Rigid balance empennage based on parallel structure and robot comprising rigid balance empennage

Abstract

The invention is applicable to the technical field of robots, and provides a rigid balance empennage based on a parallel structure and a robot comprising the same. The steering structure is installed on the supporting structure and used for conducting yawing and pitching motion; the telescopic structure is connected with the steering structure and used for achieving telescopic movement and driving a balance weight lever to rotate and stretch in all directions under the action of the steering structure; the steering structure comprises a yawing structure, a steering structure and a steering structure, and the yawing structure is used for achieving yawing motion; and the pitching structure is matched with the yawing structure and is used for realizing pitching motion. The device simulates the dynamic performance of the tail of an animal in the natural world in the self-movement adjusting process and keeps the self-balance capacity, and has the advantages of being simple in structure, high in maneuverability and easy to control.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a rigid balancing tail wing based on a parallel structure and a robot comprising the same. Background Art

[0002] Currently, most conventional robots use joint motors to control the joint torque of the feet or wheels to control the robot's gait and achieve overall direction and speed. When quadrupedal and bipedal robots move in complex environments, they often face the risk of instability due to external impacts or sudden changes in terrain. Traditional robots rely on leg joint torque regulation for stability control, but the legs have limited rotational inertia, making it difficult to quickly adjust their posture during takeoff or falling. The tails of animals (such as cats and squirrels) actively swing to generate reverse angular momentum, which can achieve mid-air posture correction within 0.15 seconds, significantly reducing the risk of landing damage. Applying this biological mechanism to the field of robotics has led to the design of a tail device with high response speed, large workspace, and strong rigidity.

[0003] The current design of robot tail wings mainly focuses on the layout of degrees of freedom and the driving mode, but there are significant defects in structural stiffness, range of motion and dynamic performance. There are problems such as the contradiction between degrees of freedom and stiffness, insufficient reliability of the telescopic mechanism, and lack of weight and inertia optimization. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a rigid balanced tail wing based on a parallel structure, aiming to solve the problems raised in the above background technology.

[0005] The embodiment of the present invention is implemented as follows: a rigid balancing tail wing based on a parallel structure, comprising: Support structure; a steering structure mounted on the support structure for performing yaw and pitch movements; The telescopic structure is connected to the steering structure and is used to realize the telescopic movement. Under the action of the steering structure, the counterweight rod is driven to rotate and extend in all directions. Wherein, the steering structure includes: A yaw structure, used to achieve yaw motion; The pitch structure cooperates with the yaw structure to realize pitch motion.

[0006] Preferably, the yaw structure comprises: A yaw motor is mounted on the motor support, wherein the output end of the yaw motor is connected to the yaw input pulley via a key; A yaw output pulley is connected to the yaw input pulley via a yaw belt, and the yaw output pulley is fixedly connected to the first yaw bevel gear rod; A second yaw bevel gear rod, a bevel gear portion of the second yaw bevel gear rod is continuously meshed with the bevel gear portion of the first yaw bevel gear rod, and the second yaw bevel gear rod is fixedly connected to the yaw crank.

[0007] Preferably, the pitch structure includes: A pitch motor is mounted on the motor support, wherein the output end of the pitch motor is connected to the pitch input pulley via a key; The pitch output pulley is connected to the pitch input pulley through a pitch belt. The pitch output pulley is fixedly connected to one end of the pitch connecting rod. The yaw output pulley is movably connected to one end of the pitch connecting rod through a bearing. The second yaw bevel gear rod is movably connected to the middle part of the pitch connecting rod through a bearing.

[0008] Preferably, the telescopic structure comprises: a connecting plate fixedly connected to the yaw crank, with a telescopic motor mounted on the connecting plate; A double-plane scissor parallel mechanism is connected to the output end of the telescopic motor to achieve telescopic movement; The counterweight rod is connected to the tail end of the double-plane scissors parallel mechanism.

[0009] Preferably, the double-plane scissors parallel mechanism includes an end unit and an intermediate unit, the end unit includes a motor end face unit and a counterweight end face unit, and there are several intermediate units connected between the motor end face unit and the counterweight end face unit.

[0010] Preferably, the end units respectively include four double-headed rods, two cross-connecting rods and four triple-headed rods, wherein two double-headed rods and two triple-headed rods form a parallelogram structure in one projection plane, and the other two double-headed rods and two triple-headed rods form a parallelogram structure in their orthogonal projection planes; A double-headed rod in the motor end face unit is connected to the telescopic motor through a key, and the cross connecting rod outside the counterweight end face unit is replaced by the counterweight rod.

[0011] Preferably, the intermediate unit comprises two cross connecting rods and eight three-headed rods, four of the three-headed rods form a parallelogram structure in one projection plane, and the other four three-headed rods form a parallelogram structure in their orthogonal projection planes.

[0012] Another object of an embodiment of the present invention is to provide a robot comprising the above-mentioned rigid balancing tail wing based on the parallel structure.

[0013] Preferably, it further comprises a robot body, on which a connecting platform is provided, and the connecting platform is connected to the supporting structure via a guide rail.

[0014] An embodiment of the present invention provides a rigid balancing tail based on a parallel structure. To address the structural and functional deficiencies of traditional robot tail variants, the tail of a quadruped cat is used as a prototype, and inertia balance is performed with active deformation as a guide. The cat imitates the cat's change of tail shape and movement according to different gaits to optimize the robot's dynamic performance, thereby adapting to different environments and gaits. Compared with traditional tail variants (such as single-body, multi-body series, etc.), the closed-loop topology structure of the dual-plane scissors-fork parallel mechanism provided by the embodiment of the present invention allows for high stiffness and high load capacity. The load is dispersed by force flow branching, and the anti-deformation ability is significantly better than the series structure, which is suitable for high-frequency swing scenarios of the tail. The tail length adjustment is orthogonally decoupled from the pitch / yaw motion to eliminate the problem of non-uniform torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic structural diagram of a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 2 A schematic structural diagram of a steering structure in a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 3 A schematic structural diagram of a telescopic structure in a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 4 A schematic structural diagram of an end unit in a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 5 A top view of an end unit of a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 6 A side view of an end unit of a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 7 A schematic structural diagram of an intermediate unit in a rigid balancing tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 8 A top view of an intermediate unit in a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 9 A side view of an intermediate unit in a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 10 A state diagram of a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 11 Another state diagram of a rigid balanced tail wing based on a parallel structure provided by an embodiment of the present invention; Figure 12A schematic structural diagram of a robot including a rigid balancing tail wing based on a parallel structure provided in an embodiment of the present invention.

[0016] In the accompanying drawings: 1. Steering structure; 1-1. Yaw motor; 1-2. Yaw belt; 1-3. Yaw input pulley; 1-4. Motor support; 1-5. Pitch motor; 1-6. Pitch input pulley; 1-7. Pitch belt; 1-8. Pitch output pulley; 1-9. First yaw bevel gear rod; 1-10. Yaw output pulley; 1-11. Pitch connecting rod; 1-12. Yaw crank; 1-13. Second yaw bevel gear rod; 2. Telescopic structure; 2-1. Connecting plate; 2-2. Telescopic motor; 2-3. Double-headed rod; 2-4. Cross connecting rod; 2-5. Three-headed rod; 2-6. Counterweight rod; 3. Support structure; 4. Connecting platform; 5. Robot body. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0019] like Figure 1 FIG. 1 is a structural diagram of a rigid balancing tail wing based on a parallel structure provided by one embodiment of the present invention, comprising: Support structure 3; A steering structure 1 , mounted on the support structure 3 , for performing yaw and pitch movements; The telescopic structure 2 is connected to the steering structure 1 and is used to realize telescopic movement. Under the action of the steering structure 1, the counterweight rods 2-6 are driven to rotate and extend in all directions; Wherein, the steering structure 1 includes: A yaw structure, used to achieve yaw motion; The pitch structure cooperates with the yaw structure to realize pitch motion.

[0020] In one embodiment of the present invention, the rigid balancing tail wing based on the parallel structure is provided with a steering structure 1 and a telescopic structure 2 to address the problems raised in the prior art. It can imitate the movement of a cat's tail, change its own orientation and shape according to the current environment and gait to balance its own rotational inertia and momentum, and drive the counterweight rod 2-6 at the end of the telescopic structure 2 to rotate in all directions and telescopic changes, thereby enabling the robot body 5 to achieve high-dynamic, high-performance complex movements in a complex environment.

[0021] like Figure 2As shown, as a preferred embodiment of the present invention, the yaw structure includes: The yaw motor 1-1 is mounted on the motor support 1-4, and the output end of the yaw motor 1-1 is connected to the yaw input pulley 1-3 through a key; The yaw output pulley 1-10 is connected to the yaw input pulley 1-3 through the yaw belt 1-2, and the yaw output pulley 1-10 is fixedly connected to the first yaw bevel gear rod 1-9; The second yaw bevel gear rod 1-13, the bevel gear part of the second yaw bevel gear rod 1-13 is continuously meshed with the bevel gear part of the first yaw bevel gear rod 1-9, and the second yaw bevel gear rod 1-13 is fixedly connected to the yaw crank 1-12.

[0022] The motor support 1-4 is fixed to the support structure 3 by bolts. The yaw motor 1-1 is started to drive the yaw input pulley 1-3 to rotate. The yaw input pulley 1-3 drives the yaw output pulley 1-10 to rotate through the yaw belt 1-2. The yaw output pulley 1-10 drives the first yaw bevel gear rod 1-9 to rotate through the bolts. Through the cooperation of the bevel gears, it drives the second yaw bevel gear rod 1-13 to rotate, thereby driving the yaw crank 1-12 through the bolts to realize yaw movement.

[0023] like Figure 2 As shown, as another preferred embodiment of the present invention, the pitch structure includes: The pitch motor 1-5 is mounted on the motor support 1-4, and the output end of the pitch motor 1-5 is connected to the pitch input pulley 1-6 through a key; The pitch output pulley 1-8 is connected to the pitch input pulley 1-6 through the pitch belt 1-7. The pitch output pulley 1-8 is fixedly connected to one end of the pitch connecting rod 1-11. The yaw output pulley 1-10 is movably connected to one end of the pitch connecting rod 1-11 through a bearing. The second yaw bevel gear rod 1-13 is movably connected to the middle part of the pitch connecting rod 1-11 through a bearing.

[0024] Start the pitch motor 1-5 to drive the pitch input pulley 1-6 to rotate. The pitch input pulley 1-6 drives the pitch output pulley 1-8 to rotate through the pitch belt 1-7. The pitch output pulley 1-8 drives the pitch connecting rod 1-11 to rotate through the bolts (the outer sides of the two ends of the pitch connecting rod 1-11 are connected to the support structure 3 through bearings). The pitch connecting rod 1-11 is connected to the first yaw bevel gear rod 1-9 and the second yaw bevel gear rod 1-13 through a rotating pair, thereby driving the second yaw bevel gear rod 1-13 and the yaw crank 1-12 to pitch.

[0025] like Figure 3As shown, as a preferred embodiment of the present invention, the telescopic structure 2 includes: A connecting plate 2-1 is fixedly connected to the yaw crank 1-12, and a telescopic motor 2-2 is installed on the connecting plate 2-1; A double-plane scissor parallel mechanism is connected to the output end of the telescopic motor 2-2 to achieve telescopic movement; The counterweight rod 2-6 is connected to the tail end of the double-plane scissors parallel mechanism.

[0026] Start the telescopic motor 2-2 to drive the double-plane scissors parallel mechanism to telescope and deform, thereby driving the counterweight rod 2-6 to telescope. Through the connection between the yaw crank 1-12 and the connecting plate 2-1, the movement of the yaw motor 1-1 and the pitch motor 1-5 is transmitted to the counterweight rod 2-6, realizing the full-range movement of the counterweight rod 2-6.

[0027] like Figures 3 to 9 As shown, as a preferred embodiment of the present invention, the double-plane scissors parallel mechanism includes an end unit and an intermediate unit, the end unit includes a motor end face unit and a counterweight end face unit, and a plurality of intermediate units are provided, connected between the motor end face unit and the counterweight end face unit; The end units respectively include four double-headed rods 2-3, two cross-connecting rods 2-4 and four triple-headed rods 2-5; two double-headed rods 2-3 and two triple-headed rods 2-5 form a parallelogram structure in one projection plane, and the other two double-headed rods 2-3 and two triple-headed rods 2-5 form a parallelogram structure in their orthogonal projection planes; A double-headed rod 2-3 in the motor end face unit is connected to the telescopic motor 2-2 through a key, and the cross connecting rod 2-4 on the outside of the counterweight end face unit is replaced by a counterweight rod 2-6; The middle unit includes two cross connecting rods 2-4 and eight three-headed rods 2-5, four of the three-headed rods 2-5 form a parallelogram structure in one projection plane, and the other four three-headed rods 2-5 form a parallelogram structure in their orthogonal projection planes.

[0028] The telescopic motor 2-2 is fixedly connected to the connecting plate 2-1 by bolts, and the output end of the telescopic motor 2-2 is keyed to the double-headed rod 2-3. The two double-headed rods 2-3 and the double-headed parts of the two three-headed rods 2-5 form a parallelogram structure in a projection plane. The two ends of each three-headed rod 2-5 are respectively connected to the double-headed rod 2-3, and the three-headed rod 2-5 is connected to the cross connecting rod 2-4 through the middle hole, and then two parallelogram structures are formed on the orthogonal projection plane of the cross connecting rod 2-4, wherein the telescopic motor 2-2 drives the double-headed rod 2-3 to rotate, and the double-headed rod 2-3 drives the parallelogram structure to deform, and the deformation of the parallelogram structure drives the distance between the cross connecting rods 2-4 at both ends to change, thereby driving the end counterweight rod 2-6 to extend and retract; Through the connection between the yaw crank 1-12 and the connecting plate 2-1, the movement of the yaw motor 1-1 and the pitch motor 1-5 is transferred to the load end counterweight rod 2-6, realizing the full range movement of the end counterweight rod 2-6. Its changing state is as follows: Figure 10 and Figure 11 shown.

[0029] like Figure 12 As shown, it is a structural schematic diagram of a robot provided by an embodiment of the present invention, including the above-mentioned rigid balancing tail based on the parallel structure, and also including a robot body 5, on which a connecting platform 4 is provided, and the connecting platform 4 is connected to the support structure 3 through a guide rail.

[0030] The rigid balancing tail wing based on the parallel structure can be applied to a robot. The supporting structure 3 is connected to the connecting platform 4 via a track, and the connecting platform 4 is fixedly connected to the robot body 5 via bolts.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rigid balanced tail wing based on a parallel structure, characterized in that: include: Support structure (3); A steering structure (1) mounted on the support structure (3) for performing yaw and pitch movements; The telescopic structure (2) is connected to the steering structure (1) and is used to realize telescopic movement, and drives the counterweight rod (2-6) to rotate and telescope in all directions under the action of the steering structure (1); Wherein, the steering structure (1) comprises: A yaw structure, used to achieve yaw motion; The pitch structure cooperates with the yaw structure to realize pitch motion.

2. The rigid balanced tail wing based on the parallel structure according to claim 1, characterized in that: The yaw structure comprises: A yaw motor (1-1) is mounted on a motor support (1-4), and an output end of the yaw motor (1-1) is connected to a yaw input pulley (1-3) via a key; A yaw output pulley (1-10) is connected to a yaw input pulley (1-3) via a yaw belt (1-2), and the yaw output pulley (1-10) is fixedly connected to a first yaw bevel gear rod (1-9); A second yaw bevel gear rod (1-13), the bevel gear portion of the second yaw bevel gear rod (1-13) is continuously meshed with the bevel gear portion of the first yaw bevel gear rod (1-9), and the second yaw bevel gear rod (1-13) is fixedly connected to the yaw crank (1-12).

3. The rigid balanced tail wing based on the parallel structure according to claim 2, characterized in that: The pitch structure comprises: A pitch motor (1-5) is mounted on a motor support (1-4), and an output end of the pitch motor (1-5) is connected to a pitch input pulley (1-6) via a key; The pitch output pulley (1-8) is connected to the pitch input pulley (1-6) via a pitch belt (1-7); the pitch output pulley (1-8) is fixedly connected to one end of the pitch connecting rod (1-11); the yaw output pulley (1-10) is movably connected to one end of the pitch connecting rod (1-11) via a bearing; and the second yaw bevel gear rod (1-13) is movably connected to the middle portion of the pitch connecting rod (1-11) via a bearing.

4. The rigid balanced tail wing based on the parallel structure according to claim 2, characterized in that: The telescopic structure (2) comprises: A connecting plate (2-1) is fixedly connected to the yaw crank (1-12), and a telescopic motor (2-2) is mounted on the connecting plate (2-1); A double-plane scissor-fork parallel mechanism is connected to the output end of the telescopic motor (2-2) to realize telescopic movement; The counterweight rod (2-6) is connected to the tail end of the double-plane scissors parallel mechanism.

5. The rigid balanced tail wing based on the parallel structure according to claim 4, characterized in that: The double-plane scissors parallel mechanism includes an end unit and an intermediate unit. The end unit includes a motor end face unit and a counterweight end face unit. There are several intermediate units connected between the motor end face unit and the counterweight end face unit.

6. The rigid balancing tail wing based on the parallel structure according to claim 5, characterized in that: The end units respectively comprise four double-headed rods (2-3), two cross-connecting rods (2-4) and four triple-headed rods (2-5), wherein two double-headed rods (2-3) and two triple-headed rods (2-5) form a parallelogram structure in one projection plane, and the other two double-headed rods (2-3) and two triple-headed rods (2-5) form a parallelogram structure in their orthogonal projection planes; A double-headed rod (2-3) in the motor end face unit is connected to the telescopic motor (2-2) through a key, and the cross connecting rod (2-4) outside the counterweight end face unit is replaced by a counterweight rod (2-6).

7. The rigid balancing tail wing based on the parallel structure according to claim 5, characterized in that: The intermediate unit comprises two cross connecting rods (2-4) and eight three-headed rods (2-5), four of the three-headed rods (2-5) form a parallelogram structure in one projection plane, and the other four three-headed rods (2-5) form a parallelogram structure in their orthogonal projection planes.

8. A robot, characterized in that: It comprises a rigid balancing tail wing based on a parallel structure as described in any one of claims 1-7.

9. The robot according to claim 8, characterized in that It also includes a robot body (5), wherein a connecting platform (4) is provided on the robot body (5), and the connecting platform (4) is connected to the supporting structure (3) via a guide rail.

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