A vibration isolator of a lower limb of a cheetah

Abstract

The application discloses a kind of bionic cheetah lower limbs'shield vibration ware, including pedestal, bionic hind limb module and bionic paw module, first connecting piece, second connecting piece and bearing plate are sequentially slid between two stand columns on pedestal from bottom to top, bionic hind limb module includes two connecting rods, two transmission rods and two guide rods, the end of two connecting rods is hinged with bearing plate, the other end is respectively hinged with the end of two transmission rods, and the rotating shaft of connecting rod, transmission rod hinge is slidably connected with second connecting piece, the other end of two connecting rods is hinged with the end of guide rod, the rotating shaft of connecting rod, guide rod hinge is slidably connected with first connecting piece, and first connecting piece is respectively connected with the second elastic piece between two rotating shafts, and second elastic piece is respectively connected between first connecting piece and two rotating shafts;Two bionic paw modules are fixed on pedestal and are respectively hinged with the other end of two guide rods;Solved the problem that bionic class limb shield vibration ware in prior art lacks low frequency vibration isolation capability.

Description

Technical Field

[0001] This invention relates to the field of vibration isolator technology, and more specifically to a vibration isolator inspired by the lower limbs of a cheetah. Background Technology

[0002] There are many methods for low-frequency vibration isolation, commonly including vibration isolation pads, vibration isolators, and vibration isolation foundations. Vibration isolation pads are soft materials, such as rubber and foam, that absorb and dissipate vibration energy to achieve vibration isolation. Vibration isolators are mechanical devices, such as springs and dampers, that reduce vibration transmission through elastic deformation and damping. Vibration isolation foundations are specially designed foundation structures that achieve vibration isolation by altering the natural frequency and vibration modes of an object.

[0003] The purpose of low-frequency vibration isolation is to protect objects or systems from damage caused by low-frequency vibrations and improve their stability and reliability. For example, in fields such as precision instruments, electronic equipment, and aerospace, low-frequency vibrations may affect the accuracy and performance of instruments, thus requiring low-frequency vibration isolation measures to reduce the impact of vibrations.

[0004] To address the shortcomings of traditional vibration isolators, people have been constantly searching for new solutions, and the unique structures evolved by animals in nature have provided new inspiration. The resulting biomimetic vibration isolation mechanism possesses low resonant frequency, adjustable load capacity, and nonlinear stiffness and damping characteristics, making it an effective means of suppressing low-frequency and ultra-low-frequency vibrations.

[0005] Currently, existing bionic limb-like vibration isolators have the characteristics of high load-bearing capacity, but they are lacking in the ability to isolate low-frequency vibrations. How to design a vibration isolator that can not only solve the problem that traditional linear passive vibration isolators cannot isolate low-frequency vibrations, but also achieve vibration isolation effect comparable to active / semi-active vibration isolators, while maintaining the characteristics of passive bionic vibration isolators such as low natural frequency, no energy consumption, and high stability, has become an important research topic. Summary of the Invention

[0006] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a vibration isolator for a biomimetic cheetah's lower limb, solving the problem that existing biomimetic limb vibration isolators are lacking in low-frequency vibration isolation capabilities. To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: This invention provides a vibration isolator for a biomimetic cheetah hind limb, comprising a base, at least one biomimetic hind limb module, and at least two biomimetic claw modules. Columns are provided on opposite sides of the base. A first connecting member, a second connecting member, and a support plate are slidably arranged between the two columns from bottom to top. The biomimetic hind limb module includes two connecting rods, two transmission rods, and two guide rods. One end of each connecting rod is hinged to the support plate, and the other end is respectively hinged to one end of each of the two transmission rods. The rotation axis of the hinged connecting rods and transmission rods is slidably connected to the second connecting member. The other end of each connecting rod is hinged to one end of the guide rod. The rotation axis of the hinged connecting rods and guide rods is slidably connected to the first connecting member. A first elastic element is connected between the two rotation axes, and a second elastic element is connected between the first connecting member and each of the two rotation axes. The two biomimetic claw modules are fixed on the base, and each of the two biomimetic claw modules is hinged to the other end of each of the two guide rods.

[0007] In some embodiments, the first connector includes two first seats and two first connecting plates, the two first seats being slidably connected to the two columns respectively, and the two first connecting plates being fixedly connected between the two first seats; The bionic hind limb module also includes two third elastic elements. One end of each of the two third elastic elements is connected to two first sliding rods that are slidably disposed between the two first connecting plates, and the other end of each of the two third elastic elements is connected to the two bionic claw modules.

[0008] In some embodiments, the second connector includes two second seats and two second connecting plates, the two second seats being slidably connected to the two columns respectively, and the two second connecting plates being fixedly connected between the two second seats; The bionic hind limb module also includes two fourth elastic elements, one end of each of the two fourth elastic elements is connected to the bearing plate, and the other end of each of the two fourth elastic elements is respectively connected to two second sliding rods that are slidably disposed between the two second connecting plates.

[0009] In some embodiments, a first connecting block is connected between the rotating shaft and the first slide rod.

[0010] In some embodiments, a second connecting block is connected between the rotating shaft and the second slide rod.

[0011] In some embodiments, a first reinforcing rod is fixed between the two first connecting plates, and the first reinforcing rod is located between the two first sliding rods; A second reinforcing rod is fixed between the two second connecting plates, and the second reinforcing rod is located between the two rotating shafts.

[0012] In some embodiments, the bionic foot module includes a top base and at least two buffers connected between the base and the top base, and the top base is hinged to the other end of the guide rod.

[0013] In some embodiments, the buffer includes a base, a short rod, a long rod, and a fifth elastic member. The base is fixed to a pedestal. One end of the short rod is hinged to the base, and the other end of the short rod is hinged to the middle of the long rod. One end of the long rod is hinged to the top seat. One end of the fifth elastic member is connected to the other end of the long rod, and the other end of the fifth elastic member is connected to the base.

[0014] In some embodiments, a sixth elastic element is further connected between the top seat and the base.

[0015] In some embodiments, the two first seats, the two second seats, and the support plate are each provided with a linear bearing that can respectively cooperate with the two columns.

[0016] Compared with the prior art, the present invention provides a vibration isolator for a biomimetic cheetah's lower limb. Two connecting rods are hinged at one end to a bearing plate and at the other end to one end of two transmission rods. The rotating shaft connecting the connecting rods and transmission rods is slidably connected to a second connecting member. The other end of the two connecting rods is hinged to one end of a guide rod. The rotating shaft connecting the connecting rods and guide rods is slidably connected to a first connecting member. A first elastic element connects the two rotating shafts, and a second elastic element connects the first connecting member to each of the two rotating shafts. Two biomimetic claw modules are fixed on a base and hinged to the other ends of the two guide rods. Through the biomimetic cheetah's hind limbs and claw structure, low-frequency vibrations can be effectively isolated, exhibiting advantages such as low natural frequency, high stability, high reliability, and high load-bearing capacity. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a vibration isolator for a biomimetic cheetah lower limb provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a biomimetic cheetah lower limb vibration isolator provided in an embodiment of the present invention from another perspective; Figure 3 This is a front view of a biomimetic cheetah lower limb vibration isolator provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the bionic foot and claw module provided in an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] To address the technical problem that existing biomimetic limb vibration isolators are insufficient in their ability to isolate low-frequency vibrations, this invention provides a vibration isolator based on the lower limbs of a cheetah. This isolator can isolate low-frequency vibrations and achieve vibration isolation effects comparable to active and semi-active vibration isolators. It also features zero energy consumption, high stability, high flexibility, high load-bearing capacity, and a wide working range.

[0020] Please see Figures 1-4 , Figures 1-4 A vibration isolator for a biomimetic cheetah hind limb, as described in one embodiment of the present invention, includes a base 1, at least one biomimetic hind limb module 2, and at least two biomimetic claw modules 3. The base 1 has columns 10 on opposite sides. A first connector 11, a second connector 12, and a support plate 13 are slidably arranged between the two columns 10 from bottom to top. The biomimetic hind limb module 2 includes two connecting rods 21, two transmission rods 22, and two guide rods 23. One end of each connecting rod 21 is hinged to the support plate 13, and the other end... The two ends of the connecting rod 21 are respectively hinged to one end of the two transmission rods 22, and the rotating shaft 24 of the connecting rod 21 and the transmission rod 22 is slidably connected to the second connecting member 12. The other end of the two connecting rods 21 is hinged to one end of the guide rod 23. The rotating shaft 25 of the connecting rod 21 and the guide rod 23 is slidably connected to the first connecting member 11. A first elastic member 26 is connected between the two rotating shafts 24. A second elastic member 27 is connected between the first connecting member 11 and the two rotating shafts 25 respectively. The two bionic claw modules 3 are fixed on the base 1, and the two bionic claw modules 3 are respectively hinged to the other end of the two guide rods 23.

[0021] In this specific embodiment, please refer to Figure 1 and Figure 2 The first connecting member 11 includes two first bases 111 and two first connecting plates 112. The two first bases 111 are slidably connected to the two columns 10, and the two first connecting plates 112 are fixedly connected between the two first bases 111. The bionic hind limb module 2 also includes two third elastic members 28. One end of each of the two third elastic members 28 is connected to two first sliding rods 113 that are slidably disposed between the two first connecting plates 112, and the other end of each of the two third elastic members 28 is connected to the two bionic foot modules 3. A first connecting block 114 is connected between the rotating shaft 25 and the first sliding rods 113.

[0022] Specifically, please refer to Figure 2 and Figure 3One end of each of the two second elastic members 27 is connected to one of the two first seats 111, and the other end of each of the two second elastic members 27 is connected to one of the two rotating shafts 25.

[0023] In this specific embodiment, please refer to Figure 2 and Figure 3 The second connecting member 12 includes two second bases 121 and two second connecting plates 122. The two second bases 121 are slidably connected to the two columns 10, and the two second connecting plates 122 are fixedly connected between the two second bases 121. The bionic hind limb module 2 also includes two fourth elastic members 29. One end of each of the two fourth elastic members 29 is connected to the bearing plate 13, and the other end of each of the two fourth elastic members 29 is connected to two second sliding rods 123 that are slidably disposed between the two second connecting plates 122. A second connecting block 124 is connected between the rotating shaft 24 and the second sliding rods 123.

[0024] It should be noted that the bionic hind limb module 2 adopts a symmetrical design and can be divided into two groups, front and rear. The longer bones in the cheetah's hind limb are replaced by connecting rods 21, two transmission rods 22, and two guide rods 23, while the shorter bones are replaced by first connecting blocks 114 and second connecting blocks 124. The first elastic element 26, the second elastic element 27, the third elastic element 28, and the fourth elastic element 29 replace the muscles and ligaments in the cheetah's hind limbs.

[0025] Specifically, when the bearing plate 13 moves downward along the axis of the two columns, it drives the two rotating shafts 24 to move away from each other, and at the same time drives the two rotating shafts 25 to move closer together. The first elastic element 26, the second elastic element 27, the third elastic element 28 and the fourth elastic element 29 are all in a stretched state. Based on the above scheme, a first reinforcing rod 115 is fixed between the two first connecting plates 112, and the first reinforcing rod 115 is located between the two first sliding rods 113; a second reinforcing rod 125 is fixed between the two second connecting plates 122, and the second reinforcing rod 125 is located between the two rotating shafts 24.

[0026] In this specific embodiment, the bionic foot module 3 includes a top seat 31 and at least two buffers 32. The at least two buffers 32 are connected between the base 1 and the top seat 31, and the top seat 31 is hinged to the other end of the guide rod 23.

[0027] Specifically, please refer to Figure 3 and Figure 4The buffer member 32 includes a base 321, a short rod 322, a long rod 323, and a fifth elastic member 324. The base 321 is fixed to the base 1. One end of the short rod 322 is hinged to the base 321, and the other end of the short rod 322 is hinged to the middle of the long rod 323. One end of the long rod 323 is hinged to the top seat 31. One end of the fifth elastic member 324 is connected to the other end of the long rod 323, and the other end of the fifth elastic member 324 is connected to the base 321. Furthermore, a sixth elastic member 325 is connected between the top seat 31 and the base 1.

[0028] In one embodiment, the bionic foot module comprises four parts: a long rod 323 replaces the first phalanx bone of a cheetah's foot, a short rod 322 replaces the second phalanx bone, a fifth elastic element 324 replaces the muscles and ligaments, and a sixth elastic element 325 replaces the footpad. Vibration is transmitted via a top seat 31 connected to the guide rod of the bionic hind limb module 2. This structure exhibits excellent low-frequency vibration isolation performance. Combined with the bionic hind limb module, it fully utilizes the unique buffering and vibration reduction function of the cheetah's lower limb, compensating for the deficiencies in low-frequency vibration isolation performance of bionic limb vibration isolators and improving overall vibration isolation performance.

[0029] Based on the above scheme, each of the two first bases 111, the two second bases 121, and the support plate 13 is equipped with a linear bearing 14 that can respectively cooperate with the two columns 10. The columns 10 and the linear bearings ensure that the first bases 111 and the second bases 121 only experience vertical displacement during operation. The advantage of this structure lies in its biomimetic cheetah hind limbs; compared to other vibration isolation technologies, especially traditional hemp-scraping techniques, this structure has stronger load-bearing capacity and superior vibration isolation performance.

[0030] To better understand this invention, the following is combined with... Figures 1 to 4 The technical solution of the present invention is described in detail as follows: When the support plate 13 comes into contact with the vibration source, and the support plate 13 undergoes a vertical downward displacement due to vibration, the connecting rod 21 representing the cheetah femur begins to rotate around the hinge axis with the support plate 13, causing the two rotating shafts 24 to move away from each other in the horizontal direction. At the same time, it drives the two second connecting blocks 124 to move away from each other in the horizontal direction. The transmission rod 22 representing the tibia begins to rotate around the rotating shaft 24 due to the displacement of the rotating shaft 24, causing the two rotating shafts 25 to move closer together in the horizontal direction. At this time, the guide rod 23 representing the fibula begins to rotate around the rotating shaft 25 due to the displacement of the second connecting block 124, causing the top seat 31 hinged to it to undergo a vertical displacement, thereby transmitting vibration.

[0031] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A vibration isolator for a biomimetic cheetah hind limb, comprising a base, at least one biomimetic hind limb module, and at least two biomimetic claw modules, wherein columns are provided on opposite sides of the base, and a first connector, a second connector, and a bearing plate are slidably disposed between the two columns from bottom to top, characterized in that, The bionic hindlimb module includes two connecting rods, two transmission rods, and two guide rods. One end of each of the two connecting rods is hinged to a bearing plate, and the other end is hinged to one end of each of the two transmission rods. The rotation axis of the connecting rods and transmission rods is slidably connected to a second connecting member. The other end of each of the two connecting rods is hinged to one end of a guide rod. The rotation axis of the connecting rods and guide rods is slidably connected to a first connecting member. A first elastic element is connected between the two rotation axes, and a second elastic element is connected between the first connecting member and each of the two rotation axes. The two bionic claw modules are fixed on the base, and the two bionic claw modules are respectively hinged to the other end of the two guide rods; The bionic foot module includes a top base and at least two buffers, the at least two buffers being connected between the base and the top base, and the top base being hinged to the other end of the guide rod; The buffer includes a base, a short rod, a long rod, and a fifth elastic element. The base is fixed on the pedestal. One end of the short rod is hinged to the base, and the other end of the short rod is hinged to the middle of the long rod. One end of the long rod is hinged to the top seat. One end of the fifth elastic element is connected to the other end of the long rod, and the other end of the fifth elastic element is connected to the base.

2. The vibration isolator for a biomimetic cheetah hind limb according to claim 1, characterized in that, The first connector includes two first bases and two first connecting plates. The two first bases are slidably connected to the two columns respectively, and the two first connecting plates are fixedly connected between the two first bases. The bionic hind limb module also includes two third elastic elements. One end of each of the two third elastic elements is connected to two first sliding rods that are slidably disposed between the two first connecting plates, and the other end of each of the two third elastic elements is connected to the two bionic claw modules.

3. The vibration isolator for a biomimetic cheetah hind limb according to claim 2, characterized in that, The second connector includes two second seats and two second connecting plates. The two second seats are slidably connected to the two columns respectively, and the two second connecting plates are fixedly connected between the two second seats. The bionic hind limb module also includes two fourth elastic elements, one end of each of the two fourth elastic elements is connected to the bearing plate, and the other end of each of the two fourth elastic elements is respectively connected to two second sliding rods that are slidably disposed between the two second connecting plates.

4. The vibration isolator for a biomimetic cheetah hind limb according to claim 3, characterized in that, A first connecting block connects the rotating shaft to the first sliding rod.

5. A vibration isolator for a biomimetic cheetah hind limb according to claim 4, characterized in that, A second connecting block is connected between the rotating shaft and the second slide rod.

6. A vibration isolator for a biomimetic cheetah hind limb according to claim 5, characterized in that, A first reinforcing rod is fixed between the two first connecting plates, and the first reinforcing rod is located between the two first sliding rods; A second reinforcing rod is fixed between the two second connecting plates, and the second reinforcing rod is located between the two rotating shafts.

7. A vibration isolator for a biomimetic cheetah lower limb according to claim 1, characterized in that, A sixth elastic element is also connected between the top seat and the base.

8. A vibration isolator for a biomimetic cheetah hind limb according to claim 3, characterized in that, Each of the two first seats, the two second seats, and the bearing plate is provided with a linear bearing that can respectively cooperate with the two columns.

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