CN107984465B - A bionic robot with double-link joints based on meandering motion pattern - Google Patents

Abstract

The invention discloses a bionic robot with double-connecting-rod joints based on a meandering motion mode, and belongs to the field of bionic robots. The snake comprises a snake head, a front snake body, a rear snake body and a snake tail, and also comprises three groups of connecting rod joints A and three groups of connecting rod joints B; the three groups of connecting rod joints A and the three groups of connecting rod joints B are arranged in parallel; the head of the mechanical snake is connected with the front snake body in parallel by adopting a first group of connecting rod joints A and a first group of connecting rod joints B; the front snake body and the rear snake body are connected in parallel by adopting a second group of connecting rod joints A and a second group of connecting rod joints B; the back snake body is connected with the tail of the machine snake in parallel by adopting a third group of connecting rod joints A and a third group of connecting rod joints B. The bionic robot can meander and walk in an S-shaped curve under the synchronous and equidirectional driving of the two steering engines, so that the high snake-imitating property of the motion posture of the bionic robot is improved.

Description

A bionic robot with double-link joints based on meandering motion pattern

technical field

The invention relates to the field of bionic robots, in particular to a bionic robot with double-link joints based on a meandering motion pattern.

Background technique

With the progress of industrialization, the research in the field of special robots has attracted more and more attention from the scientific and industrial circles. Especially in the occasions where radiation, high toxicity, darkness or narrow pipes are not suitable for human work, the bionic robot that can move like a biological snake has a wide range of application prospects. The existing snake-like robot is only used as an ornamental machine and cannot simulate the meandering motion of biological snakes, and it is difficult to help humans complete the work that needs to be done in practical applications. Therefore, it is of certain value to design a bionic robot that is more in line with the snake's meandering motion pattern.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is: in view of the technical problems existing in the prior art, the present invention provides a bionic robot with link joints that adopts dual steering gears to drive three degrees of freedom and can meander forward.

In order to solve the above problems, the solution proposed by the present invention is: a bionic robot with double-link joints based on a meandering motion pattern, which includes a robot snake head, a front snake body, a rear snake body and a robot snake tail, and also includes three groups of Connecting rod joint A and three sets of connecting rod joints B, the three sets of connecting rod joints A are the first set of connecting rod joints A, the second set of connecting rod joints A, and the third set of connecting rod joints A. The three sets of connecting rod joints are respectively The link joints B are the first set of link joints A, the second set of link joints B, and the third set of link joints B, respectively.

The three sets of link joints A and the three sets of link joints B are installed in parallel; the first set of link joints A and the first set of link joints are used for the machine snake head and the front snake body B is connected in parallel; the front snake body and the rear snake body are connected in parallel by the second set of link joints A and the second set of link joints B; the rear snake body and the machine snake tail are connected in parallel The third group of link joints A and the third group of link joints B are connected in parallel.

The three groups of link joints A have exactly the same structure, including a front hinge A, a rear hinge A, an active link A connecting the front hinge A and the rear hinge A, a linear track A, and an adjustable link. The traction slider A freely sliding along the linear track A, and the passive link A connecting the rear hinge A and the traction slider A.

The structures of the three sets of link joints B are exactly the same, including a front hinge B, a rear hinge B, an active link B connecting the front hinge B and the rear hinge B, a linear track B, and a movable link B. The traction slider B freely sliding along the linear track B, the passive link B connecting the rear hinge B and the traction slider B; the front hinge A and The front hinges B of the first group of link joints B are all rotatably mounted on the snake head of the machine, and the linear track A of the first group of link joints A and the first group of links The linear track B of the joint B is fixedly installed on the front snake body; the front hinge A of the second group of link joints A and the front of the second group of link joints B The hinges B are all rotatably mounted on the front snake body, and the linear track A of the second set of link joints A and the linear track B of the second set of link joints B are both fixedly mounted on the front snake body. The rear snake body; the front hinge A of the third group of link joints A and the front hinge B of the third group of link joints B are both rotatably installed on the rear snake body, so The linear track A of the third set of link joints A and the linear track B of the third set of link joints B are both fixedly installed on the machine snake tail;

A first steering gear is mounted on the snake head of the machine, and a second steering gear is mounted on the snake tail of the machine; the first steering gear and the second steering gear are always synchronized and rotate in the same direction.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

(1) A bionic robot with double-link joints based on a meandering motion pattern of the present invention has three degrees of freedom of movement, and can meander in an S-shaped curve under the synchronization and co-directional driving of two steering gears, Thus, the high snake-likeness of the motion posture of the bionic robot is increased.

(2) A bionic robot with double-link joints based on a meandering motion pattern of the present invention has three motion joints, each of which is connected in parallel by a double-link, a slider and a track, thereby increasing the number of the snake body and the The flexibility and scalability at the joints, and the two motors drive three degrees of freedom at the same time, saving energy consumption.

Description of drawings

FIG. 1 is a schematic diagram of the structure of a bionic robot with double-link joints based on a meandering motion pattern according to the present invention.

In the figure, 1—machine snake head; 2—front snake body; 3—rear snake body; 4—machine snake tail; 51—front hinge A; 52—active link A; 53—rear hinge A; 54—passive connection Rod A; 55—traction slider A; 56—linear track A; 61—front hinge B; 62—active link B; 63—rear hinge B; 64—passive link B; 65—traction slider B ; 66—Linear track B; 7—First steering gear; 8—Second steering gear.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Referring to FIG. 1 , a bionic robot with double-link joints based on a meandering motion pattern of the present invention includes a robot snake head 1, a front snake body 2, a rear snake body 3 and a robot snake tail 4, and also includes three groups of joints. The rod joint A and the three sets of link joints B, the three sets of link joints A are the first set of link joints A, the second set of link joints A, and the third set of link joints A, and the three sets of link joints B are respectively are the first set of link joints A, the second set of link joints B, and the third set of link joints B.

Referring to Fig. 1, three groups of connecting rod joints A and three groups of connecting rod joints B are installed in parallel; the machine snake head 1 and the front snake body 2 are connected in parallel by the first group of connecting rod joints A and the first group of connecting rod joints B; The front snake body 2 and the rear snake body 3 are connected in parallel by the second set of link joints A and the second set of link joints B; the rear snake body 3 and the mechanical snake tail 4 use the third set of link joints A and the third set of links Joint B is connected in parallel;

Referring to Figure 1, the structures of the three sets of link joints A are exactly the same, including a front hinge A51, a rear hinge A53, an active link A52 connecting the front hinge A51 and the rear hinge A53, a linear track A56, a The traction slider A55 freely sliding along the linear track A56, the passive link A54 connecting the rear hinge A53 and the traction slider A55;

Referring to Figure 1, the structures of the three sets of link joints B are exactly the same, including a front hinge B61, a rear hinge B63, an active link B62 connecting the front hinge B61 and the rear hinge B63, a linear track B66, a The traction slider B65 freely sliding along the linear track B66, the passive link B64 connecting the rear hinge B63 and the traction slider B65; the front hinge A51 of the first set of link joints A and the first set of link joints B The front hinges B61 are both rotatably installed on the snake head 1, and the linear track A56 of the first set of link joints A and the linear track B66 of the first set of link joints B are both fixedly installed on the front snake body 2; the second The front hinge A51 of the group of link joints A and the front hinge B61 of the second group of link joints B are both rotatably installed on the front snake body 2, and the linear track A56 of the second group of link joints A is connected to the second group. The linear track B66 of the rod joint B is fixedly installed on the rear snake body 3; the front hinge A51 of the third set of link joint A and the front hinge B61 of the third set of link joint B are both rotatably installed on the rear snake On the body 3 , the linear track A56 of the third set of link joints A and the linear track B66 of the third set of link joints B are both fixedly installed on the machine snake tail 4 .

Referring to FIG. 1 , a first steering gear 7 is installed on the snake head of the robot, and a second steering gear 8 is installed on the snake tail 4 of the robot; the first steering gear 7 and the second steering gear 8 are always synchronized and rotate in the same direction.

Working principle: The first steering gear 7 rotates forward, driving the snake head 1 to rotate upward around the front snake body 2, so that the first group of link joints A and the first group of link joints B rotate in the same direction, and the slider A55 is pulled. Reverse and pull the slider B65 to move in front of the front snake body 2; at the same time, the second steering gear 8 also rotates in the forward direction, driving the rear snake body 3 to rotate downward around the machine snake tail 4, thereby making the third group of link joints A. The third group of connecting rod joints B rotates in the same direction, and the traction slider A55 moves forward, and the traction slider B65 retreats; Under the push, it rotates around the second group of link joints A and B, so that the entire bionic robot is bent into an S shape; after that, the first steering gear 7 and the second steering gear 8 rotate in the opposite direction synchronously. The friction force perpendicular to the S-shaped curve is much larger than the friction force in the tangential direction of the S-shaped curve, so that the rear snake body 3 drives the machine snake tail 4 forward under the action of the ground friction force, and the front snake body 2 is under the action of the ground friction force. The snake head 1 is pushed forward, thereby realizing the meandering motion.

Claims (1)

1. The utility model provides a bionic robot that has double-link joint based on sinuous motion mode, includes machine snake head (1), preceding snake body (2), back snake body (3) and machine snake tail (4), still includes three groups of link joint A and three groups of link joint B in addition, three groups of link joint A are first group link joint A, second group link joint A, third group link joint A respectively, three groups of link joint B are first group link joint A, second group link joint B and third group link joint B respectively, its characterized in that:

the three groups of connecting rod joints A and the three groups of connecting rod joints B are arranged in parallel; the mechanical snake head (1) and the front snake body (2) are connected in parallel by adopting the first group of connecting rod joints A and the first group of connecting rod joints B; the front snake body (2) and the rear snake body (3) are connected in parallel by adopting the second group of connecting rod joints A and the second group of connecting rod joints B; the rear snake body (3) and the mechanical snake tail (4) are connected in parallel by adopting the third group of connecting rod joints A and the third group of connecting rod joints B;

the three groups of connecting rod joints A are completely the same in structure and respectively comprise a front hinge A (51), a rear hinge A (53), a driving connecting rod A (52) connected with the front hinge A (51) and the rear hinge A (53), a linear track A (56), a traction sliding block A (55) capable of freely sliding along the linear track A (56), and a driven connecting rod A (54) connected with the rear hinge A (53) and the traction sliding block A (55);

the three groups of connecting rod joints B are completely the same in structure and respectively comprise a front hinge B (61), a rear hinge B (63), a driving connecting rod B (62) connected with the front hinge B (61) and the rear hinge B (63), a linear track B (66), a traction sliding block B (65) capable of freely sliding along the linear track B (66), and a driven connecting rod B (64) connected with the rear hinge B (63) and the traction sliding block B (65);

the front hinge A (51) of the first group of connecting rod joints A and the front hinge B (61) of the first group of connecting rod joints B are rotatably arranged on the machine snake head (1), and the linear track A (56) of the first group of connecting rod joints A and the linear track B (66) of the first group of connecting rod joints B are fixedly arranged on the front snake body (2);

the front hinges A (51) of the second group of connecting rod joints A and the front hinges B (61) of the second group of connecting rod joints B are rotatably arranged on the front snake body (2), and the linear tracks A (56) of the second group of connecting rod joints A and the linear tracks B (66) of the second group of connecting rod joints B are fixedly arranged on the rear snake body (3);

the front hinge A (51) of the third group of connecting rod joints A and the front hinge B (61) of the third group of connecting rod joints B are rotatably arranged on the rear snake body (3), and the linear track A (56) of the third group of connecting rod joints A and the linear track B (66) of the third group of connecting rod joints B are fixedly arranged on the machine snake tail (4);

a first steering engine (7) is arranged on the snake head of the machine, and a second steering engine (8) is arranged on the snake tail (4) of the machine; the first steering engine (7) and the second steering engine (8) rotate synchronously and in the same direction all the time.

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