CN117944774B - Mechanical tail device for assisting jumping robot to maintain motion stability - Google Patents
Mechanical tail device for assisting jumping robot to maintain motion stability Download PDFInfo
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- CN117944774B CN117944774B CN202410346749.5A CN202410346749A CN117944774B CN 117944774 B CN117944774 B CN 117944774B CN 202410346749 A CN202410346749 A CN 202410346749A CN 117944774 B CN117944774 B CN 117944774B
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- cavity group
- section cavity
- top cover
- air inlet
- steel cable
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- 230000033001 locomotion Effects 0.000 title claims abstract description 20
- 230000009191 jumping Effects 0.000 title abstract description 17
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 19
- 239000010959 steel Substances 0.000 claims abstract description 19
- 210000004209 hair Anatomy 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- 241001465754 Metazoa Species 0.000 description 7
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 241000289581 Macropus sp. Species 0.000 description 1
- 241000282373 Panthera pardus Species 0.000 description 1
- 241000555745 Sciuridae Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
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- Manipulator (AREA)
Abstract
The invention discloses a mechanical tail device for assisting a jumping robot to maintain motion stability, which belongs to the field of bionic robots and comprises a motor, wherein a support is fixedly connected to a rotating shaft of the motor, a fixing base is connected with the support through an adjusting bolt, the upper end of the fixing base is fixedly connected with the lower end of a steel cable, the lower end of the top cover bolt penetrates through a spring and a top cover and then is fixedly connected with the upper end of the steel cable, a plurality of hollow struts and a plurality of triangular supports are sequentially and alternately connected in series on the steel cable, holes for a gas transmission hose and the steel cable to penetrate through are formed in the triangular supports, the edges of central holes of the triangular supports and the ends of the hollow struts are spherical cambered surfaces which are mutually attached, side plates are arranged at the protruding parts of the edges of the triangular supports, 3 soft drivers are circumferentially and uniformly arranged on the outer sides of the triangular supports, the upper ends of the soft drivers are connected with the top cover through wedge-shaped grooves, and the lower ends of the soft drivers are contacted with the fixing base.
Description
Technical Field
The invention belongs to the field of bionic robots, and relates to a mechanical tail device for assisting a jumping robot in maintaining motion stability.
Background
The jumping behavior of animals is an efficient jumping obstacle-surmounting movement mode, and the jumping ability of animals such as kangaroo, squirrel, leopard and the like supports the animals to realize the actions of fast moving, body posture adjustment and the like in a complex environment, and particularly, the tail is taken as one of the most important balance organs, so that the jumping behavior of the animals plays an important role in the movement posture regulation of the organisms.
In nature, animals often utilize the tail to assist the leg and foot in maintaining their stable motion. The teaching and learning can help people to solve engineering problems better. In order to enhance the gesture stability of the jumping robot, a mechanical tail is necessary to be added, because the mechanical tail can convert the control problem of the jumping robot into the track tracking problem when maintaining the stability, and the global dynamic balance of the robot system is realized through the gesture adjustment of the mechanical tail.
In order to enhance the flexibility and stability of the jumping robot in a complex environment, many researches start to try the role of the mechanical tail in terms of attitude regulation, but the mechanical tail cannot completely reproduce the characteristics of the animal tail, and many researches simplify the tail into a single section or less rigid mechanism, so that the jumping robot has less motion freedom, single applicable scene and difficult realization of the fine regulation role of the biological tail.
Disclosure of Invention
The invention aims to solve the problems and the shortcomings in the background art and provides a mechanical tail device for assisting a jumping robot to maintain motion stability.
A mechanical tail device for assisting jump robot maintains motion stability, which comprises a motor, fixedly connected with support in the pivot of motor, unable adjustment base passes through adjusting bolt and leg joint, unable adjustment base upper end and cable wire lower extreme fixed connection, the top cap bolt lower extreme runs through spring and top cap back and cable wire upper end fixed connection, a plurality of cavity pillars and a plurality of tripod are established ties in proper order on the cable wire in proper order, open on the tripod and have the hole site that supplies air hose and cable wire to pass, tripod central hole site edge and cavity pillar tip are spherical cambered surface of laminating each other, tripod edge protrusion is equipped with the curb plate, 3 soft driver circumference evenly set up in the tripod outside, soft driver's upper end all links to each other with the top cap through wedge recess, soft driver's lower extreme all contacts with unable adjustment base, every soft driver cross-section is fan-shaped, the central angle is 120.
Preferably, the inside first section cavity group, middle section cavity group and last section cavity group of including in proper order from bottom to top of software driver, contain 13 air chambers in the first section cavity group, through circular air flue intercommunication between 13 air chambers in the first section cavity group, contain 7 air chambers in the middle section cavity group, through circular air flue intercommunication between 7 air chambers in the middle section cavity group, contain 3 air chambers in the last section cavity group, through circular air flue intercommunication between 3 air chambers in the last section cavity group, be equipped with first air inlet on the first section cavity group, be equipped with the second air inlet on the middle section cavity group, be equipped with the third air inlet on the last section cavity group, many gas transmission hoses pass the hole site and first air inlet that reserve on unable adjustment base and the tripod, second air inlet and third air inlet intercommunication, the software driver outer wall is equipped with multiunit recess, the recess is fixed with the curb plate, realize the restraint to the software driver.
Preferably, the top end of the top cover is connected with a replaceable end cover through a buckle, and the replaceable end cover can cover the hair or fin structure.
Preferably, the top cover is internally provided with a balancing weight.
The invention has the beneficial effects that:
by adjusting the input air pressure difference between the soft drivers, the mechanical tail can perform yaw-pitch motion, three cavity groups are arranged in each soft driver and are independently controlled by three air transmission hoses, a plurality of air chambers are distributed in each cavity group, so that the three cavity groups can bend towards different directions at the same time, more complex bending motion can be realized, the mechanical tail end is connected with a motor, the axial rotation of the mechanical tail can be realized, and the structure improves the motion performance of the mechanical tail, so that the jumping robot can better maintain the jumping stability;
The triangular bracket and the hollow support are connected in series by a steel rope into a whole, the fixed base is connected to the adjusting bolt, the tension of the steel rope is adjusted by rotating the adjusting bolt, the top end of the steel rope is connected to the top cover bolt fixed with the spring, when the tension of the steel rope is overlarge, the steel rope can be properly stretched by compressing the spring, the compression degree of the spring can change the adjustment threshold value of the steel rope, and the structure endows the rigid framework with certain flexibility and is more attached to the tail of animals in nature;
The tail end of the top cover is connected with a replaceable end cover, and different structures such as hair or fins can be covered on the top cover according to requirements, so that better pneumatic and balance performance can be realized.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is an overall cross-sectional view of the mechanical tail;
FIG. 3 is a cross-sectional view at A-A in FIG. 1;
FIG. 4 is an axial cross-sectional view of the software driver;
FIG. 5 is a front view of a mechanical tail rigid backbone;
FIG. 6 is a schematic view of the assembly of the top cover;
FIG. 7 is a schematic diagram of the assembly of the base and motor;
fig. 8 is a cross-sectional view at B-B in fig. 5.
In the figure: 1. a software driver; 101. a gas chamber; 102. a circular airway; 103. a groove; 104. a third air inlet; 105. a second air inlet; 106. a first air inlet; 107. a first section cavity group; 108. a middle section cavity group; 109. a final cavity group;
2. A fixed base; 3. an adjusting bolt; 4. a gas hose; 5. a tripod; 51. a side plate; 6. a hollow pillar; 7. a tie; 8. a top cover; 9. a spring; 10. an exchangeable end cap; 11. a top cover bolt; 12. balancing weight; 13. a bracket; 14. and a motor.
Detailed Description
Referring to fig. 1 to 8, a mechanical tail device for assisting a jump robot to maintain motion stability comprises a motor 14, wherein a bracket 13 is fixedly connected to a rotating shaft of the motor 14, a fixed base 2 is connected with the bracket 13 through an adjusting bolt 3, tension of a steel rope can be adjusted by rotating the adjusting bolt 3, the upper end of the fixed base 2 is fixedly connected with the lower end of the steel rope, the lower end of a top cover bolt 11 penetrates through a spring 9 and a top cover 8 and then is fixedly connected with the upper end of the steel rope, the upper end of the top cover 8 is connected with a replaceable end cover 10 through a buckle, a balancing weight 12 for adjusting inertia of the tail end of the mechanical tail is arranged in the top cover 8, the replaceable end cover 10 can cover structures such as hairs or fins, balance performance of the mechanical tail is optimized by aerodynamics, a plurality of hollow support columns 6 and a plurality of triangular supports 5 are sequentially and alternately connected in series on the steel rope, a hole site for a gas hose 4 and the steel rope to pass through is formed in the triangular support 5, the central hole site edge of the triangular support 5 and the end of the hollow support 6 are spherical cambered surfaces which are mutually attached, a side plate 51,3 drivers 1 are arranged at the edge of the triangular support 5, the upper end of the triangular support 5 is uniformly arranged on the outer side of the triangular support 5, the top cover 1 is connected with the upper end of the driver 1 through a groove through the replaceable end cover 10, and the bottom cover 1 is connected with the driver 1 through a wedge-shaped driver 1, and the bottom 1 is 120-shaped, and each soft body 1 is in contact with the bottom 1;
Specifically, the software driver 1 is an integrated structure formed by casting flexible materials at one time, the specific material selection is silica gel, the inside of the software driver 1 sequentially comprises a first section cavity group 107, a middle section cavity group 108 and a last section cavity group 109 from bottom to top, 13 air chambers 101 are contained in the first section cavity group 107, 13 air chambers 101 in the first section cavity group 107 are communicated through a circular air channel 102, 7 air chambers 101 are contained in the middle section cavity group 108, 7 air chambers 101 in the middle section cavity group 108 are communicated through the circular air channel 102, 3 air chambers 101 in the last section cavity group 109 are communicated through the circular air channel 102, no air exchange is carried out between the first section cavity group 107, the middle section cavity group 108 and the last section cavity group 109, a first air inlet 106 is arranged on the first section cavity group 107, a second air inlet 105 is arranged on the middle section cavity group 108, a third air inlet 104 is arranged on the last section cavity group 109, a plurality of hoses 4 penetrate through fixed base 2 and a hole site on a triangular bracket 5 and are communicated with the first air inlet 105 and the third air inlet 103, a plurality of groups of air inlets 103 are reserved on the air inlet grooves and the air inlet 103 are reserved on the first section cavity group 103, and the second air inlet 103 are communicated with the third air inlet grooves 1, and the software driver 1 is communicated with the air inlet grooves, and the software driver 1 is realized.
Referring to fig. 1 and 3, in order to improve the stability of the mechanical tail, the device further comprises a plurality of binding belts 7, wherein the binding belts 7 are wound around the outer part of the circumferential surface formed by the 3 soft drivers 1 and the tripod 5.
Referring to fig. 2, in the example of the present invention, the number of the tripod 5 is 22, and the number of the hollow struts 6 is 21.
The working principle of the invention is as follows:
By adjusting the input air pressure difference between the soft drivers 1, the mechanical tail can perform yaw-pitch motion, three cavity groups are arranged in each soft driver 1 and are independently controlled by three air hoses 4, a plurality of air chambers 101 are distributed in each cavity group, the three cavity groups can bend towards different directions at the same time, more complex bending motion is realized, the mechanical tail end is connected with a motor 14, the axial rotation of the mechanical tail can be realized, and the structure improves the motion performance of the mechanical tail, so that the jumping robot can better maintain the jumping stability.
Claims (3)
1. A mechanical tail device for assisting jump robot maintains motion stability, its characterized in that: the soft driver comprises a motor (14), a bracket (13) is fixedly connected to a rotating shaft of the motor (14), a fixing base (2) is connected with the bracket (13) through an adjusting bolt (3), the upper end of the fixing base (2) is fixedly connected with the lower end of a steel cable, the lower end of a top cover bolt (11) penetrates through a spring (9) and a top cover (8) and then is fixedly connected with the upper end of the steel cable, a plurality of hollow struts (6) and a plurality of triangular brackets (5) are sequentially and alternately connected in series on the steel cable, a hole site for a gas hose (4) and the steel cable to pass through is formed in the triangular brackets (5), the edge of the central hole site of the triangular brackets (5) and the end of the hollow struts (6) are spherical cambered surfaces which are mutually attached, a side plate (51) is arranged at the protruding position of the edge of the triangular brackets (5), the 3 soft drivers (1) are circumferentially and evenly arranged on the outer side of the triangular brackets (5), the upper ends of the soft drivers (1) are connected with the top cover (8) through wedge grooves, the lower ends of the soft drivers (1) are contacted with the fixing base (2), the cross sections of the soft drivers (1) are in a sector shape, and the center angles are 120 degrees.
The inside of the software driver (1) sequentially comprises a first section cavity group (107), a middle section cavity group (108) and a last section cavity group (109) from bottom to top, 13 air chambers (101) are arranged in the first section cavity group (107), 13 air chambers (101) in the first section cavity group (107) are communicated through a circular air passage (102), 7 air chambers (101) are arranged in the middle section cavity group (108), 7 air chambers (101) in the middle section cavity group (108) are communicated through the circular air passage (102), 3 air chambers (101) are arranged in the last section cavity group (109), 3 air chambers (101) in the last section cavity group (109) are communicated through the circular air passage (102), a first air inlet (106) is arranged in the first section cavity group (107), a second air inlet (105) is arranged in the middle section cavity group (108), a third air inlet (104) is arranged in the last section cavity group (109), a plurality of hoses (4) penetrate through holes in a fixed base (2) and a triangular bracket (5), the first air inlet (105) and the second air inlet (103) are communicated with the first air inlet (103), and the second air inlet (103) are reserved in the groove (103) to realize the driving of the software driver (1).
2. A tail device for assisting a jump robot in maintaining motion stability according to claim 1, wherein: the upper end of the top cover (8) is connected with a replaceable end cover (10) through a buckle, and the replaceable end cover (10) can cover hair or fin structures.
3. A tail device for assisting a jump robot in maintaining motion stability according to claim 2, wherein: the top cover (8) is internally provided with a balancing weight (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410346749.5A CN117944774B (en) | 2024-03-26 | 2024-03-26 | Mechanical tail device for assisting jumping robot to maintain motion stability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410346749.5A CN117944774B (en) | 2024-03-26 | 2024-03-26 | Mechanical tail device for assisting jumping robot to maintain motion stability |
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| Publication Number | Publication Date |
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| CN117944774A CN117944774A (en) | 2024-04-30 |
| CN117944774B true CN117944774B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410346749.5A Active CN117944774B (en) | 2024-03-26 | 2024-03-26 | Mechanical tail device for assisting jumping robot to maintain motion stability |
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|---|---|---|---|---|
| CN101423076A (en) * | 2007-11-02 | 2009-05-06 | 江南大学 | Expansion muscle driven double-flexibility joint bouncing robot |
| CN104260099A (en) * | 2014-09-05 | 2015-01-07 | 哈尔滨工业大学深圳研究生院 | Automatic western flute playing robot based on MIDI decoding and automatic playing method |
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| CN205038520U (en) * | 2015-09-10 | 2016-02-17 | 吉林大学 | Use bionics principle's mechanical tail |
| CN106976082A (en) * | 2016-01-19 | 2017-07-25 | 昆山新誉通光电科技有限公司 | A kind of special compressed air rapid abutting joint assembly of manipulator |
| CN111716339A (en) * | 2020-05-22 | 2020-09-29 | 吉林大学 | Software robot module driven by improved flexible driver and manufacturing method |
| CN116079777A (en) * | 2023-01-16 | 2023-05-09 | 东莞市大研自动化设备有限公司 | Grabbing type industrial robot |
| CN116142333A (en) * | 2023-01-03 | 2023-05-23 | 武汉理工大学 | Continuum tail mechanism and bionic quadruped robot |
| CN116175539A (en) * | 2023-02-15 | 2023-05-30 | 东北农业大学 | Pneumatic soft driver with variable rigidity |
| CN116464244A (en) * | 2023-04-20 | 2023-07-21 | 吉林大学 | Wall plastering robot with gravity compensation device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019112987A1 (en) * | 2017-12-04 | 2019-06-13 | Soft Robotics, Inc. | Pressurizing housing for a soft robotic actuator |
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2024
- 2024-03-26 CN CN202410346749.5A patent/CN117944774B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101423076A (en) * | 2007-11-02 | 2009-05-06 | 江南大学 | Expansion muscle driven double-flexibility joint bouncing robot |
| CN104260099A (en) * | 2014-09-05 | 2015-01-07 | 哈尔滨工业大学深圳研究生院 | Automatic western flute playing robot based on MIDI decoding and automatic playing method |
| CN204532154U (en) * | 2014-12-03 | 2015-08-05 | 宝鸡石油机械有限责任公司 | A kind of buffer mechanism hand helping drilling tool |
| CN205038520U (en) * | 2015-09-10 | 2016-02-17 | 吉林大学 | Use bionics principle's mechanical tail |
| CN106976082A (en) * | 2016-01-19 | 2017-07-25 | 昆山新誉通光电科技有限公司 | A kind of special compressed air rapid abutting joint assembly of manipulator |
| CN111716339A (en) * | 2020-05-22 | 2020-09-29 | 吉林大学 | Software robot module driven by improved flexible driver and manufacturing method |
| CN116142333A (en) * | 2023-01-03 | 2023-05-23 | 武汉理工大学 | Continuum tail mechanism and bionic quadruped robot |
| CN116079777A (en) * | 2023-01-16 | 2023-05-09 | 东莞市大研自动化设备有限公司 | Grabbing type industrial robot |
| CN116175539A (en) * | 2023-02-15 | 2023-05-30 | 东北农业大学 | Pneumatic soft driver with variable rigidity |
| CN116464244A (en) * | 2023-04-20 | 2023-07-21 | 吉林大学 | Wall plastering robot with gravity compensation device |
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| Publication number | Publication date |
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| CN117944774A (en) | 2024-04-30 |
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