CN107351117B - A kind of bio-robot compliant tail portions mechanism - Google Patents
A kind of bio-robot compliant tail portions mechanism Download PDFInfo
- Publication number
- CN107351117B CN107351117B CN201710554971.4A CN201710554971A CN107351117B CN 107351117 B CN107351117 B CN 107351117B CN 201710554971 A CN201710554971 A CN 201710554971A CN 107351117 B CN107351117 B CN 107351117B
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- China
- Prior art keywords
- bio
- connector
- joint
- hole
- turning joint
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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
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Abstract
The present invention provides a kind of bio-robot compliant tail portions mechanisms, comprising: main turning joint is connect by spherical secondary and gantry pillars with bionic machine human body；And secondary active unit, it is connect by spring and joint connector with main turning joint.Bio-robot compliant tail portions of the present invention mechanism is passive freedom degree, leans on bobbing, realize and reset by spring, has tail swing flexible, system controls simple feature.
Description
Technical field
The present invention relates to a kind of bio-robots, and in particular to a kind of bio-robot compliant tail portions mechanism.
Background technique
With the development of science and technology, the application of robot is also more and more extensive, and bio-robot develops as robot
One subject of application, is also increasingly valued by people, and development is also getting faster.
An important component of the bio-robot tail portion as wherein bio-robot, the feature of mechanism joint,
Driving method, joint freedom degrees etc. play critically important influence to the stability of robot.Bio-robot tail structure at present
Relatively there are control system complexity, the problems such as not flexible is swung.
Summary of the invention
The present invention is to carry out to solve the above-mentioned problems, and it is an object of the present invention to provide a kind of bio-robot compliant tail portions machine
Structure.
The present invention provides a kind of bio-robot compliant tail portions mechanisms, have the feature that, comprising: main activity is closed
Section is circular configuration, is connect by spherical secondary and gantry pillars with bionic machine human body；And secondary active unit, pass through
Spring and joint connector are connect with main turning joint.
It in bio-robot compliant tail portions provided by the invention mechanism, can also have the following features: wherein, pair is living
Moving cell includes multiple secondary turning joints, and multiple pair turning joints are successively successively decreased for size and sequentially connected circular configuration.
It in bio-robot compliant tail portions provided by the invention mechanism, can also have the following features: wherein, main work
Movable joint also has the spring support location hole being evenly distributed on circular configuration.
It in bio-robot compliant tail portions provided by the invention mechanism, can also have the following features: wherein, connection
Part, with connector ontology and to two sides extend extended segment, extended segment it is horizontally arranged have connector location hole with
Connector swings limit hole；Cross hinge connector, one end have the groove to match with extended segment, the water at the both ends of the groove
Square set up the spill through-hole for swinging location hole and arc-shaped；The vertical direction of the other end is provided with rotational positioning
Hole.It swings location hole to connect with connector location hole, for realizing swinging up and down for tail portion；Spill through-hole and connector, which are swung, to be limited
The connection of position hole, the amplitude swung up and down for limiting tail portion；Rotational positioning Kong Yuzhu turning joint and secondary active unit connection,
For realizing swinging for tail portion.
In bio-robot compliant tail portions provided by the invention mechanism, it can also have the following features: wherein, spring
It is correspondingly connected with by spring support and spring support location hole.
In bio-robot compliant tail portions provided by the invention mechanism, it can also have the following features: wherein, spring
Coefficient of elasticity range be 0-100N/m.
The action and effect of invention
A kind of bio-robot compliant tail portions mechanism involved according to the present invention, because of bio-robot compliant tail portions machine
The turning joint of structure is circular configuration, and size is successively successively decreased, thus the tail structure structure is simple, and stability is good；Main work
It is connected by spring and joint connector between movable joint and secondary active unit and between each secondary turning joint, joint
Bobbing and weaving for tail portion may be implemented in connector connection, and the spill through-hole on joint connector can limit tail portion or more
The amplitude of swing makes the swing of bio-robot have more bio-imitability；Tail portion activity is passive freedom degree, and spring is evenly distributed on work
On movable joint, so that tail structure stability is good, bobbing is leaned in tail portion, realizes and resets by spring, so that swinging more flexible
Property and flexible shape.The main turning joint of additional step motor control need to only be passed through, so that it may control the flexible of entire tail portion
It swings.So bio-robot compliant tail portions of the present invention mechanism has structure simple, stability is good, and tail swing is flexible, system
Control simple feature.
Detailed description of the invention
Fig. 1 is a kind of bio-robot compliant tail portions mechanism stereoscopic schematic diagram in the embodiment of the present invention；Fig. 2 is the present invention
Embodiment in main movable joint structure schematic diagram；
Fig. 3 is spring support structural schematic diagram in the embodiment of the present invention；
Fig. 4 is joint connector structural schematic diagram in the embodiment of the present invention；
Fig. 5 is connecting-piece structure schematic diagram in the embodiment of the present invention；
Fig. 6 is cross hinge connecting-piece structure schematic diagram in the embodiment of the present invention；
Fig. 7 is the first secondary movable joint structure schematic diagram in the embodiment of the present invention；And
Fig. 8 is the 5th secondary movable joint structure schematic diagram in the embodiment of the present invention.
Specific embodiment
It is real below in order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention
Example combination attached drawing is applied to be specifically addressed a kind of bio-robot compliant tail portions of the invention mechanism.
Fig. 1 is a kind of bio-robot compliant tail portions mechanism stereoscopic schematic diagram in the embodiment of the present invention.
As shown in Figure 1, a kind of bio-robot compliant tail portions mechanism 100 includes main turning joint 10, multiple spring supports
20, multiple springs 30, multiple joint connectors 40 and secondary active unit 50.
Fig. 2 is main movable joint structure schematic diagram in the embodiment of the present invention.
As shown in Fig. 2, main turning joint 10 includes spherical pair 11, gantry pillars 12, connection free bearing 13, spring support positioning
Hole 14.
Main turning joint 10 is circular configuration, inside sets two cross-shaped support shafts, support shaft intersection point crosses the center of circle.
Main turning joint 10 is arranged in close to the center point of robot body side, with bionic machine human body in spherical pair 11
Connection.
Gantry pillars 12 is arranged in main turning joint 10 close to robot body side, and is arranged in any one support shaft
Both ends, connect with bionic machine human body.
Main the center point of the turning joint 10 far from robot body side is arranged in connection free bearing 13.
The side on circular configuration far from machine human body is arranged in spring support location hole 14, with multiple spring supports 20
In one be correspondingly connected with.In the present embodiment, the number of spring support location hole 14 is 4, is evenly distributed on circular configuration
In.
Fig. 3 is spring support structural schematic diagram in the embodiment of the present invention.
As shown in figure 3, spring support 20 is T-shape structure, there are two through-hole, vertical direction settings for setting in horizontal direction
There is a through-hole.Spring support 20 passes through two through-holes in horizontal direction and the multiple springs being arranged in main turning joint 10
Rack positioning hole 14 is correspondingly connected with；It is correspondingly connected with by the through-hole in vertical direction with multiple springs 30.
The coefficient of elasticity range of spring 30 is 0-100N/m, and user can select the coefficient of elasticity model according to the actual situation
Enclose interior value.
Fig. 4 is joint connector structural schematic diagram in the embodiment of the present invention.
As shown in figure 4, joint connector 40 includes connector 41 and two cross hinge connectors 42,43.Joint connector
40 one end are connect with main turning joint 10, and the other end is connect with secondary active unit 50.
Fig. 5 is connecting-piece structure schematic diagram in the embodiment of the present invention.
Connector 41, with connector ontology 411 and the extended segment 412 extended to two sides, the level side of extended segment 412
Limit hole 4122 is swung with connector to connector location hole 4121 is provided with.Connector, which swings to be provided at limit hole 4122, to be determined
Position pin (not indicated in figure).
Two cross hinge connectors 42,43 structures and all the same with the connection relationship of connector 41 are with one of them
Example is described in detail.
Fig. 6 is cross hinge connecting-piece structure schematic diagram in the embodiment of the present invention.
Cross hinge connector 42, one end have the groove 421 to match with extended segment 412, the level at the both ends of groove 421
The spill through-hole 423 for swinging location hole 422 and arc-shaped is provided on direction；It is fixed that the vertical direction of the other end is provided with rotation
Position hole 424.
It swings location hole 422 to connect with connector location hole 4121, forms a swinging pair, above and below tail portion
It swings.
Spill through-hole 423 is stuck in the positioning pin that connector is swung on limit hole 4122, is swung up and down for limiting tail portion
Amplitude.
Rotational positioning hole 424 is connected with free bearing 13 is connect, and a revolute pair is formed, for realizing swinging for tail portion.
As shown in Figure 1, secondary active unit 50 is living including the first secondary turning joint 52 of secondary turning joint 51, second, third pair
The secondary turning joint 55 of movable joint 53, fourth officer turning joint 54 and the 5th.Secondary active unit 50 passes through spring 30 and joint
Connector 40 connect 10 with main turning joint.
In the present embodiment, the first secondary turning joint 52 of secondary turning joint 51, second, third pair turning joint 53 and the
The structure of fourth officer turning joint 54 is similar, and size is successively successively decreased, and is described in detail by taking the first secondary turning joint 51 as an example.
Fig. 7 is the first secondary movable joint structure schematic diagram in the embodiment of the present invention.
As shown in fig. 7, the first secondary turning joint 51 is circular configuration, two sides all have connection free bearing 511 and are uniformly distributed
Multiple spring support location holes 512.
Multiple spring support location holes 512 close to main 10 side of turning joint pass through spring fastening and multiple springs 40
The other end is correspondingly connected with.
Connection free bearing 511 close to main 10 side of turning joint is connect with the rotational positioning hole on cross hinge connector 43,
Form a revolute pair.
Second secondary turning joint 52 is connect with the first secondary turning joint 51, third pair turning joint 53 and the second secondary activity are closed
52 connection of section, fourth officer turning joint 54 connect with third pair turning joint 53, connection type with the first pair turning joint 51
And the connection type between main turning joint 10 is identical.
Fig. 8 is the 5th secondary movable joint structure schematic diagram in the embodiment of the present invention.
As shown in figure 8, the 5th secondary turning joint 55 is only equipped with connection free bearing 551 and spring support location hole 552 in side.
The size of 5th secondary turning joint 55 is minimum, is connect with identical connection type with fourth officer turning joint 54.
The course of work of bio-robot compliant tail portions mechanism 100 are as follows: an additional stepper motor (not indicating in figure) is made
For control system, main turning joint 10 is connect by spherical pair 11 and gantry pillars 12 with bionic machine human body；Secondary activity
Unit 20 is connect by spring 30 and joint connector 40 with main turning joint 10；First secondary turning joint 51, second is secondary living
The secondary turning joint 55 of movable joint 52, third pair turning joint 53, fourth officer turning joint 54 and the 5th, size are successively successively decreased,
And be sequentially connected with, connection type is identical as the connection type between main turning joint 10 with secondary active unit 20.
By the swing of the additional main turning joint 10 of a step motor control, bobbing is leaned on, is realized by spring multiple
Position, successively to drive the first secondary turning joint 22 of secondary turning joint 21, second, the secondary activity of third in secondary active unit 20 below to close
The flexible swing of the secondary turning joint 25 of section 23, fourth officer turning joint 24 and the 5th, realizes entire bio-robot flexibility tail
The linkage of portion mechanism 100.
The action and effect of embodiment
A kind of bio-robot compliant tail portions mechanism involved according to the present invention, because of bio-robot compliant tail portions machine
The turning joint of structure is circular configuration, and size is successively successively decreased, thus the tail structure structure is simple, and stability is good；Main work
It is connected by spring and joint connector between movable joint and secondary active unit and between each secondary turning joint, joint
Bobbing and weaving for tail portion may be implemented in connector connection, and the spill through-hole on joint connector can limit tail portion or more
The amplitude of swing makes the swing of bio-robot have more bio-imitability；Tail portion activity is passive freedom degree, and spring is evenly distributed on work
On movable joint, so that tail structure stability is good, bobbing is leaned in tail portion, realizes and resets by spring, so that swinging more flexible
Property and flexible shape.The main turning joint of additional step motor control need to only be passed through, so that it may control the flexible of entire tail portion
It swings.So bio-robot compliant tail portions of the present invention mechanism has structure simple, stability is good, and tail swing is flexible, system
Control simple feature.
Above embodiment is preferred case of the invention, the protection scope being not intended to limit the invention.
Claims (5)
1. a kind of bio-robot compliant tail portions mechanism characterized by comprising
Main turning joint is circular configuration, is connect by spherical secondary and gantry pillars with bionic machine human body；And
Secondary active unit is connect by spring and joint connector with the main turning joint,
Wherein, the joint connector, comprising:
Connector has company with connector ontology and the extended segment extended to two sides, the horizontally arranged of the extended segment
Fitting location hole and connector swing limit hole；And
Cross hinge connector, one end have the groove that matches with the extended segment, in the horizontal direction at the both ends of the groove
It is provided with the spill through-hole for swinging location hole and arc-shaped；The vertical direction of the other end is provided with rotational positioning hole,
The swing location hole is connect with the connector location hole, for realizing swinging up and down for tail portion,
The spill through-hole swings limit hole with the connector and connect, the amplitude swung up and down for limiting tail portion,
The rotational positioning hole is connect with the main turning joint and the secondary active unit, for realizing the left and right pendulum of tail portion
It is dynamic.
2. bio-robot compliant tail portions according to claim 1 mechanism, it is characterised in that:
Wherein, the secondary active unit includes multiple secondary turning joints, and multiple secondary turning joints are that size is successively successively decreased simultaneously
Sequentially connected circular configuration.
3. bio-robot compliant tail portions according to claim 1 mechanism, it is characterised in that:
Wherein, the main turning joint also has the spring support location hole being evenly distributed on the circular configuration.
4. bio-robot compliant tail portions according to claim 3 mechanism, it is characterised in that:
Wherein, the spring is correspondingly connected with by spring support and the spring support location hole.
5. bio-robot compliant tail portions according to claim 1 mechanism, it is characterised in that:
Wherein, the coefficient of elasticity range of the spring is 0-100 N/m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554971.4A CN107351117B (en) | 2017-07-10 | 2017-07-10 | A kind of bio-robot compliant tail portions mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554971.4A CN107351117B (en) | 2017-07-10 | 2017-07-10 | A kind of bio-robot compliant tail portions mechanism |
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| Publication Number | Publication Date |
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| CN107351117A CN107351117A (en) | 2017-11-17 |
| CN107351117B true CN107351117B (en) | 2019-11-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107813305B (en) * | 2017-11-28 | 2020-11-10 | 常州大学 | Snakelike bionic robot based on flexible telescopic joint |
| CN109866214A (en) * | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot with it |
| CN111720663B (en) * | 2020-06-17 | 2022-05-17 | 山东大学 | Modularized pipeline robot based on tension entirety |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5498193A (en) * | 1989-02-08 | 1996-03-12 | Locricchio; Salvatore | Manually actuated toy dinosaur structure and method |
| DE112014001957B4 (en) * | 2014-04-21 | 2021-03-25 | Jung-Bin Bae | Multi-joint assembly dinosaur model |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN105729500B (en) * | 2016-05-09 | 2017-08-25 | 上海理工大学 | Bionical hydraulic machine dinosaur tail structure |
| CN105965514B (en) * | 2016-05-09 | 2017-12-26 | 上海理工大学 | Bionical hydraulic pressure four-footed machine dinosaur structure |
| CN105798896B (en) * | 2016-05-30 | 2017-10-24 | 天津大学 | A kind of variation rigidity continuous type mechanism based on air pressure locking principle |
| CN106081035B (en) * | 2016-07-05 | 2018-05-01 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN205819522U (en) * | 2016-08-02 | 2016-12-21 | 刘钰 | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage |
| CN206066487U (en) * | 2016-08-25 | 2017-04-05 | 广州联维物联网科技有限公司 | Bio-robot tail structure |
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