CN213541223U - Power transmission system of bionic mechanism - Google Patents
Power transmission system of bionic mechanism Download PDFInfo
- Publication number
- CN213541223U CN213541223U CN202020987207.3U CN202020987207U CN213541223U CN 213541223 U CN213541223 U CN 213541223U CN 202020987207 U CN202020987207 U CN 202020987207U CN 213541223 U CN213541223 U CN 213541223U
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- power transmission
- angle
- transmission system
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 135
- 230000007246 mechanism Effects 0.000 title claims abstract description 115
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 230000003592 biomimetic effect Effects 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000008878 coupling Effects 0.000 description 20
- 238000010168 coupling process Methods 0.000 description 20
- 238000005859 coupling reaction Methods 0.000 description 20
- 230000005389 magnetism Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000009826 distribution Methods 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 230000002572 peristaltic effect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a power transmission system of a bionic mechanism, which comprises a right-angle transmission mechanism, wherein the right-angle transmission mechanism realizes the transmission of power between movable arms and provides power output at a joint part; the right-angle transmission mechanism comprises at least two groups of right-angle transmission units, each group of right-angle transmission units comprises 2 transmission pieces with mutually vertical rotating shafts, and each transmission piece comprises a stator and a rotor; the different groups of right-angle transmission units are mutually connected through rotors. The utility model discloses can convey a plurality of joint positions and provide power take off with the single-point power of power supply at single joint position input to make bionical mechanism can realize multiple complicated motion law, movement track and special motion.
Description
Technical Field
The utility model relates to a bionical mechanism technical field especially relates to a power transmission system of bionical mechanism.
Background
Over the years, many researchers have actively explored bionic mechanisms from aspects of kinematics, mechanics, dynamics, materials science, biology and the like to obtain certain research results, but the research results have not substantially broken through and developed in the fields of mechanical snakes, peristaltic robots, artificial muscles, memory materials and the like, and the related research results are difficult to be generally applied.
For the technical scheme of adopting the joint driving motor, because an independent power driving device (such as a steering engine, a motor and the like) must be provided for each joint point, the contradiction between the volume weight of the driving device and the requirement of large torsion load is very prominent, and a good balance and solution are difficult to find.
For the wire driving mode, when facing a plurality of nodes which move continuously, the precision and the reliability are difficult to obtain stable guarantee, the connection and the crossing of each transmission wire are complex, the transmission wires are easy to intertwine, the transmission wires generate movement interference with each other, the requirement on the parameter tolerance of the manufacturing process is high, the complexity is high, and the running problems are more, such as: the transmission cord or the belt is aged, skidded, abraded, has poor overload performance, high failure rate and high maintenance cost, the maintenance process is also complex, and the requirements of diversity and flexibility of application scenes are difficult to meet.
For the realization mode adopting the connecting rod combination mechanism, the mechanical topological structure of the connecting rod combination mechanism is complex, so that the forward and reverse solving processes of kinematics and dynamics are complex, difficult and inefficient, and the modeling complexity of a control algorithm is high. In addition, when the device runs, the components are easy to wear and lock, and are difficult to find and judge when faults occur, and the device has poor maintainability, reliability and expansibility.
In summary, the prior art solutions have many problems and need to consider too many factors when designing, such as: variability and controllability of topology, shape and attitude, torque magnitude, transmission and power, center of gravity matching, load characteristics, dynamic volume-weight distribution, motion execution accuracy control, tempo control, etc., each
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a power transmission system of bionical mechanism is provided, can convey a plurality of joint positions and provide power take off with the single-point power of power supply at single joint position input to make bionical mechanism can realize multiple complicated motion law, movement track and special motion.
In order to solve the technical problem, the utility model discloses a power transmission system of a bionic mechanism, which comprises a plurality of movable arms and a plurality of joint parts arranged on the movable arms, wherein the power transmission system for the bionic mechanism comprises a right-angle transmission mechanism which realizes the transmission of power between the movable arms and provides power output at the joint parts;
the right-angle transmission mechanism comprises at least two groups of right-angle transmission units, each group of right-angle transmission units comprises 2 transmission pieces with mutually vertical rotating shafts, and each transmission piece comprises a stator and a rotor; the different groups of right-angle transmission units are mutually connected through rotors.
Preferably, the movable arm is provided with a fixed bottom plate component, and the fixed bottom plate component is connected with the stator of the right-angle transmission mechanism and connected with the shell of the movable arm.
Preferably, the right-angle transmission mechanism is a magnetic wheel right-angle transmission mechanism or a mechanical bevel gear right-angle transmission mechanism.
The magnetic wheel right-angle transmission mechanism comprises at least two magnetic wheel sets, each magnetic wheel set comprises 2 magnetic wheels with mutually vertical rotating shafts, and each magnetic wheel comprises a magnetic wheel stator and a magnetic wheel rotor; the different groups of magnetic wheels are connected with each other through magnetic wheel rotors. Two groups of magnetic wheels which are fixedly connected on different movable arms are connected with each other through a coupler to complete the power transmission across the movable arms.
Mechanical bevel gear right angle drive mechanism includes two at least bevel gear sets, and each bevel gear set includes 2 pivot mutually perpendicular's bevel gear, and each bevel gear includes bevel gear stator and bevel gear rotor, through bevel gear rotor interconnect between the different bevel gear mechanisms of group. Two groups of bevel gear mechanisms fixedly connected to different movable arms are connected with each other through a coupler to complete power transmission across the movable arms.
Furthermore, adjacent movable arms are respectively positioned on different planes which are parallel to each other, the movable arms are connected in series through joint parts, a power transmission system for the bionic mechanism is arranged inside the movable arms and the joint parts, and the motion track space of the power transmission system for the bionic mechanism is independent of the motion track space of the movable arms.
Specifically, the included angle between two connected movable arms is alpha, and the change range of the included angle alpha is 0-360 degrees.
As an improvement of the scheme, the movable arm is provided with an expansion system, and the expansion system comprises an expansion component or a rolling rotating component.
The extension member is mounted outside the movable arm, which is a member fitted to the movable arm, or the extension member is used to mount an electric device.
The rolling rotating part is connected with the movable arm so that the power transmission system for the bionic mechanism can perform three-dimensional space motion.
Implement the utility model discloses, following beneficial effect has:
the power transmission system of the utility model is arranged inside the movable arm and the joint part and comprises a right-angle transmission mechanism, the right-angle transmission mechanism comprises at least two groups of right-angle transmission units, each group of right-angle transmission units comprises 2 transmission parts with mutually vertical rotating shafts, and each transmission part comprises a stator and a rotor; the different groups of right-angle transmission units are mutually connected through rotors. The power transmission system is not influenced by the topological structure and the shape of the bionic mechanism, and can independently or parallelly control each joint part, namely: the power output of each joint can be provided for the distributed nodes of each joint part by only one power source, and the action of each joint (namely the included angle between adjacent movable arms) can be effectively controlled, so that the bionic action execution task with high torque power and high complexity can be completed.
The power transmission system adopts a right-angle transmission and shaft coupling linkage mode, can ensure that the power from the upper movable arm is smoothly switched at a joint part and is transmitted to the lower movable arm, and by analogy, the power can be continuously transmitted downwards step by step along each movable arm until all the movable arms are reached.
To sum up, the utility model discloses can reduce the complexity of bionic system in structure and control, make its task demand that can adapt to multiple application scene, can realize multiple complex motion law, movement track and special motion.
Drawings
FIG. 1 is a front view of the flexible transmission bionic mechanism of the present invention;
FIG. 2 is a schematic view of the angle between the movable arms;
FIG. 3 is a perspective view of the magnetic wheel right angle drive mechanism transmitting power across the moveable arm;
FIG. 4 is a schematic perspective view of a mechanical bevel gear right angle drive mechanism transmitting power across a moveable arm;
FIG. 5 is a schematic perspective view of a magnetic wheel right angle drive with a stationary base member for the power transmission system;
FIG. 6 is a schematic view of the movable arm being U-shaped;
FIG. 7 is a schematic view of the movable arm being S-shaped;
FIG. 8 is a schematic view of the movable arm being Z-shaped;
FIG. 9 is a front view of the three stage movable arm mechanically coupled;
FIG. 10 is a top view of the single moveable arm of FIG. 9;
FIG. 11 is a top cross-sectional view of the three-stage moveable arm mechanically coupled;
FIG. 12 is a right side cross-sectional view of the movable arm being coupled using the solenoid control coupling means and the solenoid control direction limiting coupling means;
FIG. 13 is a rear cross-sectional view of the movable arm being coupled using the solenoid operated coupling arrangement;
FIG. 14 is a schematic view of the movable arm being coupled using a solenoid controlled direction limiting coupling;
FIG. 15 is a front view of an embodiment of the biomimetic mechanism provided with an expansion system;
FIG. 16 is a bottom view of FIG. 15;
FIG. 17 is a bottom view of another embodiment of a biomimetic mechanism provided with an expansion system;
FIG. 18 is a front view of a biomimetic mechanism provided with yet another embodiment of an expansion system;
figure 19 is a front view of a biomimetic mechanism provided with yet another embodiment of an expansion system.
Wherein the reference numbers are as follows:
a movable arm 1, a movable arm 11, a movable arm 12, a movable arm 13, a movable arm 14, a movable arm 15, a movable arm 16, a movable arm 17, a movable arm 18, and a movable arm 19;
a fixed base member 33, a propeller shaft Q1, a propeller shaft Q2, a propeller shaft Q3;
bevel gear set 32, bevel gear 32A, bevel gear 32B, bevel gear 32A ', bevel gear 32B', bevel gear stator 321A, bevel gear rotor 322A, bevel gear stator 321B, bevel gear rotor 322B, bevel gear stator 321A ', bevel gear rotor 322A', bevel gear stator 321B ', bevel gear rotor 322B';
a power execution system 40;
a mechanical coupling structure 40A, a hollow circular inner shaft 41, a hollow circular outer shaft 42, and a bearing 43
An electromagnetic control coupling device 40B, a first mechanical disk 44, a second mechanical disk 45, an electromagnet 46, a spring component 47 and a transmission shaft Q;
an electromagnetic control direction-limiting connecting device 40C, an electromagnet 48, a spring component 49, a ratchet mechanism 50, a ratchet 51 and a pawl 52;
an expansion system 60, an expansion member 61, a rolling rotation element 62.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings. Only this statement, the utility model discloses the upper and lower, left and right, preceding, back, inside and outside etc. position words that appear or will appear in the text only use the utility model discloses an attached drawing is the reference, and it is not right the utility model discloses a concrete restriction.
As shown in fig. 1 and 2, the utility model discloses a flexible transmission bionic mechanism, which comprises a plurality of movable arms 1 and a plurality of joint parts 2 arranged on the movable arms 1, wherein the adjacent movable arms 1 are respectively arranged on different planes which are parallel to each other, and the movable arms 1 are connected in series through the joint parts 2;
the joint part 2 is used for connecting a power source or outputting power;
the movable arm 1 and the joint part 2 are internally provided with a power transmission system 30, the motion trail space of the power transmission system is independent from the motion trail space of the movable arm, and the power transmission system 30 transmits single-point power input by a power source at a single joint part to a plurality of joint parts 2 and outputs the power;
the joint part 2 is provided with a power execution system 40, the movable arms 1 realize mutual movement through the power execution system 40, the included angle between the two connected movable arms 1 is alpha, and the change range of the included angle alpha is 0-360 degrees.
The utility model discloses a quantity of digging arm is N (N is for being greater than 2 integer), and the total quantity at joint position is N + 1. The bionic mechanism of flexible transmission when N is 9 will be explained in detail. As shown in fig. 1, each movable arm 1 contains two joint sites, namely: the superior and inferior joints. The upper joint of the movable arm 1 is connected with the lower joint of the upper-stage movable arm; the lower joint of the movable arm is connected with the upper joint of the next movable arm. According to the mode, all the movable arms can be connected in series to form the flexible transmission bionic mechanism.
When N is 9, the movable arm 1 of the flexible transmission bionic mechanism of the present invention includes a movable arm 11, a movable arm 12, a movable arm 13, a movable arm 14, a movable arm 15, a movable arm 16, a movable arm 17, a movable arm 18, and a movable arm 19; the joint parts 2 include joint parts 20, 21, 22, 23, 24, 25, 26, 27, 28, and 29. The movable arm 11 is the starting end movable arm of the bionic mechanism, and is used for connecting an input power source at the joint part 20. The movable arm 19 is the end movable arm of the bionic mechanism, and the joint part 29 outputs power outwards.
As shown in fig. 2, the included angle between two connected movable arms 1 is α, the change range of the included angle α is 0-360 °, and 360-degree full-range motion is realized.
The utility model discloses on two planes that are parallel to each other are arranged in respectively to two digging arms 1 that will connect, avoided their movement track's mutual interference. And at each joint part 2, by providing the power transmission system 30, the function of continuously transmitting power across the movable arm is realized.
Specifically, the power transmission system 30 includes a right-angle transmission mechanism, the right-angle transmission mechanism includes at least two sets of right-angle transmission units, each set of right-angle transmission units includes 2 transmission members with mutually perpendicular rotating shafts, and each transmission member includes a stator and a rotor; the different groups of right-angle transmission units are mutually connected through rotors. The power transmission system 30 adopts a right-angle transmission and shaft coupling linkage mode, so that the power from the upper movable arm can be smoothly transferred at the joint part, and the power is transmitted to the lower movable arm, and by analogy, the power can be continuously transmitted downwards step by step along each movable arm until all the movable arms are reached. That is, the right-angle transmission mechanism transmits the single-point power input by the power source at a single joint position to a plurality of joint positions and outputs the power.
There are various embodiments of the right angle drive 30, preferably a magnetic wheel right angle drive or a mechanical bevel gear right angle drive, as will be described below with reference to fig. 3-5.
Preferably, the right-angle transmission mechanism is a magnetic wheel right-angle transmission mechanism, as shown in fig. 3, fig. 3 shows the magnetic wheel right-angle transmission mechanism with two serially connected movable arms at a joint part, the magnetic wheel right-angle transmission mechanism includes at least two magnetic wheel sets 31, each magnetic wheel set 31 includes 2 magnetic wheels with mutually perpendicular rotating shafts, and each magnetic wheel includes a magnetic wheel stator and a magnetic wheel rotor; the different groups of magnetic wheels are connected with each other through magnetic wheel rotors. Two groups of magnetic wheels fixedly connected to different movable arms are connected with each other through a coupler to complete power transmission across the movable arms.
Preferably, the movable arm is further provided with a fixed bottom plate member 33, and the fixed bottom plate member 33 is used for connecting a magnetic wheel stator of a fixed magnetic wheel right-angle transmission mechanism or a bevel gear stator of a mechanical bevel gear right-angle transmission mechanism, and is fixedly connected with the shell of the movable arm 1. As shown in fig. 5, the magnetic wheel right-angle transmission mechanism is provided with a fixed bottom plate member 33, and a magnetic wheel power transmission system is connected to the fixed bottom plate member of the movable arm.
The working principle of the magnetic wheel right-angle transmission mechanism is as follows:
referring to fig. 3, the magnetic wheel right-angle transmission mechanism includes two magnetic wheel sets 31, and each magnetic wheel set 31 includes 2 magnetic wheels with mutually perpendicular rotation axes. That is, the magnetic wheel right-angle transmission mechanism includes one magnetic wheel set composed of the magnetic wheels 31A and 31B, and the other magnetic wheel set composed of the magnetic wheels 31A 'and 31B'. Wherein, magnetism wheel 31A includes magnetism wheel stator 311A and magnetism wheel rotor 312A, and magnetism wheel 31B includes magnetism wheel stator 311B and magnetism wheel rotor 312B, and magnetism wheel 31A 'includes magnetism wheel stator 311A' and magnetism wheel rotor 312A ', and magnetism wheel 31B' includes magnetism wheel stator 311B 'and magnetism wheel rotor 312B'.
Referring to fig. 5, the magnetic wheel rotor 312A of the magnetic wheel 31A and the magnetic wheel rotor of the magnetic wheel of the upper movable arm are closely coupled together to form a transmission shaft Q1, which can transmit the rotary power from the upper movable arm to the magnetic wheel rotor 312A of the present movable arm, and then transmit the rotary power to the corresponding magnetic wheel rotor 312B through the right-angle transmission mechanism formed by the magnetic wheel 31A and the magnetic wheel 31B, and then transmit the power to the magnetic wheel rotor 312B' through the transmission shaft Q2.
Since the transmission shaft Q2 is closely coupled to the magnetic wheel rotor 312B ' of the magnetic wheel 31B ', the magnetic wheel rotor 312B ' can transmit the rotational power to the magnetic wheel rotor 312A ' of the corresponding magnetic wheel 31A ' through the right-angle transmission mechanism formed by the magnetic wheel 31A ' and the magnetic wheel 31B '; since the magnetic wheel rotor 312A' is closely coupled with the magnetic wheel rotor of the next-stage movable arm, the transmission shaft Q3 formed by the magnetic wheel rotor and the magnetic wheel rotor can transmit the rotating power of the movable arm to the next-stage movable arm.
Aiming at the application occasions of large power loads, a mechanical bevel gear right-angle transmission mode can be adopted to replace a magnetic wheel right-angle transmission mode, so that the flexible transmission mechanism can transmit larger torque power.
Preferably, the right angle transmission mechanism is a mechanical bevel gear right angle transmission mechanism, as shown in fig. 4, fig. 4 shows the mechanical bevel gear right angle transmission mechanism with two serially connected movable arms at a joint part, the mechanical bevel gear right angle transmission mechanism includes at least two bevel gear sets 32, each bevel gear set 32 includes 2 bevel gears with mutually perpendicular rotating shafts, that is, the bevel gear right angle transmission mechanism includes one bevel gear set composed of a bevel gear 32A and a bevel gear 32B, and another bevel gear set composed of a bevel gear 32A 'and a bevel gear 32B'. Wherein, bevel gear 32A includes bevel gear stator 321A and bevel gear rotor 322A, and bevel gear 32B includes bevel gear stator 321B and bevel gear rotor 322B, and bevel gear 32A 'includes bevel gear stator 321A' and bevel gear rotor 322A ', and bevel gear 32B' includes bevel gear stator 321B 'and bevel gear rotor 322B'.
It should be noted that the overall transmission operating principle of the mechanical bevel gear right-angle transmission mechanism is basically the same as that of the magnetic wheel right-angle transmission mechanism, and is not described herein again.
The shape of the movable arm 1 may take various forms, such as a U-shape as shown in fig. 6, an S-shape as shown in fig. 7, or a Z-shape as shown in fig. 8.
The utility model discloses peel off power execution system 40 alone and come out as a subsystem, carried out ingenious isolation with the activity orbit space between the digging arm and transmission system's rotation orbit space, made it become two subsystems of mutual independence on the motion orbit space, reduced the complexity and the cost of whole bionic system in aspects such as design, development, debugging, maintenance, promoted the maintainability and the availability of product.
The power executing system 40 is a mechanical coupling structure 40A, and in this case, for the flexible power transmission system, the included angle between the two movable arms does not cause any interference to the smooth transmission of power.
The power executing system 40 is an electromagnetic control coupling device 40B or an electromagnetic control direction limiting coupling device 40C, and at this time, the power of the transmission system can be transmitted to the executing system through the engaging and disengaging actions of the electromagnetic clutch, and the executing system can be operated.
Specifically, as shown in fig. 9, 10 and 11, the mechanical coupling structure 40A includes a hollow circular inner shaft 41, a hollow circular outer shaft 42 and a bearing 43, the hollow circular inner shaft 41 is disposed at the joint portion 2 at one end of the movable arm 1, the hollow circular outer shaft 42 is disposed at the joint portion 2 at the other end of the movable arm 1, and the bearing 43 is disposed on the inner wall of the hollow circular outer shaft 42; the inner wall of the inner ring of the bearing 43 is matched with the outer wall of the hollow ring inner shaft 41 of the next-stage movable arm and is used for being tightly connected with the next-stage movable arm 1. The rotor of the right-angle transmission mechanism is arranged inside the hollow circular ring inner shaft 41.
The movable arm is mechanically coupled with the upper movable arm and the lower movable arm at joint positions, and the outer wall of a hollow annular inner shaft 41 on the movable arm is closely connected with the inner wall of an inner ring of a bearing 43 on the upper movable arm. After the coupling connection is completed, the movable arm and the upper movable arm can flexibly rotate with each other under the support of the bearing 43. When the two movable arms rotate relative to each other, the included angle alpha between the two movable arms changes. Similarly, the movable arm is connected with the next movable arm in this way.
As shown in fig. 12 and 13, the power executing system is an electromagnetic control coupling device 40B, which includes a first mechanical disk 44, a second mechanical disk 45, an electromagnet 46, a spring member 47, and the mechanical coupling structure 40A; the first mechanical disc 44 is fixedly connected with a rotor of the right-angle transmission mechanism; the second mechanical disc 45 is connected with the inner wall of the movable arm 1 through a spring part 47; the first mechanical disk 44 and the second mechanical disk 45 are correspondingly arranged.
The first mechanical disc 44 of the movable arm 1 is tightly coupled to the magnetic rotor, which is also tightly coupled to the drive shaft Q, so that when the drive shaft Q rotates, the first mechanical disc 44 is also driven to rotate.
The second mechanical disk 45 on the movable arm 1 is tightly connected with the inner wall of the shell chassis of the movable arm 1 through the spring part 47, when an external force drives the second mechanical disk 45 to rotate, the second mechanical disk 45 drives the shell chassis of the movable arm 1 to rotate together through the spring part 47 connected with the second mechanical disk, and the movable arm tightly and fixedly connected with the second mechanical disk rotates along with the second mechanical disk.
In fig. 12 and 13, the first mechanical disk 44, the second mechanical disk 45, the electromagnet 46 and the spring member 47 together constitute an electromagnetically controlled clutch device.
When the electromagnet 46 is powered off, the clutch is in a separated state, the second mechanical disk 45 enables the first mechanical disk 44 and the second mechanical disk 45 to be in a mechanically separated state under the action of the tensile force of the spring, and when the first mechanical disk 44 rotates, power cannot be transmitted to the second mechanical disk 45, so that the movable arm 1 cannot rotate together with the first mechanical disk 44.
When the electromagnet 46 is energized, the clutch is engaged, and the repulsive force generated by the electromagnet 46 overcomes the resistance of the spring, pushing the second mechanical disk 45 toward the first mechanical disk 44, and making the second mechanical disk 45 and the first mechanical disk 44 closely contact with each other. When the first mechanical disk 44 rotates, the first mechanical disk 44 drives the second mechanical disk 45 to rotate together by virtue of the friction between the first mechanical disk 44 and the second mechanical disk 45. When the second mechanical disk 45 rotates, the hollow circular inner shaft 41 and the fixed bottom plate member 33 which are tightly and fixedly connected with the second mechanical disk are driven to rotate together, so that the hollow circular inner shaft 41, the fixed bottom plate member 33 and the movable arms 1 which are tightly and fixedly connected with the second mechanical disk rotate synchronously, and at the moment, the included angle between the two connected movable arms 1 changes.
The direction of relative rotation (angle becoming larger or smaller) between the two coupled movable arms 1 is controlled by the direction of rotation of the power source, i.e.: the control of the movement direction and speed of the included angle between the movable arms can be realized by controlling the rotation direction (clockwise or anticlockwise) of the power source input from the movable arm at the starting end.
Therefore, the utility model can construct topological structures with various shapes and form changes thereof by performing various ordered control combinations (such as single-point and multi-point concurrent control) on the clutch devices at each joint of the bionic mechanism, and complete complex actions or movement tasks.
Further, as shown in fig. 12 and 14, the power execution system may also be an electromagnetic control direction-limiting coupling device 40C, and the electromagnetic control direction-limiting coupling device 40C comprises an electromagnet 48, a spring member 49, a ratchet mechanism 50, and the mechanical coupling structure 40A/electromagnetic control coupling device 40B;
the ratchet mechanism 50 includes a ratchet 51 and a pawl 52, the ratchet 51 is coupled to an outer wall of the hollow circular inner shaft 41 of the movable arm 1, and the pawl 52, the electromagnet 48 and the spring member 49 are fixedly coupled to an inner wall of the hollow circular outer shaft 42 of the movable arm 1.
Taking the example of limiting the inner shaft of the hollow circular ring to rotate only in a single direction along the counterclockwise direction, the electromagnetic control direction-limiting coupling device 40C works as follows:
when the electromagnet 48 is powered off, the pawl 52 is pressed against the ratchet 51 under the action of the thrust of the spring member 49, so that the hollow annular inner shaft 41 tightly connected with the ratchet 51 can only rotate in a single direction along the counterclockwise direction, i.e. the included angle between the movable arm at the current stage and the movable arm at the previous stage is limited to only change in a single direction along the increasing direction.
When the electromagnet 48 is powered on, the pawl 52 is attracted to the electromagnet 48 by the electromagnetic force, and the pawl 52 is separated from the ratchet 51, so that the restriction that the hollow annular inner shaft 41 tightly connected with the ratchet 51 can only rotate along the counterclockwise one-way direction is removed, namely: the limitation that the included angle between the movable arm at the current stage and the movable arm at the previous stage can only change in a single direction along the increasing direction is removed.
As shown in fig. 12 and 14, the two ratchet mechanisms 50 can perform bidirectional control on the clockwise and counterclockwise rotation directions of the movable arm under the electromagnetic control, so that various different combination states such as forward limitation, reverse limitation, bidirectional limitation and bidirectional unlimited can be generated to meet different motion control requirements.
As the utility model discloses better embodiment still includes angle detection device (not shown in the figure) to obtain the contained angle parameter between the digging arm 1, make the system can detect and control the precision of bionical mechanism execution action, thereby accomplish some tasks that have the accuracy index requirement. The angle detecting means may be installed in a space region formed between the hollow circular ring inner shaft 41 and the hollow circular ring outer shaft 42, and the angle detecting means may be an angle detecting related part and member such as a gear potentiometer, but is not limited thereto.
Further, with reference to fig. 15-19, the present invention further includes an extension system 60, which has high expandability, flexibility, adaptability, and versatility, and can support multiple flexible electromechanical extension modes and support the freedom extension of three-dimensional space motion.
The expansion system 60 comprises an expansion member 61 or a rolling rotation element 62;
as shown in fig. 15, 16 and 17, the expanding member 61 is mounted on the outside of the movable arm, and is a member adapted to the movable arm, so that the size, length, model, specification, and joint type of each movable arm can be flexibly designed, selected and combined according to different application requirements.
The expanding component is used for installing the electromechanical device, and can install devices and mechanisms such as a clutch, a direction limiting and limiting mechanism, a power supply and signal feeder line, a circuit device (electromagnetic attraction control, a potentiometer and the like), a sensor and the like on the expanding component.
As shown in fig. 18, the expansion system is used to expand the degree of freedom, and on the basis of the bionic mechanism of the present invention, a rolling rotation component 62 capable of rolling and rotating in the axial direction of the movable arm is added, so that the original bionic mechanism capable of performing two-dimensional motion in a plane coordinate system can be expanded into a three-degree-of-freedom bionic mechanism capable of performing three-dimensional motion in a three-dimensional coordinate system.
The utility model discloses flexible driven bionical mechanism still can support multiple application extension.
The mechanism formed by connecting a plurality of movable arms in series can generate various shape changes in the aspects of topological structure, shape, size expansion and the like, so that the mechanism can be used in the field of artificial muscles to form an artificial muscle with controllable expansion and contraction (such as figure 1).
For a bionic mechanism formed by connecting a plurality of movable arms in series, when the topological structure, the shape and the size of the bionic mechanism are changed, the gravity center distribution, the stress point distribution, the stress surface distribution, the friction force and the magnitude and the direction of the acting force of the bionic mechanism are changed, and when the bionic mechanism conforms to the corresponding kinematics and mechanics principles, the bionic mechanism can complete corresponding advancing movement. Therefore, the device can be developed into a peristaltic robot, a bionic advancing mechanism, a bionic actuator and the like, and fig. 19 is a schematic diagram of a telescopic peristaltic mechanism.
The utility model discloses flexible driven bionical mechanism has functions such as curling, flexible, extension, deformation, can obtain using in the shape memory field.
The utility model discloses a flexible transmission's bionical mechanism can buckle and extend to contract and become multiple space topological structure, shape, size, consequently, can develop into products such as bionical house, bionical helping hand apparatus that have remote control function, satisfies the various demands of people's life and work.
The utility model discloses a bionical mechanism of flexible drive can support the rotary type power transmission application scene of distributing type, flexibility, dynamization, intellectuality, to the power transmission of rotary type or extend to the complicated application scenario of a plurality of nodes or long-range, for example: in emergency rescue occasions, the rotary type power can be quickly deployed to corresponding positions on the site through or without complex terrains or special environments.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.
Claims (10)
1. A power transmission system for a bionic mechanism comprises a plurality of movable arms and a plurality of joint parts arranged on the movable arms, and is characterized in that the power transmission system for the bionic mechanism comprises a right-angle transmission mechanism, the right-angle transmission mechanism realizes the transmission of power between the movable arms and provides power output at the joint parts;
the right-angle transmission mechanism comprises at least two groups of right-angle transmission units, each group of right-angle transmission units comprises 2 transmission pieces with mutually vertical rotating shafts, and each transmission piece comprises a stator and a rotor; the different groups of right-angle transmission units are mutually connected through rotors.
2. The power transmission system for a biomimetic mechanism as recited in claim 1, wherein the moveable arm is provided with a fixed base member, the fixed base member being connected to the stator of the right angle drive mechanism and to the housing shell of the moveable arm.
3. The power transmission system for a biomimetic mechanism as in claim 1, wherein the right angle drive is a magnetic wheel right angle drive or a mechanical bevel gear right angle drive.
4. The power transmission system for the bionic mechanism according to claim 3, wherein the magnetic wheel right-angle transmission mechanism comprises at least two magnetic wheel sets, each magnetic wheel set comprises 2 magnetic wheels with mutually perpendicular rotating shafts, and each magnetic wheel comprises a magnetic wheel stator and a magnetic wheel rotor; the different groups of magnetic wheels are connected with each other through magnetic wheel rotors.
5. The power transmission system for a biomimetic mechanism as recited in claim 3, wherein the mechanical bevel gear right angle drive mechanism comprises at least two bevel gear sets, each bevel gear set comprising 2 bevel gears with mutually perpendicular axes, each bevel gear comprising a bevel gear stator and a bevel gear rotor, different sets of bevel gear mechanisms being interconnected by the bevel gear rotors.
6. The power transmission system for a bionic mechanism according to claim 1, wherein adjacent movable arms are respectively located on different planes which are parallel to each other, the movable arms are connected in series through joint parts, the power transmission system for a bionic mechanism is arranged inside the movable arms and the joint parts, and a motion trajectory space of the power transmission system for a bionic mechanism is independent of a motion trajectory space of the movable arms.
7. The power transmission system for a biomimetic mechanism as recited in claim 1, wherein an included angle between two connected movable arms is α, and a variation range of the included angle α is 0-360 °.
8. The power transmission system for a biomimetic mechanism as in claim 1, wherein an expansion system is provided on the moveable arm, the expansion system comprising an expansion member or a rolling rotation member.
9. The power transmission system for a biomimetic mechanism as recited in claim 8, wherein the extension member is mounted on an exterior of the movable arm, which is a member adapted to the movable arm, or the extension member is used to mount an electro-mechanical device.
10. The power transmission system for a biomimetic mechanism as recited in claim 8, wherein the rolling rotation component is connected with a movable arm to enable the power transmission system for a biomimetic mechanism to perform three-dimensional spatial motion.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202020987207.3U CN213541223U (en) | 2020-06-02 | 2020-06-02 | Power transmission system of bionic mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202020987207.3U CN213541223U (en) | 2020-06-02 | 2020-06-02 | Power transmission system of bionic mechanism |
Publications (1)
Publication Number | Publication Date |
---|---|
CN213541223U true CN213541223U (en) | 2021-06-25 |
Family
ID=76475064
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202020987207.3U Expired - Fee Related CN213541223U (en) | 2020-06-02 | 2020-06-02 | Power transmission system of bionic mechanism |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN213541223U (en) |
-
2020
- 2020-06-02 CN CN202020987207.3U patent/CN213541223U/en not_active Expired - Fee Related
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Will et al. | Robot modularity for self-reconfiguration | |
Fontana et al. | Mechanical design of a novel hand exoskeleton for accurate force displaying | |
CN102501246B (en) | Three-drive extensible dexterous mechanical arm | |
Feng et al. | A review of the end-effector of large space manipulator with capabilities of misalignment tolerance and soft capture | |
Wang et al. | Design, analysis and experiment of a passively adaptive underactuated robotic hand with linkage-slider and rack-pinion mechanisms | |
US10967524B1 (en) | System and method for conversion of rotational motion into linear actuation by mechanical stacking or unstacking of connected links | |
Liu et al. | Improved mechanical design and simplified motion planning of hybrid active and passive cable-driven segmented manipulator with coupled motion | |
KR20200071184A (en) | Finger apparatus and robot hand having the finger apparatus | |
Pavliuk et al. | Formation of modular structures with mobile autonomous reconfigurable system | |
Melo et al. | Indoor and outdoor parametrized gait execution with modular snake robots | |
CN213541223U (en) | Power transmission system of bionic mechanism | |
Su et al. | Sequential manipulation planning for over-actuated unmanned aerial manipulators | |
Lum et al. | Design and motion control of a cable-driven dexterous robotic arm | |
CN213527434U (en) | Power execution system of bionic mechanism | |
CN212480047U (en) | Flexible transmission bionic mechanism | |
Niu et al. | Ant3DBot: a modular self-reconfigurable robot with multiple configurations | |
CN111878555A (en) | Flexible transmission bionic mechanism | |
Li et al. | Problems and requirements for a chameleon-like service robot in space station | |
Magdy et al. | New fully decoupled manipulator with three translational motion for pick and place applications | |
Guan et al. | 1-dof robotic joint modules and their applications in new robotic systems | |
CN109176492B (en) | Manipulator based on reconfigurable parallel mechanism | |
Lee et al. | Semi-Autonomous Teleoperation of Multiple Cooperative Robots for Human-Robot Lunar Exploration. | |
Ye et al. | Modular universal unit for a snake-like robot and reconfigurable robots | |
Gong et al. | Bionic design of a 7-DOF human-arm-like manipulator actuated by antagonized pneumatic artificial muscles | |
Zielinska et al. | Multifunctional walking quadruped |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210625 |