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Bionic tendon-bone synergetic rigid-flexible coupling sand-crossing mechanical foot

A technology of rigid-flexible coupling and mechanical foot, which is applied in the direction of motor vehicles, transportation and packaging, etc., can solve problems such as lack of pedaling, achieve the effect of improving compliance, improving stability, and reducing the number of power sources

Active Publication Date: 2018-09-28
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Chinese invention patent CN106347519A "A self-adaptive sand bionic mechanical foot", each of the two toes is a whole, the opening and closing of the two toes is actively controlled by the motor, and it does not have the function of kicking the ground

Method used

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  • Bionic tendon-bone synergetic rigid-flexible coupling sand-crossing mechanical foot
  • Bionic tendon-bone synergetic rigid-flexible coupling sand-crossing mechanical foot
  • Bionic tendon-bone synergetic rigid-flexible coupling sand-crossing mechanical foot

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Embodiment Construction

[0028] see Figure 1 to Figure 5 As shown, a bionic tendon-bone synergistically coupled rigid-flexible sand-surfing mechanical foot, including a foot body mechanism, a buffer shock-absorbing mechanism, a flexible passive control mechanism, a main toe, and an auxiliary toe;

[0029] A bionic tendon-bone synergistic rigid-flexible coupling sand-crossing mechanical foot is threadedly connected with a servo electric push rod for reciprocating linear motion through the motor joint 2. The foot mechanism is characterized in that the ankle shaft 5 is connected with the left support plate 40 and the stopper 31 by bolts. , the right support plate 41 and the stopper 31, and then connected into a whole through the connecting column 33, the limit shaft 35, and the two ends of the connecting column 33 are respectively connected with the left supporting plate 40 and the right supporting plate 41 by bolts;

[0030] The buffer and shock absorbing mechanism is connected with the flexible passiv...

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Abstract

The invention discloses a bionic tendon-bone synergetic rigid-flexible coupling sand-crossing mechanical foot which comprises a foot body mechanism, a buffering and damping mechanism, a flexible passive control mechanism, a main toe and an auxiliary toe. The bionic tendon-bone synergetic rigid-flexible coupling sand-crossing mechanical foot takes examples from biological structure and assembling of the foot tendon-bone of an ostrich and the tendon-bone synergetic working principle, the buffering and damping mechanism can decrease the speed when the foot falls on the ground, and the impact on the ground is reduced; and under the effect of a flexible passive control system, the main toe and the auxiliary toe are open when falling on the ground, a torsion spring is compressed to store energy,the main toe and the auxiliary toe are closed when leaving the ground, and the torsion spring is bounced off to release the energy. According to the bionic tendon-bone synergetic rigid-flexible coupling sand-crossing mechanical foot, opening and closing of the two toes are controlled in a passive mode, through the movement of hitting the ground of the main tone, the number of power sources is decreased, the energy loss is reduced, the supporting area of the foot and the ground is increased, and the stability during travelling of a foot robot is improved; and the buffering and damping mechanism and the flexible passive control mechanism are combined through a lever, and the impact of the ground to the foot is effectively reduced.

Description

technical field [0001] The invention relates to the field of bionic foot robots on sandy ground, in particular to a bionic tendon-bone synergistic rigid-flexible coupling mechanical foot for crossing sand. Background technique [0002] Footed robots have flexible gait and strong obstacle surmountability, and have always been a hot direction in the field of robotics research. After years of research, footed robots have been greatly developed, but at present, there are few researches on footed robots suitable for sandy ground at home and abroad, and mechanical feet, as the structure of footed robots that directly contact the ground, have a great impact on the sandy ground passing performance of robots. have an important impact. The feet of traditional legged robots are mostly rigid bodies, most of which are rectangular, spherical or cylindrical in shape. The feet have simple structures and single functions. Weak, poor passing performance, can not well meet the needs of walki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张锐万海金李栋何远庞浩凌雷李建桥
Owner JILIN UNIV
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