Flexible crocodile tail structure driven by swing bar

Abstract

The present application relates to the technical field of bionic robot, and particularly discloses a flexible crocodile tail structure driven by a swing rod, which comprises a swing rod, a driving mechanism, an active flexible tail section and a driven flexible tail section; the swing rod is provided with a plurality of elastic connecting members; the driving mechanism is connected with the swing rod; the active flexible tail section is connected with the swing rod through the plurality of elastic connecting members; the active flexible tail section is provided with a first elastic reset member; when the active flexible tail section swings, the first elastic reset member converts at least part of kinetic energy into elastic potential energy to provide kinetic energy for subsequent swing; the driven flexible tail section is provided with a second elastic reset member; when the driven flexible tail section swings, at least one second elastic reset member converts at least part of kinetic energy into elastic potential energy to provide kinetic energy for subsequent swing; the flexible crocodile tail structure driven by the swing rod can control the active flexible tail section and the driven flexible tail section by controlling swing of the swing rod only, and the control difficulty is low; high-frequency driving can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic robots, in particular to a flexible crocodile tail structure driven by a swing rod. BACKGROUND

[0002] Crocodiles are good bionic objects as typical amphibians. When walking on land and beaches, the tail of a crocodile swings up and down and can touch the ground to provide support for the body. When swimming underwater, the tail swings horizontally in an S-shaped wave to provide thrust for the body to swim forward and turn.

[0003] This type of robot is divided into two categories: rigid hinge type multi-motor driving mode and flexible structure simple harmonic excitation driving form. The bionic robot tail structure of the rigid hinge type multi-motor driving mode is too heavy, which seriously restricts the flexibility and stability of the robot movement. Moreover, the multi-motor control is complex, difficult, and has a high failure rate. The bionic robot of the flexible structure simple harmonic excitation driving form is not perfect in driving. The common driving is the rope stretching type, which is difficult to achieve high-frequency driving. Therefore, it is urgent to develop a crocodile tail structure with simple structure, low control difficulty, and high-frequency driving. SUMMARY

[0004] The present application provides a flexible crocodile tail structure driven by a swing rod to solve the above technical problems. The driving frequency of the flexible crocodile tail robot is difficult to improve, and the whole structure is simple, which is beneficial to improve flexibility.

[0005] To solve the above problems, the present application adopts the following technical solutions:

[0006] A flexible crocodile tail structure driven by a swing rod, comprising a swing rod, a driving mechanism, an active flexible tail section, and a driven flexible tail section.

[0007] The swing rod has a plurality of elastic connecting pieces.

[0008] The driving mechanism is configured to be connected with the swing rod for driving the swing rod to swing.

[0009] At least part of the active flexible tail section is configured to be connected with the swing rod through a plurality of elastic connecting pieces, so that the active flexible tail section swings with the swing rod.

[0010] The driven flexible tail section is configured to be connected with the active flexible tail section and to swing with the active flexible tail section.

[0011] The active flexible tail section has at least one first elastic return piece for driving the active flexible tail section to reset and converting at least part of kinetic energy into elastic potential energy when the active flexible tail section swings, to provide kinetic energy for subsequent swinging.

[0012] The driven flexible tail section has at least one second elastic return member for driving the driven flexible tail section to return and converting at least part of kinetic energy into elastic potential energy when the driving flexible tail section swings, so as to provide kinetic energy for subsequent swing.

[0013] The driving flexible tail section further has a plurality of first profiled frames in the flexible crocodile tail structure driven by the swing rod.

[0014] The adjacent first profiled frames are rotationally connected, and the at least one elastic return member is used for driving the adjacent first profiled frames to return.

[0015] The driven flexible tail section further has a plurality of second profiled frames in the flexible crocodile tail structure driven by the swing rod.

[0016] The adjacent second profiled frames are rotationally connected, and the at least one elastic return member is used for driving the adjacent second profiled frames to return.

[0017] The driving flexible tail section is rotationally connected with the driven flexible tail section in the flexible crocodile tail structure driven by the swing rod.

[0018] A third elastic return member is arranged between the driving flexible tail section and the driven flexible tail section, and the driving flexible tail section and the driven flexible tail section are fixedly connected with two ends of the third elastic return member.

[0019] The driving mechanism comprises a housing, a motor and a transmission mechanism in the flexible crocodile tail structure driven by the swing rod.

[0020] The housing has a rotating shaft, and the swing rod is rotationally connected with the rotating shaft.

[0021] The motor is arranged in the housing.

[0022] The transmission mechanism is connected with one end of the swing rod, and is used for coupling the output shaft of the motor with the swing rod, so that the rotating motion of the motor is converted into reciprocating swing motion and acts on the swing rod.

[0023] The transmission mechanism is located in the housing.

[0024] The transmission mechanism comprises a positioning plate, a swing frame and a driving disc in the flexible crocodile tail structure driven by the swing rod.

[0025] The positioning plate is fixedly arranged in the housing.

[0026] The swing frame is slidably arranged on the positioning plate.

[0027] The driving disc is fixedly connected with the motor.

[0028] The driving disc is provided with a driving shaft, the swing frame is provided with a first movable slot and a second movable slot, and the first movable slot and the second movable slot are perpendicular.

[0029] One end of the driving shaft is inserted through the first movable slot, and the first movable slot is arranged perpendicularly to the sliding direction of the swing frame.

[0030] The swing rod is provided with a connecting shaft, and the connecting shaft is inserted through the second movable slot.

[0031] In the swing-rod-driven flexible crocodile tail structure, the rotating shaft is rotatably connected with the active flexible tail section.

[0032] In the swing-rod-driven flexible crocodile tail structure, the shell further has a waterproof sleeve, the swing rod passes through the waterproof sleeve and is inserted into the shell.

[0033] In the swing-rod-driven flexible crocodile tail structure, the first profiled frame is provided with a connecting seat, the connecting seat is rotatably arranged with a bridging piece, and the bridging piece is fixedly connected with the adjacent first profiled frame.

[0034] In the swing-rod-driven flexible crocodile tail structure, the bridging piece is fixedly connected with the adjacent second profiled frame.

[0035] The present application has the advantages that the active flexible tail section and the driven flexible tail section can be controlled only by controlling the swing of the swing rod, the control difficulty is low, the whole structure is simple, the driven flexible tail section can realize the simulation of the living activity through elasticity and inertia, the kinetic energy is converted into elastic potential energy by the first elastic return member and the second elastic return member during the swing, the elastic potential energy provides kinetic energy for the next swing action, high-frequency driving can be realized, and the bionic action is more vivid. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0038] Figure 2 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments. Figure 1 An enlarged view of A in the middle.

[0039] Figure 3 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0040] Figure 4 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments. Figure 3 An enlarged view of B in the middle.

[0041] Figure 5 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0042] Figure 6 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0043] Figure 7 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0044] Figure 8 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0045] Figure 9 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0046] Figure 10 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0047] Figure 11 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0048] Figure 12 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0049] Figure 13 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0050] Figure 14 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0051] Figure 15 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0052] Figure 16 A perspective view of a swing-rod driven flexible crocodile tail-like structure in some embodiments.

[0053] Figure 17 Figure 6 is a perspective view of a second profiling frame at the end of a driven flexible tail section in some embodiments.

[0054] Figure 18 Figure 6 is a perspective view of a second profiling frame at the end of a driven flexible tail section in some embodiments.

[0055] Figure 19 Figure 4 is a schematic view of the connection of a plurality of elastic ropes to a first profiling frame in some embodiments.

[0056] Figure 20 Figure 5 is a schematic view of the partial structure of a swing rod driven flexible crocodile tail structure in some embodiments.

[0057] In the figure:

[0058] 10, swing rod; 11, elastic connecting piece; 12, connecting shaft;

[0059] 20, driving mechanism; 21, shell; 22, motor; 23, transmission mechanism; 24, waterproof sleeve; 231, positioning plate; 232, swing frame; 233, driving disc; 234, linear guide rail; 235, driving shaft; 236, first movable groove; 237, second movable groove; 211, rotating shaft;

[0060] 30, active flexible tail section; 31, first elastic return piece; 32, first profiling frame; 321, first connecting seat; 322, bridging piece;

[0061] 40, driven flexible tail section; 41, second elastic return piece; 42, second profiling frame; 411, reinforcing part; 412, tail tip part; 413, second connecting seat;

[0062] 50, third elastic return piece. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments. Obviously, the described embodiments are only some of the embodiments, not all the embodiments.

[0064] EMBODIMENTS

[0065] As shown in the figure, a swing rod driven flexible crocodile tail structure includes a swing rod 10, a driving mechanism 20, an active flexible tail section 30, and a driven flexible tail section 40. Figures 1 to 7

[0066] ​Further, the swing rod 10 has a plurality of elastic connecting members 11. The driving mechanism 20 is configured to be connected with the swing rod 10. The active flexible tail section 30 is connected with the swing rod 10 through the plurality of elastic connecting members 11, so that the active flexible tail section 30 can swing along with the swing rod 10. The passive flexible tail section 40 is configured to be rotationally connected with the active flexible tail section 30 and swing along with the active flexible tail section 30.

[0067] Further, the active flexible tail section 30 has a first elastic reset member 31. When the driving mechanism 20 stops, the first elastic reset member 31 can spontaneously drive the active flexible tail section 30 to reset.

[0068] When the driving mechanism 20 drives the active flexible tail section 30 to swing, the first elastic reset member 31 can convert part of kinetic energy into elastic potential energy, which can be converted into kinetic energy in subsequent swing work to provide power for subsequent swing. The excess kinetic energy can be recycled, and the entire structure has good flexibility and good fluency during work, which is conducive to improving the bionics.

[0069] Further, the passive flexible tail section 40 has a second elastic reset member 41. When the driving mechanism 20 stops, the second elastic reset member 41 can spontaneously drive the passive flexible tail section 40 to reset.

[0070] When the passive flexible tail section 40 swings, the second elastic reset member 41 can convert part of kinetic energy into elastic potential energy, which can be converted into kinetic energy in subsequent swing work to provide power for subsequent swing. The excess kinetic energy can be recycled, and the entire structure has good flexibility and good fluency during work, which is conducive to improving the bionics.

[0071] The third elastic reset member 50 is configured between the active flexible tail section 30 and the passive flexible tail section 40, and the active flexible tail section 30 and the passive flexible tail section 40 are respectively fixedly connected with two ends of the third elastic reset member 50.

[0072] The swing rod driven flexible crocodile tail structure can control the active flexible tail section 30 and the passive flexible tail section 40 only by driving the swing rod 10 to swing through the driving mechanism 20, and the control difficulty is low. At the same time, the entire structure is relatively simple, and the passive flexible tail section 40 can realize the living activity through elasticity and inertia, can realize high-frequency driving, and has high bionics.

[0073] As shown in FIGS. Figure 5 and 6 In the embodiment, the active flexible tail section 30 has eight first profiled frames 32. Adjacent first profiled frames 32 are rotationally connected. The active flexible tail section 30 has low weight and simple structure.

[0074] Furthermore, two first elastic reset members 31 are fixedly provided between adjacent first contouring frames 32, and the two first elastic reset members 31 between adjacent first contouring frames 32 are arranged opposite each other. A total of fourteen first elastic reset members 31 are provided.

[0075] In this embodiment, the elastic connector 11 is made of elastic cord, one end of which is fixed to the swing arm 10, and the other end of which is fixed to the first contour frame.

[0076] like Figure 7 As shown, in this embodiment, the driven flexible tail segment 40 has seven second contouring frames 42. Adjacent second contouring frames 42 are rotatably connected, and a second elastic reset member 41 is used to drive the adjacent second contouring frames 42 to reset. The driven flexible tail segment 40 has a simple structure and low weight.

[0077] Furthermore, two second elastic reset members 41 are fixedly provided between adjacent second contour frames 42, and the two second elastic reset members 41 between adjacent second contour frames 42 are arranged opposite each other. There are a total of twelve second elastic reset members 41.

[0078] Furthermore, the second contouring frame at the head end of the driven flexible tail segment 40 is fixedly connected to one end of the third elastic reset member 50, and the first contouring frame at the tail end of the active flexible tail segment 30 is fixedly connected to the other end of the third elastic reset member 50. The active flexible tail segment 30 and the driven flexible tail segment 40 are bridged by the third elastic reset member 50, giving the entire rotating structure a certain rotational stiffness.

[0079] Furthermore, there are two third elastic reset members 50, and the two third elastic reset members 50 are arranged opposite each other.

[0080] like Figures 8 to 12 As shown, in this embodiment, the drive mechanism 20 includes a housing 21, a motor 22, and a transmission mechanism 23.

[0081] Furthermore, the housing 21 has a rotating shaft 211, and the rocker arm 10 is configured to be rotatably connected to the rotating shaft. The motor 22 is disposed within the housing 21, and the transmission mechanism 23 is located within the housing 21.

[0082] The transmission mechanism 23 is configured to be connected to one end of the swing arm 10. The transmission mechanism 23 connects the output shaft of the motor 22 to the swing arm 10, so that the rotational motion of the motor 22 is converted into reciprocating oscillating motion acting on the swing arm 10.

[0083] Furthermore, the transmission mechanism 23 includes a positioning plate 231, a swing frame 232, and a drive disk 233. The positioning plate 231 is fixedly disposed within the housing 21. Two linear guide rails 234 are provided on the positioning plate 231, and the swing frame 232 is fixedly connected to the slider of the linear guide rails 234, thereby sliding through the guide rails. The drive disk 233 is configured to be fixedly connected to the output shaft of the motor 22.

[0084] Furthermore, the drive disc 233 is provided with a drive shaft 235, and the swing frame 232 is provided with a first movable groove 236 and a second movable groove 237, the first movable groove 236 and the second movable groove 237 being perpendicular to each other.

[0085] Furthermore, one end of the drive shaft 235 passes through the first movable groove 236, and the groove wall of the first movable groove 236 is configured to be perpendicular to the linear guide rail 234.

[0086] Furthermore, a connecting shaft is provided on the rocker arm 10, and the connecting shaft passes through the second movable groove 237.

[0087] like Figure 20 As shown, in this embodiment, the housing 21 also has a waterproof sleeve 24, through which the swing rod 10 passes and is inserted into the housing 21. The waterproof sleeve 24 enhances the waterproofing effect, which is beneficial for underwater operation of the equipment.

[0088] like Figure 13 and 14 As shown, in this embodiment, each first contour frame 32 is provided with two first connecting seats 321. A bridging piece 322 is rotatably disposed on the first connecting seat 321. The bridging piece 322 can be fixedly connected to the adjacent first contour frame 32, thereby realizing that the two adjacent first contour frames 32 can be rotatably connected.

[0089] Furthermore, the first connecting seat 321 and the bridging piece 322 rotate via bearings and shafts.

[0090] like Figure 4 As shown, in this embodiment, the bridging piece 322 is fixedly connected to the second contour frame 42 at the head end of the adjacent driven flexible tail segment 40, thereby realizing the rotatable connection between the first contour frame 32 and the second contour frame 42 at one end of the driven flexible tail segment 40.

[0091] like Figure 7 , 15 As shown in 16, 17 and 18, in this embodiment, the second contour frame at the head end of the driven flexible tail segment 40 has a reinforcing part 411, and the reinforcing part 411 and its corresponding two bridging pieces 322 are bolted together. The second contour frame at the tail end of the driven flexible tail segment 40 has a tail tip 412.

[0092] Furthermore, a second connecting seat 413 is provided on both the second contouring frame at the beginning and end of the driven flexible tail segment 40, and the remaining second contouring frames 42 each have two second connecting seats 413. Exemplarily, adjacent second contouring frames 42 rotate through the second connecting seats 413, pins, and bearings.

[0093] like Figure 1 , 5 As shown in Figures 8 and 9, in this embodiment, both ends of the rotating shaft 211 extend out of the housing 21. The first contour frame 32 at the head end of the active flexible tail segment 30 is fixedly connected to the housing 21, and the bridging piece 322 between the first contour frame fixed to the housing 21 and the rear first contour frame is rotatably connected to the rotating shaft 211.

[0094] In this embodiment, the first elastic reset member 31, the second elastic reset member 41 and the third elastic reset member 50 are all compression springs, and the first contour frame 32 and the second contour frame 42 are connected to the compression springs by bolts.

[0095] In another embodiment not shown, the elastic connector is a compression spring, one end of which is fixed to the rocker arm 10 and the other end of which is fixed to the first contour frame 32. Each first contour frame 32 is equipped with two compression springs, which are respectively connected to the left and right inner ends of the same first contour frame 32.

[0096] In another embodiment not shown, the drive mechanism is a servo motor, the output shaft of which is fixedly connected to the rocker arm.

[0097] Since the pendulum 10 and the elastic active flexible tail segment 30 are connected by an elastic rope with a certain degree of elasticity, there are multiple ways to connect them. Moreover, the elastic ropes at different positions can have different stiffness and initial preload, making the force transmission between the pendulum 10 and the active flexible tail segment 30 a three-dimensional, designable tensioning system.

[0098] like Figure 2 As shown, in some embodiments, one end of the elastic rope is fixed to the swing arm 10, and the other end of the elastic rope is fixed to the first contour frame 32. A first contour frame 32 is equipped with two elastic ropes, which are respectively connected to the left and right ends of the same first contour frame 32.

[0099] like Figure 19 As shown, in some embodiments, the ends of multiple elastic ropes converge at the same point on the pendulum, and the ends of multiple elastic ropes are all fixed to the pendulum, while the heads of multiple elastic ropes are respectively connected to different first contour frames.

[0100] Although the embodiments of the present application have been shown and described above, the scope of protection of the present application is not limited thereto, and any changes or substitutions not through creative labor should be covered within the scope of protection of the present application; unless explicitly stated, any element, action or instruction used herein should not be interpreted as critical or essential.

Claims

1. A flexible, alligator-tail-like structure driven by a pendulum, characterized in that, include: The rocker arm has multiple flexible connecting parts; A drive mechanism, configured to be connected to the swing arm, is used to drive the swing arm to swing. An active flexible tail segment, at least partially configured to be connected to the pendulum via a plurality of said elastic connectors, such that the active flexible tail segment swings with the pendulum; and The driven flexible tail segment is configured to connect to the active flexible tail segment and swing along with the active flexible tail segment; The active flexible tail segment has at least one first elastic reset member for driving the active flexible tail segment to reset; when the active flexible tail segment swings, the at least one first elastic reset member converts at least part of the kinetic energy into elastic potential energy to provide kinetic energy for subsequent swinging. The driven flexible tail segment has at least one second elastic reset member for driving the driven flexible tail segment to reset; when the driven flexible tail segment swings, the at least one second elastic reset member converts at least part of the kinetic energy into elastic potential energy to provide kinetic energy for subsequent swinging. The drive mechanism includes: The housing has a pivot, and the rocker arm is configured to be rotatably connected to the pivot; The motor is disposed within the housing; and A transmission mechanism is configured to connect to one end of the swing arm. The transmission mechanism is used to connect the output shaft of the motor to the swing arm, so that the rotational motion of the motor is converted into reciprocating oscillating motion and applied to the swing arm. The transmission mechanism is located inside the housing; The transmission mechanism includes: A positioning plate is fixedly disposed within the housing; A swing arm, slidably configured on the positioning plate; and A drive disk is configured to be fixedly connected to the motor; The drive disk is provided with a drive shaft, and the swing frame is provided with a first movable groove and a second movable groove, the first movable groove and the second movable groove being perpendicular to each other; One end of the drive shaft is inserted into / passes through the first movable slot, and the first movable slot is configured to be perpendicular to the sliding direction of the swing frame; The swing arm is provided with a connecting shaft, which is inserted into / passes through the second movable slot.

2. The flexible alligator tail-like structure driven by a pendulum according to claim 1, characterized in that, The active flexible tail segment also has: Multiple first-stage contour frames; The adjacent first contouring frames are rotatably connected, and the at least one elastic reset member is used to drive the adjacent first contouring frames to reset.

3. The flexible alligator tail-like structure driven by a pendulum according to claim 2, characterized in that, The driven flexible tail segment also has: Multiple second contour frames; The adjacent second contour frames are rotatably connected, and the at least one elastic reset member is used to drive the adjacent second contour frames to reset.

4. The flexible alligator tail-like structure driven by a pendulum according to claim 1, characterized in that, The active flexible tail is configured to be rotatably connected to the driven flexible tail segment; A third elastic reset member is disposed between the active flexible tail segment and the driven flexible tail segment, and the active flexible tail segment and the driven flexible tail segment are respectively fixedly connected to the two ends of the third elastic reset member.

5. A flexible alligator tail-like structure driven by a pendulum according to claim 4, characterized in that, The rotating shaft is configured to be rotatably connected to the active flexible tail segment.

6. The flexible alligator tail-like structure driven by a pendulum according to claim 1, characterized in that, The housing also has a waterproof sleeve, through which the swing arm passes and is inserted into the housing.

7. The flexible alligator tail-like structure driven by a pendulum according to claim 3, characterized in that, The first contour frame is provided with a connecting seat, and a bridging piece is rotatably disposed on the connecting seat. The bridging piece is fixedly connected to the adjacent first contour frame.

8. The flexible alligator tail-like structure driven by a pendulum according to claim 7, characterized in that, The bridging piece is fixedly connected to the adjacent second contour frame.

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