；Second foot pad unit 14 is by the second foot pad unit toe bed course 141, the second foot pad unit fascia layer 142
It is formed with the second foot pad unit skin layer 143；Third foot pad unit 17 is by third foot pad unit toe bed course 171, third foot pad list
First fascia layer 172 and third foot pad unit skin layer 173 form.For these three foot pad units, from top to bottom successively by
Foot pad unit toe bed course, foot pad unit fascia layer and foot pad unit skin layer composition, and foot pad unit toe bed course, foot pad unit muscle
The silicon rubber of different hardness is respectively adopted in film layer and foot pad unit skin layer, and the hardness content of silicon rubber meets 3:7:11.First
Foot pad unit 11, the second foot pad unit 14 and third foot pad unit 17 are pasted respectively in ossa suffraginis 10, the second phalanx 13 and
Below three phalanxes 16, size is determined according to the size of ossa suffraginis 10, the second phalanx 13 and third phalanx 16 respectively.
First vola 12, the second vola 15 and third vola 18 are pasted respectively in the first foot pad unit 11, the second foot pad list
Below member 14 and third foot pad unit 17, size is respectively according to the first foot pad unit 11, the second foot pad unit 14 and third
The size of foot pad unit 17 determines.It chooses photosensitive resin material and 3D printing technique processes the first vola 12, the second vola 15
With third vola 18.
A kind of adaptive strain posture bionic mechanical foot bionic principle:
During ostrich high speed is run, third toe is as main load-bearing toe, when just contacting to earth, permanent liftoff plantar toe
Joint is compressed, and position reduces, and kinetic energy is converted into elastic potential energy and is stored in the energy storage components such as articulationes metatarsophalangeae and tendon.At this
During a, toe dorsiflexion tendon is stretched, and in the raw, entire toes moment unfolds to be connect the flexor tendons at toe bottom with ground
Touching, which increase the contacts area with ground, reduce the impact force of the moment of foot.In mid-term of contacting to earth, the toe being stretched is carried on the back
Extensor tendon is gradually recovered, while toe bottom flexor tendons are gradually stretched, and ostrich controls foot by the coordination of extensor tendon and flexor tendons
Respectively save the movement of phalanx in portion.Wherein, toe it is long stretch/flexor tendons are connected with the third phalanx 16 of distal end, control third phalanx respectively
16 toe/toe in the wrong of stretching moves；Have hole stretch through/flexor tendons are connected with the second intermediate phalanx 13, control the second phalanx 13 respectively
Stretch toe/bend toe movement；Have hole stretch/flexor tendons are connected with the ossa suffraginis 10 of proximal end, control stretching for ossa suffraginis 10 respectively
Toe/bend toe movement.In addition, ostrich can't stand for a long time, but the lift of interval is sufficient and falls foot, similar to remain where one is, custom
Claim " can't stand ".When ostrich foot sand ground face depression increase when, ostrich lift foot and fall sufficient frequency can be higher.Whether it contacts to earth
When mid-term still remains where one is, extensor tendon and flexor tendons cooperation inside ostrich foot stretch toe control different phalanxes respectively
It is moved with toe in the wrong, timely changes contact to earth area and the posture of toes in this way, reduce the depression of foot, maintain the steady of body
It is qualitative.In the later period of contacting to earth, ostrich toes are liftoff, and compressed articulationes metatarsophalangeae restores, and the elastic potential energy of storage is converted into kinetic energy, toe
Bottom flexor tendons level of stretch gradually increases, and the extensor tendon of toe back is restored to nature, and each phalanx that saves is in the musculus flexor being stretched
Can be sequentially liftoff under the drive of tendon, under the connection function of extensor tendon and flexor tendons, entire toes are arc-shaped, to improve
The sport efficiency of entire toes.
In order to imitate the athletic posture of the function and ostrich foot of articulationes metatarsophalangeae when contacting to earth, bearing bar 1, guide rod 2, first
The parts such as spring 3, the first sliding block 4, second spring 6, the second sliding block 7, third spring 8 and ossa suffraginis 10 simulate ostrich plantar toe
The function in joint plays the role of storing and releasing energy.First connecting rod 5 simulates that toe is long to stretch the/function of flexor tendons, rises
The effect of the posture of contacting to earth of third phalanx 16 is controlled to connection third phalanx 16, under the drive of the first sliding block 4.Second connection
Bar 9 simulates hole and stretches through/the function of flexor tendons, plays the second phalanx 13 of connection, controls under the drive of the second sliding block 7 the
The effect of the posture of contacting to earth of two phalanxes 13.
The weight 60-160kg of adult ostrich, continues 50-60 kilometers/hour of running speed, and ostrich toes area is
0.01m2.So small toes area will but bear such huge body wt, and this requires ostrich toes with excellent
Buffer shock-absorbing performance, especially during running at a high speed.Plane technology is substantially solved by biology, solution plane, ostrich are carried out enough to ostrich
Bird foot pad is successively toe bed course, fascia layer and skin layer from top to bottom, and this three layers elasticity modulus successively increases.
In order to imitate soft-tissue material and the assembling mode of ostrich foot pad, foot pad unit toe bed course, foot pad unit are devised
Fascia layer, foot pad unit skin layer, using the modular ratio of the silica gel simulation ostrich foot pad soft tissue of three kinds of different hardness
Example, and it is sequentially assembled into foot pad from top to bottom according to the assemble sequence of toe pad, fascia and the skin of ostrich foot this three layers of soft tissues
Unit.According to the size of ossa suffraginis 10, the second phalanx 13 and third phalanx 16, scaling appropriate is carried out, separately designs to be formed
First foot pad unit 11, the second foot pad unit 14 and third foot pad unit 17, the work for playing buffer shock-absorbing, improving stability
With.
Ostrich vola pattern has groove structure, this plays in ostrich high speed is more husky and reduces into husky resistance and limit of fixing the sand
The effect of stream, to improve the hauling ability of toes.
In order to imitate the groove structure of ostrich toes, it is extracted the intermediate crestal line of ostrich toes, and according to the first foot pad list
The size of first 11, second foot pad unit 14 and third foot pad unit 17, carries out scaling appropriate, has separately designed the first vola
12, the second vola 15 and third vola 18 play the role of reducing into husky resistance, improve traction.
A kind of adaptive strain posture bionic mechanical foot working principle:
When the bionic mechanical just contacts to earth enough, the impact force from ground is by the first foot pad unit 11, the second foot pad unit 14
It absorbs and dissipates with third foot pad unit 17, realize the function of buffer shock-absorbing, improve the stability of contacting to earth of mechanical foot, entire body
The weight of body acts on bearing bar 1, and under the action of guide rod 2, bearing bar 1 moves downward the first spring 3 of compression, first
Under the action of spring 3, the first sliding block 4 is also moved downward, while the first connecting rod 5 of two sides being driven to move downward, in two sides
Under the action of first connecting rod 5, the third phalanx 16 and ground face contact of two sides, the power transmitting by second spring 6, the second sliding block
7 can also move downward, and the second connecting rod 9 of two sides is driven to move downward, the second phalanx 13 of two sides also can with ground face contact,
Third spring 8 can also be compressed under the action of the second sliding block 7 moves downward, this has imitated articulationes metatarsophalangeae when ostrich is just contacted to earth enough
Position decline movement with storage elastic potential energy process, while the third phalanx 16 of two sides and the second phalanx 13 and centre
The contact area on ossa suffraginis 10 and ground also reaches maximum, and the first vola 12, the second vola 15 and third vola 18 play
The effect for current limliting of fixing the sand improves the tractive force of entire mechanical foot.
Due to the characteristic that spring itself can be compressed and be sprung back, which is in contact to earth mid-term or robot original enough
When ground is marked time, the undirectional motion of centre of body weight makes the gravity of body can be by bearing bar 1 in the first spring 3, the first sliding block
4, it is constantly transmitted between second spring 6, the second sliding block 7 and third spring 8, the first spring 3, second spring 6 and third spring 8
Dynamic equilibrium can be found between compression and rebound, while the first sliding block 4 and the second sliding block 7 are in the first spring 3, second spring 6
With can also float up and down under the action of third spring 8, on the first connecting rod 5 and the second connecting rod 9 for driving two sides connected respectively
Lower movement, this allows for the ossa suffraginis 10 of the third phalanx 16 of two sides and the second phalanx 13 and centre and the contact surface on ground
Product is dynamic change, so that the bionic mechanical can be to contact to earth mid-term or robot original place is stepped on according to locating ground environment
Adaptive real-time passive adjustment is carried out when step, to achieve the purpose that anti-depression.
The bionic mechanical is in enough when contacting to earth the later period, and compressed first spring 3, second spring 6 and third spring 8 want extensive
Sample is restored, the first sliding block 4 and the second sliding block 7 move upwards under the action of the spring, drive 5 He of first connecting rod of two sides respectively
Second connecting rod 9 moves upwards, and the third phalanx 16 of two sides and the second phalanx 13 can also connect in first connecting rod 5 and second respectively
Moved upwards under the action of extension bar 9, thus the third phalanx 16 of two sides and the second phalanx 13 and centre ossa suffraginis 10 by
Gradually be arc-shaped, this imitated ostrich toes it is liftoff when athletic posture, play the role of improve sport efficiency.
Claims (5)
1. a kind of adaptive strain posture bionic mechanical foot, which is characterized in that including bearing bar, guide rod, the first slide block connecting rod machine
Structure, the second sliding-block linkage, the first toe mechanism, a pair of of second toe portion mechanism, a pair of of third toe mechanism；Guide rod is successively
After bearing bar, the first sliding-block linkage and the second sliding-block linkage, it is threadedly coupled with the first toe mechanism；It is a pair of
Second toe portion mechanism is respectively hinged at left and right sides of the first toe mechanism；A pair of of third toe mechanism is respectively hinged at respective side
The outside of two toe mechanisms；The both ends of first sliding-block linkage are hinged with the third toe mechanism of respective side respectively；Second is sliding
The both ends of block link mechanism are hinged with the second toe portion mechanism of respective side respectively；The bearing bar and the first sliding-block linkage it
Between guiding rod segment on be socketed with the first spring；Guiding rod segment between first sliding-block linkage and the second sliding-block linkage
On be socketed with second spring；Third bullet is socketed in guiding rod segment between second sliding-block linkage and the first toe mechanism
Spring.
2. a kind of adaptive strain posture bionic mechanical foot as described in claim 1, which is characterized in that the first toe machine
Structure, second toe portion mechanism, third toe mechanism are made of phalanx, foot pad unit and vola；Foot pad unit is pasted in phalanx
In the following, vola is pasted below foot pad unit；First toe mechanism, second toe portion mechanism pass through toe between third toe mechanism
Bone is hinged；Second toe portion mechanism is hinged by its phalanx and the second sliding-block linkage, and third toe mechanism passes through it
Phalanx and the first sliding-block linkage are hinged.
3. adaptive strain posture bionic mechanical as claimed in claim 2 a kind of is sufficient, which is characterized in that the foot pad unit is from upper
It is successively made of foot pad unit toe bed course, foot pad unit fascia layer and foot pad unit skin layer under, and foot pad unit toe bed course,
The silicon rubber of different hardness is respectively adopted in foot pad unit fascia layer and foot pad unit skin layer, and the hardness content of silicon rubber meets 3:
7:11.
4. a kind of adaptive strain posture bionic mechanical foot as claimed in claim 2, which is characterized in that choose photosensitive in the vola
Resin material is simultaneously process by 3D printing technique.
5. a kind of adaptive strain posture bionic mechanical foot as described in claim 1, which is characterized in that first slide block connecting rod
Mechanism includes the first sliding block, two first connecting rods, and the first sliding block both ends are respectively articulated with a first connecting rod, two first companies
The other end of extension bar respectively with it is hinged on the outside of third toe mechanism；Second sliding-block linkage includes the second sliding block, two pieces second
Connecting rod, the second sliding block both ends are respectively articulated with second connecting rod, the other end of two second connecting rods respectively with second toe
It is hinged on the outside of portion mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814742.0A CN110481668B (en) | 2019-08-30 | 2019-08-30 | Self-adaptive posture-changing bionic mechanical foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814742.0A CN110481668B (en) | 2019-08-30 | 2019-08-30 | Self-adaptive posture-changing bionic mechanical foot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110481668A true CN110481668A (en) | 2019-11-22 |
| CN110481668B CN110481668B (en) | 2021-06-29 |
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| CN201910814742.0A Active CN110481668B (en) | 2019-08-30 | 2019-08-30 | Self-adaptive posture-changing bionic mechanical foot |
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| CN114228279A (en) * | 2021-12-16 | 2022-03-25 | 吉林大学 | Multi-material composite bionic foot pad with adjustable mechanical property |
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| CN110481668B (en) | 2021-06-29 |
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