Climbing and walking dual-mode bionic cat claw mechanism

Abstract

The invention discloses a climbing and walking bionic cat pad mechanism. The bionic cat pad mechanism comprises a metacarpal bone and three dactylus bones, wherein the metacarpal bone is used as a stander of the cat pad mechanism; buffer gaskets made of rubber materials are arranged at the bottom of the metacarpal bone on front-end branches in a running direction of a cat pad; one end of a third dactylus bone is hinged with the front-end branches of the cat pad and the other end of the third dactylus bone is hinged with one end of a second dactylus bone; the other end of the second dactylus bone is hinged with a first dactylus bone; the front end of the first dactylus bone is provided with a hooking claw; and a power device drives the third dactylus bone, the second dactylus bone and the first dactylus bone through a transmission mechanism to bend downward or stretch upward. The climbing and walking bionic cat pad mechanism has the characteristics of simple structure, convenience in use and high reliability, and can realize switching of the two modes of climbing and stably walking on a rough surface.

Description

technical field [0001] The invention belongs to the field of mechanical bionics, and relates to a bionic cat's claw mechanism. Background technique [0002] In the field of robotics, how to enable robots to climb walls has always been a research problem for researchers. The claw-type wall-climbing robot developed by Harbin Institute of Technology can successfully achieve this goal. However, the robot is only aimed at climbing walls, and its four legs are in front of the body, so it cannot smoothly realize the walking function, and the working method of its claws is the insertion type of surgical needles imitating the American Rise robot, which is different from the real climbing claws. There are still some differences. Simultaneously, for the robot that adopts hook type wall-climbing, if still adopt the walking mode of hook landing on the ground, then very easily cause unnecessary wear and tear of hook claw, thereby reduce the service life of robot. At the same time, due t...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the inadequacy of the prior art that cannot realize climbing and stable walking on rough surfaces at the same time, the present invention provides a dual-mode climbing and walking bionic cat claw mechanism, which can successfully simulate the foot structure of felines, and realize the walking on rough surfaces. The mode conversion between climbing and steady walking, that is, the stable walking mode with the claws retracted and the climbing mode with the claws stretched out, which can effectively adapt to the extremely rough climbing working environment, unique to cats

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