CN106914888B - A kind of imitative trunk robot based on novel underactuatuated drive - Google Patents
A kind of imitative trunk robot based on novel underactuatuated drive Download PDFInfo
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- CN106914888B CN106914888B CN201510988287.8A CN201510988287A CN106914888B CN 106914888 B CN106914888 B CN 106914888B CN 201510988287 A CN201510988287 A CN 201510988287A CN 106914888 B CN106914888 B CN 106914888B
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- Prior art keywords
- trunk
- trunk section
- scissors mechanism
- linkage
- swinging frame
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
Abstract
The present invention relates to bio-robot fields, specifically a kind of imitative trunk robot based on novel underactuatuated drive, including driving mechanism, connect scissors mechanism and multiple trunk sections, wherein linkage scissors mechanism is equipped on each trunk section, driving mechanism is connected by the connection scissors mechanism with the linkage scissors mechanism on the trunk section of the driving mechanism, linkage scissors mechanism on each trunk section is sequentially connected, the connection scissors mechanism and each linkage scissors mechanism pass through the driving mechanism function synchronous on-off, and each trunk section opening or being closed by linkage scissors mechanism effect equipped with linkage scissors mechanism side.Present invention control is simple, and stability is good and can bear relatively large load.
Description
Technical field
The present invention relates to bio-robot field, specifically a kind of imitative trunk machine based on novel underactuatuated drive
People.
Background technique
Bio-robot is all a popular research field in robot subject all the time, from the various of nature
We have invented many robots that can execute special duty with biology.Trunk bio-robot is exactly one such outstanding
Representative, trunk robot be suitable for various avoidance occasions, be also adapted for mount to community service humanoid robot, facilitate people
Life.Certainly, also there is demand in the fields such as following engineering, medical treatment to flexible mechanical arm.It is domestic and international developed at present
Trunk robot is mostly to apply the drive forms such as artificial-muscle, pneumatic, rope or memorial alloy, and control process is cumbersome, load
Ability is lower, and stability is on the weak side.
Summary of the invention
The purpose of the present invention is to provide a kind of imitative trunk robot based on novel underactuatuated drive, control is simple, surely
It is qualitative to get well and relatively large load be born.
The purpose of the present invention is achieved through the following technical solutions:
A kind of imitative trunk robot based on novel underactuatuated drive, including driving mechanism, connection scissors mechanism and multiple
Trunk section, wherein being equipped with linkage scissors mechanism on each trunk section, driving mechanism is by the connection scissors mechanism and most
Linkage scissors mechanism on the trunk section of the driving mechanism is connected, linkage scissors mechanism on each trunk section successively phase
Even, the connection scissors mechanism and each linkage scissors mechanism are by the driving mechanism function synchronous on-off, and each trunk
The linkage scissors mechanism effect passed through on the trunk section that section is equipped with linkage scissors mechanism side is opened or closure.
The driving mechanism includes pedestal, power source, lead screw, screw and transmission mechanism, and the lead screw and power source are pacified
On the base, the power source is connected by transmission mechanism with the lead screw dress, and two sections of rotation directions are equipped on the lead screw
Opposite thread segment is arranged with a screw on each thread segment, two crossbars in the connection scissors mechanism
One end is connected with different screws respectively.
The trunk section includes carrier and swinging frame, and the carrier of each trunk section is successively hinged, in each carrier
Both ends be respectively articulated with a swinging frame, and the side that two neighboring trunk section is connected shares a swinging frame, each trunk
The crossbar both ends of the linkage scissors mechanism of section are movably mounted at respectively on the swinging frame of two sides, each trunk section two sides
Swinging frame is swung by the linkage scissors mechanism folding driving on the trunk section.
The free end of each swinging frame is equipped with sliding bar, and movably there are two slidings for suit on each sliding bar
Part, the sliding part includes two hinged blocks, and two hinged blocks on each sliding part respectively cut by the linkage different from two sides
Mechanism is pitched to be connected.
It is equipped with spring in each trunk section, the first spring fixed link is equipped on the carrier of trunk section, in trunk section
Swinging frame be equipped with second spring fixed link, the spring one end in each trunk section is fixed on the first spring in the trunk section
In fixed link, the other end is fixed on second spring fixed link of the trunk section on the swinging frame of the driving mechanism side
(on.
One end of crossbar on the connection scissors mechanism is connected with driving mechanism respectively, the other end respectively near
Different sliding parts on the swinging frame of the driving mechanism are connected, and pedestal supporting plate, the pedestal are equipped in the driving mechanism
Supporting plate and the carrier near the driving mechanism are hinged.
Constitute it is described linkage scissors mechanism two length of connecting rods it is identical, but the cross-articulation hole in the middle part of each connecting rod with should
Connecting rod is greater than the cross-articulation hole and the connecting rod far from the driving machine close to the distance between described driving mechanism one end end
The distance between structure (19) one end end.
Multiple mounting holes are equipped on the strut of each carrier two sides and on the strut of each swinging frame two sides, and
The strut of the carrier two sides and the strut lengths of swinging frame two sides are all the same.
Side pole is equipped on the swinging frame farthest apart from the driving mechanism.
Protective case is equipped on the outside of each trunk section.
Advantages of the present invention and good effect are as follows:
1, the present invention drives the curling of trunk section by connection scissors mechanism and linkage scissors mechanism, to realize only with one
A power source completes flexible and bending motion the purpose of trunk robot.
2, the advantages that present invention has control process simple, and adaptivity is strong, and reconfigurability is strong, and the degree of modularity is high, can
The advantages that being moved up for dangerous material crawl.
3, the present invention, which does not need to determine the exact position of target and accurate target size, can be realized and grab to the stabilization of mechanism
It takes, and big machinery arm can be extended to, there is very high application value.
4, the connection scissors mechanism proposed in the present invention and the novel underactuatuated drive and pass that scissors mechanism forms that link
The underactuatuated drive trunk of system has outstanding advantages of fast response time, large carrying capacity.
Detailed description of the invention
Fig. 1 is overall schematic of the invention,
Fig. 2 is that the present invention removes the structural schematic diagram after trunk shell in Fig. 1,
Fig. 3 is the structural schematic diagram of driving mechanism in Fig. 2,
Fig. 4 is the structural schematic diagram of trunk section in Fig. 2,
Fig. 5 is working state schematic representation of the invention.
Wherein, 1 is pedestal, and 2 be motor, and 3 be speed reducer, and 4 be the first supporting plate, and 5 be transmission mechanism, and 6 be screw, and 7 be silk
Thick stick, 8 be the second supporting plate, and 9 be pedestal supporting plate, and 10 be swinging frame, and 11 be spring, and 12 be connection scissors mechanism, and 13 be second spring
Fixed link, 14 be carrier, and 15 be the first spring fixed link, and 16 be sliding part, and 17 be sliding bar, and 18 be linkage scissors mechanism,
19 be driving mechanism, and 20 be trunk section, and 21 be side pole.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Fig. 1~5, the present invention includes driving mechanism 19, connects scissors mechanism 12 and multiple trunk sections 20, wherein
Linkage scissors mechanism 18 is equipped on each trunk section 20, driving mechanism 19 is by the connection scissors mechanism 12 and near institute
Linkage scissors mechanism 18 on the trunk section 20 of driving mechanism 19 is stated to be connected, the linkage scissors mechanism 18 on each trunk section 20 according to
It is secondary to be connected, the connection scissors mechanism 12 and each linkage scissors mechanism 18 by the driving mechanism 19 effect synchronous on-off,
And width of each trunk section 20 equipped with linkage 18 side of scissors mechanism is changed by the linkage scissors mechanism 18 folding.
As shown in figs. 2 to 4, the driving mechanism 19 includes pedestal 1, power source, lead screw 7, screw 6 and transmission mechanism 5, institute
It states lead screw 7 and power source is installed on the pedestal 1, the power source is connected by transmission mechanism 5 with the lead screw 7,
The lead screw 7 is equipped with two sections of oppositely oriented thread segments, and a screw 6, the lead screw 7 are arranged on each thread segment
It is rotated by the power source drive, and then drives two screws 6 mobile, two intersections in the connection scissors mechanism 12 connect
One end of bar is connected with different screws 6 respectively, and the connection scissors mechanism 12 passes through the mobile driving of described two screws 6
Folding.In the present embodiment, the power source includes motor 2 and speed reducer 3, and the transmission mechanism 5 is gear drive, in institute
Pedestal 1 is stated equipped with the first supporting plate 4 and the second supporting plate 8, the both ends of the lead screw 7 are mounted on described the by bearing bearing respectively
On one supporting plate 4 and the second supporting plate 8, the motor 2 is connected with speed reducer 3, and the speed reducer 3 is mounted on first supporting plate 4
And output shaft is connected with the driving gear in transmission mechanism 5, the driven gear engaged with the driving gear is mounted on the silk
On thick stick 7.
As shown in Figure 2 and Figure 4, the trunk section 20 includes carrier 14 and swinging frame 10, the carrying of each trunk section 20
Frame 14 is successively hinged, and is respectively articulated with a swinging frame 10 at the both ends of each carrier 14, trunk section 20 two neighboring in this way
The side being connected just shares the same swinging frame 10, the cross link both ends point of the linkage scissors mechanism 18 of each trunk section 20
It is not movably mounted on the swinging frame 10 of two sides, the swinging frame 10 of each 20 two sides of trunk section passes through on the trunk section 20
The folding driving of scissors mechanism 18 that links is swung, so that the side width for making the trunk section 20 be equipped with linkage scissors mechanism 18 changes
Become, and then drives each 20 curling movements of trunk section.
As shown in Figure 2 and Figure 4, it is equipped with sliding bar 17 in the free end of each swinging frame 10, on each sliding bar 17
Movably for suit there are two sliding part 16, the sliding part 16 includes two hinged blocks, and two on each sliding part 16
The linkage scissors mechanism 18 different from two sides is connected hinged block respectively.
As shown in Figure 2 and Figure 4, it is equipped with spring 11 in each trunk section 20, is equipped on the carrier 14 of trunk section 20
First spring fixed link 15 is equipped with second spring fixed link 13, in each trunk section 20 on the swinging frame 10 of trunk section 20
11 one end of spring is fixed in the first spring fixed link 15 in the trunk section 20, and the other end is fixed on the trunk section 20 close to institute
It states in the second spring fixed link 13 on the swinging frame 10 of 19 side of driving mechanism.
As shown in Figure 2 and Figure 4, one end of the cross link on the connection scissors mechanism 12 is respectively and in driving mechanism 19
Different screws 6 be connected, the other end respectively from 16 phase of different sliding parts on the swinging frame 10 of the driving mechanism 19
Even, pedestal supporting plate 9, the pedestal supporting plate 9 and the carrying near the driving mechanism 19 are equipped in the driving mechanism 19
Frame 14 is hinged.
As shown in Figure 2 and Figure 4, two length of connecting rods for constituting the linkage scissors mechanism 18 are identical, but in each connecting rod
The cross-articulation hole in portion is different at a distance from the connecting rod two end, wherein the cross-articulation hole and the connecting rod in the middle part of each connecting rod are close
The distance between described 19 one end end of driving mechanism is greater than the cross-articulation hole and the connecting rod far from the driving mechanism 19 1
Hold the distance between end.It is equipped on the strut of each 14 two sides of carrier and on the strut of 10 two sides of each swinging frame
Multiple mounting holes, wherein the mounting hole on 14 two sides strut of carrier is used to adjust the position of the first spring fixed link 15,
Mounting hole on 10 two sides strut of swinging frame is used to adjust the position of the second spring fixed link 13, passes through 11 liang of adjustment spring
The installation site at end can adjust the angle between swinging frame 10 and carrier 14.The strut of 14 two sides of carrier and
The strut lengths of 10 two sides of swinging frame are all the same.
As shown in Figure 2 and Figure 5, side pole 21 is equipped on the swinging frame 10 farthest apart from the driving mechanism 19, such as Fig. 1 institute
Show, is equipped with protective case on the outside of each trunk section 20.
The operation principle of the present invention is that:
When the present invention is unloaded or does not encounter barrier, the elastic force of the spring 11 is greater than the spring 11 and is connected
Swinging frame 10 and carrier 14 between frictional force, at this point, the swinging frame 10 and carrier 14 can regard rigid connection as,
I.e. under the driving of linkage scissors mechanism 18, the swinging frame 10 and carrier 14 that are connected in each trunk section 20 by spring 11 it
Between relative position remained unchanged under the spring 11 effect, each trunk section 20 does same movement simultaneously.When it is a certain as
When the carrier 14 of nose section 20 encounters barrier, at this time the carrier 14 due to the drag effect of barrier it is opposing stationary, linkage
The driving force that the folding of scissors mechanism 18 generates is transmitted on swinging frame 10, when the drive for the linkage scissors mechanism 18 that swinging frame 10 is subject to
When power is greater than 11 elastic force of spring between the swinging frame 10 and carrier 14, the swinging frame 10 of two sides can open, to make each
A trunk section 20 is rolled, and grabs object, each joint stop motion until stablizing.
Claims (9)
1. a kind of imitative trunk robot based on novel underactuatuated drive, it is characterised in that: cut including driving mechanism (19), connection
Mechanism (12) and multiple trunk sections (20) are pitched, wherein linkage scissors mechanism (18) is equipped on each trunk section (20), driving
Mechanism (19) passes through connection scissors mechanism (12) and the linkage on the trunk section (20) of the driving mechanism (19)
Scissors mechanism (18) is connected, and the linkage scissors mechanism (18) on each trunk section (20) is sequentially connected, the connection scissors mechanism
(12) and each linkage scissors mechanism (18) is by the driving mechanism (19) effect synchronous on-off, and each trunk section (20) is set
There is the side of linkage scissors mechanism (18) to open or be closed by linkage scissors mechanism (18) effect on the trunk section (20)；
The trunk section (20) includes carrier (14) and swinging frame (10), and the carrier (14) of each trunk section (20) is successively cut with scissors
It connects, is respectively articulated with a swinging frame (10) at the both ends of each carrier (14), and two neighboring trunk section (20) is connected
Side shares a swinging frame (10), and the crossbar both ends of the linkage scissors mechanism (18) of each trunk section (20) move respectively
Ground is mounted on the swinging frame (10) of trunk section (20) two sides, the swinging frames (10) of each trunk section (20) two sides by this as
Linkage scissors mechanism (18) folding driving on nose section (20) is swung.
2. the imitative trunk robot according to claim 1 based on novel underactuatuated drive, it is characterised in that: the driving
Mechanism (19) includes pedestal (1), power source, lead screw (7), screw (6) and transmission mechanism (5), and the lead screw (7) and power source are equal
It is mounted on the pedestal (1), the power source is connected by transmission mechanism (5) with the lead screw (7), in the lead screw (7)
Two sections of oppositely oriented thread segments are equipped with, a screw (6), the connection scissors mechanism are arranged on each thread segment
(12) one end of two crossbars in is connected with different screws (6) respectively.
3. the imitative trunk robot according to claim 1 based on novel underactuatuated drive, it is characterised in that: each swing
The free end of frame (10) is equipped with sliding bar (17), and movably there are two sliding parts for suit on each sliding bar (17)
(16), the sliding part (16) include two hinged blocks, and two hinged blocks on each sliding part (16) respectively with two sides not
It is connected with the linkage scissors mechanism (18) on trunk section (20).
4. the imitative trunk robot according to claim 1 based on novel underactuatuated drive, it is characterised in that: each trunk
Section (20) in is equipped with spring (11), on the carrier (14) of trunk section (20) be equipped with the first spring fixed link (15), as
The swinging frame (10) of nose section (20) is equipped with second spring fixed link (13), and spring (11) one end in each trunk section (20) is solid
It is scheduled in the first spring fixed link (15) in the trunk section (20), the other end is fixed on the trunk section (20) close to the driving
In second spring fixed link (13) on the swinging frame (10) of mechanism (19) side.
5. the imitative trunk robot according to claim 3 based on novel underactuatuated drive, it is characterised in that: the connection
One end of crossbar on scissors mechanism (12) is connected with driving mechanism (19) respectively, and the other end is respectively and near the driving
Different sliding parts (16) on the swinging frame (10) of mechanism (19) are connected, and pedestal supporting plate is equipped on the driving mechanism (19)
(9), the pedestal supporting plate (9) and the carrier (14) near the driving mechanism (19) are hinged.
6. according to claim 1, the imitative trunk robot described in 4 or 5 any claims based on novel underactuatuated drive,
Be characterized in that: two length of connecting rods for constituting linkage scissors mechanism (18) are identical, but the cross-articulation in the middle part of each connecting rod
Hole is greater than the cross-articulation hole close to the distance between the driving mechanism (19) one end end with the connecting rod and the connecting rod is separate
The distance between described driving mechanism (19) one end end.
7. according to claim 1, the imitative trunk robot described in 4 or 5 any claims based on novel underactuatuated drive,
It is characterized in that: being equipped on the strut of each carrier (14) two sides and on the strut of each swinging frame (10) two sides multiple
Mounting hole, and the strut lengths of the strut of the carrier (14) two sides and swinging frame (10) two sides are all the same.
8. the imitative trunk robot according to claim 1 based on novel underactuatuated drive, it is characterised in that: apart from institute
The farthest swinging frame (10) of driving mechanism (19) is stated equipped with side pole (21).
9. the imitative trunk robot according to claim 1 based on novel underactuatuated drive, it is characterised in that: each trunk
Protective case is equipped on the outside of section (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510988287.8A CN106914888B (en) | 2015-12-24 | 2015-12-24 | A kind of imitative trunk robot based on novel underactuatuated drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510988287.8A CN106914888B (en) | 2015-12-24 | 2015-12-24 | A kind of imitative trunk robot based on novel underactuatuated drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106914888A CN106914888A (en) | 2017-07-04 |
| CN106914888B true CN106914888B (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510988287.8A Active CN106914888B (en) | 2015-12-24 | 2015-12-24 | A kind of imitative trunk robot based on novel underactuatuated drive |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968399B (en) * | 2017-12-28 | 2021-05-11 | 中国科学院沈阳自动化研究所 | Single-motor variable-rigidity joint |
| CN108422411B (en) * | 2018-03-19 | 2019-08-16 | 哈尔滨工业大学（深圳） | The curved space truss arresting agency of telescopic |
| CN108527416B (en) * | 2018-05-22 | 2024-03-26 | 昆明理工大学 | Winding machine hand |
| CN109877809A (en) * | 2019-04-10 | 2019-06-14 | 中国科学院沈阳自动化研究所 | A kind of bidirectional self-adaptive telescopic mechanical arm |
| CN110979756B (en) * | 2019-12-20 | 2021-07-02 | 哈尔滨工业大学（深圳） | Space-expandable catching manipulator device |
| CN111037546B (en) * | 2019-12-30 | 2022-12-09 | 中国科学院沈阳自动化研究所 | Rope-driven scissor telescopic arm |
| WO2021196067A1 (en) * | 2020-04-01 | 2021-10-07 | 大连理工大学 | Multi-degree-of-freedom continuous robot having flexible target grabbing function |
| CN111994804B (en) * | 2020-08-24 | 2022-12-20 | 北京承达智能科技有限公司 | Hoisting method for installing air conditioner external unit outside high-rise building wall |
| CN112010196B (en) * | 2020-08-24 | 2023-01-20 | 安徽平天湖投资控股集团有限公司 | Hoisting device for air conditioner external unit for high-rise building installation or disassembly |
| CN112208804B (en) * | 2020-09-22 | 2021-07-20 | 哈尔滨工业大学 | Spatial reconfigurable truss type capturing mechanism and capturing method thereof |
| CN112027068B (en) * | 2020-11-04 | 2021-02-26 | 南京航空航天大学 | Bionic trunk mechanism, sensing arresting device for aircraft carrier and using method of sensing arresting device |
| CN113910253A (en) * | 2021-10-12 | 2022-01-11 | 上海电机学院 | Multi-joint flexible grabbing mechanism imitating octopus tentacle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2067597A5 (en) * | 1969-11-06 | 1971-08-20 | Applic Multiples | |
| FR2937026B1 (en) * | 2008-10-13 | 2014-06-20 | Michel Roere | LIFTING DEVICE AND METHOD FOR MANUFACTURING THE SAME |
| CN202622798U (en) * | 2012-06-04 | 2012-12-26 | 东北林业大学 | Magneto-rheological continuum robot operator |
| CN103895012B (en) * | 2014-04-25 | 2016-02-24 | 清华大学 | A kind of imitative trunk mechanical arm cell arrangement |
| CN104612426B (en) * | 2015-02-12 | 2016-09-21 | 唐建军 | A kind of hidden retractable garage parking |
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