CN112372666A

CN112372666A - Flexible joint and adopt this flexible joint's micro-robot

Info

Publication number: CN112372666A
Application number: CN202011199902.4A
Authority: CN
Inventors: 吴一川; 杜宇航; 彭倍; 王鹏; 周吴
Original assignee: University of Electronic Science and Technology of China
Current assignee: University of Electronic Science and Technology of China
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-02-19
Anticipated expiration: 2040-10-30
Also published as: CN112372666B

Abstract

The invention discloses a flexible joint and a micro-robot using the same, wherein the flexible joint comprises: the limb joint comprises a plurality of limb joints made of flexible materials, wherein the limb joints are sequentially connected from top to bottom, the lower ends of the limb joints are provided with through holes, limiting blocks matched with the through holes are arranged in the through holes, one ends of the limiting blocks are arranged at the joints of the adjacent limb joints, first score grooves or second score grooves for limiting included angles between the adjacent limb joints are arranged at the joints of the adjacent limb joints, the limb joint at the lowermost end is provided with third score grooves, the first score grooves and the third score grooves are arranged on the same side of the limb joint, the second score grooves are arranged on the other side of the limb joint, and the second limb joint is arranged between the first limb joint and the third limb joint; the micro-robot includes: above-mentioned flexible joint and connecting plate, flexible joint set up in pairs at the both ends of connecting plate, are equipped with the driving piece between the flexible joint that sets up in pairs, and this flexible joint can improve micro-robot's velocity of motion, increase of service life, and the structure is light and handy, the processing of being convenient for.

Description

Flexible joint and adopt this flexible joint's micro-robot

Technical Field

The invention relates to the technical field of robots, in particular to a flexible joint and a micro robot adopting the same.

Background

Under scenes such as extreme environment exploration, military information detection, disaster search and rescue, because of topographic reasons, the micro-robot can be frequently used to participate in field work, and for the micro-robot with millimeter to centimeter-level size, the traditional mechanical structure is difficult to apply to the micro-robot, the fragile material is difficult to produce under the micro-size, the manufacturing cost is high, and the robot leg structure for walking, which is made of the fragile material, cannot have limited movement speed, and is not high in robustness and easy to damage.

Disclosure of Invention

The invention aims to provide a flexible joint and a micro-robot adopting the flexible joint, wherein the flexible joint can improve the motion speed of the micro-robot and prolong the service life of the micro-robot, and is light in structure and convenient to process.

The technical scheme for solving the technical problems is as follows:

a flexible joint, comprising: adopt a plurality of limbs sections of flexible material preparation, a plurality of limbs section from the top down connects gradually, the lower extreme of limbs section is equipped with the through-hole, be equipped with in the through-hole with through-hole phase-match and one end setting at the stopper of adjacent limbs section junction, the junction of adjacent limbs section is equipped with the first indent groove or the second indent groove of contained angle between the adjacent limbs section of restriction, be located and be equipped with the third indent groove on the limbs section of lower extreme, first indent groove and third indent groove set up in the same one side of limbs section and the opposite side of second indent groove setting at limbs section, the second indent groove sets up between first indent groove and third indent groove.

This flexible joint can adopt flexible materials such as Polyimide (PI), poly terephthalic acid Plastics (PET), carbon fiber, and this flexible joint includes a plurality of limbs section, and a plurality of limbs section width are the same, and length can set up as required. The first mark carving groove or the second mark carving groove is arranged at the joint of the adjacent limb sections, so that the limb sections can be bent towards one direction more easily, the included angle between the adjacent limb sections can be adjusted along with the motion state, and the depth of the mark carving groove determines the adjustment range of the included angle between the adjacent limb sections; the limb joints are also provided with a limiting block, the limiting block is arranged at the position, close to the first nicking groove or the second nicking groove, of the lower end of each limb joint, the limiting block and the limb joints are integrally formed and can be manufactured in a cutting mode on the limb joints, the lower ends of the limiting blocks and the first nicking grooves or the second nicking grooves are arranged in a collinear mode, a preset included angle can be formed among the limb joints through the limiting block, prestress is generated, and the included angle can be kept unchanged when the limb joints are static; the limb section at the lowest end is used as a foot part structure of the whole flexible joint and is in contact with the ground to support the whole joint, the first scoring groove and the third scoring groove are arranged on the same side of the limb section, the second scoring groove is arranged on the other side of the limb section, and the second limb section is arranged between the first limb section and the third limb section, so that the flexible joint forms a C-shaped structure with two mutually connected end parts when viewed from the side, the whole joint structure is more stable, and the second scoring groove is arranged at a position close to the lower end as far as possible. The flexible joint is made of flexible materials, and can be combined in multiple layers to be made into a rod body structure, a columnar structure and the like besides plane manufacturing and forming.

Further, in a preferred embodiment of the invention, the number of the limb segments is six, and the limb segments comprise, in order from top to bottom: the lower limb section, the sitting limb section, the femoral limb section, the shin limb section, the tarsal limb section and the toe limb section are provided with a second mark carving groove, the other limb sections are provided with first mark carving grooves, and the toe limb section is provided with a third mark carving groove.

The number of limb joints is six, the shape of a joint insect is simulated, and the stability of the structure can be ensured to the maximum extent.

Further, in a preferred embodiment of the present invention, the toe limb segment comprises a plurality of isosceles triangle limb segments, the bottom sides of the isosceles triangle limb segments are connected to the adjacent limb segments, and the corresponding positions of the plurality of isosceles triangle limb segments are provided with third scoring grooves.

The toe limb section is located the lower extreme of this flexible joint, moves on ground as "foot", and this toe limb section adopts a plurality of isosceles triangle structures, and isosceles triangle's top forms the multiple spot contact with ground to play good supporting role and reduce the area of contact with ground simultaneously, make the joint move more in a flexible way.

Further, in the preferred embodiment of the present invention, the stopper is disposed in the middle of the limb segment.

The limiting block is arranged in the middle of the limb joint, so that the limb joint is more balanced.

Further, in a preferred embodiment of the present invention, the cross section of the limiting block is a semicircular structure.

The cross section of the limiting block is of a semicircular structure, namely the edge of the limiting block cut out from the limb joint is arc-shaped, and the limiting block can be self-locked and is convenient to process.

Further, in a preferred embodiment of the invention, the surface of the limb segment below the third indent is provided with piles to increase the friction with the ground.

Further, in a preferred embodiment of the invention, the maximum included angle between adjacent limbs is from 10 ° to 80 °.

The undersize included angle between adjacent limbs section can reduce the flexibility ratio of this flexible joint, and the oversize stability that can reduce this flexible joint, therefore the biggest included angle between the adjacent limbs section sets up to 10 ~ 80.

A micro-robot, comprising: above-mentioned flexible joint and connecting plate, flexible joint set up in pairs at the both ends of connecting plate, are equipped with the driving piece between the flexible joint that sets up in pairs.

This micro robot adopts flexible joint to can improve the flexibility of this robot, the connecting plate can be according to the various components and parts of practical application installation as micro robot's major structure, and flexible joint sets up in pairs on the connecting plate, to its supporting role of connecting plate, sets up the driving piece on the flexible joint, thereby provides drive power for flexible joint, makes the robot remove.

Further, in a preferred embodiment of the invention, the driving member is an artificial muscle.

The driving piece adopts artificial muscle, and the driving force can be provided for the flexible joint through the contraction of the artificial muscle.

The invention has the following beneficial effects:

the invention provides a flexible joint and a micro-robot adopting the flexible joint, wherein the flexible joint comprises a plurality of limb sections which are sequentially connected and made of flexible materials, the bending angle and the bending direction between the adjacent limb sections can be limited through a first nicking groove and a second nicking groove, and a specific power and displacement curve can be obtained by setting different limb section proportions and preset included angle relations, so that the applicability of the flexible joint is improved; the flexible joint has no complex lines, is convenient to process, can be cut and manufactured by devices such as a paper cutter and the like, and reduces the manufacturing difficulty; the robot with the flexible joint can be manufactured into a small size, is flexible and stable, and is suitable for narrow spaces.

Drawings

FIG. 1 is a front view schematically showing the structure of a flexible joint according to example 1;

FIG. 2 is a left side view schematically showing the structure of the flexible joint according to example 1;

FIG. 3 is a schematic view showing the construction of the micro-robot in example 2;

FIG. 4 is a schematic view showing the construction of the micro-robot in example 3.

Wherein: 1-a flexible joint; 11-lower limb segment; 12-sitting limb segment; 13-femoral limb segment; 14-tibiolimb segment; 15-tarsal ganglion; 16-toe limb segment; 161-isosceles triangle limb segments; 17-a limiting block; 18-a first scoring groove; 19-a second scoring groove; 20-a third notching groove; 2-connecting plates; 3-driving piece.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

Example 1

Referring to fig. 1 and 2, a flexible joint 1 includes: six limb segments made of flexible materials are sequentially connected from top to bottom and respectively: the limb joint comprises a bottom limb joint 11, a sitting limb joint 12, a thigh limb joint 13, a shin limb joint 14, a tarsal limb joint 15 and a toe limb joint 16, wherein the lower end of the limb joint is provided with a through hole, a limiting block 17 which is matched with the through hole and is arranged at the joint of the adjacent limb joints is arranged in the through hole, in the embodiment, only the sitting limb joint 12, the thigh limb joint 13 and the shin limb joint 14 are provided with limiting blocks 17, referring to fig. 1, the limiting blocks 17 are arranged in the middle of each limb joint, the cross section of each limiting block 17 is of a semicircular structure, and the limiting blocks are formed by cutting on each limb joint. First scoring grooves 18 are respectively formed in the bottom limb segment 11, the sitting limb segment 12, the femoral limb segment 13 and the shin limb segment 14, and the tarsal limb segment 15 and the toe limb segment 16, second scoring grooves 19 are formed between the shin limb segment 14 and the tarsal limb segment 15, the toe limb segment 16 comprises two isosceles triangle limb segments 161, the bottom edges of the isosceles triangle limb segments 161 are arranged on the adjacent limb segments, third scoring grooves 20 are formed in the positions of the two isosceles triangle limb segments 161 at the same height, and fluff for increasing the friction force with the ground is arranged on the surfaces of the limb segments below the third scoring grooves 20. As seen in fig. 1, the first indentation groove 18 and the third indentation groove 20 are drawn with dotted lines, indicating that the indentation grooves are disposed on the inward-facing side of the paper of the flexible joint 1, the second indentation groove 19 is drawn with solid lines, indicating that the second indentation groove is disposed on the outward-facing side of the paper, and in this embodiment, the maximum included angle between the basal limb segment 11 and the sitting limb segment 12 is 10 °, the maximum included angle between the sitting limb segment 12 and the femoral limb segment 13 is 20 °, the maximum included angle between the femoral limb segment 13 and the tibial limb segment 14 is 30 °, the maximum included angle between the tibial limb segment 14 and the tarsal limb segment 15 is 40 °, the maximum included angle between the tarsal limb segment 15 and the digital limb segment 16 is 15 °, and in other embodiments of the present invention, the included angle between the respective limb segments may be any value between 10 ° and 80 °.

In the embodiment, the flexible joint 1 is cut by a paper cutter after being drawn by a computer, the limiting block 17 is directly cut and formed on each limb segment, the included angle between each limb segment is predetermined, and the depth and the width of each indentation groove are calculated to limit the maximum included angle between the adjacent limb segments.

Example 2

Referring to fig. 3, a micro-robot includes: in the embodiment 1, a pair of flexible joints 1, that is, two flexible joints 1, are provided to form a biped robot, and the flexible joints 1 are provided at two ends of the connecting plate 2 in pairs, and a driving member 3 is provided between the flexible joints 1 provided in pairs. Set up driving piece 3 between two flexible joint 1, driving piece 3 adopts artificial muscle, and the both ends of driving piece 3 set up respectively on two end limb festival 11, and artificial muscle extension or shorten drives end limb festival 11 bending or diastole, and the artificial muscle slope sets up to make the robot more tend to the forward motion.

Example 3

Referring to fig. 4, embodiment 2 of the present embodiment is different in that: two pairs of flexible joints 1 are adopted, and a driving piece 3 is arranged on each pair of flexible joints 1, so that a quadruped robot is formed, and the functions of straight walking and turning can be realized. The driving member 3 is an artificial muscle. The straight-moving function is realized by controlling the two driving pieces 3 to extend or shorten at the same frequency; through the extension or the shortening of single driving piece 3 of control, perhaps two driving pieces 3 have the phase difference for both ends produce the difference in speed about the robot, and then realize turning left the function of turning right.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A flexible joint (1), characterized by comprising: the limb joint comprises a plurality of limb joints made of flexible materials, wherein the limb joints are sequentially connected from top to bottom, the lower ends of the limb joints are provided with through holes, limiting blocks (17) which are matched with the through holes and one ends of which are arranged at the joints of the adjacent limb joints are arranged in the through holes, first mark carving grooves (18) or second mark carving grooves (19) which limit the included angles between the adjacent limb joints are arranged at the joints of the adjacent limb joints, third mark carving grooves (20) are arranged on the limb joints at the lowest end, the first mark carving grooves (18) and the third mark carving grooves (20) are arranged on the same side of the limb joints, the second mark carving grooves (19) are arranged on the other side of the limb joints, and the second mark carving grooves (19) are arranged between the first mark carving grooves (18) and the third mark carving grooves (20).

2. Flexible joint (1) according to claim 1, characterized in that said limb segments are six in number, comprising in sequence from top to bottom: end limb section (11), sit limb section (12), thigh limb section (13), shin limb section (14), tarsal limb section (15) and toe limb section (16), shin limb section (14) with be equipped with between tarsal limb section (15) second trace groove (19), other be equipped with between the limb section first trace groove (18), be equipped with on toe limb section (16) third trace groove (20).

3. The flexible joint (1) according to claim 2, characterized in that said toe segment (16) comprises a plurality of isosceles triangular segments (161), the base of said isosceles triangular segments (161) being connected to the adjacent said segments, and said third score grooves (20) being provided at the corresponding positions of said plurality of isosceles triangular segments (161).

4. The flexible joint (1) according to any of claims 1-3, wherein said stop block (17) is arranged in the middle of said limb segment.

5. Flexible joint (1) according to claim 4, characterized in that said limit block (17) has a semicircular configuration in cross section.

6. Flexible joint (1) according to claim 5, characterized in that the surface of the limb segment situated below the third scoring groove (20) is provided with a layer of fluff increasing the friction with the ground.

7. Flexible joint (1) according to claim 6, characterized in that the maximum included angle between adjacent limbs is 10-80 °.

8. A micro-robot, comprising: the flexible joint (1) of any one of claims 1 to 7 and a connecting plate (2), said flexible joints being arranged in pairs at both ends of said connecting plate (2), a drive member (3) being arranged between said flexible joints arranged in pairs.

9. The microrobot according to claim 8, characterized in that the driving member (3) is an artificial muscle.