Scale mechanism with multi-degree-of-freedom flexibility

Abstract

According to the scale mechanism with the multi-degree-of-freedom flexibility, a follow-up scale overturning mechanism is adopted, a guide sliding telescopic structure is hinged to the scale follow-up overturning mechanism and an elastic belt follow-up mechanism, scales are attached to a trunk and gradually cover backwards layer by layer, the structural space is reasonably planned, and the scale mechanism can be used for large-scale production under the condition that the space is not occupied too much. And the requirement of high bionic degree is met. The structure rigidity can be adjusted by replacing the elastic bands with different elasticity so as to adapt to different body types and movement forms, and the bionic scale has important significance on development of the bionic scale technology.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, in particular to a scale mechanism of a bionic fish. Background Art

[0002] Scales are commonly found on fish, snakes and some other animals. The research focus of various types of bionic robots is mainly on morphological bionics, and the effects of appearance bionics, especially scale bionics, often need to be improved. Good scale bionic effects help improve the overall bionic effect. Since animals often swing and twist their limbs when they move, scales need to cooperate with their trunk movements to undergo dense, open, close and even twisting movements. At present, active scale mechanisms usually use motors to drive scale movement, which often has low space utilization and leads to loose scales, while increasing the difficulty of overall mechanism control. Patterned scales often have poor bionic effects. Therefore, it is of great significance to develop a scale mechanism with high space utilization, high flexibility and good bionic effects.

[0003] For example, CN 20427841 U discloses a scale-controllable snake-like robot, which for the first time introduces a scale mechanism with an opening and closing function. Under the action of the friction anisotropy of the scales, the scales are placed in an open or closed state, and the adjacent unit modules are controlled to move closer or farther away from each other by a dual-motor driven servo, so that the snake-like robot can move forward or backward. However, its scale mechanism uses a screw nut and a connecting rod to realize the opening and closing movement of the scales, which requires an independent power source and control device. Summary of the invention

[0004] The technical problem solved by the present invention is to provide a scale mechanism with multi-degree-of-freedom flexibility, which can achieve the technical goals of small volume, bionic scales that can be opened and closed at any time, and better bionic effects.

[0005] The technical solution adopted by the present invention is a scale mechanism with multi-degree-of-freedom flexibility, including at least two bionic trunks, each of which is equipped with a connecting piece, and also includes a guide sliding telescopic mechanism, an elastic belt following mechanism and a scale following flipping mechanism; a guide sliding telescopic mechanism and an elastic belt following mechanism; The guide sliding telescopic mechanism comprises at least two sections, each section comprises a single-head universal joint sliding rod, a double-head male sliding rod and a double-head female sliding rod which are slidably connected to each other, and the two ends of each section of the guide sliding telescopic mechanism are respectively fixed to two adjacent trunks through sliding rod fixing seats; The elastic belt follower mechanism is composed of at least two sections, each section includes a universal joint connector and an elastic belt connected to each other, and the two ends of each section of the elastic belt follower mechanism are respectively fixed to two adjacent torsos through elastic belt fixing seats; With the extension direction of the guide sliding telescopic mechanism and the elastic belt following mechanism as the longitudinal direction, the scale following flipping mechanism is arranged transversely and fixed on the guide sliding telescopic mechanism; Each section of the guiding sliding telescopic mechanism is hinged with at least two scale follow-up flipping mechanisms. The fixed bent plate of the scale follow-up flipping mechanism is arranged horizontally as a general bracket. At least two scales are installed on the fixed bent plate. The root of each scale is hinged to the fixed bent plate through a fixed ring. Each scale is also connected to an elastic ring, which pulls the scale in a direction close to the torso; a separator ring is provided between two adjacent scales installed on the same fixed bent plate.

[0006] The elastic band passes through the holes of each fixed curved plate in turn, pulling it towards the direction close to the torso. A damping device is provided in the hole to prevent a large relative sliding between the fixed curved plate and the elastic band.

[0007] The beneficial effect of the present invention is that the scales move with the swing of the trunk, no independent power source and control device are required, less space is occupied, and more dense scales can be made. At the same time, the rigidity of the scale follower mechanism can be adjusted. A guide sliding mechanism can be used to cope with the change of the gap between the scales. It has the ability to swing left and right, up and down, and has a certain toughness. The scales are more independent and have a better bionic effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 Schematic diagram of the appearance of the flake structure.

[0009] Figure 2 A three-dimensional schematic diagram of the scale structure.

[0010] Figure 3 Schematic diagram of the back structure of the scale.

[0011] Figure 4 Schematic diagram of the guide rod telescopic structure.

[0012] Figure 5 Schematic diagram of the elastic band follower structure.

[0013] Figure 6 Schematic diagram of the scale follow-up flipping mechanism.

[0014] Figure 7 This is a partial schematic diagram of the back side of the scale.

[0015] Marked in the figure: 1-sliding rod fixing seat, 2-elastic belt fixing seat, 3-guide sliding telescopic mechanism, 31-single-head universal joint sliding rod, 32-double-head male sliding rod, 33-double-head female sliding rod, 4-elastic belt following mechanism, 41-elastic belt, 5-scale following flipping mechanism, 51-elastic ring, 52-fixing ring, 53-separating ring, 54-scale, 55-fixed bent plate, 56-elastic belt mounting seat, 61-front trunk, 62-middle trunk, 62-rear trunk, 9-universal joint connecting piece. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings.

[0017] The scale mechanism with multi-degree-of-freedom flexibility of the present invention mainly includes a guide sliding telescopic mechanism 3, an elastic belt follower mechanism 4, and a scale follower flipping mechanism 5. The sliding rod fixing seat 1 and the elastic belt fixing seat 2 are connecting parts, such as Figure 1-Figure 3 shown.

[0018] like Figure 4 As shown, the guide sliding telescopic mechanism 3 includes several sections, each section includes a single-head universal joint sliding rod 31, a double-head male sliding rod 32 and a double-head female sliding rod 33 that are slidably connected to each other, and both ends of each section of the guide sliding telescopic mechanism 3 are respectively connected to the sliding rod fixing seats 1 on the two adjacent trunks through universal joints; like Figure 5 As shown, the elastic belt follower mechanism 4 includes a plurality of two sections, each section includes a universal joint connector 9 and an elastic belt 41 connected to each other, and both ends of each section of the elastic belt follower mechanism 4 are respectively connected to the elastic belt fixing seats 2 on two adjacent torsos through universal joints; With the extension direction of the guide sliding telescopic mechanism 3 and the elastic band follower mechanism 4 as the longitudinal direction, the scale follower flip mechanism 5 is arranged horizontally and connected to the guide sliding telescopic mechanism 3 through a hinge. Each section of the guide sliding telescopic mechanism 3 is connected to at least two scale follower flip mechanisms 5, such as Figure 6 , Figure 7 shown.

[0019] The scale follow-up turning mechanism 5 comprises a fixed curved plate 55, a fixed ring 52, a scale 54, a separation ring 53, and an elastic ring 51. The fixed curved plate 55 is arranged horizontally as a general bracket, and at least two scales are installed on each fixed curved plate 55. The root of each scale is hinged to the fixed curved plate 55 through a fixed ring 52. Each scale is also connected to an elastic ring 51, and both ends of the elastic ring 51 are installed on the fixed curved plate 52. The elastic ring 51 pulls the scale 54 toward the direction close to the trunk; The fixed curved plate 55 is also provided with an elastic band mounting seat 56, and the elastic band mounting seat 56 is provided with a through hole. The elastic band 41 passes through the through hole in the elastic band mounting seat 56 on each fixed curved plate in turn, and the fixed curved plate 55 is pulled close to the torso. A damping device is provided in the through hole to prevent a large relative sliding between the fixed curved plate and the elastic band. The damping device can be made of a material that can increase friction, such as a nylon ring.

[0020] When the trunk of the bionic fish swings, the relative position relationship between the trunk sections changes, and the sliding rod fixing seat 1 and the elastic band fixing seat 2 on the trunk move accordingly. When the trunk swings, the gap between the scales on one side needs to be extended, while the gap between the scales on the opposite side needs to be contracted. Figure 2 In the embodiment, the gap between the scales on one side needs to be extended, and the gap between the scales on the lower side needs to be contracted. The contraction or extension is achieved by the relative sliding between the slide bars on the guide sliding telescopic mechanism.

[0021] The specific principle is as follows: when the two sliding rod fixing seats 1 undergo relative movement, the spacing between the single-head universal joint sliding rods 31 connected thereto changes accordingly, and the double-headed male sliding rod 32 and the double-headed female sliding rod 33 slide relative to each other, driving the scale follow-up flipping mechanism 5 fixed therein, thereby adjusting the gap between the scales.

[0022] At the same time, when the elastic band fixing seat 2 moves, the elastic band follower mechanism 4 connected thereto also moves, and the elastic band 41 stretches or contracts accordingly. When the spacing increases, the spacing between the scales increases. In the natural state, the scales tend to open relative to the trunk. At this time, the elastic band is stretched, and the tension increases, so that the scales are subjected to a stronger tension, which offsets the tendency of the scales to open and maintains the fit with the trunk. When the distance between the two elastic band fixing seats 2 is reduced, the scales naturally get closer to the trunk. At this time, the length of the elastic band becomes shorter, the elastic force becomes smaller, and the fit between the scales and the trunk is not affected. The elastic band 41 will always constrain the scale follower flipping mechanism 5 so that it is always close to the trunk. In addition, the elastic coefficient of the elastic band 41 can be adjusted to change the structural rigidity and adjust the fit of the scales so that the mechanism can adapt to different body shapes and forms of movement.

[0023] As the trunk swings, an angle is formed between the trunks, and the scales 54 in the scale follower flip mechanism 5 are pressed by the angle and can rotate around the fixed ring 52. At the same time, the elastic ring 51 constrains the scales 54 to make them close to the trunk. In this process, the separation ring 53 plays a separation role to avoid large friction between multiple scales fixed on the same fixed curved plate 55, and maintain the independence and flexibility of each scale.

[0024] In summary, the follow-up bionic scale mechanism of the present invention solves the problem of large space occupied by the active drive scale structure. The structure space is rationally planned and does not occupy too much space, and has high bionic requirements.

[0025] The guided sliding telescopic mechanism solves the problem of changes in the circumference of scales on both sides caused by trunk swinging, thereby improving the bionic effect.

[0026] By using elastic bands and elastic rings to constrain the scales, no matter the trunk is bent or twisted, the contoured scales can not only open and close to the trunk, but also adjust the degree of closeness by adjusting the elastic coefficient.

[0027] The connection method of the sliding rod fixing seat and the elastic band fixing seat both adopts universal joints, and the scale flipping mechanism is connected to the elastic band follower mechanism at the top and bottom respectively, so that it has a certain anti-torsion ability and also has the function of swinging up and down with the torso.

[0028] Due to the use of follow-up form, the load is small, so for scenes with strict weight requirements, after analysis and calculation, low-density non-metallic materials can be used to reduce the overall weight. This is of great significance to the development of bionic scale technology.

Claims

1. A scale mechanism with multi-degree-of-freedom flexibility, comprising at least two bionic trunks, each of which is equipped with a connecting piece, characterized in that: It also includes a guide sliding telescopic mechanism (3), an elastic band following mechanism (4) and a scale following flipping mechanism (5); a guide sliding telescopic mechanism (3) and an elastic band following mechanism (4); The guide sliding telescopic mechanism (3) comprises at least two sections, each section comprising a single-head universal joint sliding rod (31), a double-head male sliding rod (32) and a double-head female sliding rod (33) which are slidably connected to each other, and the two ends of each section of the guide sliding telescopic mechanism (3) are respectively fixed to two adjacent trunks through connecting pieces; The elastic belt follower mechanism (4) comprises at least two sections, each section comprising a universal joint connector (9) and an elastic belt (41) connected to each other, and the two ends of each section of the elastic belt follower mechanism (4) are respectively fixed to two adjacent trunks through connectors; With the extension direction of the guide sliding telescopic mechanism (3) and the elastic band follower mechanism (4) as the longitudinal direction, the scale follower flip mechanism (5) is arranged transversely and fixed on the guide sliding telescopic mechanism (3); Each section of the guide sliding telescopic mechanism (3) is connected to at least two scale follower flipping mechanisms (5); a fixed curved plate (55) of the scale follower flipping mechanism (5) is arranged transversely as a general bracket; at least two scales are mounted on the fixed curved plate (55); the root of each scale is hinged to the fixed curved plate (55) via a fixed ring (52); each scale is also connected to an elastic ring (51); the elastic ring (51) pulls the scale in a direction close to the trunk; The fixed curved plate (55) is also provided with an elastic band mounting seat (56), and the elastic band (41) passes through the elastic band mounting seat (56) on each fixed curved plate in sequence to pull the fixed curved plate in a direction close to the trunk.

2. The scale structure with multi-degree-of-freedom flexibility as claimed in claim 1, characterized in that: The connecting parts are a sliding rod fixing seat (1) and an elastic band fixing seat (2), two ends of the guide sliding telescopic mechanism (3) are connected to the sliding rod fixing seat (1) through a universal joint, and two ends of the elastic band follower mechanism (4) are connected to the elastic band fixing seat (2) through a universal joint connecting part.

3. The scale structure with multi-degree-of-freedom flexibility as claimed in claim 1, characterized in that: A separation ring (53) is provided between two adjacent scales (54) mounted on the same fixed bent plate.

4. The scale structure with multi-degree-of-freedom flexibility as claimed in claim 1, characterized in that: The scale follow-up turning mechanism (5) is connected to the guide sliding telescopic part through a hinge, and a through hole is provided on the elastic band mounting seat on the fixed curved plate. The through hole and the elastic band are slidably matched, and a damping device is provided in the hole to prevent large-scale relative sliding between the fixed curved plate and the elastic band.

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