CN113650026B

CN113650026B - Crocodile-like robot

Info

Publication number: CN113650026B
Application number: CN202110936199.9A
Authority: CN
Inventors: 徐小明; 罗嘉辉; 李德滨; 李丛卉; 张鑫钰; 蒋建平; 冯晓港; 吴志刚
Original assignee: Sun Yat Sen University
Current assignee: Sun Yat Sen University
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2023-05-23
Anticipated expiration: 2041-08-16
Also published as: CN113650026A

Abstract

The invention discloses an alligator-like robot, which comprises a head part, a tail part, a front trunk, a rear trunk and a rope-driven swinging unit; the head is movably connected to the front trunk; the tail part is movably connected to the rear trunk; the front trunk is provided with two movable front legs; the rear trunk is provided with two movable rear legs; the rope-driven swinging units are sequentially and movably connected between the front trunk and the rear trunk; according to the scheme, the rope-driven swinging unit can be utilized for flexibly driving swinging, namely, the rope-driven swinging unit replaces rigid driving, so that the swinging effect is more natural and real, and high-frequency swinging with large amplitude can be realized, and the problem that rigid driving is difficult to adapt to the high-amplitude and high-frequency swinging gesture is practically solved.

Description

Crocodile-like robot

Technical Field

The invention relates to the technical field of robots, in particular to an alligator-like robot.

Background

Bionics develops new machines and techniques by understanding the structural and functional principles of living beings, or solves the problems in terms of mechanical techniques. Scientists apply research on biological structures and functions in nature to robots, thereby manufacturing biomimetic robots with biological structures and structural characteristics.

At present, various bionic robots similar to crocodile robots exist, such as a snake-shaped robot, an salamander-simulated robot, a quadruped robot and the like. However, most robots employ rigid driving methods, which are accompanied by various problems. The bionic robot rigidly driven by the motor at the joint is heavy in weight, complex in driving structure, high in power consumption and limited in operable space.

The movement gesture of reptiles is complicated changeable, and sensitive quick response of backbone requires highly, and when reptile rapid motion, its backbone can present by a wide margin and quick wobbling state, has put forward huge challenge to drive arrangement's cooperative control, and rigid drive's motor drive mode hardly adapts to so by a wide margin and the swing gesture of high frequency.

Disclosure of Invention

The invention aims to provide an alligator-like robot which solves the problem that rigid driving is difficult to adapt to a large-amplitude and high-frequency swing gesture.

In order to solve the technical problems, the invention provides an alligator-like robot, which comprises a head part, a tail part, a front trunk, a rear trunk and a rope-driven swinging unit; the head is movably connected to the front trunk; the tail part is movably connected to the rear trunk; the front trunk is provided with two movable front legs; the rear trunk is provided with two movable rear legs; the rope-driven swinging units are sequentially and movably connected between the front trunk and the rear trunk, and each rope-driven swinging unit comprises a longitudinal rod, a transverse rod, a driving box, a spring and a driving mechanism; the longitudinal rods are movably connected end to form a swingable structure; the transverse rods are respectively and movably connected to the end-to-end joints of the longitudinal rods, and the transverse rods and the longitudinal rods are in a state of being mutually perpendicular; the two driving boxes are respectively and movably connected with the head and the tail of the longitudinal rods after being connected end to end; the springs are connected between the adjacent cross bars, and the springs are also connected between the cross bars and the driving box; the driving mechanism comprises a motor, a wire spool and a driving rope; the motor is used for driving the wire spool to rotate; the wire reels with different diameters are arranged in the driving box in a stacked mode, and wire winding holes are formed in the wire reels; the driving ropes respectively penetrate through the winding holes to be wound on the winding reels, one driving rope penetrates through the cross rods and then is connected and fixed with the other driving box, and the rest driving ropes are respectively connected and fixed with the rest cross rods.

In one embodiment, the tail part comprises a plurality of tail plates and a plurality of torsion springs, the tail plates are sequentially and movably connected with each other to form a swinging structure, the torsion springs are arranged at the positions of the tail plates, which are movably connected with each other, and the torsion springs are used for restoring the movable positions of the tail plates to the initial state.

In one embodiment, the front leg includes a first front motor, a second front motor, a third front motor, a first front leg first, a second front leg first, a third front leg first, and a front support ball; the two first front motors are respectively arranged on two sides of the front trunk, are respectively connected with the two first front leg nails, and are respectively used for driving the two first front leg nails to rotate; the two second front motors are respectively arranged in the two first front leg nails, the two second front motors are respectively connected with the two second front leg nails, the two second front motors are respectively used for driving the two second front leg nails to rotate, and the rotating axial direction of the second front leg nails is mutually perpendicular to the rotating axial direction of the first front leg nails; the two third front motors are respectively arranged in the two second front leg nails, the two third front motors are respectively connected with the two third front leg nails, the two third front motors are respectively used for driving the two third front leg nails to rotate, and the rotation axial direction of the third front leg nails is the same as the rotation axial direction of the second front leg nails; the two front support balls are respectively connected with the two third front leg nails, and the front support balls are used for being contacted with the crawling surface of the crocodile-like robot.

In one embodiment, the rear leg comprises a first rear motor, a second rear motor, a third rear motor, a first rear leg cuff, a second rear leg cuff, a third rear leg cuff, and a rear support ball; the two first rear motors are respectively arranged at two sides of the rear trunk and are respectively connected with the two first rear leg nails, and the two first rear motors are respectively used for driving the two first rear leg nails to rotate; the two second rear motors are respectively arranged in the two first rear leg nails and are respectively connected with the two second rear leg nails, the two second rear motors are respectively used for driving the two second rear leg nails to rotate, and the rotating axial direction of the second rear leg nails is mutually perpendicular to the rotating axial direction of the first rear leg nails; the two third rear motors are respectively arranged in the two second rear leg nails, the two third rear motors are respectively connected with the two third rear leg nails, the two third rear motors are respectively used for driving the two third rear leg nails to rotate, and the rotation axial direction of the third rear leg nails is the same as the rotation axial direction of the second rear leg nails; the two rear supporting balls are respectively connected with the two third rear leg nails, and the rear supporting balls are used for being contacted with the crawling surface of the crocodile-like robot.

In one embodiment, one end of the longitudinal rod is provided with a first ear plate which is oppositely arranged, and the other end of the longitudinal rod is provided with a second ear plate which is oppositely arranged; two first ear plates are inserted into the two second ear plates at the end-to-end joint of the longitudinal rods, and the cross rod is movably arranged between the two first ear plates; the crocodile-like robot is characterized in that middle pins are arranged at the end-to-end connection positions of the longitudinal rods, and the middle pins penetrate through the first lug plates, the second lug plates and the transverse rods.

In one embodiment, one side of the drive box is provided with a first end pin hole, and the opposite side of the drive box is provided with a second end pin hole; the first end pin hole of one driving box is coaxially arranged with the two first ear plates of one end of the longitudinal rod, and the crocodile-like robot is provided with a first end pin penetrating through the first end pin hole and the first ear plates; the other second end pin hole of the driving box and the two second ear plates of the longitudinal rod at the other end are coaxially arranged, and the crocodile-like robot is provided with a second end pin penetrating through the second end pin hole and the second ear plates.

In one embodiment, the springs comprise a first spring and a second spring; the first springs are connected between the adjacent end parts of the cross bars, and the first springs are also connected between the cross bars and the driving box; one end of each second spring is connected with one end of each first spring, and the other end of each second spring is connected with each second lug plate, so that two sides of each second lug plate are obliquely connected with the second springs.

In one embodiment, two surfaces at two ends of the cross rod are respectively provided with an on-rod positioning column, two surfaces at four corners of the driving box are respectively provided with an on-box positioning column, the first springs are connected between the adjacent on-rod positioning columns, and the first springs are also connected between the on-rod positioning columns and the adjacent on-box positioning columns; one end of a part of the second springs is respectively connected with the box upper positioning posts of one driving box, one end of the other second springs is respectively connected with a plurality of the rod upper positioning posts, and the other ends of a plurality of the second springs are respectively connected with a plurality of the second ear plates.

In one embodiment, a plurality of wire reels are stacked in a manner that the diameter is small to large, the driving rope on the wire reel with the largest diameter is connected with the driving box, and in other wire reels, the driving rope on the wire reel with the smaller diameter is connected and fixed with the cross rod with the closer distance.

In one embodiment, one ends of the driving ropes are respectively arranged in a mode of clockwise winding corresponding to the wire spool, and the other ends of the driving ropes are respectively arranged in a mode of anticlockwise winding corresponding to the wire spool.

The beneficial effects of the invention are as follows:

the longitudinal rods are movably connected in an end-to-end mode to form a swingable structure, so that the simulation of swing postures can be realized by the relative movement among the longitudinal rods; and a plurality of drive ropes respectively pass a plurality of wire winding holes so as to be wound on a plurality of wire reels, one drive rope passes a plurality of cross bars and then is fixedly connected with another drive box, and other drive ropes are respectively fixedly connected with other cross bars, so when a motor drives a plurality of wire reels to rotate, the drive rope can replace the rigid drive, the swinging effect is more natural and real, and the high-frequency swinging with large amplitude can be realized, thereby practically solving the problem that the rigid drive is difficult to adapt to the swinging gesture with large amplitude and high frequency.

Drawings

In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a structure provided by an embodiment of the present invention;

FIG. 2 is a schematic view of the front torso structure of FIG. 1;

FIG. 3 is a schematic view of the rear torso structure of FIG. 1;

FIG. 4 is a schematic view of the tail structure of FIG. 1;

FIG. 5 is a schematic diagram of the rope-driven swing unit of FIG. 1;

FIG. 6 is a schematic view of the side rail structure of FIG. 5;

FIG. 7 is a schematic illustration of the cross bar configuration of FIG. 5;

FIG. 8 is a schematic view of the drive cassette of FIG. 5;

FIG. 9 is a schematic diagram of the driving mechanism of FIG. 5;

FIG. 10 is a schematic view of the spool structure of FIG. 8;

FIG. 11 is a schematic view of the driving rope structure of FIG. 10;

FIG. 12 is a schematic view of the connecting structure of the side rail and the side rail of FIG. 5;

FIG. 13 is a schematic view of the connection between the vertical rod and the driving box of FIG. 5;

FIG. 14 is a second schematic view of the connection between the vertical rod and the driving box of FIG. 5;

fig. 15 is a schematic top view of fig. 5.

The reference numerals are as follows:

10. a longitudinal bar; 11. a first ear plate; 12. a second ear plate; 121. positioning holes;

20. a cross bar; 21. positioning columns on the rods; 22. threading holes are formed in the rod;

30. a drive box; 31. a first end pin hole; 32. a second end pin hole; 33. positioning columns are arranged on the box; 34. threading holes are formed in the box;

40. a spring; 41. a first spring; 42. a second spring;

50. a driving mechanism; 51. a motor; 52. a wire spool; 521. a winding hole; 53. a drive rope;

61. a middle pin; 621. a first end pin; 622. a second end pin;

71. a head; 72. tail part; 721. a tail plate; 722. a torsion spring; 73. a front torso; 74. a rear torso; 75. a rope-driven swinging unit;

80. a front leg; 811. a first front motor; 812. a second front motor; 813. a third front motor; 821. a first front leg cuff; 822. a second front leg cuff; 823. a third front leg cuff; 83. a front support ball;

90. a rear leg; 911. a first rear motor; 912. a second rear motor; 913. a third rear motor; 921. a first rear leg cuff; 922. a second rear leg cuff; 923. a third rear leg cuff; 93. and a rear support ball.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The invention provides an alligator-like robot, which is implemented as shown in fig. 1-5, 9-12 and 15, and comprises a head 71, a tail 72, a front trunk 73, a rear trunk 74 and a rope-driven swinging unit 75; the head 71 is movably connected to the front trunk 73; the tail 72 is movably connected to the rear torso 74; the front trunk 73 is provided with two movable front legs 80; the rear torso 74 has two movable rear legs 90; the rope-driven swinging units 75 are sequentially and movably connected between the front trunk 73 and the rear trunk 74, and the rope-driven swinging units 75 comprise a longitudinal rod 10, a transverse rod 20, a driving box 30, a spring 40 and a driving mechanism 50; the longitudinal rods 10 are movably connected in an end-to-end mode to form a swingable structure; the transverse rods 20 are respectively and movably connected to the end-to-end joints of the longitudinal rods 10, and the transverse rods 20 and the longitudinal rods 10 are in a state of being mutually perpendicular; the two driving boxes 30 are respectively and movably connected with the head and the tail of the longitudinal rods 10 after the head and the tail are connected; the springs 40 are connected between the adjacent cross bars 20, and the springs 40 are also connected between the cross bars 20 and the driving box 30; the drive mechanism 50 includes a motor 51, a spool 52, and a drive cord 53; the motor 51 is used for driving the wire spool 52 to rotate; a plurality of wire reels 52 with different diameters are arranged in the driving box 30 in a stacked manner, and wire winding holes 521 are formed in the wire reels 52; the plurality of driving ropes 53 respectively pass through the plurality of winding holes 521 to be wound on the plurality of winding reels 52, one driving rope 53 passes through the plurality of cross bars 20 and then is connected and fixed with the other driving box 30, and the rest of driving ropes 53 are respectively connected and fixed with the rest of cross bars 20.

Referring to the directions shown in fig. 5 and 15, if the motor 51 drives the spool 52 to rotate clockwise, the lower driving rope 53 may be pulled and the upper driving rope 53 may be released, thereby realizing the downward bending swing of the rope driving swing unit 75; if the motor 51 releases the force applied to the spool 52, the spring 40 will pull the rope-driven swing unit 75 to return to the original state; if the motor 51 drives the spool 52 to rotate counterclockwise, the lower driving rope 53 can be loosened and the upper driving rope 53 can be tightened, so that the upward bending swing of the rope driving swing unit 75 is realized; so through the mutual cooperation of the plurality of rope-driven swinging units 75, the bionic swinging can be realized, the embodiment can replace the rigid driving by the rope-driven swinging, the swinging effect is more natural and real, and the high-frequency swinging with large amplitude can be realized, thereby practically solving the problem that the rigid driving is difficult to adapt to the swinging gesture with large amplitude and high frequency.

The head 71 is designed with a hollowed-out structure, so that monitoring instruments such as a camera are installed inside the head 71, and a rope-driven swinging unit 75 can be additionally arranged between the tail 72 and the rear trunk 74, so that the swinging simulation effect of the tail 72 is further improved.

As shown in fig. 4, the tail 72 includes a plurality of tail plates 721 and a plurality of torsion springs 722, the tail plates 721 are sequentially movably connected to each other to form a swingable structure, the torsion springs 722 are disposed at the positions where the tail plates 721 are movably connected to each other, and the torsion springs 722 are used for restoring the movable positions of the tail plates 721 to an initial state.

When the crocodile-like robot swings, the tail plates 721 also swing due to inertia, and the torsion springs 722 continuously apply force to the movable connection positions of the tail plates 721, so that the torsion springs 722 can avoid overlarge swing amplitude among the tail plates 721, the swing posture of the tail 72 is more vivid, and the tail 72 can be quickly restored to the initial state.

As shown in fig. 1 and 3, the front leg 80 includes a first front motor 811, a second front motor 812, a third front motor 813, a first front leg cuff 821, a second front leg cuff 822, a third front leg cuff 823, and a front support ball 83; the two first front motors 811 are respectively installed at two sides of the front trunk 73, the two first front motors 811 are respectively connected with the two first front leg nails 821, and the two first front motors 811 are respectively used for driving the two first front leg nails 821 to rotate; the two second front motors 812 are respectively arranged in the two first front leg nails 821, the two second front motors 812 are respectively connected with the two second front leg nails 822, the two second front motors 812 are respectively used for driving the two second front leg nails 822 to rotate, and the rotation axial directions of the second front leg nails 822 are mutually perpendicular to the rotation axial directions of the first front leg nails 821; the two third front motors 813 are respectively arranged in the two second front leg nails 822, the two third front motors 813 are respectively connected with the two third front leg nails 823, the two third front motors 813 are respectively used for driving the two third front leg nails 823 to rotate, and the rotation axial direction of the third front leg nails 823 is the same as that of the second front leg nails 822; the two front support balls 83 are respectively connected with the two third front leg nails 823, and the front support balls 83 are used for contacting the crawling surface of the crocodile-like robot.

After the arrangement mode is adopted, the rotation of the first front motor 811 can drive the first front leg nail 821, the second front leg nail 822 and the third front leg nail 823 to synchronously overturn up and down, the rotation of the second front motor 812 can drive the second front leg nail 822 and the third front leg nail 823 to overturn to simulate the movement of the upper part of the front leg 80, and the rotation of the third front motor 813 can drive the third front leg nail 823 to overturn to simulate the movement of the lower part of the front leg 80, so that the simulation of the front leg 80 is more realistic, and the grounding property of the front leg 80 is enhanced by the arrangement of the front supporting ball 83.

As shown in fig. 1 and 3, the rear leg 90 includes a first rear motor 911, a second rear motor 912, a third rear motor 913, a first rear leg cuff 921, a second rear leg cuff 922, a third rear leg cuff 923, and a rear support ball 93; the two first rear motors 911 are respectively installed at two sides of the rear trunk 74, the two first rear motors 911 are respectively connected with the two first rear leg nails 921, and the two first rear motors 911 are respectively used for driving the two first rear leg nails 921 to rotate; the two second rear motors 912 are respectively arranged in the two first rear leg nails 921, the two second rear motors 912 are respectively connected with the two second rear leg nails 922, the two second rear motors 912 are respectively used for driving the two second rear leg nails 922 to rotate, and the rotating axial directions of the second rear leg nails 922 are mutually perpendicular to the rotating axial directions of the first rear leg nails 921; the two third rear motors 913 are respectively arranged in the two second rear leg nails 922, the two third rear motors 913 are respectively connected with the two third rear leg nails 923, the two third rear motors 913 are respectively used for driving the two third rear leg nails 923 to rotate, and the rotation axial direction of the third rear leg nails 923 is the same as the rotation axial direction of the second rear leg nails 922; the two rear support balls 93 are respectively connected with two third rear leg nails 923, and the rear support balls 93 are used for contacting with the crawling surface of the crocodile-like robot.

After the arrangement mode is adopted, the rotation of the first rear motor 911 can drive the first rear leg first 921, the second rear leg first 922 and the third rear leg first 923 to turn up and down synchronously, the rotation of the second rear motor 912 can drive the second rear leg first 922 and the third rear leg first 923 to turn to simulate the movement of the upper part of the rear leg 90, and the rotation of the third rear motor 913 can drive the third rear leg first 923 to turn to simulate the movement of the lower part of the rear leg 90, so that the simulation of the rear leg 90 is more realistic, and the grounding property of the rear leg 90 is enhanced by the arrangement of the rear supporting ball 93.

As shown in fig. 6 and 12, one end of the vertical rod 10 is provided with two oppositely arranged first ear plates 11, and the opposite end of the vertical rod 10 is provided with two oppositely arranged second ear plates 12; two first ear plates 11 are inserted into two second ear plates 12 at the end-to-end joint of the longitudinal rods 10, and a cross rod 20 is movably arranged between the two first ear plates 11; the crocodile-like robot is provided with middle pins 61 at the end-to-end connection of the longitudinal rods 10, and the middle pins 61 penetrate through the first lug plate 11, the second lug plate 12 and the transverse rod 20.

In the direction shown in fig. 15, as can be seen from fig. 12 to 14, two first ear plates 11 are respectively disposed on the upper and lower sides of the left end of the vertical rod 10, and two second ear plates 12 are respectively disposed on the upper and lower sides of the right end of the vertical rod 10; wherein the space between the two first ear panels 11 is used for mounting the cross bar 20, and the space between the two second ear panels 12 is used for mounting the two first ear panels 11 and the cross bar 20; when the movable mounting device is used for mounting, the hole sites of the first ear plate 11, the second ear plate 12 and the cross rod 20 are aligned with each other, and then the middle pin 60 is used for penetrating through the hole sites of the first ear plate 11, the second ear plate 12 and the cross rod 20, so that movable mounting among the three can be realized.

It should be noted that, in the default initial state, the plurality of vertical rods 10 are movably connected in a straight line, and the cross rods 20 and the vertical rods 10 are in a mutually perpendicular state, after the above arrangement mode is adopted, the vertical rods 10 and the vertical rods 10 can realize swinging movement, and the vertical rods 10 and the cross rods 20 can also realize swinging movement, and the swinging processes are not interfered with each other, so that the swinging smoothness stability is ensured.

As shown in fig. 5, 8, 13 and 14, one side of the driving box 30 is provided with a first end pin hole 31, and the opposite side of the driving box 30 is provided with a second end pin hole 32; the first end pin hole 31 of one driving box 30 is coaxially arranged with the two first ear plates 11 of one end longitudinal rod 10, and the crocodile-like robot is provided with a first end pin 621 penetrating through the first end pin hole 31 and the first ear plates 11; the second end pin hole 32 of the other drive box 30 is disposed coaxially with the two second ear plates 12 of the other end rail 10, and the alligator-like robot is provided with a second end pin 622 passing through the second end pin hole 32 and the second ear plates 12.

In the illustrated direction, the left side of the left side rail 10 is movably connected with the left side driving box 30, and the right side of the right side rail 10 is movably connected with the right side driving box 30, thereby realizing the swing between the rail 10 and the driving box 30.

Specifically, the two first end pin holes 31 of the driving box 30 are separated from each other, so that the two first ear plates 11 of the vertical rod 10 can be inserted into the two first end pin holes 31, thereby realizing the coaxial arrangement of the two first end pin holes 31 and the two first ear plates 11, and then the first end pin 621 can penetrate through the two first end pin holes 31 and the two first ear plates 11.

The second end pin hole 32 of the driving box 30 is one, and the second end pin hole 32 is inserted into the two second ear plates 12, so that the second end pin hole 32 and the two second ear plates 12 are coaxially arranged, and then the second end pin 622 is used to pass through the second end pin hole 32 and the two second ear plates 12.

As shown in fig. 5 and 15, the spring 40 includes a first spring 41 and a second spring 42; a first spring 41 is connected between the adjacent ends of the cross bars 20, and the first spring 41 is also connected between the cross bars 20 and the driving box 30; one ends of the plurality of second springs 42 are respectively connected with one ends of the plurality of first springs 41, and the other ends of the plurality of second springs 42 are respectively connected with the plurality of second ear plates 12, so that both sides of the plurality of second ear plates 12 are respectively connected with the second springs 42 in an inclined direction.

Referring to the direction shown in fig. 15, the first springs 41 are connected between the upper and lower sides of the left side drive box 30 and the upper and lower sides of the left side cross bar 20, between the upper and lower sides of the left side cross bar 20 and the upper and lower sides of the right side cross bar 20 and between the upper and lower sides of the right side drive box 30, and the second springs 42 are connected between the upper and lower sides of the left side drive box 30 and the upper and lower sides of the left side second ear plate 12, between the upper and lower sides of the left side cross bar 20 and the upper and lower sides of the center second ear plate 12, and between the upper and lower sides of the right side cross bar 20 and the upper and lower sides of the right side second ear plate 12.

After the arrangement, the first spring 41 and the second spring 42 can exert sufficient tension, so that the crocodile-like robot can be quickly and accurately restored to the original state after the external force exerted on the crocodile-like robot is eliminated.

As shown in fig. 5, 7 and 8, two surfaces at two ends of the cross bar 20 are respectively provided with an on-rod positioning column 21, two surfaces at four corners of the driving box 30 are respectively provided with an on-box positioning column 33, first springs 41 are connected between adjacent on-rod positioning columns 21, and first springs 41 are also connected between the on-rod positioning columns 21 and adjacent on-box positioning columns 33; one end of a part of the second springs 42 is connected with the on-box positioning post 33 of one driving box 30, one end of the other second springs 42 is connected with the plurality of on-rod positioning posts 21, and the other ends of the plurality of second springs 42 are connected with the plurality of second lugs 12.

After the arrangement mode is adopted, the end part of the first spring 41 can be sleeved on the rod positioning column 21 or the box positioning column 33, one end of the second spring 42 can be connected in a mode of sleeved on the rod positioning column 21 or the box positioning column 33, and the other end of the second spring 42 is connected and fixed with the positioning holes 121 on two sides of the second ear plate 12.

After the arrangement mode is adopted, namely, the upper layer area and the lower layer area of the crocodile-imitating robot are respectively provided with the first spring 41 and the second spring 42, so that the balance of the force applied to the whole crocodile-imitating robot is ensured, the installation mode of the first spring 41 and the second spring 42 is very simple and convenient, and convenience is provided for production and assembly.

As shown in fig. 5, 9 and 10, the plurality of bobbins 52 are stacked from small to large in diameter, the drive rope 53 on the bobbin 52 having the largest diameter is connected to the drive box 30, and the drive rope 53 on the bobbin 52 having the smaller diameter is connected to the rail 20 closer to the other bobbins 52.

In the illustrated direction, the spool 52 with a large diameter is disposed below, the spool 52 with a small diameter is disposed above, the three spools 52 are stacked from top to bottom, the uppermost spool 52 is connected and fixed to the left side rail 20 by the driving rope 53, the middle spool 52 is connected and fixed to the right side rail 20 by the driving rope 53, and the lowermost spool 52 is connected and fixed to the right side driving box 30 by the driving rope 53.

When the three wire reels 52 rotate simultaneously, the tension of the wire reels 52 with different diameters to the driving rope 53 is different, the wire reels 52 with larger diameters can apply larger tension to the driving rope 53, so that the force application control on the parts far away can be realized by using the wire reels 52 with larger diameters, and the tension applied by the wire reels 52 with smaller diameters to the driving rope 53 is smaller, so that the force application control on the parts near away can be realized by using the wire reels 52 with smaller diameters.

As shown in fig. 10 and 11, the driving rope 53 is disposed at the same length outside both ends of the winding hole 521.

For example, assuming that the winding hole 521 is extended in a left-right direction, after the driving rope 53 passes through the winding hole 521, the lengths of the driving rope 53 disposed at the left side of the winding hole 521 and the right side of the winding hole 521 are kept uniform, thereby ensuring that the deformation of the inside bending driving rope 53 and the outside bending driving rope 53 is equal when the alligator-like robot is used.

As shown in fig. 10 and 11, one ends of the plurality of driving ropes 53 are each disposed in a clockwise winding manner with respect to the spool 52, and the other ends of the plurality of driving ropes 53 are each disposed in a counterclockwise winding manner with respect to the spool 52.

After the arrangement is adopted, the driving rope 53 can be firmly wound on the wire spool 52, so that the driving rope 53 is prevented from loosening in the rotation process of the wire spool 52, and an important guarantee is provided for long-term stable work of the crocodile-like robot.

As shown in fig. 5, 7 and 8, a plurality of on-rod threading holes 22 are formed on both sides of the cross rod 20, and the number of the on-rod threading holes 22 on each side rod of the cross rod 20 is the same as that of the wire reels 52; a plurality of on-box threading holes 34 are formed in two sides of the surface of the driving box 30, and the number of on-box threading holes 34 on each side of the driving box 30 is the same as that of the wire reels 52; both the on-rod threading hole 22 and the on-box threading hole 34 are used for the penetration of the driving rope 53.

After this arrangement, the drive cord 53 will be able to pass through the on-rod and on-box threading holes 22, 34, thereby defining an arrangement path of the drive cord 53 to ensure stable arrangement of the drive cord 53.

While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.

Claims

1. A crocodile-like robot is characterized in that,

comprises a head part, a tail part, a front trunk, a rear trunk and a rope-driven swinging unit;

the head is movably connected to the front trunk;

the tail part is movably connected to the rear trunk;

the front trunk is provided with two movable front legs;

the rear trunk is provided with two movable rear legs;

the rope-driven swinging units are sequentially and movably connected between the front trunk and the rear trunk, and each rope-driven swinging unit comprises a longitudinal rod, a transverse rod, a driving box, a spring and a driving mechanism;

the longitudinal rods are movably connected end to form a swingable structure;

the transverse rods are respectively and movably connected to the end-to-end joints of the longitudinal rods, and the transverse rods and the longitudinal rods are in a state of being mutually perpendicular;

the two driving boxes are respectively and movably connected with the head and the tail of the longitudinal rods after being connected end to end;

the springs are connected between the adjacent cross bars, and the springs are also connected between the cross bars and the driving box;

the driving mechanism comprises a motor, a wire spool and a driving rope; the motor is used for driving the wire spool to rotate; the wire reels with different diameters are arranged in one driving box in a stacked mode, and a plurality of wire winding holes are formed in each wire reel; the driving ropes respectively penetrate through the winding holes to be wound on the winding reels, one driving rope penetrates through the cross bars and then is fixedly connected with the other driving box, and the rest driving ropes are respectively fixedly connected with the rest cross bars;

one end of the longitudinal rod is provided with a first two-phase arranged lug plate, and the other end of the longitudinal rod is provided with a second two-phase arranged lug plate;

two first ear plates are inserted into the two second ear plates at the end-to-end joint of the longitudinal rods, and the cross rod is movably arranged between the two first ear plates;

the crocodile-like robot is provided with middle pins at the end-to-end joints of the longitudinal rods, and the middle pins penetrate through the first lug plate, the second lug plate and the cross rod;

the springs comprise a first spring and a second spring;

the first springs are connected between the adjacent end parts of the cross bars, and the first springs are also connected between the cross bars and the driving box;

one end of each second spring is connected with one end of each first spring, and the other end of each second spring is connected with each second lug plate, so that two sides of each second lug plate are obliquely connected with the second springs.

2. The alligator-like robot of claim 1, wherein the tail comprises a plurality of tail plates and a plurality of torsion springs, the tail plates are sequentially and movably connected with each other to form a swingable structure, the torsion springs are arranged at the positions where the tail plates are movably connected with each other, and the torsion springs are used for restoring the movable positions of the tail plates to an initial state.

3. The alligator-like robot of claim 1, wherein the alligator-like robot comprises,

the front legs comprise a first front motor, a second front motor, a third front motor, a first front leg armor, a second front leg armor, a third front leg armor and a front supporting ball;

the two first front motors are respectively arranged on two sides of the front trunk, are respectively connected with the two first front leg nails, and are respectively used for driving the two first front leg nails to rotate;

the two second front motors are respectively arranged in the two first front leg nails, the two second front motors are respectively connected with the two second front leg nails, the two second front motors are respectively used for driving the two second front leg nails to rotate, and the rotating axial direction of the second front leg nails is mutually perpendicular to the rotating axial direction of the first front leg nails;

the two third front motors are respectively arranged in the two second front leg nails, the two third front motors are respectively connected with the two third front leg nails, the two third front motors are respectively used for driving the two third front leg nails to rotate, and the rotation axial direction of the third front leg nails is the same as the rotation axial direction of the second front leg nails;

the two front support balls are respectively connected with the two third front leg nails, and the front support balls are used for being contacted with the crawling surface of the crocodile-like robot.

4. The alligator-like robot of claim 1, wherein the alligator-like robot comprises,

the rear leg comprises a first rear motor, a second rear motor, a third rear motor, a first rear leg armor, a second rear leg armor, a third rear leg armor and a rear supporting ball;

the two first rear motors are respectively arranged at two sides of the rear trunk and are respectively connected with the two first rear leg nails, and the two first rear motors are respectively used for driving the two first rear leg nails to rotate;

the two second rear motors are respectively arranged in the two first rear leg nails and are respectively connected with the two second rear leg nails, the two second rear motors are respectively used for driving the two second rear leg nails to rotate, and the rotating axial direction of the second rear leg nails is mutually perpendicular to the rotating axial direction of the first rear leg nails;

the two third rear motors are respectively arranged in the two second rear leg nails, the two third rear motors are respectively connected with the two third rear leg nails, the two third rear motors are respectively used for driving the two third rear leg nails to rotate, and the rotation axial direction of the third rear leg nails is the same as the rotation axial direction of the second rear leg nails;

the two rear supporting balls are respectively connected with the two third rear leg nails, and the rear supporting balls are used for being contacted with the crawling surface of the crocodile-like robot.

5. The alligator-like robot of claim 1, wherein the alligator-like robot comprises,

a first end pin hole is formed in one side of the driving box, and a second end pin hole is formed in the other opposite side of the driving box;

the first end pin hole of one driving box is coaxially arranged with the two first ear plates of one end of the longitudinal rod, and the crocodile-like robot is provided with a first end pin penetrating through the first end pin hole and the first ear plates;

the other second end pin hole of the driving box and the two second ear plates of the longitudinal rod at the other end are coaxially arranged, and the crocodile-like robot is provided with a second end pin penetrating through the second end pin hole and the second ear plates.

6. The alligator-like robot of claim 1, wherein the alligator-like robot comprises,

the two surfaces of the two ends of the cross rod are respectively provided with an on-rod positioning column, the two surfaces of the four corners of the driving box are respectively provided with an on-box positioning column, the first springs are connected between the adjacent on-rod positioning columns, and the first springs are also connected between the on-rod positioning columns and the adjacent on-box positioning columns;

one end of a part of the second springs is respectively connected with the box upper positioning posts of one driving box, one end of the other second springs is respectively connected with a plurality of the rod upper positioning posts, and the other ends of a plurality of the second springs are respectively connected with a plurality of the second ear plates.

7. The alligator-like robot according to claim 1, wherein a plurality of the reels are stacked with a diameter from small to large, the driving rope on the reel with the largest diameter is connected to another driving box, and in the other reels, the driving rope on the reel with the smaller diameter is connected and fixed to the cross bar with a closer distance.

8. The alligator-like robot of claim 7, wherein one ends of the plurality of drive ropes are each arranged in a clockwise winding manner corresponding to the wire spool, and the other ends of the plurality of drive ropes are each arranged in a counterclockwise winding manner corresponding to the wire spool.