CN110919691B - Under-actuated joint imitating woodpecker and pecking device - Google Patents
Under-actuated joint imitating woodpecker and pecking device Download PDFInfo
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- CN110919691B CN110919691B CN201911404102.9A CN201911404102A CN110919691B CN 110919691 B CN110919691 B CN 110919691B CN 201911404102 A CN201911404102 A CN 201911404102A CN 110919691 B CN110919691 B CN 110919691B
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- large arm
- joint
- forearm
- motor
- pecking
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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
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention relates to an under-actuated joint imitating woodpecker and a pecking device.A rotary joint is arranged in a bottom box body, a rotary output end is exposed out of the bottom box body and is connected with one end of a rotary table, and a large arm pitching joint is arranged at the other end of the rotary table; the lower end of the large arm is connected with the rotation output end of the large arm pitching joint, and moves along with the rotation output end in a pitching way, and the upper end of the large arm is connected with the forearm under-actuated joint in a relatively rotatable way; one end of the spring device is connected with the big arm, and the other end of the spring device is connected to the bottom box body; one end of the forearm is connected to the under-actuated joint of the forearm, the other end of the forearm is provided with a head for realizing pecking action to the ground, the lower part of the head is respectively provided with a tail end pecking device and a hammer nozzle for pecking objects, and the tail end pecking device realizes the opening and closing action of the tail end pecking device through an internal tail end motor so as to peck objects. The invention adopts the bionic sampling mechanism based on woodpecker, the pitching action adopts double joints, the generated impact force is large, and the mechanism reliability is strong.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an underactuated joint imitating woodpecker and a pecking device.
Background
Moon is the only natural satellite of earth, and moon exploration has very important practical significance in fields such as science and technology, humanity, environment and the like. With the continuous progress of aerospace technology, the sampling return of manned lunar soil and lunar soil is realized successively in the fifth sixty of the last century. For further detecting extraterrestrial stars, china needs to carry out sampling return research on the basis of in-situ analysis, and the development of a sampling system is an important component of a sampling return technology; due to the requirements of space load and space environment, the sampling mechanism needs to have the characteristics of simple and compact structure, stable and efficient efficiency, low gravity on the surface of the extraterrestrial body, poor heat dissipation and the like. Therefore, the research of the novel extraterrestrial star surface layer sampling mechanism has important significance. In the field of deep space exploration, as China is in an initial period, the number of sampling mechanisms which are formed is small, and the research on a novel ground profile surface rock sampling system is of great significance.
Bionics is generated in human practice, and simulates the special biological functions in the nature through observation and analysis of excellent biological performances, so that the bionic technology is applied to engineering practice and solves the problems in engineering. The woodpecker can realize high-frequency pecking action, and the unique biological damping characteristic ensures that the woodpecker is not physically damaged under the condition that the head of the woodpecker is subjected to severe vibration. In addition, woodpecker can generate impact force several times greater than the body weight of the woodpecker by virtue of developed and powerful muscles on the two sides of the head. The biological characteristics of woodpecker are applied to the mechanism design, and the woodpecker has important reference significance for realizing the light weight, low power consumption and high reliability of the extraterrestrial surface rock sampling mechanism.
Disclosure of Invention
In order to meet the requirement of lunar soil on the surface of a moon in lunar exploration engineering, the invention aims to provide an under-actuated joint of an imitation woodpecker and a pecking device capable of realizing larger pecking and pecking. The device can realize beating crushing and picking up to harder objects such as stones.
The aim of the invention is realized by the following technical scheme:
the invention comprises a bottom box body, a rotary joint, a rotary table, a large arm pitching joint, a spring device, a large arm, a forearm underactuated joint, a forearm, a head and a tail end pecking device, wherein the rotary joint is arranged in the bottom box body, a rotary output end is exposed from the bottom box body and is connected with one end of the rotary table, and the large arm pitching joint is arranged at the other end of the rotary table; the lower end of the large arm is connected with the rotation output end of the large arm pitching joint and moves in a pitching way along with the rotation output end, and the upper end of the large arm is connected with the forearm under-actuated joint in a relatively rotatable way; one end of the spring device is connected with the big arm, the other end of the spring device is connected to the bottom box body, and the spring device respectively provides a power source and buffers for the pitching motion of the big arm; one end of the forearm is connected to the under-actuated joint of the forearm, the other end of the forearm is provided with a head for realizing pecking action to the ground, the lower part of the head is respectively provided with a tail end pecking device and a hammer nozzle for pecking objects, and the tail end pecking device realizes the opening and closing action of the tail end pecking device through an internal tail end motor so as to peck objects.
Wherein: the rotary joint comprises a base rotary connecting piece, a rotary table steering engine, a rotary joint output flange and a transmission mechanism A, wherein the base rotary connecting piece is arranged in a bottom box body, the rotary joint output flange is rotationally connected with the base rotary connecting piece, the rotary table steering engine is arranged in the base rotary connecting piece, and an output end is connected with the rotary joint output flange through the transmission mechanism A; the turntable is arranged on the rotary joint output flange, and the whole reciprocating rotation of the device is completed through the driving of the turntable steering engine.
The transmission mechanism A comprises a turntable gear, a turntable outer gear ring and a turntable gear connecting shaft, one end of the turntable gear connecting shaft is connected with the output end of the turntable steering engine, the other end of the turntable gear connecting shaft is provided with a turntable gear, and the turntable outer gear ring is arranged on the inner surface of one end of the output flange of the rotary joint and is meshed with the turntable gear for transmission.
The turntable comprises a turntable, a motor right bracket and a motor left bracket, the large arm pitching joint comprises a motor right bracket, a motor left bracket, a large arm outer cylinder, a large arm motor fixing assembly and a transmission mechanism B, the motor right bracket and the motor left bracket are respectively arranged on two sides of the turntable, and the turntable is connected with a rotation output end of a rotation joint; the large arm motor is arranged on a motor right bracket or a motor left bracket through a large arm motor fixing assembly, and the large arm outer cylinder is rotatably arranged on the large arm motor fixing assembly and is rotatably connected with the motor left bracket or the motor right bracket; the output end of the large arm motor is connected with the large arm outer cylinder through a transmission mechanism B to drive the large arm outer cylinder to rotate; the lower end of the large arm is fixedly connected with the large arm outer cylinder, and pitching motion is carried out along with rotation of the large arm outer cylinder.
The transmission mechanism B comprises a large arm outer gear ring and a half gear, the half gear is connected with the output end of the large arm motor, and the large arm outer gear ring is fixedly connected to the inner surface of the large arm outer cylinder and is meshed with the half gear for transmission.
The spring device comprises a tension spring for providing acceleration for downward pecking of the hammer mouth, a compression spring for providing buffering for pitching motion of the big arm and a compression spring supporting seat, one end of the compression spring supporting seat is fixedly connected to the bottom box body, and the compression spring is arranged on the upper surface of the other end of the compression spring supporting seat and is obliquely arranged towards the big arm; one end of the tension spring is connected with the large arm, and the other end of the tension spring is connected with the rotary table.
The large arm comprises a large arm right bracket, a large arm left bracket, a large arm upper connecting plate and a large arm lower connecting plate, the lower ends of the large arm right bracket and the large arm left bracket are respectively connected with the rotation output end of the large arm pitching joint, and the front arm underactuated joint is connected between the upper ends; the upper large arm connecting plate and the lower large arm connecting plate are connected between the right large arm bracket and the left large arm bracket.
The forearm underactuated joint comprises a right forearm connecting plate, a left forearm connecting plate, a positioning pin shaft, a tightening nut, a right forearm rotating shaft and a left forearm rotating shaft, wherein arc holes are formed in the right forearm connecting plate and the left forearm connecting plate, and two ends of the positioning pin shaft are respectively inserted into the arc holes in the right forearm connecting plate and the left forearm connecting plate and fixedly connected with the upper end of the big arm through the tightening nut; one ends of the right forearm rotating shaft and the left forearm rotating shaft are respectively connected with the right forearm connecting plate and the left forearm connecting plate in a rotating way, and the other ends of the right forearm rotating shaft and the left forearm rotating shaft are respectively connected with the upper ends of the large arms and are respectively fixed through tightening nuts.
The tail end pecking device comprises a mandible folding seat, a tail end motor, a torsion spring, a tail end sliding block, a push rod, a positioning nut pair and a rotating boss, wherein the mandible folding seat is arranged on the head, and the mandible folding seat is connected with the mandible folding seat through the torsion spring; the tail end motor is arranged on the mandibular folding seat, a positioning nut pair is screwed on an output shaft of the motor, and the positioning nut pair is arranged in the tail end sliding block; one end of the push rod is hinged with the tail end sliding block, and the other end of the push rod is hinged with a rotating boss arranged on the mandible hinge.
The bottom box is a cuboid composed of six plates, through holes convenient to fix are formed in each plate, and round holes convenient for installing and positioning the rotary joints are formed in the upper plate of the box of the bottom box.
The invention has the advantages and positive effects that:
1. the invention adopts the bionic sampling mechanism based on woodpecker, the pitching action adopts double joints, the generated impact force is large, and the mechanism reliability is strong.
2. The invention can generate larger impact force and achieve better vibration reduction effect by improving the mechanism performance through the spring device.
3. According to the invention, an underactuated pitching joint is introduced, so that the structure control is simpler and more convenient; meanwhile, the vibration reduction effect can be achieved by matching with a pressure spring.
4. The invention is provided with the pecking device driven by the motor on the end effector, thereby realizing accurate and effective sampling.
5. The invention has the advantages of exquisite structure, light weight, simple control and low power consumption.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a cross-sectional view of the internal structure of the swing joint of the present invention;
FIG. 4 is a cross-sectional view of the internal structure of the forearm pitch joint of the invention;
FIG. 5 is a schematic view of a portion of the structure of the present invention;
FIG. 6 is a schematic view of the structure of a forearm under-actuated joint according to the invention;
fig. 7 is a schematic view of the structure of the end pecking apparatus of the present invention;
wherein: 1 is a bottom box body, 2 is a rotary joint, 3 is a turntable, 4 is a large arm pitching joint, 5 is a spring device, 6 is a large arm, 7 is a forearm underactuated joint, 8 is a forearm, 9 is a head, 10 is a tail pecking device, 11 is a box left side plate, 12 is a box right side plate, 13 is a box rear side plate, 14 is a box front side plate, 15 is an arc hole, 16 is a base rotating connecting piece, 17 is a turntable steering engine, 18 is a rotary joint output flange, 19 is a turntable bearing outer collar, 20 is a turntable bearing outer collar, 21 is a turntable bearing, 22 is a steering engine sleeve, 23 is a turntable outer gear ring, 24 is a turntable gear, 25 is a turntable gear connecting shaft, 26 is a turntable, 27 is a motor right bracket, 28 is a motor left bracket, 29 is a large arm outer cylinder, 30 is a right large arm tension spring, 31 is a left large arm tension spring, 32 is a pressure spring supporting seat, 33 is a large arm right bracket, 34 is a big arm left bracket, 35 is a big arm upper connecting plate, 36 is a big arm lower connecting plate, 37 is a right big arm bearing, 38 is a left big arm bearing, 39 is a big arm outer gear ring, 40 is a half gear, 41 is a motor sleeve end cover, 42 is a motor sleeve, 43 is a motor base, 44 is a big arm motor, 45 is a motor sleeve retainer ring, 46 is a right forearm connecting plate, 47 is a left forearm connecting plate, 48 is a positioning pin, 49 is an M5 tightening nut, 50 is a right forearm bearing, 51 is a left forearm bearing, 52 is a right forearm rotating shaft, 53 is a left forearm rotating shaft, 54 is a forearm right shaft end gasket, 55 is a forearm left shaft end gasket, 56 is a forearm right bracket, 57 is a forearm left bracket, 58 is a hammer head, 59 is a hammer nose, 60 is a mandible hinge, 61 is a mandible base, 62 is a tail end motor, 63 is a torsion spring, 64 is a tail end slider, 65 is a push rod, 66 is a positioning nut pair, 67 is a box upper plate, 68 is a compression spring, and 69 is a rotating boss.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the invention comprises a bottom box 1, a rotary joint 2, a rotary table 3, a large arm pitching joint 4, a spring device 5, a large arm 6, a forearm underactuated joint 7, a forearm 8, a head 9 and a tail end pecking device 10, wherein the rotary joint 2 is fixed in the bottom box 1, a rotary output end is exposed from the bottom box 1 and is connected with one end of the rotary table 3, and the large arm pitching joint 4 is arranged at the other end of the rotary table 3; the lower end of the large arm 6 is connected with the rotation output end of the large arm pitching joint 4, and the upper end of the large arm 6 is connected with the forearm underactuated joint 7 in a relatively rotatable manner along with the pitching motion of the rotation output end; one end of a spring device 5 is connected with the big arm 6, the other end of the spring device 5 is connected to the bottom box body 1, and the spring device 5 provides a power source and buffers for the pitching motion of the big arm 6 respectively; one end of the forearm 8 is connected to the forearm under-actuated joint 7, and the other end is provided with a head 9 for performing a pecking action toward the ground, the lower part of the head 9 is respectively provided with a terminal pecking device 10 and a hammer nozzle 59 for pecking an object, and the terminal pecking device 10 performs an opening and closing action of the terminal pecking device 10 through an internal terminal motor 62, thereby pecking the object.
The bottom box 1 of the embodiment is a cuboid composed of six plates, and each plate is provided with a through hole so as to be convenient to fix; a circular hole is formed in the upper box plate 67 of the bottom box 1, so that the rotary joint 2 can be conveniently installed and positioned.
As shown in fig. 3, the rotary joint 2 of the embodiment includes a base rotary connecting piece 16, a turntable steering engine 17, a rotary joint output flange 18, a turntable bearing outer collar 19, a turntable bearing inner collar 20, a turntable bearing 21, a steering engine sleeve 22 and a transmission mechanism a, wherein the base rotary connecting piece 16 is fixed inside the bottom box 1 through screws, the inner wall of the base rotary connecting piece 16 is connected with the steering engine sleeve 22, and the steering engine sleeve 22 is fixedly connected with the turntable steering engine 17 through a through hole at the top, so as to play a supporting role; the rotary joint output flange 18 is rotationally connected with the base rotary connecting piece 16 through a rotary table bearing 21, the rotary table bearing 21 is fixed through a rotary table bearing outer clamping ring 19 and a rotary table bearing inner clamping ring 20, and finally, the relative rotation between the rotary joint output flange 18 and the base rotary connecting piece 16 is realized. The output end of the rotary table steering engine 17 is connected with the rotary joint output flange 18 through a transmission mechanism A, the transmission mechanism A of the embodiment comprises a rotary table gear 24, a rotary table outer gear ring 23 and a rotary table gear connecting shaft 25, one end of the rotary table gear connecting shaft 25 is connected with the output end of the rotary table steering engine 17, and the rotary table gear 24 is arranged at the other end of the rotary table gear connecting shaft; the outer wall of the rotary table outer gear ring 23 is fixed with the inner wall of the rotary joint output flange 18 through bolts, so that synchronous rotation of the rotary joint output flange 18 and the rotary table outer gear ring 23 is realized, and the rotary table outer gear ring 23 is meshed with the rotary table gear 24 for transmission.
The turntable 3 is arranged on the output of the rotary joint 18, and the whole reciprocating rotation of the device is completed through the driving of the turntable steering engine 17. The turntable 3 of the present embodiment includes a turntable 26, a motor right bracket 27 and a motor left bracket 28, the motor right bracket 27 and the motor left bracket 28 are respectively mounted on two sides of the turntable 26, and the turntable 26 is connected with the rotary joint output flange 18 in the rotary joint 2.
As shown in fig. 4, the boom pitch joint 3 of the present embodiment includes a motor right bracket 27, a motor left bracket 28, a boom outer cylinder 29, a boom motor 44, a right boom bearing 37, a left boom bearing 38, a boom motor fixing assembly and a transmission mechanism B, where the boom motor fixing assembly of the present embodiment includes a motor sleeve end cover 41, a motor sleeve 42, a motor base 43 and a motor sleeve retainer ring 45, and the transmission mechanism B includes a boom outer gear ring 39 and a half gear 40; the large arm motor 44 is arranged in the motor seat 43, and one side of the output end of the motor is connected with the motor sleeve end cover 41, the motor seat 43 and the large arm motor 44 through bolts to realize the fixed connection; one end of the large arm motor 44, which is not an output shaft, is arranged on the motor left bracket 28 through a motor seat 43, and the motor seat 43 is connected with the motor left bracket 28 through screws. The large arm outer cylinder 29 is sleeved outside the motor sleeve 42, one end of the large arm outer cylinder 29 is rotatably connected with the motor seat 43 through the left large arm bearing 38, and the other end of the large arm outer cylinder 29 is rotatably connected with the motor right bracket 27 through the right large arm bearing 37; the left large arm bearing 38 is axially positioned through the motor sleeve retainer ring 45 and the motor sleeve 42, and the right large arm bearing 37 is axially positioned through the shaft shoulder at the other end of the large arm outer cylinder 29. The output shaft of the large arm motor 44 is fixedly connected with the half gear 40 through a screw, and the half gear 40 is driven by the large arm motor 44 to realize periodic engagement with the large arm external gear ring 39; the outer wall of the outer gear ring 39 of the large arm is connected with the inner wall of the outer cylinder 29 of the large arm through bolts, so that synchronous rotation between the outer cylinder 29 of the large arm and the outer gear ring 39 of the large arm is realized.
The big arm 6 of the embodiment comprises a big arm right bracket 33, a big arm left bracket 34, a big arm upper connecting plate 35 and a big arm lower connecting plate 36, wherein the lower ends of the big arm right bracket 33 and the big arm left bracket 34 are respectively connected with two ends of a big arm outer cylinder 29 in the big arm pitching joint 4, and a front arm underactuated joint 7 is connected between the upper ends; the upper arm connecting plate 35 and the lower arm connecting plate 36 are connected between the right arm bracket 33 and the left arm bracket 34.
As shown in fig. 5, the spring device 5 includes a tension spring for providing acceleration for downward pecking of the beak 59, a compression spring for providing buffering for pitching movement of the boom, and a compression spring support base, one end of the compression spring support base 32 is fixedly connected to the front side plate 14 of the bottom case 1, and a compression spring 68 is mounted on an upper surface of the other end of the compression spring support base 32 and is inclined toward the boom 6. The tension springs of the present embodiment are divided into a right arm tension spring 30 and a left arm tension spring 31, one ends of the right arm tension spring 30 and the left arm tension spring 31 are respectively hung on the arm right bracket 33 and the arm left bracket 34, and the other ends are respectively hung on the through holes of the rotary table 26. When the large arm 6 is pushed down under the action of the right large arm tension spring 30 and the left large arm tension spring 31, the large arm 6 moves to a set position, the large arm lower connecting plate 36 is contacted with the pressure spring 68, the large arm 6 is decelerated under the action of the pressure spring 68, and at the moment, the linear speed of the front arm 8 is higher than that of the large arm 6 due to inertia, so that the speed separation between the large arm 6 and the front arm 8 is realized, and the vibration reduction effect is provided for the pecking action.
As shown in fig. 6, the forearm underactuated joint 7 of the present embodiment includes a right forearm connecting plate 46, a left forearm connecting plate 47, a positioning pin 48, a tightening nut 49, a right forearm bearing 50, a left forearm bearing 51, a right forearm rotating shaft 52, a left forearm rotating shaft 53, a forearm right shaft end washer 54 and a forearm left shaft end washer 55, the right forearm connecting plate 46 and the left forearm connecting plate 47 have the same structure, arc holes 15 are all processed, and both ends of the positioning pin 48 are respectively penetrated by the arc holes 15 on the right forearm connecting plate 46 and the left forearm connecting plate 47 to provide limitation for the forearm underactuated joint 7; and, both ends of the positioning pin 48 are respectively fixedly connected with the upper ends of the big arm right bracket 33 and the big arm left bracket 34 through a fastening nut 49. The right forearm bearing 50 and the left forearm bearing 51 are respectively installed in through holes in the right forearm connecting plate 46 and the left forearm connecting plate 47, and are respectively positioned by a forearm right shaft end gasket 54 and a forearm left shaft end gasket 55; one ends of the right forearm shaft 52 and the left forearm shaft 53 are rotatably connected to the right forearm connection plate 46 and the left forearm connection plate 47 via the right forearm bearing 50 and the left forearm bearing 51, respectively, and the other ends thereof are connected to the upper ends of the boom right bracket 33 and the boom left bracket 34, respectively, and are fixed by the tightening nuts 49, respectively. Finally, the relative rotation between the large arm 6 and the forearm under-actuated joint 7 is realized.
The head 9 of this embodiment includes a hammer head 58, a hammer mouth 59, and an end pecking device 10. The forearm 8 of the present embodiment includes a forearm right bracket 56 and a forearm left bracket 57, one ends of the forearm right bracket 56 and the forearm left bracket 57 are connected to the right forearm connecting plate 46 and the left forearm connecting plate 47, respectively, and the other ends are connected to the hammer head 58, respectively.
As shown in fig. 7, the end pecking device 10 of the present embodiment forms a rectangular pyramid shape with the hammer mouth 59, and the end pecking device 10 includes a lower jaw hinge 60, a lower jaw hinge seat 61, an end motor 62, a torsion spring 63, an end slider 64, a push rod 65, a pair of positioning nuts 66, and a rotation boss 69, the lower jaw hinge seat 61 being mounted on the hammer head 58 of the head 9, the lower jaw hinge 60 being connected to the lower jaw hinge seat 61 by the torsion spring 63; the tail end motor 62 is fixed in the through hole of the mandibular folding seat 61 through a screw, and the mandibular folding seat 61 is provided with a clamping groove, so that the tail end motor 62 can be positioned; a pair of positioning nut pairs 66 are arranged on the motor output shaft through a screw thread screwing effect, and the positioning nut pairs 66 are fixed inside the tail end sliding blocks 64; one end of the push rod 65 is hinged with the end sliding block 64, and the other end is hinged with a rotating boss 69 arranged on the mandibular hinge 60. Under the drive of the terminal motor 62, the positioning nut pair 66 drives the terminal sliding block 64 to move up and down, the terminal sliding block 64 transmits rotation to the push rod 65, and the push rod 65 pushes the mandible hinge 60 to open and close.
The working principle of the invention is as follows:
the power supply is used for supplying power to the rotary table steering engine 17, and the rotating speed and the rotating direction of the rotary table steering engine 17 are controlled through the main circuit board, so that the whole device can rotate. The large arm motor 44 is powered by a battery, and the large arm motor 44 drives the half gear 40 to carry out meshing transmission only by controlling the start and stop of the large arm motor 44 without controlling the steering of the large arm motor 44. The half gear 40 always moves along the same direction under the drive of the big arm motor 44, when the half gear 40 is meshed with the big arm outer gear ring 39, the big arm pitching joint 4 drives the big arm 6 to realize the upward movement, at the moment, the left and right big arm tension springs 31 and 30 are elongated from the initial state due to the upward tilting of the big arm 6, and elastic potential energy is accumulated; when the half gear 40 is disengaged from the outer gear ring 39 of the large arm, the large arm motor 44 rotates in no load, the large arm 6 is pushed down under the tension of the left and right large arm tension springs 31 and 30, and initial acceleration is generated, so that downward pecking action is realized, and a huge impact force of the hammer mouth 59 on the target object is ensured. When half gear 40 reengages the outer ring gear 39, the device repeats the above action throughout. The upper arm connecting plate 35 and the lower arm connecting plate 36 are respectively connected with the left arm bracket 34 and the right arm bracket 33, so as to ensure the motion synchronism of the left arm bracket 34 and the right arm bracket 33. The forearm 8 realizes pitching movement by inertia under the action of the forearm underactuated joint 7, and the pitching angle of the forearm 8 is limited by the arc-shaped holes on the left and right forearm connecting plates 47, 46; the end motor 62 of the end pecking device 10 is powered, and the end motor 62 cooperates with a crank block device (i.e., a pair of positioning nuts 66, an end slider 64, and a push rod 65) to open and close the mouth for pecking an object.
The invention drives the rotary joint 2, the large arm pitching joint 4 and the tail end pecking device 10 to realize rotary, pitching and pecking actions according to different schemes.
Claims (8)
1. An under-actuated joint and pecking device for a woodpecker, characterized in that: the device comprises a bottom box body (1), a rotary joint (2), a rotary table (3), a large arm pitching joint (4), a spring device (5), a large arm (6), a forearm underactuated joint (7), a forearm (8), a head (9) and a tail end pecking device (10), wherein the rotary joint (2) is arranged in the bottom box body (1), a rotary output end is exposed out of the bottom box body (1) and is connected with one end of the rotary table (3), and the large arm pitching joint (4) is arranged at the other end of the rotary table (3); the lower end of the large arm (6) is connected with the rotation output end of the large arm pitching joint (4) and moves in a pitching way along with the rotation output end, and the upper end of the large arm (6) is connected with the forearm under-actuated joint (7) in a relatively rotatable way; one end of the spring device (5) is connected with the big arm (6), the other end of the spring device is connected to the bottom box body (1), and the spring device (5) respectively provides a power source and buffers for the pitching motion of the big arm (6); one end of the forearm (8) is connected to the forearm under-actuated joint (7), the other end of the forearm is provided with a head (9) for realizing pecking action to the ground, the lower part of the head (9) is respectively provided with a tail end pecking device (10) and a hammer nozzle (59) for pecking objects, and the tail end pecking device (10) realizes the opening and closing action of the tail end pecking device (10) through an internal tail end motor (62) so as to peck objects;
the spring device (5) comprises a tension spring for providing acceleration for downward pecking of the hammer mouth (59), a compression spring (68) for providing buffering for pitching motion of the big arm (6) and a compression spring supporting seat (32), one end of the compression spring supporting seat (32) is fixedly connected to the bottom box body (1), and the compression spring (68) is arranged on the upper surface of the other end of the compression spring supporting seat (32) and is obliquely arranged towards the big arm (6); one end of the tension spring is connected with the big arm (6), and the other end of the tension spring is connected with the turntable (3);
the forearm underactuated joint (7) comprises a right forearm connecting plate (46), a left forearm connecting plate (47), a positioning pin shaft (48), a fastening nut (49), a right forearm rotating shaft (52) and a left forearm rotating shaft (53), wherein arc-shaped holes (15) are formed in the right forearm connecting plate (46) and the left forearm connecting plate (47), and two ends of the positioning pin shaft (48) are respectively inserted into the arc-shaped holes (15) in the right forearm connecting plate (46) and the left forearm connecting plate (47) and fixedly connected with the upper end of the big arm (6) through the fastening nut (49); one end of the right forearm rotating shaft (52) and one end of the left forearm rotating shaft (53) are respectively connected with the right forearm connecting plate (46) and the left forearm connecting plate (47) in a rotating way, and the other ends of the right forearm rotating shaft and the left forearm rotating shaft are respectively connected with the upper ends of the large arms (6) and are respectively fixed through fastening nuts (49).
2. An under-actuated joint and pecking apparatus for a woodpecker as recited in claim 1, wherein: the rotary joint (2) comprises a base rotary connecting piece (16), a rotary table steering engine (17), a rotary joint output flange (18) and a transmission mechanism A, wherein the base rotary connecting piece (16) is arranged in the bottom box body (1), the rotary joint output flange (18) is rotationally connected with the base rotary connecting piece (16), the rotary table steering engine (17) is arranged in the base rotary connecting piece (16), and an output end is connected with the rotary joint output flange (18) through the transmission mechanism A; the turntable (3) is arranged on the rotary joint output flange (18), and the whole reciprocating rotation of the device is completed through the driving of the turntable steering engine (17).
3. An under-actuated joint and pecking apparatus for a woodpecker as recited in claim 2, wherein: the transmission mechanism A comprises a rotary table gear (24), a rotary table outer gear ring (23) and a rotary table gear connecting shaft (25), one end of the rotary table gear connecting shaft (25) is connected with the output end of the rotary table steering engine (17), the rotary table gear (24) is arranged at the other end of the rotary table gear connecting shaft, and the rotary table outer gear ring (23) is arranged on the inner surface of one end of the rotary joint output flange (18) and is meshed with the rotary table gear (24) for transmission.
4. An under-actuated joint and pecking apparatus for a woodpecker as recited in claim 1, wherein: the turntable (3) comprises a turntable (26), a motor right bracket (27) and a motor left bracket (28), the large arm pitching joint (4) comprises a motor right bracket (27), a motor left bracket (28), a large arm outer cylinder (29), a large arm motor (44), a large arm motor fixing assembly and a transmission mechanism B, the motor right bracket (27) and the motor left bracket (28) are respectively arranged at two sides of the turntable (26), and the turntable (26) is connected with the rotary output end of the rotary joint (2); the large arm motor (44) is arranged on the motor right bracket (27) or the motor left bracket (28) through a large arm motor fixing assembly, and the large arm outer cylinder (29) is rotatably arranged on the large arm motor fixing assembly and is rotatably connected with the motor left bracket (28) or the motor right bracket (27); the output end of the large arm motor (44) is connected with the large arm outer cylinder (29) through a transmission mechanism B to drive the large arm outer cylinder (29) to rotate; the lower end of the large arm (6) is fixedly connected with the large arm outer cylinder (29), and pitching motion is carried out along with rotation of the large arm outer cylinder (29).
5. An under-actuated joint and pecking apparatus for a woodpecker as recited in claim 4, wherein: the transmission mechanism B comprises a large-arm outer gear ring (39) and a half gear (40), the half gear (40) is connected with the output end of the large-arm motor (44), and the large-arm outer gear ring (39) is fixedly connected to the inner surface of the large-arm outer cylinder (29) and is meshed with the half gear (40) for transmission.
6. An under-actuated joint and pecking apparatus for a woodpecker as recited in claim 1, wherein: the large arm (6) comprises a large arm right bracket (33), a large arm left bracket (34), a large arm upper connecting plate (35) and a large arm lower connecting plate (36), the lower ends of the large arm right bracket (33) and the large arm left bracket (34) are respectively connected with the rotation output end of the large arm pitching joint (4), and the front arm underactuated joint (7) is connected between the upper ends; the upper large arm connecting plate (35) and the lower large arm connecting plate (36) are connected between the right large arm bracket (33) and the left large arm bracket (34).
7. An under-actuated joint and pecking apparatus for a woodpecker as recited in claim 1, wherein: the tail end pecking device (10) comprises a mandibular foldout (60), a mandibular foldout seat (61), a tail end motor (62), a torsion spring (63), a tail end sliding block (64), a push rod (65), a positioning nut pair (66) and a rotating boss (69), wherein the mandibular foldout seat (61) is arranged on the head (9), and the mandibular foldout (60) is connected with the mandibular foldout seat (61) through the torsion spring (63); the tail end motor (62) is arranged on the mandibular folding seat (61), a positioning nut pair (66) is screwed on the motor output shaft, and the positioning nut pair (66) is arranged inside the tail end sliding block (64); one end of the push rod (65) is hinged with the tail end sliding block (64), and the other end of the push rod is hinged with a rotating boss (69) arranged on the mandibular hinge (60).
8. An under-actuated joint and pecking apparatus for a woodpecker as recited in claim 1, wherein: the bottom box body (1) is a cuboid composed of six plates, through holes convenient to fix are formed in each plate, and round holes convenient for installing and positioning the rotary joints (2) are formed in the upper box body plate (67) of the bottom box body (1).
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| CN201911404102.9A CN110919691B (en) | 2019-12-31 | 2019-12-31 | Under-actuated joint imitating woodpecker and pecking device |
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| CN110919691A CN110919691A (en) | 2020-03-27 |
| CN110919691B true CN110919691B (en) | 2023-07-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112692868A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint with two-end output |
| CN116197944A (en) * | 2022-12-26 | 2023-06-02 | 南京宁太电气有限公司 | Lifting arm of robot |
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