CN111907669A - Motion mode switching mechanism and navigation climbing bionic robot applying same - Google Patents
Motion mode switching mechanism and navigation climbing bionic robot applying same Download PDFInfo
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- CN111907669A CN111907669A CN202010649174.6A CN202010649174A CN111907669A CN 111907669 A CN111907669 A CN 111907669A CN 202010649174 A CN202010649174 A CN 202010649174A CN 111907669 A CN111907669 A CN 111907669A
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- push rod
- climbing
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- switching mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention provides a motion mode switching mechanism and an aerial climbing bionic robot applying the same, comprising a main support frame, a main slideway and three transverse slideways arranged on the main support frame, a main push rod arranged on the main slideway, a rack arranged at the middle position of the main push rod, a gear arranged on the main support frame, two sliders arranged on each transverse slideway, a slider push rod hinged between each slider and the main push rod, and two rockers symmetrically hinged at two sides of the same position of the main push rod, wherein the main slideway and the three transverse slideways are vertically arranged, the gear is driven by a motor and is meshed with the gear and the rack, and the end parts of the rockers and the sliders are respectively connected with parts to be driven which alternately act. The invention solves the problems that the navigation climbing bionic robot is difficult to switch when switching from a swimming mode to a climbing mode, the mechanical foot is interfered with parts such as a robot shell and lateral fins during climbing, the climbing swing angle of the mechanical foot is small, the climbing speed is slow, and even the climbing cannot be performed.
Description
Technical Field
The invention relates to a motion mode switching mechanism and a crawling bionic robot applying the same, and belongs to the field of underwater detection device technology and mechanical design.
Background
With the gradual deepening of people to ocean development, the sampling of the seabed environment becomes very urgent, and for the research of complex and changeable seabed environment, the traditional unmanned aircraft only has the functions of ocean environment detection, deep sea search and rescue, specific load distribution and the like, and is difficult to carry out fixed-point operation, seabed crawling and seabed target sampling, so that a navigation crawling bionic robot is needed, and the navigation crawling bionic robot not only has the capabilities of cruise detection and detection, but also has the capabilities of seabed crawling and fixed-point operation. At present, no mechanism can switch the navigation climbing bionic robot from a swimming mode to a crawling mode to realize the switching of a motion mode.
Disclosure of Invention
The invention aims to solve the problems that the navigation climbing bionic robot is difficult to switch when switching from a swimming mode to a crawling mode, the mechanical foot interferes with parts such as a robot shell and lateral fins when crawling, the crawling swing angle of the mechanical foot is small, the crawling speed is low, even the crawling cannot be performed, and the like, and provides a motion mode switching mechanism and the navigation climbing bionic robot applying the same.
The purpose of the invention is realized as follows: a motion mode switching mechanism comprises a main support frame, a main slide way and three transverse slide ways which are arranged on the main support frame, a main push rod arranged on the main slide way, a rack arranged in the middle of the main push rod, a gear arranged on the main support frame, two sliding blocks arranged on each transverse slide way, a sliding block push rod hinged between each sliding block and the main push rod, and two rocking rods symmetrically hinged to two sides of the same position of the main push rod, wherein the main slide way and the three transverse slide ways are vertically arranged, the gear is driven by a motor and is meshed with the gear and the rack, and the end parts of the rocking rods and the sliding blocks are respectively connected with parts to be driven which alternately act.
The invention also includes such structural features:
1. the six sliding block push rods are symmetrically arranged on two sides of the main push rod in a group of two sliding block push rods, and the two rocking rods are arranged on the main push rod between the two groups of sliding block push rods.
2. The utility model provides an use bionic robot is climbed in navigation of motion mode switching mechanism, main tributary strut sets up in the bionic robot is climbed in the navigation, and the symmetry articulates on the main tributary strut has two lateral fin steering engines, and the tip of every rocker passes through the steering engine connecting piece to be fixed on the lateral fin steering engine, and the lateral fin passes through the lateral fin connecting piece to be connected on the lateral fin steering engine, is provided with the mechanical foot that is used for crawling on every slider.
3. The motor is a waterproof motor.
4. The main push rod, the main slide way, the three transverse slide ways, the six slide block push rods and the six slide blocks form six sets of double-slide block mechanisms, and the retraction and extension of the mechanical foot are realized by the forward and backward movement of the main push rod; the main push rod, the main slide way, the two rocking rods and the two steering engine connecting pieces form two sets of crank slider mechanisms, and the contraction and the extension of the lateral fins can be realized by the back and forth movement of the main push rod.
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a motion mode switching mechanism of a navigation climbing bionic robot, which is a composite mechanism consisting of 6 sets of double-slider mechanisms and 2 sets of crank-slider mechanisms, wherein a waterproof motor provides power for the whole mechanism through a gear rack. The motion mode switching mechanism of the navigation climbing bionic robot has the following advantages:
(1) can stretch out the robot organism outside with 6 mechanical feet through motion mode switching mechanism, solve the navigation and climb bionical robot motion mode and switched the difficulty, mechanical foot and robot shell, parts such as lateral fin interfere and lead to the mechanical foot to creep the pivot angle little scheduling problem when crawling, improved the speed and the stability of crawling.
(2) The motion mode switching mechanism is a composite mechanism consisting of 6 sets of double-slider mechanisms and 2 sets of crank-slider mechanisms, and only one motor is needed to drive the folding and unfolding of 6 mechanical feet and 2 lateral fins, so that the number of driving motors is greatly reduced, and the control difficulty is reduced.
(3) The motion mode switching mechanism adopts gear and rack transmission, has high transmission precision and high reliability, can accurately control the folding and unfolding of the mechanical foot and the lateral fin, is easy to establish a mathematical model of the motion of the mechanism and is convenient to design and control.
Drawings
FIG. 1 is a swimming mode diagram of the crawling bionic robot,
figure 2 is a mechanical foot extension diagram of the crawling bionic robot,
FIG. 3 is a crawling mode diagram of the aerial crawling bionic robot,
figure 4 is a kinematic mode switching mechanism diagram in the nomadic mode,
figure 5 is a motion mode switching mechanism diagram in creep mode,
fig. 6 is an overall mechanism diagram in two motion modes.
In the figure: the device comprises a sliding block 1, a transverse slide way 2, a sliding block push rod 3, a main support frame 4, a side fin steering engine 5, a steering engine connecting piece 6, side fins 7, a rocker 8, a gear 9, a main push rod 10, a rack 11, a side fin connecting piece 12, a bearing 13, a main slide way 14 and a mechanical foot 15, wherein the transverse slide way 2 comprises 2-1, 2-2 and 2-3, the sliding block push rod 3 comprises 3-1, 3-2, 3-3, 3-4, 3-5 and 3-6, and the rocker 8 comprises 8-1 and 8-2.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1 to 6, the motion mode switching mechanism of the crawling bionic robot disclosed by the invention structurally comprises a sliding block 1, a transverse slide way 2, a sliding block push rod 3, a main support frame 4, a lateral fin steering engine 5, a steering engine connecting piece 6, lateral fins 7, a rocker 8, a gear 9, a main push rod 10, a rack 11, a lateral fin connecting piece 12, a bearing 13, a main slide way 14 and a mechanical foot 15, wherein the transverse slide way 2 comprises 2-1, 2-2 and 2-3, the sliding block push rod 3 comprises 3-1, 3-2, 3-3, 3-4, 3-5 and 3-6, and the rocker 8 comprises 8-1 and 8-2.
The main support frame 4 is a main support framework of the crawling bionic robot, a waterproof motor, a main slide way 14 and three transverse slide ways 2 are all fixed on the main support frame 4, a gear 9 is fixed on an output shaft of the waterproof motor and matched with a rack 11, the rack is fixed on a main push rod 10, the main push rod 10 and the main slide way 14 form a sliding pair, and the waterproof motor can drive the main push rod 10 to move back and forth on the main slide way 14 through the gear 9 and the rack 11; six sliding block push rods 3 are arranged in total, one end of each sliding block push rod 3 is hinged on a main push rod 10, the other end of each sliding block push rod 3 is hinged with a sliding block 1, a bearing 13 is arranged on each sliding block 1, each sliding block 1 and a transverse slide way 2 form a sliding pair and can move left and right on the transverse slide way 2 through the bearing 13, a mechanical foot 15 is arranged on each sliding block 1,
the main push rod 10, the main slide way 14, the three transverse slide ways 2, the six slide block push rods 3 and the six slide blocks 1 form six sets of double-slide block mechanisms, each slide block 1 is provided with a mechanical foot, and the main push rod 10 moves back and forth to realize the contraction and extension of the mechanical foot 15; the lateral fin steering mechanism comprises two rocker levers 8, two steering mechanism connecting pieces 6, two main push rods 10, two lateral fin steering mechanisms 5, two rocker levers 5, two main slide ways 14, two rocker levers 8 and two steering mechanism connecting pieces 6, wherein the steering mechanism connecting pieces 6 are fixed on the lateral fin steering mechanisms 5 and hinged with one ends of the rocker levers 8, the other ends of the rocker levers 8 are hinged on the main push rods 10, the left and right lateral fin steering mechanisms 5 are hinged on the main support frame, the lateral fin steering mechanisms 5 are fixedly connected with the lateral fins 7 through the lateral fin connecting pieces 12, the main push rods 10, the main slide ways 14, the two rocker levers 8 and the two steering mechanism connecting pieces 6 form two sets of; the driving parts of the six sets of double-slider mechanisms and the two sets of crank-slider mechanisms are all main push rods 10, and the main push rods 10 are driven by a waterproof motor through a gear 9 and a rack 11, so that the simultaneous contraction and extension of the six mechanical feet 15 and the pair of side fins 7 are realized.
The problems solved by the invention include difficult switching of the navigation climbing bionic robot when the navigation climbing bionic robot is switched from a swimming mode to a climbing mode, small climbing swing angle of a mechanical foot caused by interference of the mechanical foot with parts such as a robot shell and lateral fins during climbing, slow climbing speed and even no climbing. By combining the components, the invention adopts a composite mechanism consisting of 6 sets of double-slider mechanisms and 2 sets of crank-slider mechanisms, can control the contraction and extension of 6 mechanical feet and 1 pair of lateral fins by controlling the forward and reverse rotation of a motor, and realizes the function of switching the navigation climbing bionic robot from a swimming mode to a crawling mode, which is specifically as follows:
the waterproof motor, a main slideway 14 and three transverse slideways 2 are fixed on a main supporting frame 4, the waterproof motor drives a main push rod 10 to move back and forth on the main slideway 14 through a gear 9 and a rack 11, the main push rod 10, the main slideway 14, the three transverse slideways 2, six slide block push rods 3 and six slide blocks 1 form a six-set double-slide block mechanism, each slide block 1 is provided with a mechanical foot, and the back and forth movement of the main push rod 10 can realize the contraction and extension of the mechanical foot 15; the main push rod 10, the main slide way 14, the two rocking bars 8 and the two steering engine connecting pieces 6 form two sets of crank slider mechanisms, each steering engine connecting piece 6 is provided with a side fin steering engine 6, a side fin connecting piece 12 and a side fin 7, and the main push rod 10 can move back and forth to realize the contraction and extension of the side fins; the driving parts of the six sets of double-slider mechanisms and the two sets of crank-slider mechanisms are all main push rods 10, and the main push rods 10 are driven by a waterproof motor through a gear 9 and a rack 11, so that the simultaneous contraction and extension of the six mechanical feet 15 and the pair of side fins 7 are realized.
The action process of the invention is as follows:
the main push rod 10, the main slide way 14, the three transverse slide ways 2, the six slide block push rods 3 and the six slide blocks 1 form a six-set double-slide-block mechanism, each slide block 1 is provided with a mechanical foot, and the main push rod 10 moves back and forth to realize the contraction and extension of the mechanical foot 15.
The main push rod 10, the main slide way 14, the two rocking bars 8 and the two steering engine connecting pieces 6 form two sets of crank slider mechanisms, each steering engine connecting piece 6 is provided with a side fin steering engine 6, a side fin connecting piece 12 and a side fin 7, and the main push rod 10 can move back and forth to realize the contraction and extension of the side fin 7.
The driving parts of the six sets of double-slider mechanisms and the two sets of crank-slider mechanisms are all main push rods 10, and the main push rods 10 are driven by only one waterproof motor through a gear 9 and a rack 11, so that the simultaneous contraction and extension of the six mechanical feet 15 and the pair of side fins 7 are realized.
While there have been shown and described what are at present considered the fundamental principles of the invention, its essential features and advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. A movement mode switching mechanism characterized by: the automatic transmission mechanism comprises a main support frame, a main slide way and three transverse slide ways which are arranged on the main support frame, a main push rod arranged on the main slide way, a rack arranged at the middle position of the main push rod, a gear arranged on the main support frame, two sliding blocks arranged on each transverse slide way, a sliding block push rod hinged between each sliding block and the main push rod, and two rocking bars symmetrically hinged to two sides of the same position of the main push rod, wherein the main slide way and the three transverse slide ways are all vertically arranged, the gear is driven by a motor and is meshed with the gear and the rack, and the end parts of the rocking bars and the sliding blocks are respectively connected with parts to be.
2. A movement mode switching mechanism according to claim 1, wherein: the six sliding block push rods are symmetrically arranged on two sides of the main push rod in a group of two sliding block push rods, and the two rocking rods are arranged on the main push rod between the two groups of sliding block push rods.
3. An aerial climbing bionic robot applying the motion mode switching mechanism of claim 1 or 2, characterized in that: the main support frame is arranged in the crawling bionic robot, two lateral fin steering engines are symmetrically hinged to the main support frame, the end portion of each rocker is fixed to the lateral fin steering engine through a steering engine connecting piece, the lateral fins are connected to the lateral fin steering engines through lateral fin connecting pieces, and each sliding block is provided with a mechanical foot used for crawling.
4. The crawling bionic robot applying the motion mode switching mechanism according to claim 3, wherein: the motor is a waterproof motor.
5. The crawling bionic robot applying the motion mode switching mechanism according to claim 3 or 4, wherein: the main push rod, the main slide way, the three transverse slide ways, the six slide block push rods and the six slide blocks form six sets of double-slide block mechanisms, and the retraction and extension of the mechanical foot are realized by the forward and backward movement of the main push rod; the main push rod, the main slide way, the two rocking rods and the two steering engine connecting pieces form two sets of crank slider mechanisms, and the contraction and the extension of the lateral fins can be realized by the back and forth movement of the main push rod.
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| CN202010649174.6A CN111907669B (en) | 2020-07-08 | 2020-07-08 | Motion mode switching mechanism and navigation climbing bionic robot applying same |
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| CN202010649174.6A CN111907669B (en) | 2020-07-08 | 2020-07-08 | Motion mode switching mechanism and navigation climbing bionic robot applying same |
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| CN111907669A true CN111907669A (en) | 2020-11-10 |
| CN111907669B CN111907669B (en) | 2022-10-25 |
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