CN207292191U - A kind of imitative ostrich robot running gear - Google Patents
A kind of imitative ostrich robot running gear Download PDFInfo
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- CN207292191U CN207292191U CN201721219776.8U CN201721219776U CN207292191U CN 207292191 U CN207292191 U CN 207292191U CN 201721219776 U CN201721219776 U CN 201721219776U CN 207292191 U CN207292191 U CN 207292191U
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Abstract
A kind of imitative ostrich robot running gear, including trunk, femur, shin bone, attached metatarsal, intermediate connecting rod and toe；It is fixed with the first cam on trunk, femur is hinged on trunk and femur push-and-pull swing mechanism is connected between trunk, is fixed with the second cam on femur, and one end of shin bone and intermediate connecting rod is hinged with femur, and the other end is hinged with attached metatarsal；Shin bone push-and-pull swing mechanism is connected between femur and shin bone；The end of attached metatarsal is hinged with the first toe, and the first toe, the second toe and the 3rd toe are hinged successively, and the second toe push-and-pull swing mechanism is connected between the first toe and the second toe；The 3rd toe push-and-pull swing mechanism is connected between second toe and the 3rd toe；Tension spring is connected between attached metatarsal and the first toe, the drawstring around the second cam and the first cam is connected between trunk and the 3rd toe.The mechanism can fully imitate ostrich walking and the gait run, and can realize that ground is pedaled in leg, receipts leg, aerial stretch one's legs land with toe in the air.
Description
Technical field
A kind of imitative ostrich biped robot mechanism is the utility model is related to, belongs to bio-robot field.
Background technology
From anywhere in the animal to walk enough by leg in nature can almost reach top, to meet intricately
Material Transportation, exploration, rescue, scouting under shape environment etc. need, and the mankind develop various leg foots since the sixties in last century
Formula robot.Ostrich is that current land running speed is most fast, moves the highest double feet walking animal of efficiency, using ostrich to be bionical
The bipod walking robot of object has significant application value.
Disclosed in Chinese patent literature CN106184461A《A kind of imitative ostrich hind leg pedipulator》, including fuselage, hip joint
Motion, motion of knee joint mechanism and ankle motion mechanism；Hip joint motion is by motor and crank and rocker mechanism group
Into wherein crank and rocker mechanism includes crank, femur and connecting rod；Motion of knee joint mechanism includes femur, the first spring, shin
Bone, metatarsal, brake cable, lower fibula, second spring, pneumatic cylinder and upper fibula；Ankle motion mechanism includes metatarsal, the first apotelus
Bone, the second apotelus bone, the 3rd apotelus bone, the 3rd torsional spring, the second torsional spring and the first torsional spring.Disclosed in CN105346620A《It is imitative
The energy saving walking leg mechanism of ostrich hind limb motor functional characteristic》, it is made of rack, toggle, rebounding mechanism and toes,
Toggle includes crank, thigh and rocking bar, and rebounding mechanism includes fixed slider, shank, movable slider, connecting rod, spring, gear
Block, ratchet mechanism, brake cable, angle limiter and metatarsal.
Above-mentioned imitative every leg of ostrich motion forms whilst closed forms, only one degree of freedom by connecting rod, with ostrich
Skeleton topological structure is different, it is impossible to fully imitates the movement gait of ostrich.Every leg is driven by a motor, than ostrich flesh
The driving force and movement velocity of meat are much smaller, are extremely difficult to the movement velocity and heavy burden ability of ostrich.
Utility model content
The utility model is for insufficient existing for the existing mechanical motion mechanism using ostrich as bionical object, there is provided a kind of
The imitative ostrich robot running gear of ostrich walking and gait of running can fully be imitated.
The imitative ostrich robot running gear of the utility model, using following technical scheme：
The mechanism, including trunk, femur, shin bone, attached metatarsal, intermediate connecting rod and three toes；Is fixed with trunk
One cam, femur are hinged on trunk and femur push-and-pull swing mechanism are connected between trunk, and it is convex to be fixed with second on femur
One end of wheel, femur, shin bone, attached metatarsal and intermediate connecting rod composition four-bar mechanism, shin bone and intermediate connecting rod is hinged with femur, another
End is hinged with attached metatarsal；Shin bone push-and-pull swing mechanism is connected between femur and shin bone；The end of attached metatarsal is hinged with the first foot
Toe, is hinged with the second toe on the first toe, and the second toe push-and-pull swing mechanism is connected between the first toe and the second toe；
The 3rd toe is hinged with second toe, the 3rd toe push-and-pull swing mechanism is connected between the second toe and the 3rd toe；It is attached
Tension spring is connected between metatarsal and the first toe, drawstring is connected with trunk, the drawstring by under the second cam around on the first cam,
It is fixedly connected on still further below on the 3rd toe.
The swing angle of the femur is 100 °.
The swing angle of the shin bone is 165 °.
The angle of oscillation of the attached metatarsal is 155 °.
The swing angle of first toe is 150 °.
The swing angle of second toe is 110 °.
The swing angle of 3rd toe is 60 °.
Cushion is both provided with first toe and the second toe, so that toe has ground connection property well.
The existing components such as hydraulic cylinder, electric pushrod can be used by pushing and pulling swing mechanism everywhere.
Above-mentioned imitative ostrich robot running gear, has copied the bone frame of ostrich femur, shin bone, attached metatarsal and three sections of toes
Structure, femur push-and-pull swing mechanism drive femur to swing.The swing of shin bone is completed by shin bone push-and-pull swing mechanism driving.Femur, shin
Bone, attached metatarsal and intermediate connecting rod composition four-bar mechanism complete the swing of attached metatarsal, because the relative motion of shin bone and attached metatarsal is closed
Tie up in whole gait cycle and be relatively fixed, linkage can its motion process of simulation very well, so adding intermediate connecting rod
And hydraulic cylinder or spring are not used, the bearing capacity of leg can also be increased, the complexity of system is reduced and improve movement
Stability.Tension spring on attached metatarsal can make first segment toe swing backward, imitated the attached metatarsal posterior muscular of ostrich, also functioned to
The effect of buffering.If contact length of the drawstring on cam becomes larger in motion process, drawstring tightening can make the first toe to
Upper swing.Second toe and the 3rd toe are provided by the second toe push-and-pull swing mechanism and the 3rd toe push-and-pull swing mechanism and are pedaled ground
The power of Shi Suoxu, is together drawn by drawstring and withdrawn upwards with the first toe when leg is soared.
The utility model has 6 frees degree, has the characteristics that：
1. having copied the skeletal architecture of ostrich femur, shin bone, attached metatarsal and three sections of toes, and ostrich leg is imitated using spring
The tendon of the thick shape in portion, makes robot running gear and ostrich have identical topological structure, driving and energy storage mode, can
Fully imitate ostrich walking and the motor pattern run；
2. each rod piece of leg employs hollow type structure, the elasticity of mechanical system is added, it is used to effectively reduce movement
Amount, is conducive to improve the movement efficiency of robot；
3. tension spring and cam construction of wire rope are lightly nimble, rapid reaction, pass through the storage and release of elastic potential energy, energy
Enough significantly improve the movement efficiency of robot；
4. leg member design modularization, easy to process and assembling, and reduce maintenance difficulties.
Brief description of the drawings
Fig. 1 is the structure diagram of the imitative ostrich biped robot walking mechanism of the utility model.
In figure：1. trunk, 2. femur oscillating motors, 3. femurs, 4. first cams, 5. shin bones, 6. shin bones swing hydraulic pressure
Cylinder, 7. attached metatarsals, 8. first toes, 9. 2 toe oscillating motors, 10. second toes, 11. three-toed oscillating motors, 12.
Three toes, 13. second cushions, 14. first cushions, 15. tension springs, 16. intermediate connecting rods, 17. second cams, 18. becket bridles.
Embodiment
The imitative ostrich biped robot walking mechanism of the utility model, as shown in Figure 1, including trunk 1, femur 3, shin bone 5,
Attached metatarsal 7, intermediate connecting rod 16 and three toes.
Femur oscillating motor 2 is installed on trunk 1.The first cam 4 is installed with trunk 1, femur 3 is hinged on body
On dry 1, and it is hinged with the piston rod of femur oscillating motor 2, femur 3 and the articulated shaft of trunk 1 can coaxially be pacified with the first cam 4
Dress.Femur oscillating motor 2 can drive swing of the femur 3 around trunk 1, and swing angle is 100 °.
Femur 3, shin bone 5, attached metatarsal 7 and intermediate connecting rod 16 form four-bar mechanism, one end of shin bone 5 and intermediate connecting rod 16 with
Femur 3 is hinged, and the other end is hinged with attached metatarsal 7.Shin bone oscillating motor 6 is installed on femur 3, shin bone oscillating motor 6
Piston rod is hinged with shin bone 5.By the expanding-contracting action of shin bone oscillating motor 6, it is 165 ° to make 5 swing angle of shin bone, attached metatarsal 7
Angle of oscillation is 155 °.The second cam 17 is installed with femur 3.
The end of attached metatarsal 7 is hinged with the first toe 8, and 8 swing angle of the first toe is 150 °.It is hinged on first toe 8
There is the second toe 10, two toe oscillating motors 9, the piston rod and the second toe of two toe oscillating motors 9 are installed on the first toe 8
10 is hinged, and by the expanding-contracting action of two toe oscillating motors 9, the second toe 10 of control is swung around the first toe 8, makes the second toe
10 swing angle is 110 °.The 3rd toe 12 is hinged on second toe 10, three-toed oscillating motor is installed on the second toe 10
11, the piston rod of three-toed oscillating motor 11 and the 3rd toe 12 are hinged, by the expanding-contracting action of three-toed oscillating motor 11,
The 3rd toe 12 is controlled to be swung around the second toe 10, the swing angle degree for making the 3rd toe 12 is 60 °.
The first cushion is provided with first toe 8, the second cushion 13 is provided with the 4, second toe 10, imitates ostrich vola
Soft tissue, produce buffering, anti-skidding and vibration damping effect so that toe have well ground connection property.
Tension spring 15 is connected between attached 7 and first toe 8 of metatarsal, for completing swing backward when the first toe 8 pedals ground.Draw
15 one end of spring is connected on attached metatarsal 7, and the other end is connected to 8 rear portion of the first toe, the second cushion 14 directly or by steel wire rope
When landing, tension spring 15 provides part pulling force for leg thrust.
Be provided with becket bridle 18 on trunk 1, connecting steel wire ropes 19 on becket bridle 18, the steel wire rope 19 under the second cam 17 around to
On first cam 4, two becket bridles on shin bone 5, two becket bridles on attached metatarsal 7, the rope on the first toe 8 are sequentially passed through downwards
Becket bridle on ring and the second toe 10, is fixedly connected on the becket bridle on the 3rd toe 12.Steel wire rope 19 contacts on two cams
The change of length and the movement of the quadric chain of Driven by Hydraulic Cylinder coupling, the pulling force of resistance tension spring 15 are completed to lift three toes
Action.
The carrying out practically process of the imitative ostrich biped robot walking mechanism of above-mentioned hydraulic-driven is as follows:
1. ground is pedaled in leg
First cushion 14 and the second cushion 13 are contacted with ground, and tension spring 15 is punctured into the offer of the first toe 8 and pedals soil fertility, two toes
Oscillating motor 9 and three-toed oscillating motor 11 extend, and provide for the second toe 10 and the 3rd toe 12 and pedal soil fertility, shin bone is swung
Hydraulic cylinder 6 extends 7 swing backward of attached metatarsal made in quadric chain, and the elongation of femur oscillating motor 2 makes femur 3 to the bottom
Dynamic, leg is liftoff.
2. leg is received in the air
Femur oscillating motor 2 and shin bone oscillating motor 6 are shunk, and femur 3 and attached metatarsal 7 are swung up, and steel wire rope is drawn
Three toes are moved, complete the aerial action for receiving leg.
3. stretch one's legs in the air
Leg forward extends out, and each component movement is similar with leg thrust.
4. toe lands
Three-toed oscillating motor 11, which is shunk, makes the 3rd toe 12 be upturned, and cam steel wire rope ensures that two cushions land,
Tension spring 15 is elongated, and is prepared to enter into next gait cycle.
Another one leg is arranged symmetrically, and structure is identical, and when left leg extends with pedaling, right leg carries out the aerial action for receiving leg；Left leg
During aerial receipts leg, right leg carries out aerial action of stretching one's legs；Preparation is landed with rear right-leg with pedaling, and two legs move alternately, realize imitative
The action of running of ostrich.
Claims (8)
1. a kind of imitative ostrich robot running gear, including trunk, femur, shin bone, attached metatarsal, intermediate connecting rod and three feet
Toe；It is characterized in that：The first cam is fixed with trunk, femur is hinged on trunk and femur push-and-pull pendulum is connected between trunk
Motivation structure, the second cam is fixed with femur, and femur, shin bone, attached metatarsal and intermediate connecting rod form four-bar mechanism, shin bone and centre
One end of connecting rod is hinged with femur, and the other end is hinged with attached metatarsal；Shin bone push-and-pull swing mechanism is connected between femur and shin bone；
The end of attached metatarsal is hinged with the first toe, and the second toe is hinged with the first toe, is connected between the first toe and the second toe
It is connected to the second toe push-and-pull swing mechanism；The 3rd toe is hinged with second toe, is connected between the second toe and the 3rd toe
There is the 3rd toe to push and pull swing mechanism；Tension spring is connected between attached metatarsal and the first toe, drawstring is connected with trunk, the drawstring by
Around on the first cam under second cam, it is fixedly connected on still further below on the 3rd toe.
2. imitative ostrich robot running gear according to claim 1, it is characterized in that：The swing angle of the femur is
100°。
3. imitative ostrich robot running gear according to claim 1, it is characterized in that：The swing angle of the shin bone is
165°。
4. imitative ostrich robot running gear according to claim 1, it is characterized in that：The angle of oscillation of the attached metatarsal is
155°。
5. imitative ostrich robot running gear according to claim 1, it is characterized in that：The swing angle of first toe
For 150 °.
6. imitative ostrich robot running gear according to claim 1, it is characterized in that：The swing angle of second toe
For 110 °.
7. imitative ostrich robot running gear according to claim 1, it is characterized in that：The swing angle of 3rd toe
For 60 °.
8. imitative ostrich robot running gear according to claim 1, it is characterized in that：First toe and the second toe
On be both provided with cushion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721219776.8U CN207292191U (en) | 2017-09-22 | 2017-09-22 | A kind of imitative ostrich robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721219776.8U CN207292191U (en) | 2017-09-22 | 2017-09-22 | A kind of imitative ostrich robot running gear |
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| CN207292191U true CN207292191U (en) | 2018-05-01 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554641A (en) * | 2017-09-22 | 2018-01-09 | 山东大学 | A kind of imitative ostrich robot running gear |
| CN110254553A (en) * | 2019-06-04 | 2019-09-20 | 北京交通大学 | A kind of imitative ostrich high speed Pao Tiao robot of holotype stance |
| CN110481668A (en) * | 2019-08-30 | 2019-11-22 | 吉林大学 | A kind of adaptive strain posture bionic mechanical foot |
| EP3696060A1 (en) * | 2019-02-18 | 2020-08-19 | Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. | Robot leg and robotic system |
| CN114987644A (en) * | 2022-04-27 | 2022-09-02 | 南京理工大学 | Bionic robot with changeable gait |
-
2017
- 2017-09-22 CN CN201721219776.8U patent/CN207292191U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554641A (en) * | 2017-09-22 | 2018-01-09 | 山东大学 | A kind of imitative ostrich robot running gear |
| CN107554641B (en) * | 2017-09-22 | 2023-08-04 | 山东大学 | Ostrich-like robot walking mechanism |
| EP3696060A1 (en) * | 2019-02-18 | 2020-08-19 | Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. | Robot leg and robotic system |
| WO2020169285A1 (en) * | 2019-02-18 | 2020-08-27 | MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. | Robot leg and robotic system |
| CN113423631A (en) * | 2019-02-18 | 2021-09-21 | 马克思-普朗克科学促进协会 | Robot leg and robot system |
| CN113423631B (en) * | 2019-02-18 | 2023-09-19 | 马克思-普朗克科学促进协会 | Robot leg and robot system |
| CN110254553A (en) * | 2019-06-04 | 2019-09-20 | 北京交通大学 | A kind of imitative ostrich high speed Pao Tiao robot of holotype stance |
| CN110254553B (en) * | 2019-06-04 | 2020-12-01 | 北京交通大学 | Full-form ostrich-imitated high-speed running and jumping robot |
| CN110481668A (en) * | 2019-08-30 | 2019-11-22 | 吉林大学 | A kind of adaptive strain posture bionic mechanical foot |
| CN114987644A (en) * | 2022-04-27 | 2022-09-02 | 南京理工大学 | Bionic robot with changeable gait |
| CN114987644B (en) * | 2022-04-27 | 2024-03-22 | 南京理工大学 | Gait-convertible bionic robot |
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