CN205499110U - Waist uses eight pole metamorphic mechanism 's polypody bionic robot - Google Patents
Waist uses eight pole metamorphic mechanism 's polypody bionic robot Download PDFInfo
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- CN205499110U CN205499110U CN201620203243.XU CN201620203243U CN205499110U CN 205499110 U CN205499110 U CN 205499110U CN 201620203243 U CN201620203243 U CN 201620203243U CN 205499110 U CN205499110 U CN 205499110U
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Abstract
The utility model discloses a waist uses eight pole metamorphic mechanism's polypody bionic robot, including a closed chain and four or six open chain, the closed chain is by first one the eight pole change born of the same parents linkage that constitutes of connecting in order to the 8th pole, length first, five poles are the same, and second, eight pole length are the same, and the length of third, seven poles is the same, and the length of fourth, six poles is the same, every open chain's structure is the same, every open chain be a 2R series connection mechanism and divide equally do not pass through one rotate hinge and closed chain in a member hinge, each pole position among every open chain is in the coplanar. The utility model discloses use the waist that arrives polypody bionic robot with eight pole metamorphic mechanism, utilize metamorphic mechanism allosteric attitude, variable freedom's characteristic, realize that polypody bionic robot waist warp to the waist structure of imitating all kinds of animals better realizes bionically to the multiclass animal, collects multiclass animal advantage, improve polypody bionic robot the flexibility and to different topography feature's adaptability.
Description
Technical field
This utility model belongs to bio-robot technical field, relates to a kind of waist and uses the bionical machine of polypody of eight bar metamorphic mechanisms
Device people.
Background technology
Polypody bio-robot simple in construction and flexibly, bearing capacity is strong, good stability, can not only be on complicated non-structural road
Walk on face, stride across bigger obstacle (such as trench, rock etc.) easily, and can realize with dynamic gait the most mobile.
Polypody bio-robot can substitute for people and completes many dangerous operations, military affairs, mining, nuclear power industry, celestial body detecting,
The fields such as fire-fighting rescue, building industry, agricultural felling, Edutainment have broad application prospects.
But, tradition polypody bio-robot is when imitating animal, and focus has focused largely on leg structure, and for waist
Structure is usually not given to pay close attention to too much.The tradition polypody commonly used rigid structure of bio-robot waist.Its shortcoming is: 1)
Waist is immovable, only plays and supports and the effect of article carrying platform, cuts little ice the fortune dynamic posture of robot.2) polypody
The waist of bio-robot rigid structure, it is impossible to change its shape, the relative position of robot each bar lower limb keeps constant, machine
People can only by changing leg attitude and realize walking, running, the action such as avoidance and turning, the waist fortune to bio-robot
Dynamic and adapt cuts little ice, and the waist structure of rigidity significantly limit robot overall work space and
Flexibility ratio.3) polypody bio-robot rigidity waist strongly limit the robot regulation performance to self center of gravity so that machine
The stability margin of people's walking is less, there is critical stable state in gait, and it is high that walking process stability controls difficulty.4) gait
Planning aspect, the bio-robot gait of rigidity waist is limited, it is impossible to realizes being similar to the bending over up and down of animal, face upward waist, sway one's hips
Action.5) rigidity waist cannot play the effect of bumper and absorbing shock, also limit the speed of travel simultaneously.6) traditional bionical machine
Device people can only imitate specific a kind of animal, it is impossible to imitate the form of many animals simultaneously.It addition, prior art has been reported that
A kind of polypody bio-robot, relates to space six bar metamorphic mechanisms in this robot, this space six bar metamorphic mechanisms employs two
Individual Hooke's hinge, but during realizing, Hooke's hinge is difficult to directly drive, and the actuating device such as belt, tooth bar need to be used to drive,
Therefore, this polypody bio-robot has deficiency in terms of mechanical movement efficiency.
Utility model content
For the limitation of traditional many foot crawling robots and in the bar metamorphic mechanisms of space six Hooke's hinge asking of being difficult to directly to drive
Topic, this utility model provides a kind of waist to use the polypody bio-robot of eight bar metamorphic mechanisms, curved before and after being not only able to realize
Waist and reclinating, and there is multiple different direct drive form, more deformation is flexibly, the spy that adaptive ability is higher
Point.
In order to solve above-mentioned technical problem, a kind of waist that the utility model proposes uses the bionical machine of polypody of eight bar metamorphic mechanisms
Device people, its basic structure is: include a closed chain and four or six open chains, described closed chain be by the first bar being sequentially connected with,
The eight bar metamorphic mechanisms that second bar, the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and the 8th bar are constituted；
The two ends of the first bar are respectively by the first turning joint and the second turning joint and one end of the second bar and one end phase of the 8th bar
Even, the axis of the first turning joint and the axis of the second turning joint are parallel to each other；The two ends of the 5th bar are respectively by the 3rd turn
One end of dynamic hinge and the 4th turning joint and one end of the 4th bar and the 6th bar is connected, the axis and the 4th of the 3rd turning joint
The most flat shape of axis of turning joint；Described first bar and the 5th pole length are identical, described second bar and described 8th pole length
Identical, described 4th bar is identical with the length of described 6th bar；The two ends of the 3rd bar are respectively by the 5th turning joint and the 7th
The other end of turning joint and the other end of the 4th bar and the second bar is connected, the axis of the 5th turning joint and the 7th turning joint
Axis be mutually perpendicular to；The two ends of the 7th bar are respectively by the 6th turning joint and the 8th turning joint and the other end of the 6th bar
Being connected with the other end of the 8th bar, the axis of the 6th turning joint and the axis of the 8th turning joint are mutually perpendicular to；Described 3rd
Bar and the 7th pole length are identical；The structure of every open chain is identical, and its structure is: include the 9th bar in same plane, the tenth
Bar and the 11st bar, the two ends of described tenth bar are respectively by the 9th turning joint and the tenth turning joint and the 9th bar and the tenth
One bar is connected, and the described axis of the 9th turning joint and the axis of the tenth turning joint are parallel to each other；It is four according to open chain number
Bar or six have one of following two kinds of situations: when open chain number is four, the 9th bar in four bars of open chains is respectively by one
11st turning joint and the second bar, the 4th bar, the 6th bar and the 8th bar rotate hinged, the axle of four the 11st turning joints
Line is parallel with the axis of the first turning joint and falls in the plane at the 9th bar, the tenth bar and the 11st bar place；Open chain number
When mesh is six, the 9th bar in six bars of open chains respectively by 1 the 11st turning joint and the first bar, the second bar, the 4th
Bar, the 5th bar, the 6th bar and the 8th bar rotate hinged, the axis of six the 11st turning joints and the axle of the first turning joint
Line is parallel and falls in the plane at the 9th bar, the tenth bar and the 11st bar place.
Above-mentioned waist uses the polypody bio-robot of eight bar metamorphic mechanisms, select the first turning joint, the second turning joint,
Any three in 3rd turning joint, the 4th turning joint, the 5th turning joint, the 6th turning joint add as driving again
Any one or two of upper 7th turning joint and the 8th turning joint can drive this closed linkage, meanwhile, drive every
Described 9th turning joint, the tenth turning joint and connection closed chain in open chain and the 11st turning joint of open chain.
Further, when the first bar and the second bar cramp angle be 90 degree, the first bar and the 8th bar cramp angle be 90 degree time, described
The axis of seven turning joints and the axis collinear of the 8th turning joint.This waist uses the four-leg bionic machine of eight bar metamorphic mechanisms
People, drives the 7th turning joint to turn an angle or the 8th turning joint turns an angle or simultaneously drives the 7th rotating hinge
Chain and the 8th turning joint rotate equal angular and the first bar, the second bar, the 8th bar place plane can be made around the 7th rotating hinge
Chain and the 8th turning joint place axis are relative to the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar place plane rotation
Turn；Drive any one in the 3rd turning joint, the 4th turning joint, the 5th turning joint and the 6th turning joint；With
Time, drive described 9th turning joint in every open chain, the tenth turning joint and connect closed chain and the 11st rotation of open chain
Hinge.
Further, when the first bar and the second bar cramp angle be 90 degree, the first bar and the 8th bar cramp angle be 90 degree time, described
The axis of seven turning joints and the axis collinear of the 8th turning joint.The axis of described 7th turning joint and the second bar and the 3rd
The intersection of the upper surface of bar overlaps, and the axis of described 8th turning joint and the upper surface intersection of the 6th bar and the 8th bar overlap.
Rotate 180 degree or the 8th turning joint rotation 180 degree when driving the 7th turning joint or simultaneously drive the 7th turning joint and the
Eight turning joints rotate 180 degree, the upper surface of the first bar and the upper surface of the 5th bar can be made to overlap, the upper surface of the second bar
Overlap with upper surface, the upper surface of the 4th bar of the 3rd bar, the upper surface of the 8th bar and the upper surface of the 6th bar, the 7th bar
Upper surface overlaps, the axis of the first turning joint and the dead in line of the 3rd turning joint, the axis of the second turning joint and the
The dead in line of four turning joints, is positioned at the axis of the 11st turning joint of the second bar and the 11st rotation being positioned at the 4th bar
The dead in line of hinge, the axis being positioned at the 11st turning joint of the 6th bar and the 11st turning joint being positioned at the 8th bar
Dead in line；Select the first turning joint, the second turning joint, the 3rd turning joint, the 4th turning joint, the 5th rotation
Any three conducts in hinge, the 6th turning joint drive；Meanwhile, drive described 9th turning joint in every open chain,
Tenth turning joint and connection closed chain and the 11st turning joint of open chain.
Further, described first turning joint, the 3rd turning joint are parallel.Select the first turning joint, the second rotating hinge
Any three conducts in chain, the 3rd turning joint, the 4th turning joint, the 5th turning joint, the 6th turning joint drive,
This closed linkage can be driven；Meanwhile, described 9th turning joint in every open chain, the tenth turning joint and connection are driven
Closed chain and the 11st turning joint of open chain.
Compared with prior art, the beneficial effects of the utility model are:
The benefit brought due to metamorphic mechanisms construction features, is applied to polypody bio-robot by metamorphic mechanisms in this utility model
Waist, utilize metamorphic mechanisms allosteric state, the characteristic of variable freedom, by metamorphic mechanisms changing mechanism structure in motor process
State, degree of freedom, it is achieved the change of polypody bio-robot waist configuration, thus preferably imitate the waist structure of all kinds of animal,
Realize bionical to multiclass animal.Meanwhile, on the basis of this waist structure, can collect many by setting different drive forms
Class animal advantage, including stablizing of the speed of mammal, the motility of reptile and insects animal
Property, and then improve the motility of polypody bio-robot and the adaptation ability to different terrain environment, it is achieved more apply.
It is difficult to, for Hooke's hinge in the bar metamorphic mechanisms of space six, the problem directly driven, proposes in Hooke's hinge two orthogonal turn
Moving axis line separately, is independently placed, is shown that all kinematic pairs are the space eight bar metamorphic mechanisms of revolute pair so that all rotations
Pair can the most directly drive, and to improving, mechanical movement efficiency is of great advantage.
Accompanying drawing explanation
Fig. 1 is the closed linkage schematic diagram that this utility model becomes in born of the same parents' polypody bio-robot；
Fig. 2 is the structural representation that this utility model becomes the open chain in born of the same parents' polypody bio-robot；
Fig. 3 is that this utility model becomes the structural representation imitating Eremiatis argi when born of the same parents' polypody bio-robot has four open chains；
Fig. 4 is that this utility model becomes the structural representation imitating Canis familiaris L. when born of the same parents' polypody bio-robot has four open chains；
Fig. 5 is that this utility model becomes the structural representation imitating Aranea when born of the same parents' polypody bio-robot has four open chains；
Fig. 6 is that this utility model becomes the structural representation imitating Mantidis when born of the same parents' polypody bio-robot has four open chains；
Fig. 7 is the structural representation that this utility model change born of the same parents' polypody bio-robot has six open chains；
Fig. 8 is that this utility model becomes the structural representation imitating Scolopendra when born of the same parents' polypody bio-robot has six open chains.
Detailed description of the invention
Being described in further detail technical solutions of the utility model with specific embodiment below in conjunction with the accompanying drawings, its description is only right
Indicative explaination of the present utility model, not in order to limit this utility model.
As it is shown in figure 1, the two ends of the first bar 1 are respectively by the first turning joint 9 and the second turning joint 10 and the second bar 2
One end be connected with one end of the 8th bar 8, the axis of the first turning joint 9 and the second turning joint 10 is parallel to each other；5th
The two ends of bar 5 are respectively by the 3rd turning joint 11 and the 4th turning joint 12 and one end of the 4th bar 4 and the 6th bar 6
One end is connected, the 3rd turning joint 11 and the most flat shape of axis of the 4th turning joint 12；Described first bar 1 and described
Five bar 5 length are identical, and described second bar 2 is identical with described 8th bar 8 length, described 4th bar 4 and described 6th bar 6
Length identical.The two ends of the 3rd bar 3 are respectively by the 5th turning joint 13 and the 7th turning joint 15 and the 4th bar 4
The other end of the other end and the second bar 2 is connected, and the axis of the 5th turning joint 13 and the axis of the 7th turning joint 15 are mutual
Vertically；The two ends of the 7th bar 7 are respectively by the 6th turning joint 14 and the 8th turning joint 16 and the other end of the 6th bar 6
Being connected with the other end of the 8th bar 8, the axis of the 6th turning joint 14 and the axis of the 8th turning joint 16 are mutually perpendicular to.
Described 3rd bar 3 is identical with the 7th bar 7 length.
As in figure 2 it is shown, the structure of four or six open chains is identical, the structure of every open chain is identical is a 2R serial mechanism,
Its structure is that every open chain of every open chain includes the 9th bar the 17, the tenth bar the 18 and the 11st bar 19, described 9th bar respectively
17, in the tenth bar the 18 and the 11st bar 19 is generally aligned in the same plane, the two ends of described tenth bar 18 are respectively by the 9th rotating hinge
Chain 20 is connected with the 9th bar the 17 and the 11st bar 19 with the tenth turning joint 21, described 9th turning joint 20 and the tenth turn
The axis of dynamic hinge 21 is parallel to each other.
Because it is a metamorphic mechanisms that this utility model becomes closed linkage in born of the same parents' polypody bio-robot, therefore can be by changing
Closed chain structure state and the corresponding form adjusting four open chains imitate many animals form.
This utility model can have multiple different drive form, actual application can be used on a selective basis, its preferentially former
Then: ensure can realize driving completely under various structure states, and during driving, pressure angle is less, the most right
Claim distribution, uniform to ensure whole closed linkage Mass Distribution.
In this utility model, closed linkage comprises eight turning joints altogether, as it is shown in figure 1, in these eight turning joints
First turning joint the 9, second turning joint the 10, the 3rd turning joint the 11, the 4th turning joint the 12, the 5th turning joint 13,
Any of the 7th turning joint 15 and the 8th turning joint 16 is added for any three in 6th turning joint 14 as driving
One or two can drive this closed linkage, meanwhile, drive described 9th turning joint 20 in every open chain, the tenth turn
Dynamic hinge 21 and connection closed chain and the 11st turning joint 22 of open chain, can drive the waist in this utility model to use eight bars
The polypody bio-robot of metamorphic mechanisms, so that it imitates multiple different animals form.
Below by the related rotation hinge chosen in closed chain for driving joint to illustrate.
Embodiment one, waist use eight bar metamorphic mechanisms and have the polypody bio-robot of four open-chain structures.
Fig. 3, Fig. 4, Fig. 5, Fig. 6 are the embodiments that this utility model has four open chains, open including a closed chain and four
Chain, described closed chain is by first bar the 1, second bar the 2, the 3rd bar the 3, the 4th bar the 4, the 5th bar the 5, the 6th bar being sequentially connected with
6, the eight bar metamorphic mechanisms that the 7th bar 7 and the 8th bar 8 are constituted, described open chain is a 2R serial mechanism.
As shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, when open chain number is four, the 9th bar 17 in four bars of open chains is respectively
Rotate hinged by the 11st turning joint 22 with the second bar the 2, the 4th bar the 4, the 6th bar 6 and the 8th bar 8, four open chains
And the axis and first of four the 11st turning joints 22 between the second bar the 2, the 4th bar the 4, the 6th bar 6 and the 8th bar 8
The axis of turning joint 9 is parallel and falls in the 9th bar 17, the tenth bar 18 and the 11st bar 19 institute planar.
Drive the first turning joint the 9, the 3rd turning joint the 11, the 4th turning joint 12 that first bar 1 and the second bar 2 are hung down
Directly, the 4th bar 4 and the 5th bar 5 are vertical, and the 5th bar 5 and the 6th bar 6 are vertical, and at this moment closed chain structure state is for as shown in Fig. 3 plants
Rectangle, it is easy to as can be seen from Figure 3, the now axis of the 7th turning joint 15 and the axis collinear of the 8th turning joint 16,
Driving the 8th turning joint 16 to turn an angle can make first bar the 1, second bar 2, the 8th bar 8 place plane around
Seven turning joints 15 are relative with the 8th turning joint 16 place axis with the 3rd bar the 3, the 4th bar the 4, the 5th bar the 5, the 6th bar
6, the 7th bar 7 place Plane Rotation, the most at this moment drives the 8th turning joint 16 to make first bar the 1, second bar the 2, the 3rd
Bar the 3, the 4th bar the 4, the 5th bar the 5, the 6th bar the 6, the 7th bar 7 and the 8th bar 8 keep coplanar, at this moment by driving each bar
9th turning joint the 20, the tenth turning joint 21 and connect the 11st turning joint 22 of closed chain and each open chain in open chain,
Making the tenth bar 18 level of approximation, the 11st bar 19 near vertical, every open chain place plane is opened with being connected this in closed chain
The corresponding bar near normal of chain.What this time-varying born of the same parents' polypody bio-robot imitated is the form of Eremiatis argi, such as Fig. 3.
On the basis of Fig. 3, by changing type of drive, the 7th turning joint 15 is i.e. driven to turn an angle or the 8th rotation
Hinge 16 turns an angle or simultaneously drives the 7th turning joint 15 and the 8th turning joint 16 rotates equal angular and makes first
Bar the 1, second bar the 2, the 8th bar 8 place plane is relative with the 8th turning joint 16 place axis around the 7th turning joint 15
In the 3rd bar the 3, the 4th bar the 4, the 5th bar the 5, the 6th bar the 6, the 7th bar 7 place Plane Rotation；Drive the 3rd turning joint
11, any one in the 4th turning joint the 12, the 5th turning joint 13 and the 6th turning joint 14；Meanwhile, drive often
Described 9th turning joint the 20, the tenth turning joint 21 in bar open chain and connect closed chain and the 11st turning joint of open chain
22.Making the tenth bar 18 downward-sloping, the 11st bar 19 is downward-sloping, and the tenth bar 18 becomes one between the 11st bar 19
Determine angle, and make every open chain place plane and the corresponding bar less parallel connecting this open chain in closed chain.This time-varying born of the same parents
What polypody bio-robot imitated is the form of Canis familiaris L., such as Fig. 4.In like manner, on the basis of Fig. 3, drive the first turning joint 9,
3rd turning joint the 11, the 4th turning joint 12 makes the first bar 1 and the second bar 2, the 3rd bar 3 and the 4th bar 4, and the 4th
Bar 4 and the 5th bar 5, the 5th bar 5 and the 6th bar 6, the 6th bar 6 and the 7th bar 7, become between the 8th bar 8 with the first bar 1
Certain angle, and the symmetrical structure of waist bar, at this moment four bars of open chains are about the distribution of closed chain centrosymmetry and the 7th rotating hinge
Chain 15 axis and the 8th turning joint 16 axis not conllinear, so now the 7th turning joint 15 and the 8th turning joint 16
Locked；Second bar 2 and the 3rd bar 3, the 7th bar 7 and the 8th bar 8 conllinear, simultaneously drive the 9th rotation in every open chain
Hinge the 20, the tenth turning joint 21 and connect the 11st turning joint 22 of closed chain and each open chain so that the tenth bar 18
Being inclined upwardly, between the tenth bar the 18 and the 11st bar 19, angle approximates 60 degree, and makes every open chain place plane and close
Chain connects the corresponding bar near normal of this open chain.What this time-varying born of the same parents' polypody bio-robot imitated is the form of Aranea, as
Fig. 5.
On the basis of the closed chain shown in Fig. 1, the axis of described 7th turning joint 15 and the second bar 2 and upper table of the 3rd bar 3
The intersection in face overlaps, and the axis of described 8th turning joint 16 and the upper surface intersection of the 6th bar 6 and the 8th bar 8 overlap；Institute
State the length of the second bar 2 equal to the 3rd bar 3 and the length sum of the 4th bar 4；The length of described 8th bar 8 is equal to the 6th bar 6
Length sum with the 7th bar 7.If the first bar 1 and the second bar 2 angle are 90 degree, the first bar 1 with the 8th bar 8 angle is
When 90 degree, the most described 7th turning joint 15 and the axis collinear of the 8th turning joint 16；Now, the 7th rotating hinge is driven
Chain 15 rotates 180 degree or the 8th turning joint 16 rotates 180 degree or simultaneously drives the 7th turning joint 15 and the 8th rotating hinge
Chain 16 rotates 180 degree, the upper surface of the first bar 1 and the upper surface of the 5th bar 5 can be made to overlap, the upper surface of the second bar 2
Overlap with upper surface, the upper surface of the 4th bar 4 of the 3rd bar 3, the upper surface of the 8th bar 8 and the upper surface of the 6th bar 6,
The upper surface of the 7th bar 7 overlaps, the axis of the first turning joint 9 and the dead in line of the 3rd turning joint 11, and second rotates
The axis of hinge 10 and the dead in line of the 4th turning joint 12, be positioned at the axis of the 11st turning joint 22 of the second bar 2
Dead in line with the 11st turning joint 22 being positioned at the 4th bar 4, it is positioned at the 11st turning joint 22 of the 6th bar 6
The dead in line of axis and the 11st turning joint 22 being positioned at the 8th bar 8, so that this Bian Bao four-leg bionic robot realizes
Waist reclinates structure state.
Select first turning joint the 9, second turning joint the 10, the 3rd turning joint the 11, the 4th turning joint 12, the 5th turn
Any three conducts in dynamic hinge the 13, the 6th turning joint 14 drive；Meanwhile, described 9th turn in every open chain is driven
Move hinge the 20, the tenth turning joint 21 and connect closed chain and the 11st turning joint 22 of open chain, so that this utility model
Bian Bao four-leg bionic robot reaches to drive completely.
It is presented herein below and realizes the instantiation that waist reclinates.
On the architecture basics shown in Fig. 3, drive the 8th turning joint 16 make the 3rd bar the 3, the 4th bar the 4, the 5th bar 5,
6th bar the 6, the 7th bar 7 place plane revolves turnback around the 7th turning joint 15 and the 8th turning joint 16 axis, at this moment
The upper surface of the upper surface of the 3rd bar 3, the upper surface of the 4th bar 4 and the second bar 2 overlaps, the upper surface of the 5th bar 5 and the
The upper surface of one bar 1 overlaps, and the upper surface of the upper surface of the 6th bar 6, the upper surface of the 7th bar 7 and the 8th bar 8 overlaps.
And the 3rd turning joint 11 axis and the first turning joint 9 axis collinear, the axis of the 4th turning joint 12 and second rotates
The axis collinear of hinge 10.This process i.e. completes doubling before and after robot waist.Drive the first turning joint 9 He the most again
3rd turning joint 11 rotates equal angular, drives the 4th turning joint 12 to turn an angle so that the first bar 1 and the
Two bars 2 (the 3rd bar 3, the 4th bar 4 and the 5th bar 5), the first bar 1 and the 8th bar 8 (the 5th bar 5 and the 6th bar 6,
Seven bars 7) angle approximation 150 degree, what this time-varying born of the same parents' polypody bio-robot imitated is the form of Mantidis, such as Fig. 6.
Embodiment two, waist use eight bar metamorphic mechanisms and have the polypody bio-robot of six open-chain structures.
As shown in Figure 7 and Figure 8, including a closed chain and four open chains, as it is shown in figure 1, described closed chain is by being sequentially connected with
The first bar the 1, second bar the 2, the 3rd bar the 3, the 4th bar the 4, the 5th bar the 5, the 6th bar the 6, the 7th bar 7 and the 8th bar 8 institute
The eight bar metamorphic mechanisms constituted, as in figure 2 it is shown, described open chain is a 2R serial mechanism.
As shown in Figure 7 and Figure 8, when open chain number is six, the 9th bar 17 in six bars of open chains is respectively by 1 the 11st
Turning joint 22 rotates hinged with first bar the 1, second bar the 2, the 4th bar the 4, the 5th bar the 5, the 6th bar 6 and the 8th bar 8,
The axis of six the 11st turning joints 22 is parallel with the axis of the first turning joint 9 and falls at the 9th bar the 17, the tenth bar
In the plane at the 18 and the 11st bar 19 place.
Article six, in the embodiment of open chain, closed linkage and driving select identical with the embodiment of aforesaid four open chains, this
In be not repeated.Choose below the first turning joint the 9, the 3rd turning joint the 11, the 4th turning joint 12 in closed chain and
8th turning joint 16 is to drive joint to illustrate this embodiment to realize the situation that waist reclinates.
180 degree are rotated or the 8th turning joint 16 rotates 180 degree or simultaneously drives the 7th turn when driving the 7th turning joint 15
Dynamic hinge 15 and the 8th turning joint 16 rotate 180 degree, can make upper surface and the upper surface of the 5th bar 5 of the first bar 1
Overlapping, the upper surface of the upper surface of the second bar 2 and the upper surface of the 3rd bar 3, the 4th bar 4 overlaps, the upper table of the 8th bar 8
Face overlaps with upper surface, the upper surface of the 7th bar 7 of the 6th bar 6, the axis of the first turning joint 9 and the 3rd turning joint
The dead in line of 11, the axis of the second turning joint 10 and the dead in line of the 4th turning joint 12, it is positioned at the second bar 2
The axis of the 11st turning joint 22 and the dead in line of the 11st turning joint 22 being positioned at the 4th bar 4, it is positioned at the 6th bar 6
The dead in line of axis and the 11st turning joint 22 being positioned at the 8th bar 8 of the 11st turning joint 22；Select first
Turning joint the 9, second turning joint 10, the 3rd turning joint 11, the 4th turning joint 12, the 5th turning joint 13,
Any three conducts in six turning joints 14 drive；Meanwhile, drive described 9th turning joint 20 in every open chain,
Ten turning joints 21 and connection closed chain and the 11st turning joint 22 of open chain, so that this utility model becomes born of the same parents' bionic 6-leg machine
Device people reaches the driving completely that waist reclinates.
On the basis of structure shown in Fig. 7, described first turning joint the 9, the 3rd turning joint 11 is parallel, and i.e. first rotates
Hinge the 9, the 3rd turning joint the 11, the 4th turning joint 12 makes the first bar 1 and the second bar 2, the 4th bar 4 and the 5th bar
5, the angle between the 6th bar 6 and the 5th bar 5 is 90 degree, as it is shown in figure 1, then drive the 8th turning joint 16 to make
3rd bar the 3, the 4th bar the 4, the 5th bar the 5, the 6th bar the 6, the 7th bar 7 place plane rotates around the 8th turning joint 16 axis
180 degree, at this moment the upper surface of the upper surface of the 3rd bar 3, the upper surface of the 4th bar 4 and the second bar 2 overlaps, the 5th bar 5
The upper surface of upper surface and the first bar 1 overlaps, the upper surface of the 6th bar 6, the upper surface of the 7th bar 7 and the 8th bar 8 upper
Surface overlaps, and the axis of the 3rd turning joint 11 and the axis collinear of the first turning joint 9, the 4th turning joint 12
Axis and the axis collinear of the second turning joint 10.This process i.e. completes doubling before and after robot waist, now closed linkage
It is folded into a 2R serial mechanism.Now, then drive the first turning joint 9 and the 3rd turning joint 11 rotate equal angular,
4th turning joint 12 so that the first bar 1 and second bar the 2, first bar 1 and the 8th bar 8, the 3rd bar 3 and the 4th of conllinear
Bar 4 and the 5th bar 5, conllinear the 6th bar 6 and the 7th bar 7 and the 5th bar 5 between angle all approximate 150 degree.At this moment should
Become the imitation of born of the same parents' polypody bio-robot is the form of Scolopendra, such as Fig. 8.
In this utility model, space eight bar metamorphic mechanisms (i.e. closed chain) has multiple structure state, every Zhong Goutaixia mechanism topology knot
Structure and degree of freedom are not quite similar.
This utility model becomes waist mechanism (closed chain) deformable of born of the same parents' polypody bio-robot, can carry out motion and adaptability is adjusted
Joint.Such as running into narrower bend when, this utility model can make one angle of waist twisting, it is possible to successfully rounding
This bend, if the polypody bio-robot of rigidity waist then can not accomplish this point.
This utility model is become born of the same parents' polypody bio-robot and is deformed by waist mechanism (closed chain), can regulate waist (closed chain)
Overall center of gravity so that the center of gravity of waist is in position optimal in stable region all the time, and change born of the same parents' bio-robot so can be made to transport
Row is more stable.
This utility model becomes the deformation by waist mechanism (closed chain) of born of the same parents' polypody bio-robot, it is possible to achieve bends over, faces upward waist,
The action swayed one's hips, these actions are of great advantage to the regulation of bio-robot motion fitness, and this point is rigidity waist machine
Device people do not accomplish.
This utility model becomes born of the same parents' polypody bio-robot can be during running by the motion of two horizontal direction turning joints
Playing the effect of buffering and damping, the waist with certain flexibility can improve the running speed of robot, more here
Can be confirmed from run attitude and the speed of the horse of simulation and cheetah.
This utility model becomes the change by waist mechanism (closed chain) of born of the same parents' polypody bio-robot, and robot can not only change respectively
Relative position relation between bar lower limb (open chain), can also change form and the rigidity of waist itself simultaneously, and comprehensive with
Upper two kinds of changes, can be combined into multiclass zoomorphism, it is achieved bionical to many animals form, and then can collect all kinds of dynamic
The feature of thing, such as the motility of reptile, the stability of insects animal, the speed of mammal, saves
Limb class animal trick shares characteristic.
By analyzing the reptile lumbar spine skeleton structure in nature, its structure is corresponding in this utility model closed chain two
Individual horizontal direction turning joint.Simultaneously taking account of the relative position relation of the lower limb of various animal, proposing in this utility model can
Become the concept of waist (variable closed chain), i.e. two revolute pairs in plane eight-linkage mechanism have been changed into the level side of two conllinear
To turning joint, obtain a kind of space eight bar metamorphic mechanisms with multiple structure state.
Two revolute pairs that first five waist bar is parallel to each other by axis connect, therefore first five article of waist bar (the 3rd bar the 3, the 4th bar 4,
5th bar the 5, the 6th bar 6 and the 7th bar 7) the most coplanar, form first half waist plane.In like manner, rear three waist bar (the second bars
2, the first bar 1 and the 8th bar 8) the most coplanar, form later half waist plane.Two horizontal direction rotating hinge chain rivets in closed chain
Line is all in the two plane.According to these two intersections whether conllinear, two kinds of different structure states can be obtained, the most not during conllinear
For plane structure state, it is space structure state during conllinear.
Plane structure state: when the not conllinear of the axis of horizontal direction turning joint, according to geometry fundamental theorem: two is crossing flat
Face has and only an intersection understands, now former and later two half waist planes overlapping, at this moment the horizontal direction axle in two hook hinge
Line can not rotate, locked.At this moment closed chain mechanism is equivalent to the plane eight-linkage mechanism of a Three Degree Of Freedom.
Space structure state: when the conllinear of the axis of two horizontal direction turning joints, front and back two halves waist plane can around this altogether
The axis of line rotates against, and at this moment former and later two half waist planes no longer overlap, and can obtain also according to geometry fundamental theorem,
As long as front and back half waist plane is non-coplanar, the horizontal axis of two hook hinge just must conllinear.So under this kind of structure state, later half
Two revolute pairs of waist can not rotate (because once rotating the axis of two horizontal direction turning joints by no longer conllinear), locked
The position of 90 degree.At this moment mechanism is equivalent to the spatial four-bar mechanism of a two-freedom.
Two horizontal direction turning joints about the while that the transition structure state of two kinds of structure states of plane and space being before and after half waist co-planar
Axis collinear, in transitive state, mechanism can be freely accessible to any one of both the above structure state.And in plane structure state
Also have a kind of special circumstances, when first half waist plane is around axis (the left and right two horizontal direction turning joint of horizontal direction turning joint
Axis collinear) rotation turnback after, front and back half waist plane is the most coplanar, and now closed chain mechanism is also the transition structure of two kinds of structure states
State, particularly when Attacking Midfielder's bar (the 5th bar 5) and low back bar (the first bar 1) overlap when, mechanism becomes one two certainly
By the serial mechanism spent.
By using above-mentioned space eight bar metamorphic mechanisms as reptile waist structure, and in the bar metamorphic mechanisms rod member of space eight
It is arranged symmetrically with lower limb (open chain) at Dian i.e. can obtain becoming born of the same parents' bio-robot.
Although being described this utility model above in conjunction with accompanying drawing, but this utility model is not limited to above-mentioned concrete
Embodiment, above-mentioned detailed description of the invention is only schematic rather than restrictive, the ordinary skill people of this area
Member is under enlightenment of the present utility model, in the case of without departing from this utility model objective, it is also possible to make many variations, this
Within belonging to protection of the present utility model.
Claims (4)
1. waist uses a polypody bio-robot for eight bar metamorphic mechanisms, including a closed chain and four or six open chains, its
It is characterised by:
Described closed chain be by the first bar (1) being sequentially connected with, the second bar (2), the 3rd bar (3), the 4th bar (4), the 5th
The eight bar metamorphic mechanisms that bar (5), the 6th bar (6), the 7th bar (7) and the 8th bar (8) are constituted；
The two ends of the first bar (1) are respectively by the first turning joint (9) and the second turning joint (10) and the second bar (2)
One end be connected with one end of the 8th bar (8), the axis of the first turning joint (9) and the second turning joint (10) is mutual
Parallel；
The two ends of the 5th bar (5) are respectively by the 3rd turning joint (11) and the 4th turning joint (12) and the 4th bar (4)
One end be connected with one end of the 6th bar (6), the axis of the 3rd turning joint (11) and the 4th turning joint (12) is mutual
Flat shape；
Described first bar (1) is identical with the 5th bar (5) length, described second bar (2) and described 8th bar (8) length
Identical, described 4th bar (4) is identical with the length of described 6th bar (6)；
The two ends of the 3rd bar (3) are respectively by the 5th turning joint (13) and the 7th turning joint (15) and the 4th bar (4)
The other end and the other end of the second bar (2) be connected, the axis of the 5th turning joint (13) and the 7th turning joint (15)
It is mutually perpendicular to；
The two ends of the 7th bar (7) are respectively by the 6th turning joint (14) and the 8th turning joint (16) and the 6th bar (6)
The other end and the other end of the 8th bar (8) be connected, the axis of the 6th turning joint (14) and the 8th turning joint (16)
It is mutually perpendicular to；
Described 3rd bar (3) is identical with the 7th bar (7) length；
The structure of every open chain is identical, and its structure is: include the 9th bar (17) in same plane, the tenth bar (18) and
11 bars (19), the two ends of described tenth bar (18) are respectively by the 9th turning joint (20) and the tenth turning joint (21)
It is connected with the 9th bar (17) and the 11st bar (19), described 9th turning joint (20) and the tenth turning joint (21)
Axis be parallel to each other；
It is four or six according to open chain number and has one of following two kinds of situations:
When open chain number is four, the 9th bar (17) in four bars of open chains is respectively by 1 the 11st turning joint (22)
Rotate hinged with the second bar (2), the 4th bar (4), the 6th bar (6) and the 8th bar (8), four the 11st turning joints
(22) axis is parallel with the axis of the first turning joint (9) and falls the 9th bar (17), the tenth bar (18) and
In the plane at 11 bars (19) place；
When open chain number is six, the 9th bar (17) in six bars of open chains is respectively by 1 the 11st turning joint (22)
Rotate with the first bar (1), the second bar (2), the 4th bar (4), the 5th bar (5), the 6th bar (6) and the 8th bar (8)
Hinged, the axis of six the 11st turning joints (22) is parallel with the axis of the first turning joint (9) and falls at the 9th bar
(17), in the plane at the tenth bar (18) and the 11st bar (19) place.
The most according to claim 1, waist uses the polypody bio-robot of eight bar metamorphic mechanisms, it is characterised in that when
When one bar (1) and the second bar (2) angle are 90 degree, the first bar (1) is 90 degree with the 8th bar (8) angle, described
7th turning joint (15) and the axis collinear of the 8th turning joint (16).
The most according to claim 2, waist uses the polypody bio-robot of eight bar metamorphic mechanisms, it is characterised in that described
The intersection of the axis of the 7th turning joint (15) and the upper surface of the second bar (2) and the 3rd bar (3) overlaps, and the described 8th
The axis of turning joint (16) and the upper surface intersection of the 6th bar (6) and the 8th bar (8) overlap；Described second bar (2)
Length equal to the length sum of the 3rd bar (3) and the 4th bar (4)；The length of described 8th bar (8) is equal to the 6th bar (6)
Length sum with the 7th bar (7).
The most according to claim 1, waist uses the polypody bio-robot of eight bar metamorphic mechanisms, it is characterised in that described
First turning joint (9), the 3rd turning joint (11) are parallel.
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| CN201620203243.XU CN205499110U (en) | 2016-03-16 | 2016-03-16 | Waist uses eight pole metamorphic mechanism 's polypody bionic robot |
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| CN201620203243.XU CN205499110U (en) | 2016-03-16 | 2016-03-16 | Waist uses eight pole metamorphic mechanism 's polypody bionic robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619396A (en) * | 2016-03-16 | 2016-06-01 | 天津市银河飞跃科技有限公司 | Multi-foot bionic robot with eight-rod metamorphic mechanism on waist and driving method |
| CN107856755A (en) * | 2017-10-12 | 2018-03-30 | 广西大学 | A kind of eight sufficient step-by-step machine robot mechanisms |
| CN109129423A (en) * | 2018-09-06 | 2019-01-04 | 燕山大学 | One kind surpassing 6 rank monocycle spatial linkages and design method |
| CN109398521A (en) * | 2017-08-15 | 2019-03-01 | 天津市大然科技有限公司 | Design method for static gait of quadruped robot under participation of waist twisting |
-
2016
- 2016-03-16 CN CN201620203243.XU patent/CN205499110U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619396A (en) * | 2016-03-16 | 2016-06-01 | 天津市银河飞跃科技有限公司 | Multi-foot bionic robot with eight-rod metamorphic mechanism on waist and driving method |
| CN109398521A (en) * | 2017-08-15 | 2019-03-01 | 天津市大然科技有限公司 | Design method for static gait of quadruped robot under participation of waist twisting |
| CN107856755A (en) * | 2017-10-12 | 2018-03-30 | 广西大学 | A kind of eight sufficient step-by-step machine robot mechanisms |
| CN109129423A (en) * | 2018-09-06 | 2019-01-04 | 燕山大学 | One kind surpassing 6 rank monocycle spatial linkages and design method |
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Effective date of registration: 20221025 Address after: 519031 room 105-71398, No. 6, Baohua Road, Hengqin new area, Zhuhai City, Guangdong Province (centralized office area) Patentee after: Zhuhai Daran Robot Technology Co.,Ltd. Address before: 300000 Jinzu Square-502-14, No. 5 Meiyuan Road, Binhai New Area, Tianjin Patentee before: TIANJIN DARAN TECHNOLOGY CO.,LTD. |
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Address after: Room 309, Building 18, No. 1889, Huandao East Road, Hengqin New District, Zhuhai City, Guangdong Province, 519031 Patentee after: Zhuhai Daran Robot Technology Co.,Ltd. Address before: 519031 room 105-71398, No. 6, Baohua Road, Hengqin new area, Zhuhai City, Guangdong Province (centralized office area) Patentee before: Zhuhai Daran Robot Technology Co.,Ltd. |
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