A bionic flexible foot-type tensioning mechanism

Abstract

The bionic flexible foot-type tensioning mechanism belongs to the field of mechanical equipment technology, and includes an upper top plate, a lower bottom plate, seven connecting components, six ball joint bearings, three gas springs, a linear bearing with a flange seat, an optical axis, a cross universal joint, and three tension springs. The optical axis is connected to the upper top plate through a linear bearing with a flange seat and a connecting component, and is connected to the lower bottom plate through a cross universal joint. The spring is connected to the upper connecting component and the lower connecting component respectively through a ball joint bearing, and the upper top plate is connected to the bottom plate through a tension spring. The function of adaptive terrain is realized through the deformability of the mechanism, and it has broad application prospects in the field of mechanical equipment technology.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical equipment, and in particular to a bionic flexible robot foot mechanism. Background Art

[0002] Traditional bionic mobile foot robots use motor drive to ensure that each joint can control and track the movement trajectory of the joint to achieve multi-joint movement. However, due to the inability to accurately and real-time feedback on the movement trajectory of the joint, the mechanism cannot perceive the external state well. At the same time, the size is large and the structure is bulky.

[0003] Although traditional bionic footed mobile robots have been made flexible, they still have deficiencies in adaptive walking, cushioning and shock absorption in specific environments. Summary of the invention

[0004] To solve the above problems, the present invention establishes a bionic foot-type tensioning mechanism based on the characteristics of the tensioning structure being retractable, self-stabilizing, deformable and adaptive, which has adaptive characteristics and further realizes the function of the bionic foot-type mobile robot to adapt to complex terrain, and can assist in operations in high-risk environments and space exploration tasks.

[0005] A bionic flexible foot-type tensioning mechanism, characterized by including an upper top plate, a lower bottom plate, seven connectors, six ball joint bearings, three gas springs, a linear bearing with a flange seat, an optical axis, a cross universal joint, and three tension springs. The upper connector is fixed to the upper top plate by bolts, and the lower connector is fixed to the lower bottom plate by bolts. The optical axis is connected to the upper top plate by a linear bearing with a flange seat and a connecting member, and is connected to the lower bottom plate by a cross universal joint. The gas spring is connected to the upper connector and the lower connector respectively by ball joint bearings. The upper top plate is connected to the lower bottom plate by a tension spring.

[0006] Through the above design scheme, the present invention can bring the following beneficial effects: the overall mechanism has the characteristics of being retractable, flexible, deformable and adaptive, which improves the shortcomings of traditional bionic foot-type robots in adaptive walking in complex environments. According to the complex terrain, the mechanism can passively adjust its shape, naturally contact the ground surface, and realize the function of adaptive complex terrain. The mechanism of the present invention is easy to operate, simple in structure, easy to operate, highly operable, low in cost, has good practical value, and can be applied to the field of bionic flexible foot-type mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 This is an overall structural diagram of a bionic flexible foot-type tensioning mechanism of the present invention.

[0008] Figure 2The cross-sectional view shows that the optical axis is connected to the connecting piece through a linear bearing and is connected to the lower end base plate through a cross universal joint.

[0009] Figure 3 It is an overall schematic diagram of the fixation of the upper top plate and the connecting parts.

[0010] Figure 4 It is an overall schematic diagram of the fixation of the lower end base plate and the connecting parts. DETAILED DESCRIPTION

[0011] The present invention is further described in detail with reference to the accompanying drawings.

[0012] like Figure 1 As shown, a bionic flexible foot-type tensioning mechanism is characterized by including an upper top plate 1, a linear bearing 2 with a flange seat, a first connecting member 3, a second connecting member 9, a third connecting member 11, a fourth connecting member 12, a fifth connecting member 13, a sixth connecting member 23, a seventh connecting member 24, a first tension spring 6, a second tension spring 18, a third tension spring 20, a first ball joint bearing 4, a second ball joint bearing 7, a third ball joint bearing 14, a fourth ball joint bearing 15, a fifth ball joint bearing 21, a sixth ball joint bearing 22, a first gas spring 5, a second gas spring 16, a third gas spring 17, a cross universal joint 8, a lower bottom plate 10, and an optical axis 19.

[0013] The upper top plate 1 is polygonal and has three identical holes for fixing three tension springs.

[0014] like Figure 2 As shown, the first connecting member 3, the third connecting member 11, the fourth connecting member 12, and the fifth connecting member 13 are fixedly connected to the upper top plate 1 by bolts.

[0015] like Figure 3 As shown, the second connecting member 9, the sixth connecting member 23, and the seventh connecting member 24 are fixedly connected to the lower end base plate 10 by bolts.

[0016] The optical axis 19 is connected to the third connecting member 11 through a linear bearing 2 with a flange seat, and is connected to the lower end base plate 10 through a cross universal joint 8. The cross-sectional view is shown in FIG. Figure 4 shown.

[0017] The first gas spring 5 is connected to the first connecting member 3 and the second connecting member 9 of the connecting member through the first ball joint bearing 4 and the second ball joint bearing 7 respectively. The second gas spring 16 is connected to the fourth connecting member 12 and the seventh connecting member 24 respectively through the third ball joint bearing 14 and the sixth ball joint bearing 22. The third gas spring 17 is connected to the fifth connecting member 13 and the sixth connecting member 23 respectively through the fourth ball joint bearing 15 and the fifth ball joint bearing 21.

[0018] The upper top plate 1 is connected to the lower bottom plate 10 via a first tension spring 6 , a second tension spring 18 , and a third tension spring 20 , respectively.

[0019] The above shows a bionic flexible foot-type tensioning mechanism, which is retractable, flexible, deformable and adaptive. It can realize the function of adaptive terrain according to different complex terrains.

Claims

1. A bionic flexible foot-type tensioning mechanism, characterized in that it mainly comprises an upper top plate (1), a linear bearing with a flange seat (2), a first connecting member (3), a second connecting member (9), a third connecting member (11), a fourth connecting member (12), a fifth connecting member (13), a sixth connecting member (23), a seventh connecting member (24), a first tension spring (6), a second tension spring (18), a third tension spring (20), a first ball joint bearing (4), a second ball joint bearing (7), a third ball joint bearing (14), a fourth ball joint bearing (15), a fifth ball joint bearing (21), a sixth ball joint bearing (22), a first gas spring (5), a second gas spring (16), a third gas spring (17), a cross universal joint (8), a lower The upper end top plate (1) is polygonal and has three identical holes for fixing a first tension spring (6), a second tension spring (18), and a third tension spring (20); the upper end top plate (1) is connected to the lower end bottom plate (10) through a first connecting member (3), a third connecting member (11), a fourth connecting member (12), a fifth connecting member (13), a first gas spring (5), a second gas spring (16), a third gas spring (17), a second connecting member (9), a sixth connecting member (23), a seventh connecting member (24), a linear bearing (2) with a flange seat, an optical axis (19), a cross universal joint (8), a first tension spring (6), a second tension spring (18), and a third tension spring (20); The first connecting member (3), the third connecting member (11), the fourth connecting member (12), and the fifth connecting member (13) are fixedly connected to the upper top plate (1) by bolts, the second connecting member (9), the sixth connecting member (23), and the seventh connecting member (24) are fixedly connected to the lower bottom plate (10) by bolts, the optical axis (19) is connected to the third connecting member (11) by a linear bearing (2) with a flange seat, and is connected to the lower bottom plate (10) by a cross universal joint (8), forming a component with spatial motion, the first gas spring (5), the second gas spring (16), and the third gas spring (17) The large end is connected to the first connecting member (3), the fourth connecting member (12) and the fifth connecting member (13) respectively through the first ball joint bearing (4), the third ball joint bearing (14) and the fourth ball joint bearing (15), and the small end is connected to the second connecting member (9), the sixth connecting member (23) and the seventh connecting member (24) through the second ball joint bearing (7), the fifth ball joint bearing (21) and the sixth ball joint bearing (22), thereby forming a retractable structure. The upper end top plate (1) is connected to the lower end bottom plate (10) through the first tension spring (6), the second tension spring (18) and the third tension spring (20).

2. The bionic flexible foot-type tensioning mechanism according to claim 1, characterized in that: A bionic foot-type tensioning mechanism is established according to the connection relationship, which has the characteristic of variability and realizes the function of adaptive terrain by contacting the ground.

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