Imitated bird toe and imitated bird paw assembly

Abstract

The invention discloses an imitated bird toe and an imitated bird paw assembly. The bionic bird toe comprises a toe base, the toe base comprises a first half plate and a second half plate, and a ratchet and ratchet wheel containing groove, a buckling traction rope channel, an extending traction rope channel and a first toe joint containing groove are formed between the first half plate and the second half plate; one end of the first toe joint is arranged in the first toe joint accommodating groove and is hinged to the toe base; one end of the second toe joint is hinged with the other end of the first toe joint; one end of the toe tip is hinged with the other end of the second toe joint; and the ratchet wheel assembly is mounted in the accommodating groove for the ratchet wheel. According to the bionic bird toes, one-way locking of the buckling traction rope is achieved, then the toes are driven to be buckled and locked, and the bionic bird toes are driven to be unlocked and stretched through the stretching traction rope and the ratchet assembly. The device is simple in structure, the stretching traction rope and the unlocking device are in linkage design, grabbing and locking can be achieved, and an additional auxiliary mechanism locking claw is not needed.

Description

Technical Field

[0001] The present application relates to the technical field of bionic habitat robots, and in particular to a bird-like toe and bird-like claw assembly. Background Art

[0002] UAVs have high requirements for the response speed and grasping stability of the system during the perching and capturing process. Raptors can achieve rapid locking of their claws after closing through the tendon locking mechanism to prevent prey from falling off. By imitating the rapid grasping and self-locking capabilities of bird claws, drones can be perched on tree branches, walls and other environments to save energy consumption of drones. At the same time, grasping operations on target objects can be carried out for hostile target capture or logistics transportation. The core problem in the design of drone perching and capturing systems lies in the miniaturization of toes and the design of rapid locking and unlocking mechanisms. The design of claws in the prior art adopts independent design of toe drive and toe locking / unlocking mechanisms, or abandons the self-locking mechanism and relies on spring force to maintain the grasping state, which does not have the characteristics of the bird toe tendon locking mechanism.

[0003] Publication No. CN118081813 discloses a composite perching device based on the grasping mechanism of bird claws, which maintains the grasping state by torsion springs between adjacent toe joints, and uses motor drive to achieve claw extension, but does not have locking capability. Publication No. CN118024221 discloses an underactuated grasping mechanical arm mechanism that imitates bird arm claws, which uses the increase in the length of the toe tendons when they are flexed at the ankle joint of the bird's leg to achieve rapid grasping of the toes, and locks at the ankle joint through gears. Although the claws have locking capabilities, each toe does not have an independent locking function, so the locking stability is poor.

[0004] Therefore, it is desired to have a technical solution to overcome or at least alleviate at least one of the above-mentioned defects of the prior art.

[0005] Application Contents

[0006] The object of the present application is to provide a bird-like toe to overcome or at least alleviate at least one of the above-mentioned defects of the prior art.

[0007] To achieve the above objectives, the present application provides a bird-like toe, which comprises:

[0008] A toe base, wherein the toe base has a cavity, wherein a ratchet wheel receiving groove, a flexion traction rope channel, an extension traction rope channel and a first toe joint receiving groove are arranged in the cavity;

[0009] a first toe joint, wherein one end of the first toe joint is disposed in the first toe joint receiving groove and is hinged to the toe base;

[0010] a second toe joint, one end of the second toe joint being hinged to the other end of the first toe joint;

[0011] A toe tip, one end of which is hinged to the other end of the second toe segment;

[0012] A ratchet wheel assembly, wherein the ratchet wheel assembly is installed in the ratchet wheel receiving groove; wherein,

[0013] One end of the flexed traction rope with a knot is fixed on the toe tip, and the other end of the flexed traction rope with a knot passes through the toe tip, the first toe joint, and the second toe joint in sequence and then enters the flexed traction rope channel. The flexed traction rope with a knot has a knot section, and the knot section is used in conjunction with the ratchet ratchet assembly;

[0014] One end of the stretch traction rope is fixed on the toe tip, and the other end of the stretch traction rope passes through the toe tip, the first toe joint, and the second toe joint in sequence and then enters the stretch traction rope channel;

[0015] The flexion traction rope with a knot and the extension traction rope move under the action of an external force, thereby driving the bird-like toes to switch between an extension state and a flexion state;

[0016] After the simulated bird toe is converted from the extended state to the flexed state, the knot section cooperates with the ratchet and ratchet wheel assembly to prevent the simulated bird toe from being converted from the flexed state to the extended state under the action of external force.

[0017] Optionally, the ratchet and ratchet wheel receiving groove includes a ratchet guide groove and a ratchet chain composite wheel groove;

[0018] The ratchet wheel assembly comprises:

[0019] A ratchet assembly, the ratchet assembly is arranged in the ratchet guide groove and can slide in the ratchet guide groove, the ratchet assembly comprises a ratchet spring, a ratchet and a ratchet pin, one end of the ratchet pin is fixedly connected to the ratchet, and the other end extends out of the ratchet end surface;

[0020] A ratchet-chain composite wheel, the ratchet-chain composite wheel is arranged in the ratchet-chain composite wheel groove, the ratchet-chain composite wheel comprises a ratchet wheel and a sprocket wheel, the ratchet wheel and the sprocket wheel are coaxial and rotate synchronously, a sprocket tooth groove is arranged on the sprocket teeth of the sprocket wheel, the ratchet wheel is installed on one side of the ratchet tooth guide groove, and the sprocket wheel is installed on one side of the second toe section;

[0021] The ratchet pin passes through the ratchet guide groove to the plane where the first toe section is located;

[0022] The ratchet spring is installed inside the ratchet guide groove and placed between the top of the ratchet and the top of the ratchet guide groove, and is used to drive the ratchet assembly to engage with the ratchet wheel; the ratchet and the ratchet wheel move in the same plane;

[0023] The sprocket is located on the same side as the first toe section, the cylindrical pin of the ratchet assembly, the flexion traction rope, and the extension traction rope;

[0024] The buckling traction rope is provided with knots which are evenly arranged at equal distances, and the distance between the knots is as wide as the distance between the sprocket teeth.

[0025] Optionally, the toe base is provided with a bottom fixing hole, a bottom fixing joint, a top fixing hole, a flexion traction rope outlet, a stretching traction rope outlet, and a stretching traction rope inlet; wherein,

[0026] The bottom fixed joint is used to be connected to the bottom of the claw in the bird-like claw assembly;

[0027] The top fastening hole is used to connect with the leg claw butt joint in the bird-like foot claw assembly.

[0028] The present application also provides a bird-like claw assembly, which comprises a leg-claw joint, a claw bottom fixing seat and a plurality of bird-like toes as described above; wherein,

[0029] Each bird-like toe is connected to the leg-claw joint and the claw bottom fixing seat.

[0030] Optionally, the leg-claw butt joint comprises a butt joint body, a plurality of joint inserts located on the butt joint body, and a joint fixing pin;

[0031] A toe base imitating a bird's toe is placed between every two joint prongs;

[0032] Each joint insert is connected to each toe base of the bird-like toe located between every two joint inserts through a joint fixing pin.

[0033] Optionally, the claw bottom fixing seat includes a claw bottom fixing seat body and a plurality of bottom docking components, and one bottom docking component is used to connect with one toe base.

[0034] Optionally, each of the bottom docking components includes a base insert, a base latch hole, and a base slot;

[0035] The fixed joint is connected with the base slot, so that the pin hole of the bottom fixed seat of the claw can be coaxial with the bottom fixed hole, and can be fixed by the pin;

[0036] The base insert teeth are inserted into the ratchet chain composite wheel grooves to envelop the exposed ratchet wheel portion of the ratchet chain composite wheel and to guide the buckled traction rope wound around the sprocket.

[0037] Optionally, a first toe joint stretch rope guide groove is provided on the first toe joint, and a second toe joint stretch rope guide groove is provided on the second toe joint, and the first toe joint stretch rope guide groove and the second toe joint stretch rope guide groove are used to guide the stretch traction rope to move along the back of the toe joint.

[0038] Optionally, a first toe flexion traction rope guide groove is provided on the first toe joint, and a second toe flexion traction rope guide groove is provided on the second toe joint, and the first toe flexion traction rope guide groove and the second toe flexion traction rope guide groove are used to guide the abdominal movement of the toe joint of the flexion traction rope with a knot.

[0039] Optionally, a toe claw spur is provided on the first toe joint, and a toe claw spur is provided on the second toe joint.

[0040] The bird-like toe of the present application uses a ratchet and ratchet assembly to achieve one-way locking of the flexion traction rope to drive the toe to flex and lock, and uses the extension traction rope and the ratchet assembly to drive the bird-like toe to unlock and extend. The device has a simple structure, an integrated design of the driving traction rope and the locking device, and a linkage design of the extension traction rope and the unlocking device, which can achieve grabbing and locking without the need for an additional auxiliary mechanism to lock the claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the assembly of a bird-like claw assembly according to an embodiment of the present application.

[0042] Figure 2 yes Figure 1 Another structural schematic diagram of the bird-like claw assembly is shown, wherein each assembly is in a separated state.

[0043] Figure 3 yes Figure 1 A schematic diagram of a claw bottom fixing seat of a bird-like claw assembly is shown.

[0044] Figure 4 It is a schematic diagram of the side section structure of the ratchet and ratchet assembly.

[0045] Figure 5 Schematic diagram of the overall structure of a bird-like toe according to an embodiment of the present application.

[0046] Figure 6 yes Figure 5 A schematic side cross-sectional view of a sprocket in a bird-like toe is shown.

[0047] Figure 7 yes Figure 5 Schematic diagram of the structure of the ratchet assembly in the bird-like toe shown.

[0048] Figure 8 yes Figure 5 Schematic diagram of the spine-chain composite wheel structure in the bird-like toe shown.

[0049] Reference numerals

[0050] 1. Leg claw joint, 2. First bird-like toe, 3. Second bird-like toe, 4. Claw bottom fixing seat, 5. Third bird-like toe, 6. Fourth bird-like toe, 7. Ratchet spring, 8. Ratchet assembly, 9. Ratchet chain composite wheel, 10. Extension traction rope, 11. Flexion traction rope with knot, 1-1. Joint plug, 1-2. Joint fixing pin, 1-3. Joint fixing pin hole, 3-1. Toe tip, 3-2. Second toe joint, 3-3. First toe joint, 3-4. Toe base, 3-11. Needle, 3-21. Second toe joint extension traction rope guide groove, 3-22. Second toe joint claw thorn, 3-23. Second toe joint flexion traction rope guide groove, 3-31 , first toe joint extension traction rope guide groove, 3-32, first toe joint claw, 3-33, first toe joint flexion traction rope guide groove, 3-41, bottom fixing hole, 3-42, bottom fixing joint, 3-43, top fixing groove, 3-44, top fixing hole, 3-45, flexion traction rope outlet, 3-46, extension traction rope outlet, 3-47, extension traction rope inlet, 3-48, ratchet guide groove, 3-49, ratchet chain compound wheel groove, 4-1, base insert, 4-2, base pin hole, 4-3, base slot, 8-1, ratchet, 8-2, ratchet pin, 9-1, ratchet, 9-2, sprocket, 9-3, chain tooth groove, 11-1, knot. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the embodiment of this application will be described in more detail below in conjunction with the drawings in the embodiment of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of this application, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be construed as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The embodiments of this application are described in detail below in conjunction with the drawings.

[0052] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present application.

[0053] like Figures 1 to 8The bird-like toe shown comprises a toe base 3-4, a first toe segment 3-3, a second toe segment 3-2, a toe tip 3-1 and a ratchet assembly, wherein:

[0054] The toe base has a cavity, in which a ratchet and ratchet wheel receiving groove, a flexion traction rope channel, an extension traction rope channel and a first toe joint receiving groove are arranged;

[0055] One end of the first toe joint 3-3 is disposed in the first toe joint receiving groove and is hinged to the toe base 3-4;

[0056] One end of the second toe segment 3-2 is hinged to the other end of the first toe segment 3-3;

[0057] One end of the toe tip 3-1 is hinged to the other end of the second toe segment 3-2;

[0058] The ratchet wheel assembly is installed in the ratchet wheel receiving groove; wherein,

[0059] One end of the flexed traction rope 11 with a knot is fixed on the toe tip 3-1, and the other end of the flexed traction rope 11 with a knot passes through the toe tip, the first toe joint, and the second toe joint in sequence and then enters the flexed traction rope channel. The flexed traction rope 11 with a knot has a knot section, and the knot section is used in conjunction with the ratchet ratchet assembly;

[0060] One end of the stretching traction rope 10 is fixed on the toe tip 3-1, and the other end of the stretching traction rope 10 passes through the toe tip 3-1, the first toe joint 3-3, and the second toe joint 3-2 in sequence and then enters the stretching traction rope channel;

[0061] The flexion traction rope 11 and the extension traction rope 10 with a knot move under the action of an external force, thereby driving the bird-like toes to switch between the extension state and the flexion state;

[0062] After the simulated bird toe is converted from the extended state to the flexed state, the knot section cooperates with the ratchet and ratchet wheel assembly to prevent the simulated bird toe from being converted from the flexed state to the extended state under the action of external force.

[0063] The bird-like toe of the present application uses a ratchet and ratchet assembly to achieve one-way locking of the flexion traction rope to drive the toe to flex and lock, and uses the extension traction rope and the ratchet assembly to drive the bird-like toe to unlock and extend. The device has a simple structure, an integrated design of the driving traction rope and the locking device, and a linkage design of the extension traction rope and the unlocking device, which can achieve grabbing and locking without the need for an additional auxiliary mechanism to lock the claw.

[0064] In this embodiment, the ratchet and ratchet wheel receiving groove includes a ratchet guide groove 3-48 and a ratchet chain composite wheel groove 3-49;

[0065] The ratchet and ratchet wheel assembly comprises a ratchet assembly and a ratchet chain composite wheel, wherein the ratchet assembly is arranged in the ratchet guide groove and can slide in the ratchet guide groove, the ratchet assembly comprises a ratchet spring 7, a ratchet 8-1 and a ratchet pin 8-2, one end of the ratchet pin 8-2 is fixedly connected to the ratchet 8-1, and the other end extends out of the end surface of the ratchet 8-1;

[0066] The ratchet chain composite wheel is arranged in the ratchet chain composite wheel groove, and the ratchet chain composite wheel comprises a ratchet 9-1 and a sprocket 9-2, the ratchet 9-1 and the sprocket 9-2 are coaxial and rotate synchronously, a sprocket groove 9-3 is arranged on the sprocket of the sprocket 9-2, the ratchet 9-1 is installed on one side of the ratchet guide groove 3-48, and the sprocket 9-2 is installed on one side of the second toe section 3-2;

[0067] The ratchet pin 8-2 passes through the ratchet guide groove 3-48 to the plane where the first toe section 3-32 is located;

[0068] The ratchet spring 7 is installed inside the ratchet guide groove 3-48, and is placed between the top of the ratchet 8-1 and the top of the ratchet guide groove 3-48, and is used to drive the ratchet assembly 8 to engage with the ratchet wheel 9-1; the ratchet 8-1 and the ratchet wheel 9-1 move in the same plane;

[0069] The sprocket 9-2 is located on the same side as the first toe section 3-32, the cylindrical pin 8-2 of the ratchet assembly 8, the buckling traction rope 11 with a knot, and the stretching traction rope 10;

[0070] The buckled traction rope 11 with knots is provided with knots 11-1 which are evenly arranged at equal intervals, and the spacing between the knots 11-1 is equal to the distance between the sprocket teeth of the sprocket wheel 9-2.

[0071] In this embodiment, the toe base 3-4 is provided with a bottom fixing hole 3-41, a bottom fixing joint 3-42, a top fixing hole 3-44, a flexion traction rope outlet 3-45, an extension traction rope outlet 3-46, and an extension traction rope inlet 3-47; wherein,

[0072] The bottom fixing connector 3-42 is used to connect with the claw bottom fixing seat bottom 4 in the bird-like claw assembly;

[0073] The top fastening hole 3-44 is used to connect with the leg claw joint 1 in the bird-like foot claw assembly.

[0074] The present application also provides a bird-like claw assembly, which comprises a leg-claw joint 1, a claw bottom fixing seat 4 and a plurality of bird-like toes as described above; wherein:

[0075] Each bird-like toe is connected to the leg-claw joint 1 and the claw bottom fixing seat 4.

[0076] In this embodiment, the leg-claw butt joint 1 comprises a butt joint body, a plurality of joint insert teeth 1-1 located on the butt joint body, and a joint fixing pin 1-2;

[0077] A toe base imitating a bird's toe is placed between every two joint prongs;

[0078] Each joint insert is connected to each toe base of the bird-like toe located between every two joint inserts through a joint fixing pin 1-2.

[0079] In this embodiment, the claw bottom fixing seat 4 includes a claw bottom fixing seat body and a plurality of bottom docking components, and one bottom docking component is used to connect with one toe base.

[0080] In this embodiment, each bottom docking assembly includes a base inserting tooth 4-1, a base latch hole 4-2, and a base slot 4-3;

[0081] The fixed connector 3-42 is docked with the base slot 4-3, so that the base pin hole 4-2 of the claw bottom fixed seat 3-42 can be coaxial with the bottom fixed hole 3-41, and can be fixed by a pin;

[0082] The base tooth 4-1 is inserted into the ratchet chain compound wheel groove 3-49 to envelop the exposed portion of the ratchet wheel 9-1 of the ratchet chain compound wheel 3-49 and to guide the bent traction rope 11 wrapped around the sprocket 9-2.

[0083] In this embodiment, a first toe joint stretching rope guide groove 3-31 is provided on the first toe joint, and a second toe joint stretching rope guide groove 3-21 is provided on the second toe joint. The first toe joint stretching rope guide groove 3-31 and the second toe joint stretching rope guide groove 3-21 are used to guide the stretching traction rope 10 to move along the back of the toe joint.

[0084] In this embodiment, a first toe flexion traction rope guide groove 3-33 is provided on the first toe joint, and a second toe flexion traction rope guide groove 3-23 is provided on the second toe joint. The first toe flexion traction rope guide groove 3-33 and the second toe flexion traction rope guide groove 3-23 are used to guide the abdominal movement of the toe joint of the flexion traction rope with a knot.

[0085] In this embodiment, a first toe joint claw spur 3-32 is arranged on the first toe joint, and a second toe joint claw spur 3-22 is arranged on the second toe joint.

[0086] Below Figures 1 to 8 The bird-like claw assembly of the present application is further described in detail with reference to the accompanying drawings.

[0087] like Figures 1 to 8The bird-like toes shown include a leg-claw joint 1, bird-like toes (a first bird-like toe 2, a second bird-like toe 3, a third bird-like toe 5, and a fourth bird-like toe 6), and a claw bottom fixing seat 4.

[0088] In this embodiment, the leg claw joint 1 includes: a joint tooth 1-1, a joint fixing pin 1-2, and a joint fixing pin hole 1-3; the claw bottom fixing seat 4 includes: a base tooth 4-1, a base pin hole 4-2, and a base slot 4-3; each bird-like toe has the same structure, and the following description takes any one of the bird-like toes as an example. In this embodiment, the bird-like toes include a toe tip 3-1, a first toe segment 3-2, a second toe segment 3-3, a toe base 3-4, a ratchet spring 7, a ratchet assembly 8, and a ratchet chain composite wheel 9.

[0089] In this embodiment, the bird-like claw assembly of the present application is used in conjunction with an extension traction rope 10 and a flexion traction rope 11 with a knot. The extension traction rope 10 and the flexion traction rope 11 with a knot are driven by a motor to cause each bird-like toe to flex and extend (the driving method of the extension traction rope 10 and the flexion traction rope 11 with a knot in the present application belongs to the prior art, for example, reference can be made to the driving parts of the extension traction rope 10 and the flexion traction rope 11 of the patent No. CN202310720182.9. Only the parts of the extension traction rope 10 and the flexion traction rope 11 with a knot that cooperate with the bird-like claw assembly of the present application are mentioned in the present application. Therefore, other parts of the extension traction rope 10 and the flexion traction rope 11 with a knot will not be repeated here, and only the parts of the extension traction rope 10 and the flexion traction rope 11 with a knot that cooperate with the bird-like claw assembly of the present application are described).

[0090] In this embodiment, the upper part of each bird-like toe is respectively connected to the leg claw joint 1, and the lower part is respectively connected to the claw bottom fixing seat 4;

[0091] See also Figures 1 to 4 Taking the second bird-like toe as an example, the toe tip 3-1, the first toe segment 3-3, the second toe segment 3-2, and the toe base 3-4 on the second bird-like toe 3 are hinged in sequence and rotate within a limited angle range;

[0092] See also Figures 2 to 6 , the toe base 3-4 further includes: a bottom fixing hole 3-41, a bottom fixing joint 3-42, a top fixing groove 3-43, a top fixing hole 3-44, a flexion traction rope outlet 3-45, a stretching traction rope outlet 3-46, a stretching traction rope inlet 3-47, a ratchet guide groove 3-48, and a ratchet chain composite wheel groove 3-49;

[0093] In this embodiment, the bottom fixing joint 3-42 of the toe base 3-4 is docked with the base slot 4-3 of the bottom fixing seat 4 of the claw bottom, so that the base pin hole 4-2 of the claw bottom fixing seat 3-42 can be coaxial with the bottom fixing hole 3-41 of the toe base 3-4, and can be fixed by passing through the pin; the top fixing groove 3-43 of the toe base 3-4 is docked with the joint insert 1-1 of the leg claw docking joint 1, so that the joint fixing pin hole 1-3 is coaxial with the top fixing hole 3-44, and is fixedly connected by passing through the joint fixing pin 1-2;

[0094] In order to achieve a stable connection, two symmetrical top fixing grooves 3-43 and top fixing holes 3-44 are provided on the toe base 3-4, and correspondingly, two sets of symmetrical joint inserts 1-1 and joint fixing pins 1-2 are provided at the bottom of the leg claw butt joint 1; every two joint inserts 1-1 on the leg claw butt joint 1 can be connected to one toe base 3-4, and one leg claw butt joint 1 can be connected to multiple bird-like toes;

[0095] The claw bottom fixing seat 4 is provided with a bottom docking assembly composed of multiple groups of base inserts 4-1, bottom pin holes 4-2 and bottom slots 4-3, each group of bottom docking assemblies can be fixedly connected to a bird-like toe, and a claw bottom fixing seat 4 can connect multiple bird-like toes; the base inserts 4-1 of the claw bottom fixing seat 4 are inserted into the ratchet chain composite wheel groove 3-49 of the bird-like toe, and are used to envelop the exposed part of the ratchet 9-1 of the ratchet chain composite wheel 3-49, and at the same time guide the buckling traction rope wrapped around the sprocket 9-2;

[0096] See also Figure 6 In this embodiment, a first toe joint stretch rope guide groove 3-31 is provided on the first toe joint, and a second toe joint stretch rope guide groove 3-21 is provided on the second toe joint. The first toe joint stretch rope guide groove 3-31 and the second toe joint stretch rope guide groove 3-21 are used to guide the stretch traction rope 10 to move along the back of the toe joint, and to limit the stretch traction rope 10 from moving along the back of the toe joint;

[0097] A first toe flexion traction rope guide groove 3-33 is arranged on the first toe joint, and a second toe flexion traction rope guide groove 3-23 is arranged on the second toe joint. The first toe flexion traction rope guide groove 3-33 and the second toe flexion traction rope guide groove 3-23 are used to guide the movement of the belly of the toe joint of the flexion traction rope with a knot, and are used to constrain the flexion rope 11 to move along the belly of the toe joint; a first toe joint claw thorn 3-32 is arranged on the first toe joint, and a second toe joint claw thorn 3-22 is arranged on the second toe joint, which are used to increase the friction force after the claw grasps the object; a needle 3-11 is embedded in the toe tip 3-1, which can be used to pierce into the inside of the object to enhance the gripping force.

[0098] See also Figure 7In this embodiment, the ratchet assembly 8 includes: a ratchet 8-1 and a ratchet pin 8-2; one end of the ratchet pin 8-2 is fixedly connected to the ratchet 8-1, and the other end extends out of the end surface of the ratchet 8-1.

[0099] See also Figure 8 In this embodiment, the ratchet-chain composite wheel 9 is a combination of a ratchet wheel 9-1 and a sprocket wheel 9-2, the two wheels are coaxial and rotate synchronously, and a sprocket tooth groove 9-3 is provided on the sprocket teeth.

[0100] See also Figure 4 and Figure 6 The ratchet chain compound wheel 9 is installed inside the ratchet chain compound wheel groove 3-49 of the toe base 3-4 through a pin shaft, and can rotate around the pin shaft; wherein the ratchet 9-1 is installed on one side of the ratchet guide groove 3-48, and the sprocket 9-2 is installed on one side of the second toe section 3-32.

[0101] The ratchet assembly 8 is confined in the ratchet guide groove 3-48 of the toe base 3-4 and can slide along the guide groove. The ratchet pin 8-2 passes through the ratchet guide groove 3-48 to the plane where the first toe segment 3-32 is located; the ratchet spring 7 is installed inside the ratchet guide groove 3-48, placed between the top of the ratchet 8-1 and the top of the ratchet guide groove 3-48, and is used to drive the ratchet assembly 8 to engage with the ratchet wheel 9-1; the ratchet 8-1 and the ratchet wheel 9-1 move in the same plane, and the movement mode of the ratchet 8-1 and the ratchet wheel 9-1 follows the mechanical principle, and is used to control the unidirectional rotation of the ratchet wheel 9-1.

[0102] The sprocket 9-2 is on the same side as the first toe segment 3-32, the cylindrical pin 8-2 of the ratchet assembly 8, the flexing traction rope 11 with a knot, and the stretching traction rope 10; the flexing traction rope 11 with a knot is provided with equidistant and evenly arranged knots 11-1, and the spacing between the knots 11-1 is the same width as the distance between the sprocket teeth of the sprocket 9-2; in the present embodiment, the knot 11-1 is formed by self-winding of the flexing traction rope, and in other embodiments, an external rope can be used to wind around the flexing traction rope to form a knot, or other solid knots of similar specifications can be used to achieve the same effect as the self-winding knot in the present embodiment on the sprocket.

[0103] One implementation method of this embodiment is:

[0104] The number of the flexion traction ropes 11 and the extension traction ropes 10 with knots is the same as the number of the bird-like toes. A set of flexion traction ropes 11 and extension traction ropes 10 with knots is used to control the movement of a bird-like toe, so that the bird-like toe can be switched between the extension state and the flexion state.

[0105] The following is a further detailed description taking the second bird-like toe 3 as an example.

[0106] The end of the flexed traction rope 11 with a knot is fixed on the toe tip 3-1. The flexed traction rope 11 with a knot enters the toe base ratchet chain composite wheel groove 3-49 from the abdomen of the toe tip 3-1 through the flexed traction rope guide grooves (3-23, 3-33) respectively, and then meshes with the sprocket 9-2 through the knot 11-1, and then is led out through the flexed traction rope outlet 3-45; the flexed traction rope knot 11-1 is placed between the chain teeth and moves synchronously with the chain teeth. When the ratchet chain composite wheel 9 is locked, the knot 11-1 will also be locked, thereby preventing the flexed traction rope 11 from moving in the direction of the bird-like toe extension, and preventing the second bird-like toe 3 from switching from the flexed state to the extended state under the action of external force;

[0107] When the buckled traction rope 11 with a knot is wound around the sprocket 9-2, the rope between the knots 11-1 passes through the sprocket groove 9-3 to avoid sudden changes in rope curvature and resistance caused by the squeeze between the knot and the wheel groove. During the movement of the buckled traction rope 11 with a knot, the sprocket 9-3 will be driven to rotate along the tangential direction; when the buckled traction rope 11 with a knot is continuously tensioned, the bird-like toe will be converted from the extended state to the buckled state and locked at any time;

[0108] The end of the stretch traction rope 10 is fixed to the toe tip 3-1. The stretch traction rope 10 enters the toe base stretch traction rope entrance 3-47 through the stretch traction rope guide grooves (3-21, 3-31) of the second toe joint and the first toe joint from the back of the toe tip 3-1, and then leads out of the stretch traction rope exit 3-46 after winding around the ratchet pin 8-2; the ratchet pin 8-2 is enveloped by the stretch traction rope 10 from the bottom. When the stretch traction rope 10 is tightened, it will pull the ratchet pin 8-2 to move upward, thereby driving the ratchet 8-1 to move upward and compressing the ratchet spring 7 , thereby releasing the unidirectional movement constraint of the ratchet 9-1; when the stretch traction rope 10 is continuously tensioned, the bird-like toes are stretched and produce a tendency to switch from a flexed state to an extended state, so that the flexed traction rope 10 is pulled up in the direction of the stretching of the bird's toes, and at the same time drives the unlocked ratchet chain compound wheel 9 to rotate until the stretch traction rope 10 is relaxed; when the stretch traction rope 10 is relaxed, the ratchet assembly 8 will be pushed by the ratchet spring 7 to return to the meshing state of the ratchet 8-1 and the ratchet 9-1, so that the ratchet chain compound wheel 9 continues to maintain unidirectional locking.

[0109] The bird-like toe of the present application uses a ratchet-chain composite wheel 9 composed of a ratchet wheel 9-1 and an improved sprocket wheel 9-2, a ratchet assembly 8, a flexing traction rope 11 with a knot, and a knot 11-1 to achieve unidirectional locking of the flexing traction rope 11, thereby driving the bird-like toe to flex and lock, and uses an extension traction rope 10 and a ratchet assembly 8 to drive the bird-like toe to unlock and extend. The device has a simple structure, the flexing traction rope 11 with a knot is integrated with the locking device, and the extension traction rope 10 is linked with the unlocking device, which can achieve locking by grabbing without the need for an additional auxiliary mechanism locking claw.

[0110] Although the present application is disclosed as above in terms of a preferred embodiment, it is not intended to limit the present application. Any technical personnel in this field may make possible changes and modifications without departing from the spirit and scope of the present application. Therefore, the scope of protection of the present application shall be based on the scope defined by the claims of the present application.

[0111] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A bird-like toe, characterized in that: The bird-like toes include: A toe base (3-4), the toe base having a cavity, wherein a ratchet wheel receiving groove, a flexion traction rope channel, an extension traction rope channel and a first toe joint receiving groove are arranged in the cavity; A first toe joint (3-3), one end of which is disposed in the first toe joint receiving groove and is hinged to the toe base (3-4); A second toe joint (3-2), one end of the second toe joint (3-2) being hinged to the other end of the first toe joint (3-3); A toe tip (3-1), one end of the toe tip (3-1) being hinged to the other end of the second toe segment (3-2); A ratchet wheel assembly, wherein the ratchet wheel assembly is installed in the ratchet wheel receiving groove; wherein, One end of the flexed traction rope (11) with a knot is fixed on the toe tip (3-1), and the other end of the flexed traction rope (11) with a knot passes through the toe tip, the first toe joint, and the second toe joint in sequence and then enters the flexed traction rope channel. The flexed traction rope (11) with a knot has a knot section, and the knot section is used in conjunction with the ratchet wheel assembly. One end of the stretch traction rope (10) is fixed on the toe tip (3-1), and the other end of the stretch traction rope (10) passes through the toe tip (3-1), the first toe joint (3-3), and the second toe joint (3-2) in sequence before entering the stretch traction rope channel; The flexion traction rope (11) with a knot and the extension traction rope (10) move under the action of an external force, thereby driving the bird-like toe to switch between an extension state and a flexion state; After the simulated bird toe is transformed from the extended state to the flexed state, the knot section cooperates with the ratchet and ratchet wheel assembly to prevent the simulated bird toe from being transformed from the flexed state to the extended state under the action of external force.

2. The bird-like toe as claimed in claim 1, characterized in that: The ratchet and ratchet wheel receiving groove comprises a ratchet guide groove (3-48) and a ratchet chain composite wheel groove (3-49); The ratchet wheel assembly comprises: A ratchet assembly, the ratchet assembly being arranged in the ratchet guide groove and being able to slide in the ratchet guide groove, the ratchet assembly comprising a ratchet spring (7), a ratchet (8-1) and a ratchet pin (8-2), one end of the ratchet pin (8-2) being fixedly connected to the ratchet (8-1) and the other end of the ratchet pin (8-2) extending out of the end surface of the ratchet (8-1); A ratchet chain composite wheel, the ratchet chain composite wheel is arranged in the ratchet chain composite wheel groove, the ratchet chain composite wheel comprises a ratchet wheel (9-1) and a sprocket wheel (9-2), the ratchet wheel (9-1) and the sprocket wheel (9-2) are coaxial and rotate synchronously, a sprocket groove (9-3) is provided on the sprocket of the sprocket wheel (9-2), the ratchet wheel (9-1) is installed on one side of the ratchet tooth guide groove (3-48), and the sprocket wheel (9-2) is installed on one side of the second toe section (3-2); The ratchet pin (8-2) passes through the ratchet guide groove (3-48) to the plane where the first toe section (3-32) is located; The ratchet spring (7) is installed inside the ratchet guide groove (3-48) and is placed between the top of the ratchet (8-1) and the top of the ratchet guide groove (3-48), and is used to drive the ratchet assembly (8) to engage with the ratchet wheel (9-1); the ratchet (8-1) and the ratchet wheel (9-1) move in the same plane; The sprocket (9-2) is located on the same side as the first toe section (3-32), the cylindrical pin (8-2) of the ratchet assembly (8), the flexion traction rope (11), and the extension traction rope (10); The buckling traction rope (11) is provided with knots (11-1) which are evenly arranged at equal distances, and the spacing between the knots (11-1) is equal in width to the distance between the sprocket teeth of the sprocket wheel (9-2).

3. The bird-like toe as claimed in claim 2, characterized in that: The toe base (3-4) is provided with a bottom fixing hole (3-41), a bottom fixing joint (3-42), a top fixing hole (3-44), a flexion traction rope outlet (3-45), an extension traction rope outlet (3-46), and an extension traction rope inlet (3-47); wherein, The bottom fixing joint (3-42) is used to be connected to the claw bottom fixing seat bottom (4) in the bird-like claw assembly; The top fastening hole (3-44) is used to connect with the leg claw butt joint (1) in the bird-like foot claw assembly.

4. A bird-like claw assembly, characterized in that: The bird-like claw assembly comprises a leg-claw joint (1), a claw bottom fixing seat (4), and a plurality of bird-like toes according to any one of claims 1 to 3; wherein: Each bird-like toe is connected to the leg-claw joint (1) and the claw bottom fixing seat (4).

5. The bird-like claw assembly according to claim 4, characterized in that: The leg-claw butt joint (1) comprises a butt joint body, a plurality of joint inserts (1-1) located on the butt joint body, and a joint fixing pin (1-2); A toe base imitating a bird's toe is placed between every two joint prongs; Each joint insert is connected to each toe base of the bird-like toe located between every two joint inserts through a joint fixing pin (1-2).

6. The bird-like claw assembly according to claim 5, characterized in that: The claw bottom fixing seat (4) comprises a claw bottom fixing seat body and a plurality of bottom docking components, wherein one bottom docking component is used to be connected to a toe base.

7. The bird-like claw assembly according to claim 6, characterized in that: Each of the bottom docking components comprises a base inserting tooth (4-1), a base latch hole (4-2), and a base slot (4-3); The fixed joint (3-42) is docked with the base slot (4-3), so that the base latch hole (4-2) of the claw bottom fixed seat (3-42) and the bottom fixed hole (3-41) can be coaxial, and can be fixed by a latch; The base insert (4-1) is inserted into the ratchet chain composite wheel groove (3-49) to envelop the exposed portion of the ratchet wheel (9-1) of the ratchet chain composite wheel (3-49) and to guide the buckled traction rope (11) wound around the sprocket wheel (9-2).

8. The bird-like claw assembly according to claim 7, characterized in that: The first toe joint is provided with a first toe joint stretching rope guide groove (3-31), and the second toe joint is provided with a second toe joint stretching rope guide groove (3-21). The first toe joint stretching rope guide groove (3-31) and the second toe joint stretching rope guide groove (3-21) are used to guide the stretching traction rope (10) to move along the back of the toe joint.

9. The bird-like claw assembly according to claim 8, characterized in that: A first toe flexion traction rope guide groove (3-33) is provided on the first toe joint, and a second toe flexion traction rope guide groove (3-23) is provided on the second toe joint. The first toe flexion traction rope guide groove (3-33) and the second toe flexion traction rope guide groove (3-23) are used to guide the abdominal movement of the toe joint of the flexion traction rope with a knot.

10. The bird-like claw assembly according to claim 9, characterized in that: The first toe joint is provided with a toe joint claw thorn (3-32), and the second toe joint is provided with a toe joint claw thorn (3-22).

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