A bionic tail structure

Abstract

The application discloses a novel bionic tail structure, which comprises a tail body, a fuselage and a gravity center offset device; the gravity center offset device is arranged on the fuselage; the tail body comprises a tail driving device and a tail actuator; the tail driving device comprises a tail mounting frame, a first driving mechanism for driving the tail actuator to change a shape and a second driving mechanism for driving the tail actuator to swing; the tail mounting frame is arranged at a tail portion of the fuselage; and the first driving mechanism and the second driving mechanism are both arranged on the tail mounting frame. The whole structure is compact, flexible and good in flexibility, and the gravity center offset device can effectively support the robot to complete wall surface transition or obstacle crossing.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and more particularly to a novel bionic tail structure. BACKGROUND

[0002] Terrestrial animals are mostly quadruped animals and are distributed on various types of terrain, which proves the flexibility, strong adaptability of the quadruped moving mode and configuration to a certain extent, and has great advantages compared with the crawling type, wheel type, track type and other moving modes and biped, multi-legged and other configurations. The quadruped robot is a robot designed by taking the structural characteristics, movement mode and organ function of quadruped animals as the simulation elements, and has the characteristics of large load, flexible action, wide activity range and strong adaptability, and can reach scenes that are difficult for humans or other land mobile robots to reach, and has practical application value in the field of rescue and disaster relief.

[0003] The tail is considered a distinctive feature of chordates, with extremely diverse functions, including but not limited to serving as a fifth limb, serving as a visual signal for warning and courtship, and serving as a basic physiological and morphological driving factor for functions such as propulsion, stability and maneuverability, gripping, energy storage and body temperature regulation. Taking a seahorse as an example, the tail of the seahorse can flexibly adapt to the common objects such as seaweed and coral reefs in the seabed, which enables the seahorse to fix and hide itself in the seabed, relying on the concealment to avoid the attack of predators, and the wrapping of the tail improves the stability of the seahorse posture and is beneficial to the predation of plankton by the seahorse.

[0004] At present, robots often encounter complex environments with multiple obstacles when performing tasks, which puts high requirements on the wall transition and obstacle crossing ability of the robots.

[0005] Therefore, how to provide a novel bionic tail structure capable of supporting the robot to complete the wall transition or obstacle crossing operation is one of the technical problems to be solved in the field. SUMMARY

[0006] Therefore, the present application provides a novel bionic tail structure to solve the problems in the prior art.

[0007] To solve the above technical problems, the present application adopts the following technical solutions:

[0008] A new bionic tail structure, comprising: a tail body, a fuselage and a gravity center offset device; the gravity center offset device is arranged on the tail body; the tail body comprises a tail driving device and a tail actuator; the tail driving device comprises a tail mounting bracket, a first driving mechanism for driving the tail actuator to change shape and a second driving mechanism for driving the tail actuator to swing; the tail mounting bracket is arranged at the tail of the fuselage; the first driving mechanism and the second driving mechanism are both arranged on the tail mounting bracket.

[0009] Preferably, the tail actuator comprises a plurality of sub-tails connected in sequence; each of the sub-tails comprises an outer tail and an inner tail slidingly arranged in the outer tail; adjacent outer tails are hingedly connected; adjacent inner tails are hingedly connected; the outer tail at the leading end is connected to the output end of the second driving mechanism; the inner tail at the leading end is connected to the output end of the first driving mechanism.

[0010] Preferably, the tail actuator further comprises a universal pressure head; the universal pressure head is arranged on the outer tail at the trailing end.

[0011] Preferably, springs are arranged between adjacent outer tails.

[0012] Preferably, the first driving mechanism comprises a four-bar mechanism, a tail push rod and a driving steering engine for driving the four-bar mechanism; the driving steering engine and the four-bar mechanism are both arranged on the tail mounting bracket; one end of the four-bar mechanism is connected to the output end of the driving steering engine; one end of the tail push rod is connected to the four-bar mechanism; the other end of the tail push rod is connected to the inner tail at the leading end.

[0013] Preferably, the second driving mechanism comprises a driving rod, a first driving motor and a second driving motor; the first driving motor is arranged on the tail mounting bracket; the second driving motor is connected to the output end of the first driving motor; one end of the driving rod is connected to the output end of the second driving motor; the other end of the driving rod is connected to the outer tail at the leading end.

[0014] Preferably, the gravity center offset device comprises a third driving motor, a ball screw, a counterweight and a screw support seat; the third driving motor and the screw support seat are both arranged on the fuselage, and the third driving motor and the screw support seat are oppositely arranged; one end of the ball screw is connected to the output end of the third driving motor, and the other end of the ball screw is rotatably connected to the screw support seat; the counterweight is arranged on the ball screw.

[0015] Preferably, the output end of the third driving motor is connected to the ball screw through a shaft coupling and a motor transmission seat.

[0016] The present application has the following technical effects relative to the prior art: the bionic tail of the present application has a compact overall structure, is flexible and has good flexibility, and in combination with the gravity center offset device, can effectively support the robot to complete wall transition or obstacle crossing. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of a novel bionic tail structure of the present application;

[0018] Figure 2 is an axonometric view of the tail body;

[0019] Figure 3 is a front view of the tail body;

[0020] Figure 4 is a sectional view of the tail body;

[0021] Figure 5 is Figure 4 is a partial enlarged view of part A;

[0022] Figure 6 is Figure 4 is a partial enlarged view of part B;

[0023] Figure 7 is a structural schematic view of a gravity center offset device;

[0024] Figure 8 is a process schematic view when the robot transitions to a 90-degree surface;

[0025] Figure 9 is a process schematic view when the robot transitions to an inverted surface;

[0026] Figure 10 is a process schematic view when the robot crosses a small step obstacle;

[0027] In the figure: 1, tail body; 11, tail driving device; 111, tail mounting bracket; 112, first driving mechanism; 1121, four-bar mechanism; 1122, tail push rod; 1123, driving steering wheel; 113, second driving mechanism; 1131, driving rod; 1132, first driving motor; 1133, second driving motor; 12, tail actuator; 121, sub-tail; 1211, outer tail; 1212, inner tail; 122, universal pressure head; 123, spring; 2, body; 21, front leg; 22, rear leg; 23, end effector; 3, gravity center offset device; 31, third driving motor; 32, ball screw; 33, counterweight; 34, screw support seat; 35, coupling; 36, motor transmission seat. DETAILED DESCRIPTION

[0028] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0029] Embodiments

[0030] Referring to Figures 1-10 As shown in the figure, the present application discloses a new bionic tail structure, comprising: a tail body 1, a fuselage 2 and a gravity center offset device 3; the gravity center offset device 3 is arranged on the fuselage 2; the tail body 1 comprises a tail driving device 11 and a tail actuator 12; the tail driving device 11 comprises a tail mounting bracket 111, a first driving mechanism 112 for driving the tail actuator 12 to change shape and a second driving mechanism 113 for driving the tail actuator 12 to swing; the first driving mechanism 112 is used to control the tail actuator 12 to change between flexible and rigid shapes; the second driving mechanism 113 is used to control the tail actuator 12 to swing up and down and left and right, so as to adjust the overall gravity center position of the robot and make the robot move smoothly; the tail mounting bracket 111 is arranged at the tail of the fuselage 2; the first driving mechanism 112 and the second driving mechanism 113 are both arranged on the tail mounting bracket 111.

[0031] The above technical solution can realize the transition of 90-degree surfaces or lower inverted surfaces and the crossing of small obstacles such as low-height steps through the cooperative action of the first driving mechanism, the second driving mechanism, the tail actuator and the gravity center offset device. The overall structure of the bionic tail of the present application is compact, flexible and good in flexibility, which can effectively support the robot to complete wall surface transition or obstacle crossing.

[0032] In the present embodiment, the lower inverted surface refers to an inverted surface with a height lower than the highest height at which the two front legs of the robot can successfully attach after entering the preparation posture; the small obstacle refers to an obstacle with a height lower than the working space of the two front legs of the robot and on the surface of which the two front legs can successfully attach.

[0033] In the present embodiment, the fuselage 2 is provided with two front legs 21 and two rear legs 22; the two front legs 21 and the two rear legs 22 are symmetrically arranged along the fuselage 2; the end of each front leg 21 and the end of each rear leg 22 are provided with an end attachment device 23.

[0034] In the embodiment, the tail actuator 12 comprises three sections of sub-tails 121 connected in sequence; each section of the sub-tail 121 comprises an outer tail 1211 and an inner tail 1212 slidingly arranged in the outer tail 1211; the adjacent outer tails 1211 are hingedly connected, facilitating the relative rotation between the outer tails; the adjacent inner tails 1212 are hingedly connected, facilitating the relative rotation between the inner tails, so that the inner tail can bend with the outer tail and be in a flexible state; the outer tail 1211 at the leading end is connected to the output end of the second driving mechanism 113, and the outer tail 1211 at the leading end is driven to swing up and down and left and right by the second driving mechanism 113, thereby driving the entire tail actuator 12 to swing up and down and left and right; the inner tail 1212 at the leading end is connected to the output end of the first driving mechanism 112, and the inner tail 1212 is moved in the outer tail by the first driving mechanism 112, adjusting the position of the inner tail 1212, so that the inner tail 1212 enters or exits the hinged connection space between the outer tails 1211, thereby changing the shape of the entire tail actuator 12 and enabling it to switch between rigid and flexible states.

[0035] In the embodiment, the tail actuator 12 further comprises a universal pressure head 122; the universal pressure head 122 is arranged on the outer tail 1211 at the trailing end, so that the tail actuator can support the robot at multiple angles.

[0036] In the embodiment, the universal pressure head 122 is provided with a wear-resistant layer at the bottom, which can effectively reduce the wear of the universal pressure head when it is dragged.

[0037] In the embodiment, springs 123 are arranged between the adjacent outer tails 1211, avoiding a large deflection angle between the sections of sub-tails, which affects the entry of the inner tail into the outer tail.

[0038] In the embodiment, the first driving mechanism 112 comprises a four-bar mechanism 1121, a tail push rod 1122 and a driving steering engine 1123 for driving the four-bar mechanism 1121; the driving steering engine 1123 and the four-bar mechanism 1121 are arranged on the tail mounting frame 111; one end of the four-bar mechanism 1121 is connected to the output end of the driving steering engine 1123; one end of the tail push rod 1122 is connected to the four-bar mechanism 1121; the other end of the tail push rod 1122 is connected to the inner layer tail 1212 at the head end; in use, the inner layer tail 1212 is driven by the driving steering engine 1123, the four-bar mechanism 1121 and the tail push rod 1122; when not driven, the inner layer tail 1212 bends with the outer layer tail 1211, and is in a flexible state; the driving steering engine 1123 drives the tail push rod 1122 to move through the four-bar mechanism 1121, the tail push rod 1122 pushes the inner layer tail 1212 into the hinge connection space between the outer layer tail 1211, limits the rotation between the three-section tail 121, the spring 123 is compressed, and the whole tail executor 12 is changed into a rigid state; if the tail executor 12 is reset to be flexible, the driving steering engine 1123 is reversely rotated to pull out the inner layer tail 1212, the spring 123 is relaxed, and the tail executor 12 is changed into a flexible state; in addition, the tail executor 12 is provided with a universal pressure head 122 connected by a spherical hinge at the tail end, so as to facilitate the tail executor 12 to support the robot body.

[0039] In the embodiment, the second driving mechanism 113 comprises a driving rod 1131, a first driving motor 1132 and a second driving motor 1133; the first driving motor 1132 is arranged on the tail mounting frame 111; the second driving motor 1133 is connected to the output end of the first driving motor 1132 through a connecting piece; one end of the driving rod 1131 is connected to the output end of the second driving motor 1133; the other end of the driving rod 1131 is connected to the outer layer tail 1211 at the head end; in use, the first driving motor 1132 drives the second driving motor 1133 to swing left and right, thereby driving the driving rod 1131 to swing left and right, and further driving the tail executor 12 to swing left and right; the second driving motor 1133 drives the driving rod 1131 to swing up and down, thereby driving the tail executor 12 to swing up and down, so as to realize the left and right swing and the up and down swing of the tail executor, and thus the robot can adjust the deviation of the gravity center in real time by using the tail body 1 during horizontal movement, and improve the overall moving speed.

[0040] In this embodiment, the center of gravity offset device 3 includes a third drive motor 31, a ball screw 32, a counterweight 33, and a screw support 34. The third drive motor 31 and the screw support 34 are both mounted on the body 2 and are positioned opposite each other. One end of the ball screw 32 is connected to the output end of the third drive motor 31, and the other end of the ball screw 32 is rotatably connected to the screw support 34. The counterweight 33 is connected to the ball screw 32 via a ball nut. In use, the third drive motor 31 drives the ball screw 32 to rotate, and the ball screw 32 drives the counterweight 33 to move left and right along the central axis of the ball screw, changing the position of the counterweight 33 relative to the body 2, thereby achieving the offset adjustment of the overall robot's center of gravity, which facilitates the completion of the body's pitching motion.

[0041] In this embodiment, the output end of the third drive motor 31 is connected to the ball screw 32 through the coupling 35 and the motor transmission seat 36.

[0042] In this embodiment, the end attachor 23 is a suction cup.

[0043] In other embodiments, other types of end-capsulators such as adhesive, hooks, and magnetic attachments may be selected as needed.

[0044] In other embodiments, the number of sub-tails 121 can be designed according to the actual situation.

[0045] Work process:

[0046] 1. The robot's transition process to a 90-degree surface

[0047] 1) When the robot detects a 90-degree obstacle surface in front of it through its binocular cameras and vision module, the robot's two front legs 21 adjust the pose of the end effector 23, enter a ready posture, and prepare to contact the 90-degree inverted surface. Figure 8 (Top left); 2) The robot's two hind legs 22 cross into the swing and support phases, dragging the body 2 forward a certain distance. During this time, the tail body 1 is dragged forward along with the body 2. When the distance reaches the required working distance calculated by the robot control board, the center of gravity offset device 3 controls the counterweight 33 to move forward to the middle of the body 2, and the center of gravity moves accordingly. Then the tail body 1 stops supporting the body 2, and the front end of the robot falls under the action of gravity. At this time, the robot's two front legs 21 extend forward, and the end attachers 23 can contact the 90-degree wall to be climbed and successfully attach. Thus, the two front legs 21 are successfully attached to the 90-degree wall, while the two hind legs 22 are successfully attached to the horizontal plane. Figure 83) The robot enters the transition process, and the four legs are in the order of left front, right rear, right front, and left rear as swing items to drive the robot's center of gravity to approach the 90-degree wall. When the distance suitable for the transition of the two rear legs 22 to the wall is reached, the robot control board issues an instruction, and the tail actuator 12 in the rigid form is pressed down, while the two front legs 21 move upward, forming a posture in which the two front legs 21 and the tail body 1 support the robot Figure 8 4) The two rear legs 22 of the robot adjust the end effector 23, thereby successfully attaching to the 90-degree wall Figure 8 5) After the robot's posture and force are stable, the tail body 1 stops pressing down Figure 8 6) Thus, the robot completes the transition across the 90-degree surface.

[0048] 2, The robot transition process to the inverted surface

[0049] 1) When the robot detects through the binocular camera and the vision module that the front needs to transition to a lower inverted surface, the two front legs 21 of the robot adjust the pose of the end effector 23, enter the preparation posture, and prepare to contact the inverted surface Figure 9 2) The two front legs 21 stretch towards the inverted surface, and the end effector 23 contacts and successfully attaches to the inverted surface Figure 9 3) The two rear legs 22 of the robot cross into swing items and support items, drag the body 2 to move forward a certain distance. During this period, the tail body 1 is dragged forward together with the body 2, and after the direction of the body 2 of the robot is perpendicular to the inverted surface, it continues to move a certain distance, at which time the abdomen of the robot faces the inverted surface Figure 9 4) The tail driving device 11 drives the tail body 1 to continue to press down, making the rear half of the body 2 further approach the inverted surface, and the two front legs 21 and the tail body 1 form support for the robot, with the two rear legs 22 in a free state Figure 9 5) The center of gravity shifting device 3 controls the center of gravity to move to the middle of the body 2, the two rear legs 22 stretch towards the inverted surface and adjust the pose of the end effector 23, so that it contacts and successfully attaches to the inverted surface. After the robot's posture and force are stable, the tail body 1 stops supporting Figure 9 6) Thus, the robot realizes the transition to the lower inverted surface.

[0050] 3, The robot crossing small step obstacle process

[0051] 1) When the robot detects through the binocular camera and the vision module that the front needs to cross a small obstacle such as a low-height step, the two front legs 21 of the robot in the preparation posture adjust the pose of the end effector 23, enter the preparation posture, and prepare to cross the obstacle Figure 10Fig. 2 (upper left); 2) the two rear legs 22 of the robot cross into the swing item and the support item, drag the body 2 to move forward a certain distance, during which the tail body 1 is dragged forward together with the body 2, when the distance reaches the required working distance calculated by the robot control board, the gravity center shifting device 3 controls the gravity center to move forward to the middle of the body 2, then stops the support of the body 2 by the tail body 1, the front end of the robot falls under the action of gravity, at this time the two front legs 21 of the robot stretch forward, the end adhering device 23 can contact the upper surface of the step to be crossed or the upper surface of other types of obstacles and successfully adhere (Fig. 2 (upper right); 3) the gravity center shifting device 3 controls the gravity center to move forward to the front of the body 2, the overall gravity center of the robot is shifted to the front side of the body 2, so that the middle and rear of the body 2 are pressed and tilted up (Fig. 2 (lower left); 4) the two front legs 21 alternately act as swing items and support items to drag the body 2 to move forward a certain distance, so that the two rear legs 22 of the robot can adhere to the upper surface of the step to be crossed (Fig. 2 (lower right)), at this time the robot completes the crossing of small obstacles such as low-height steps. Figure 10 Figure 10 Figure 10

[0052] The above is only the preferred embodiment of the present application, and does not limit the technical scope of the present application in any way. Any slight modification, equivalent change and modification made according to the technical essence of the present application to the above embodiment still falls within the scope of the technical solution of the present application.​​​

Claims

1. A bionic tail structure, characterized in that, The application relates to a tail body (1), a fuselage (2) and a gravity center offset device (3); the gravity center offset device (3) is arranged on the fuselage (2) and is used for realizing offset adjustment of the gravity center position of the whole robot; the tail body (1) comprises a tail driving device (11) and a tail actuator (12); the tail driving device (11) comprises a tail mounting frame (111), a first driving mechanism (112) used for driving the tail actuator (12) to transform between a flexible mode and a rigid mode and a second driving mechanism (113) used for driving the tail actuator (12) to swing up and down and left and right; the tail mounting frame (111) is arranged at the tail of the fuselage (2); the first driving mechanism (112) and the second driving mechanism (113) are both arranged on the tail mounting frame (111); The tail actuator (12) comprises a plurality of sections of sub-tails (121) which are sequentially connected in a head-to-tail mode; each section of the sub-tail (121) comprises an outer tail (1211) and an inner tail (1212) which is slidably arranged in the outer tail (1211); adjacent outer tails (1211) are hingedly connected; adjacent inner tails (1212) are hingedly connected; the outer tail (1211) at the head end is connected to the output end of the second driving mechanism (113); the inner tail (1212) at the head end is connected to the output end of the first driving mechanism (112); A spring (123) is arranged between adjacent outer tails (1211). The first driving mechanism (112) comprises a four-bar mechanism (1121), a tail push rod (1122) and a driving steering engine (1123) used for driving the four-bar mechanism (1121); the driving steering engine (1123) and the four-bar mechanism (1121) are both arranged on the tail mounting frame (111); one end of the four-bar mechanism is connected to the output end of the driving steering engine (1123); one end of the tail push rod (1122) is connected with the four-bar mechanism (1121); the other end of the tail push rod (1122) is connected with the inner tail (1212) at the head end. The tail actuator (12) further comprises a universal pressure head (122); the universal pressure head (122) is arranged on the outer tail (1211) at the tail end.

2. The biomimic tail structure of claim 1, wherein, The second driving mechanism (113) comprises a driving rod (1131), a first driving motor (1132) and a second driving motor (1133); the first driving motor (1132) is arranged on the tail mounting frame (111); the second driving motor (1133) is connected to the output end of the first driving motor (1132); one end of the driving rod (1131) is connected with the output end of the second driving motor (1133); the other end of the driving rod (1131) is connected with the outer tail (1211) at the head end.

3. The biomimic tail structure of claim 1, wherein, ​ 4. The biomimic tail structure of claim 1, wherein, The gravity center offset device (3) comprises a third driving motor (31), a ball screw (32), a counterweight (33) and a screw support seat (34); the third driving motor (31) and the screw support seat (34) are both arranged on the fuselage (2), and the third driving motor (31) and the screw support seat (34) are oppositely arranged; one end of the ball screw (32) is connected to the output end of the third driving motor (31), and the other end of the ball screw (32) is rotatably connected to the screw support seat (34); the counterweight (33) is arranged on the ball screw (32).

5. The biomimic tail structure of claim 4, wherein, The output end of the third driving motor (31) is connected with the ball screw (32) through a shaft coupling (35) and a motor driving seat (36).

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