CN107351117A - A kind of bio-robot compliant tail portions mechanism - Google Patents
A kind of bio-robot compliant tail portions mechanism Download PDFInfo
- Publication number
- CN107351117A CN107351117A CN201710554971.4A CN201710554971A CN107351117A CN 107351117 A CN107351117 A CN 107351117A CN 201710554971 A CN201710554971 A CN 201710554971A CN 107351117 A CN107351117 A CN 107351117A
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- China
- Prior art keywords
- bio
- connector
- joint
- positioning hole
- tail portions
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of bio-robot compliant tail portions mechanism, including：Main turning joint, it is connected by spherical secondary and gantry pillars with bionic machine human body；And secondary active unit, it is connected by spring and joint connector with main turning joint.Bio-robot compliant tail portions mechanism of the present invention, it is passive freedom degree, by bobbing, realizes and reset by spring, there is the characteristics of tail swing is flexible, and system control is simple.
Description
Technical field
The present invention relates to a kind of bio-robot, and in particular to a kind of bio-robot compliant tail portions mechanism.
Background technology
With the development of science and technology, the application of robot is also more and more extensive, and bio-robot develops as robot
One subject of application, is also increasingly valued by people, and development is also more and more faster.
An important component of the bio-robot afterbody as wherein bio-robot, the feature of its mechanism joint,
Type of drive, joint freedom degrees etc. play critically important influence to the stability of robot.Bio-robot tail structure at present
It is relative control system complexity to be present, swing the problems such as dumb.
The content of the invention
The present invention is, and it is an object of the present invention to provide a kind of bio-robot compliant tail portions machine in order to solving the above problems and carry out
Structure.
The invention provides a kind of bio-robot compliant tail portions mechanism, have the feature that, including：Main activity is closed
Section, is circular configuration, is connected by spherical secondary and gantry pillars with bionic machine human body；And secondary active unit, pass through
Spring and joint connector are connected with main turning joint.
In bio-robot compliant tail portions mechanism provided by the invention, it can also have the feature that：Wherein, it is secondary living
Moving cell includes multiple secondary turning joints, and multiple secondary turning joints are the circular configuration that size is successively decreased and is sequentially connected with successively.
In bio-robot compliant tail portions mechanism provided by the invention, it can also have the feature that：Wherein, main work
Movable joint also has the spring support positioning hole being evenly distributed on circular configuration.
In bio-robot compliant tail portions mechanism provided by the invention, it can also have the feature that：Wherein, connect
Part, have connector body and to both sides extend extension, extension it is horizontally arranged have connector positioning hole with
Connector swings spacing hole；Cross hinge connector, one end have the groove to match with extension, the water at the both ends of the groove
Square set up the spill through hole for swinging positioning hole and arc-shaped；The vertical direction of the other end is provided with rotational positioning
Hole.Swing positioning hole to be connected with connector positioning hole, for realizing swinging up and down for afterbody；Spill through hole swings with connector and limited
The connection of position hole, the amplitude swung up and down for limiting afterbody；Rotational positioning hole is connected with main turning joint and secondary active unit,
For realizing swinging for afterbody.
In bio-robot compliant tail portions mechanism provided by the invention, it can also have the feature that：Wherein, spring
Pass through spring support connection corresponding with spring support positioning hole.
In bio-robot compliant tail portions mechanism provided by the invention, it can also have the feature that：Wherein, spring
Coefficient of elasticity scope be 0-100N/m.
The effect of invention and effect
According to a kind of bio-robot compliant tail portions mechanism involved in the present invention, because bio-robot compliant tail portions machine
The turning joint of structure is circular configuration, and size is successively decreased successively, thus the tail structure is simple in construction, and stability is good；Main work
Between movable joint and secondary active unit, and connected between each secondary turning joint by spring and joint connector, joint
Connector connection can realize bobbing and weaving for afterbody, and the spill through hole on joint connector can be limited above and below afterbody
The amplitude of swing, the swing of bio-robot is set to have more bio-imitability；Afterbody activity is passive freedom degree, and spring is evenly distributed on work
On movable joint so that tail structure stability is good, and afterbody leans on bobbing, realizes and resets by spring so that swings more flexible
Property and flexible shape.The main turning joint of additional step motor control only need to be passed through, so that it may control the flexible of whole afterbody
Swing.So bio-robot compliant tail portions mechanism of the present invention has simple in construction, stability is good, and tail swing is flexible, system
Control the characteristics of simple.
Brief description of the drawings
Fig. 1 is a kind of bio-robot compliant tail portions mechanism schematic perspective view in embodiments of the invention；Fig. 2 is the present invention
Embodiment in main movable joint structure schematic diagram；
Fig. 3 is spring support structural representation in embodiments of the invention；
Fig. 4 is joint connector structural representation in embodiments of the invention；
Fig. 5 is connecting-piece structure schematic diagram in embodiments of the invention；
Fig. 6 is cross hinge connecting-piece structure schematic diagram in embodiments of the invention；
Fig. 7 is the first secondary movable joint structure schematic diagram in embodiments of the invention；And
Fig. 8 is the 5th secondary movable joint structure schematic diagram in embodiments of the invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, it is real below
Example combination accompanying drawing is applied to be specifically addressed a kind of bio-robot compliant tail portions mechanism of the present invention.
Fig. 1 is a kind of bio-robot compliant tail portions mechanism schematic perspective view in embodiments of the invention.
As shown in figure 1, a kind of bio-robot compliant tail portions mechanism 100 includes main turning joint 10, multiple spring supports
20th, multiple springs 30, multiple joint connectors 40 and secondary active unit 50.
Fig. 2 is main movable joint structure schematic diagram in embodiments of the invention.
As shown in Fig. 2 main turning joint 10 includes spherical secondary 11, gantry pillars 12, connection free bearing 13, spring support positioning
Hole 14.
Main turning joint 10 is circular configuration, inside sets two cross-shaped support shafts, and support shaft intersection point crosses the center of circle.
Spherical secondary 11 are arranged on circle centre position of the main turning joint 10 close to robot body side, with bionic machine human body
Connection.
Gantry pillars 12 is arranged on main turning joint 10 close to robot body side, and is arranged on any one support shaft
Both ends, be connected with bionic machine human body.
Connection free bearing 13 is arranged on main circle centre position of the turning joint 10 away from robot body side.
Spring support positioning hole 14 is arranged on the side away from machine human body on circular configuration, with multiple spring supports 20
In a corresponding connection.In the present embodiment, the number of spring support positioning hole 14 is 4, is evenly distributed on circular configuration
In.
Fig. 3 is spring support structural representation in embodiments of the invention.
As shown in figure 3, spring support 20 is T-shape structure, two through holes are provided with horizontal direction, vertical direction is set
There is a through hole.Spring support 20 passes through two through holes in horizontal direction and the multiple springs being arranged in main turning joint 10
Rack positioning hole 14 is corresponding to be connected；Pass through the connection corresponding with multiple springs 30 of the through hole in vertical direction.
The coefficient of elasticity scope of spring 30 is 0-100N/m, and user can select the coefficient of elasticity model according to actual conditions
Enclose interior value.
Fig. 4 is joint connector structural representation in embodiments of the invention.
As shown in figure 4, joint connector 40 includes connector 41 and two cross hinge connectors 42,43.Joint connector
40 one end are connected with main turning joint 10, and the other end is connected with secondary active unit 50.
Fig. 5 is connecting-piece structure schematic diagram in embodiments of the invention.
Connector 41, there is connector body 411 and the extension 412 extended to both sides, the level side of extension 412
To connector positioning hole 4121 is provided with spacing hole 4122 is swung with connector.Connector, which swings to be provided with spacing hole 4122, to be determined
Position pin (not indicated in figure).
Two cross hinge connectors 42,43 structures and the annexation all same with connector 41, using one of them as
Example is described in detail.
Fig. 6 is cross hinge connecting-piece structure schematic diagram in embodiments of the invention.
Cross hinge connector 42, one end have the groove 421 to match with extension 412, the level at the both ends of groove 421
The spill through hole 423 for swinging positioning hole 422 and arc-shaped is provided with direction；It is fixed that the vertical direction of the other end is provided with rotation
Position hole 424.
Swing positioning hole 422 to be connected with connector positioning hole 4121, form a swinging pair, for realizing the upper and lower of afterbody
Swing.
Spill through hole 423 is stuck in the alignment pin that connector is swung on spacing hole 4122, is swung up and down for limiting afterbody
Amplitude.
Rotational positioning hole 424 connects with being connected free bearing 13, a revolute pair is formed, for realizing swinging for afterbody.
As shown in figure 1, secondary active unit 50 includes the first secondary turning joint 51, the second secondary pair of turning joint the 52, the 3rd is lived
Movable joint 53,54 and the 5th secondary turning joint 55 of fourth officer turning joint.Secondary active unit 50 passes through spring 30 and joint
Connector 40 is connected 10 with main turning joint.
In the present embodiment, the first secondary turning joint 51, the second secondary turning joint 52, the 3rd secondary turning joint 53 and
The structure of fourth officer turning joint 54 is similar, and size is successively decreased successively, is described in detail by taking the first secondary turning joint 51 as an example.
Fig. 7 is the first secondary movable joint structure schematic diagram in embodiments of the invention.
As shown in fig. 7, the first secondary turning joint 51 is circular configuration, both sides are respectively provided with connection free bearing 511 with being uniformly distributed
Multiple spring support positioning holes 512.
Multiple spring support positioning holes 512 close to the main side of turning joint 10 pass through spring fastening and multiple springs 40
The other end is corresponding to be connected.
Connection free bearing 511 close to the main side of turning joint 10 is connected with the rotational positioning hole on cross hinge connector 43,
Form a revolute pair.
Second secondary turning joint 52 is connected with the first secondary turning joint 51, the 3rd secondary secondary activity of turning joint 53 and second is closed
The connection of section 52, fourth officer turning joint 54 is connected with the 3rd secondary turning joint 53, connected mode with the first secondary turning joint 51
And the connected mode between main turning joint 10 is identical.
Fig. 8 is the 5th secondary movable joint structure schematic diagram in embodiments of the invention.
As shown in figure 8, the 5th secondary turning joint 55 is only provided with connection free bearing 551 and spring support positioning hole 552 in side.
The size of 5th secondary turning joint 55 is minimum, is connected with identical connected mode with fourth officer turning joint 54.
The course of work of bio-robot compliant tail portions mechanism 100 is：An additional stepper motor (not indicated in figure) is made
For control system, main turning joint 10 is connected by spherical secondary 11 and gantry pillars 12 with bionic machine human body；Secondary activity
Unit 20, it is connected by spring 30 and joint connector 40 with main turning joint 10；First secondary turning joint 51, second is secondary living
Movable joint 52, the 3rd secondary turning joint 53,54 and the 5th secondary turning joint 55 of fourth officer turning joint, size are successively decreased successively,
And be sequentially connected with, connected mode is identical with the connected mode between secondary active unit 20 and main turning joint 10.
By the swing of the additional main turning joint 10 of a step motor control, by bobbing, realized by spring multiple
Position, to drive the first secondary turning joint 21 in secondary active unit 20 below, the second secondary secondary activity of turning joint the 22, the 3rd to close successively
Section 23, the flexible swing of 24 and the 5th secondary turning joint 25 of fourth officer turning joint, realize whole bio-robot flexibility tail
The linkage of portion mechanism 100.
The effect of embodiment and effect
According to a kind of bio-robot compliant tail portions mechanism involved in the present invention, because bio-robot compliant tail portions machine
The turning joint of structure is circular configuration, and size is successively decreased successively, thus the tail structure is simple in construction, and stability is good；Main work
Between movable joint and secondary active unit, and connected between each secondary turning joint by spring and joint connector, joint
Connector connection can realize bobbing and weaving for afterbody, and the spill through hole on joint connector can be limited above and below afterbody
The amplitude of swing, the swing of bio-robot is set to have more bio-imitability；Afterbody activity is passive freedom degree, and spring is evenly distributed on work
On movable joint so that tail structure stability is good, and afterbody leans on bobbing, realizes and resets by spring so that swings more flexible
Property and flexible shape.The main turning joint of additional step motor control only need to be passed through, so that it may control the flexible of whole afterbody
Swing.So bio-robot compliant tail portions mechanism of the present invention has simple in construction, stability is good, and tail swing is flexible, system
Control the characteristics of simple.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (6)
- A kind of 1. bio-robot compliant tail portions mechanism, it is characterised in that including：Main turning joint, it is circular configuration, is connected by spherical secondary and gantry pillars with bionic machine human body；AndSecondary active unit, it is connected by spring and joint connector with the main turning joint.
- 2. bio-robot compliant tail portions mechanism according to claim 1, it is characterised in that：Wherein, the secondary active unit includes multiple secondary turning joints, and multiple secondary turning joints are that size is successively decreased simultaneously successively The circular configuration being sequentially connected with.
- 3. bio-robot compliant tail portions mechanism according to claim 1, it is characterised in that：Wherein, the main turning joint also has the spring support positioning hole being evenly distributed on the circular configuration.
- 4. bio-robot compliant tail portions mechanism according to claim 1, it is characterised in that：Wherein, the joint connector, including：Connector, there is connector body and the extension extended to both sides, the horizontally arranged of the extension to have company Fitting positioning hole swings spacing hole with connector；Cross hinge connector, one end have the groove that matches with the extension, in the horizontal direction at the both ends of the groove It is provided with the spill through hole for swinging positioning hole and arc-shaped；The vertical direction of the other end is provided with rotational positioning hole, whereinThe swing positioning hole is connected with the connector positioning hole, for realizing swinging up and down for afterbody,The spill through hole swings spacing hole with the connector and is connected, the amplitude swung up and down for limiting afterbody,The rotational positioning hole is connected with the main turning joint and the secondary active unit, for realizing that the left and right of afterbody is put It is dynamic.
- 5. described bio-robot compliant tail portions mechanism according to claim 1, it is characterised in that：Wherein, the spring passes through spring support connection corresponding with the spring support positioning hole.
- 6. described bio-robot compliant tail portions mechanism according to claim 1, it is characterised in that：Wherein, the coefficient of elasticity scope of the spring is 0-100N/m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554971.4A CN107351117B (en) | 2017-07-10 | 2017-07-10 | A kind of bio-robot compliant tail portions mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710554971.4A CN107351117B (en) | 2017-07-10 | 2017-07-10 | A kind of bio-robot compliant tail portions mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351117A true CN107351117A (en) | 2017-11-17 |
| CN107351117B CN107351117B (en) | 2019-11-01 |
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| CN201710554971.4A Active CN107351117B (en) | 2017-07-10 | 2017-07-10 | A kind of bio-robot compliant tail portions mechanism |
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Cited By (3)
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| CN107813305A (en) * | 2017-11-28 | 2018-03-20 | 常州大学 | A kind of snakelike bio-robot based on flexible concertina joint |
| WO2019104906A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot having same |
| CN111720663A (en) * | 2020-06-17 | 2020-09-29 | 山东大学 | Modularized pipeline robot based on tension entirety |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107813305A (en) * | 2017-11-28 | 2018-03-20 | 常州大学 | A kind of snakelike bio-robot based on flexible concertina joint |
| WO2019104906A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot having same |
| CN109866214A (en) * | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot with it |
| CN109866214B (en) * | 2017-12-01 | 2024-05-24 | 佛山顺德光启尖端装备有限公司 | Bionic flexible structure and robot with same |
| CN111720663A (en) * | 2020-06-17 | 2020-09-29 | 山东大学 | Modularized pipeline robot based on tension entirety |
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| CN107351117B (en) | 2019-11-01 |
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