Damping device for bionic spider hexapod robot

Abstract

The utility model relates to the technical field of bionic spider robots, and discloses a damping device for a bionic spider hexapod robot, which comprises a main body support and a mechanical leg, an elastic steel ring is arranged at the tail end of the mechanical leg, the elastic steel ring has rebound resilience, an annular groove is arranged on the inner wall of the elastic steel ring, and the elastic steel ring is arranged in the annular groove. An upper limiting plate is arranged in the upper portion of the annular groove, a damping supporting rod is installed on the lower side of the upper limiting plate, the periphery of the damping supporting rod is sleeved with a buffer spring, a lower limiting plate is installed on the bottom side of the damping supporting rod, and balancing weights are installed on the two sides of the lower limiting plate. When the mechanical leg moves and makes contact with the ground, the mechanical leg, the main body support and a chip in the mechanical leg can be buffered and protected through the elastic steel ring, the damping supporting rod and the buffering spring, balancing weights are installed on the two sides of the lower limiting plate, so that the buffering mechanism is always kept in a vertical state in the elastic steel ring, and the situation that after the angle of the mechanical leg is changed, the mechanical leg is damaged is avoided. The buffering mechanism effect is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic spider robots, in particular to a shock absorbing device for a bionic spider hexapod robot. Background Art

[0002] As a robot that simulates the walking mode of spiders in nature, the design of the bionic spider hexapod robot does need to take into account the influence of various environmental factors on the stability and internal components of the robot. During the movement of the robot, especially on uneven terrain or when moving quickly, the contact between the legs and the ground will generate vibrations. If these vibrations are directly transmitted to the main structure of the robot, especially those delicate electronic chips, they may be damaged or their performance may be affected. Therefore, those skilled in the art provide a shock absorbing device for a bionic spider hexapod robot to solve the problems raised in the above background technology. Utility Model Content

[0003] 1. Technical issues to be resolved

[0004] In view of the deficiencies in the prior art, the utility model provides a shock absorbing device for a bionic spider hexapod robot to solve the problem that vibrations generated by the contact between the legs and the ground during the movement of the robot may damage the chip or affect its performance.

[0005] (II) Technical solution

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a shock absorbing device for a bionic spider hexapod robot, comprising a main body bracket and a mechanical leg, an elastic steel ring is installed at the end of the mechanical leg, the elastic steel ring has resilience, an annular groove is opened on the inner wall of the elastic steel ring, an upper limit plate is arranged in the upper part of the annular groove, a shock absorbing support rod is installed on the lower side of the upper limit plate, a buffer spring is sleeved on the circumference of the shock absorbing support rod, a lower limit plate is installed on the bottom side of the shock absorbing support rod, and counterweight blocks are installed on both sides of the lower limit plate, so that the buffer mechanism always maintains a vertical state in the elastic steel ring, thereby avoiding the reduction of the buffer mechanism effect after the angle of the mechanical leg is changed.

[0007] Preferably, a ball is installed on the side of the upper limit plate in contact with the annular groove, and a ball is also installed on the side of the lower limit plate in contact with the annular groove. The provision of the ball reduces the friction between the upper limit plate and the lower limit plate and the annular groove.

[0008] Preferably, the upper limit plate is connected to the lower limit plate through a buffer spring. When the mechanical leg moves and contacts the ground, the shock-absorbing support rod and the buffer spring can provide buffering protection for the mechanical leg, the main frame and the chip inside it.

[0009] Preferably, the upper limiting plate and the lower limiting plate are both engaged with the annular groove.

[0010] Preferably, the main body support is rotatably connected to the mechanical leg.

[0011] (III) Beneficial effects

[0012] Compared with the prior art, the utility model provides a shock absorbing device for a bionic spider hexapod robot, which has the following beneficial effects:

[0013] Through the design, when the mechanical legs move and come into contact with the ground, the elastic steel rings, shock-absorbing struts and buffer springs can provide buffering protection for the mechanical legs, the main support and the chips inside them. Counterweights are installed on both sides of the lower limit plate so that the buffer mechanism always remains in a vertical state in the elastic steel ring, avoiding the reduction of the buffer mechanism effect after the angle of the mechanical legs changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of a shock absorbing device for a bionic spider hexapod robot provided in an embodiment of the present application.

[0015] Figure 2 It is a schematic diagram of the structure of an annular groove in a shock absorbing device for a bionic spider hexapod robot provided in an embodiment of the present application.

[0016] Figure 3 It is a schematic diagram of the structure of a counterweight block in a shock absorbing device for a bionic spider hexapod robot provided in an embodiment of the present application.

[0017] Figure 4 It is a schematic diagram of the structure of a ball in a shock absorbing device for a bionic spider hexapod robot provided in an embodiment of the present application.

[0018] In the figure: 1. Main bracket; 2. Mechanical leg; 3. Elastic steel ring; 4. Annular groove; 5. Upper limit plate; 6. Ball; 7. Lower limit plate; 8. Counterweight; 9. Shock-absorbing support rod; 10. Buffer spring. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] The utility model provides a technical solution, a shock absorbing device for a bionic spider hexapod robot, see Figure 1 , Figure 2 , including a main frame 1 and a mechanical leg 2, the main frame 1 is rotatably connected to the mechanical leg 2, an elastic steel ring 3 is installed at the end of the mechanical leg 2, the elastic steel ring 3 has resilience, and an annular groove 4 is opened on the inner wall of the elastic steel ring 3, please refer to Figure 3 , Figure 4 An upper limit plate 5 is arranged in the upper part of the annular groove 4, a shock-absorbing support rod 9 is installed on the lower side of the upper limit plate 5, a buffer spring 10 is sleeved on the side of the shock-absorbing support rod 9, and a lower limit plate 7 is installed on the bottom side of the shock-absorbing support rod 9. The upper limit plate 5 and the lower limit plate 7 are both engaged with the annular groove 4, and the upper limit plate 5 is connected to the lower limit plate 7 through the buffer spring 10. When the mechanical leg 2 moves and contacts the ground, the shock-absorbing support rod 9 and the buffer spring 10 can buffer and protect the mechanical leg 2, the main bracket 1 and the chip inside it. Counterweight blocks 8 are installed on both sides of the lower limit plate 7, so that the buffer mechanism always maintains a vertical state in the elastic steel ring 3, avoiding the reduction of the buffer mechanism effect after the angle of the mechanical leg 2 is changed.

[0021] See also Figure 3 , Figure 4 A ball 6 is installed on the side of the upper limit plate 5 that contacts the annular groove 4, and a ball 6 is also installed on the side of the lower limit plate 7 that contacts the annular groove 4. The setting of the ball 6 reduces the friction between the upper limit plate 5 and the lower limit plate 7 and the annular groove 4.

[0022] The bionic spider robot in the utility model is composed of a main frame 1 and six mechanical legs 2, wherein an elastic steel ring 3 is welded at the end of the mechanical leg 2 in contact with the ground, and an annular groove 4 is opened in the inner wall of the elastic steel ring 3, an upper limit plate 5 and a lower limit plate 7 are slidably clamped in the annular groove 4, and a ball 6 is installed in the plate surface where the two limit plates contact the inner wall of the annular groove 4, and the setting of the ball 6 reduces the friction between the upper limit plate 5 and the lower limit plate 7 and the annular groove 4;

[0023] A shock-absorbing support rod 9 and a buffer spring 10 are installed between the two limit plates to support the inside of the elastic steel ring 3. When the mechanical leg 2 moves and contacts the ground, the elastic steel ring 3, the shock-absorbing support rod 9 and the buffer spring 10 can provide buffer protection for the mechanical leg 2, the main support 1 and the chip inside thereof;

[0024] Counterweights 8 are installed on both sides of the lower limit plate 7, so that the buffer mechanism always maintains a vertical state in the elastic steel ring 3, avoiding the reduction of the buffer mechanism effect after the angle of the mechanical leg 2 is changed.

[0025] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0026] In this document, unless otherwise clearly stipulated and limited, terms such as "installation", "setting", "connection", "fixation", and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in this utility model according to the specific circumstances.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A shock absorbing device for a bionic spider hexapod robot, comprising a main frame (1) and a mechanical leg (2), Features: An elastic steel ring (3) is installed at the end of the mechanical leg (2), an annular groove (4) is opened on the inner wall of the elastic steel ring (3), an upper limit plate (5) is arranged in the upper part of the annular groove (4), a shock-absorbing support rod (9) is installed on the lower side of the upper limit plate (5), a buffer spring (10) is sleeved around the shock-absorbing support rod (9), a lower limit plate (7) is installed on the bottom side of the shock-absorbing support rod (9), and counterweight blocks (8) are installed on both sides of the lower limit plate (7).

2. A shock absorbing device for a bionic spider hexapod robot according to claim 1, Features: A ball (6) is installed on the side of the upper limit plate (5) that contacts the annular groove (4), and a ball (6) is also installed on the side of the lower limit plate (7) that contacts the annular groove (4).

3. The shock absorbing device for a bionic spider hexapod robot according to claim 1, Features: The upper limit plate (5) is connected to the lower limit plate (7) via a buffer spring (10).

4. The shock absorbing device for a bionic spider hexapod robot according to claim 1, Features: The upper limiting plate (5) and the lower limiting plate (7) are both clamped with the annular groove (4).

5. The shock absorbing device for a bionic spider hexapod robot according to claim 1, Features: The elastic steel ring (3) has resilience, and the main frame (1) and the mechanical leg (2) are rotatably connected.

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