A branch chain reconstruction method based on flexible hinge and its robot

Abstract

The present application relates to the field of robotics, and provides a branch chain reconstruction method based on flexible hinges and a robot thereof, in order to solve the problem that traditional robots have a single motion form and cannot perform tasks in complex environments. The method comprises: providing a static platform and a dynamic platform, and setting at least two parallel motion branches between the static platform and the dynamic platform, wherein the motion branches include an active rod, a flexible hinge and a driven rod connected in sequence, the flexible hinge is elastic, the driven rod is connected to the dynamic platform, and the active rod is symmetrically arranged with the driven rod around the flexible hinge; providing a plurality of drivers, which drive the active rod to rotate so that the motion branches have an intermediate mode, a crawling mode and a jumping mode, wherein the fixed end of the driver is set on the static platform, and the drive shaft of the driver is connected to the corresponding active rod.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a branch chain reconstruction method based on flexible hinges and a robot thereof. Background Art

[0002] In the existing technology, traditional jumping robots are mainly designed and functionally targeted at open terrains. Their structure and maneuverability are usually not suitable for narrow or highly restricted environments. These limitations reduce the adaptability and efficiency of traditional jumping robots in performing diverse tasks, making it impossible for traditional jumping robots to perform tasks in complex environments.

[0003] Therefore, the existing technology needs to be improved. Summary of the Invention

[0004] The purpose of this application is to provide a branch chain reconstruction method based on flexible hinges and a robot thereof, so as to solve the problem that traditional robots have a single motion form and cannot perform tasks in complex environments.

[0005] To achieve the above objectives, the technical solution adopted in the first aspect of the embodiment of the present application is:

[0006] A branch chain reconstruction method based on a flexible hinge, comprising:

[0007] A static platform and a dynamic platform are provided, and at least two parallel motion branches are arranged between the static platform and the dynamic platform, wherein the motion branches include an active rod, a flexible hinge, and a driven rod connected in sequence, the flexible hinge is elastic, the driven rod is connected to the dynamic platform, and the active rod is symmetrically arranged with the driven rod around the flexible hinge;

[0008] Providing a plurality of drivers, which drive the active rods to rotate so that the motion branch chain has an intermediate mode, a creeping mode, and a jumping mode, wherein the fixed end of the driver is disposed on the static platform, and the drive shaft of the driver is connected to the corresponding active rod;

[0009] When the motion branch chain is in the intermediate mode, the active rod is driven by the corresponding driver to overlap with the driven rod and form a static state;

[0010] When the motion branch chain is in the crawling mode, the active rod and the driven rod overlapped in one body form a folding rod assembly, and the folding rod assembly realizes the crawling motion by rotating around the driving shaft of the corresponding driver;

[0011] When the motion branch is in the jumping mode, the active rod forms a certain angle with the driven rod through the driving of the corresponding driver, and the motion branch realizes jumping motion through the driving of the driver and the elastic release of the flexible hinge.

[0012] According to the branch chain reconstruction method based on flexible hinges described above, several drivers are provided, and the active rods are driven to rotate by the drivers so that the moving branch chain has an intermediate mode, a crawling mode and a jumping mode. The crawling mode is converted into the jumping mode through the intermediate mode, and the jumping mode is converted into the crawling mode through the intermediate mode.

[0013] According to the branch chain reconstruction method based on the flexible hinge described above, when the motion branch chain is in the crawling mode, in the step where the active rod and the driven rod overlapped in one body realize the crawling motion by rotating around the drive shaft of the corresponding driver, the motion mode of the crawling mode is:

[0014] Each of the drivers is driven to move respectively, and the active rods and the driven rods overlapped in one body will crawl alternately around the driving shaft of the corresponding driver.

[0015] According to the branch chain reconstruction method based on the flexible hinge described above, when the motion branch chain is in the jumping mode, the active rod forms a certain angle with the driven rod by the corresponding driver, and the motion branch chain realizes the jumping motion by the driver and the elastic release of the flexible hinge. The motion mode of the jumping mode is:

[0016] driving the driving shafts of the respective drivers to rotate in a first direction, so that the active rod moves closer to the driven rod to form a certain angle with the driven rod, and the flexible hinge is in a compressed state;

[0017] The driving shafts of the respective drivers are driven to reverse rapidly in a second direction, so that the active rod and the driven rod are released through the elasticity of the corresponding flexible hinges to perform jumping motion, and the second direction is opposite to the first direction.

[0018] According to the branch chain reconstruction method based on flexible hinges described above, a static platform and a dynamic platform are provided, and in the step of setting at least two parallel motion branches between the static platform and the dynamic platform, three motion branches are set.

[0019] The technical solution adopted in the second aspect of the embodiment of the present application is:

[0020] A branch chain reconfiguration robot based on a flexible hinge is manufactured using the branch chain reconfiguration method based on a flexible hinge as described above, and the branch chain reconfiguration robot comprises:

[0021] static platform;

[0022] A dynamic platform, which is arranged below the static platform;

[0023] A plurality of drivers, each of which has a fixed end disposed on the static platform;

[0024] At least two motion branches arranged in parallel are both arranged between the static platform and the dynamic platform, wherein the motion branches include an active rod, a flexible hinge and a driven rod connected in sequence, the flexible hinge is elastic, the active rod is connected to the driving shaft of the corresponding driver, the driven rod is connected to the dynamic platform, and the active rod is symmetrically arranged with the driven rod around the flexible hinge.

[0025] According to the above-mentioned branched chain reconfiguration robot based on flexible hinges, the branched chain reconfiguration robot further includes:

[0026] A plurality of first motion pairs are provided on the driving shafts of the corresponding drivers, and the active rods are connected to the corresponding first motion pairs.

[0027] According to the above-mentioned branched chain reconfiguration robot based on flexible hinges, the branched chain reconfiguration robot further includes:

[0028] A plurality of second motion pairs are arranged on the moving platform, and the driven rods are connected to corresponding second motion pairs.

[0029] According to the above-mentioned branched chain reconfiguration robot based on flexible hinges, the number of the motion branches is three.

[0030] According to the branched chain reconfiguration robot based on flexible hinges described above, the static platform and at least two parallel-connected motion branches form a module unit, and the dynamic platform is provided with a plurality of sequentially connected module units.

[0031] The beneficial effects of the branch chain reconstruction method based on flexible hinges and the robot thereof provided in this application are at least:

[0032] The present application sets up multiple parallel motion branches, and makes the middle part of the motion branch an elastic flexible hinge, and the two ends of the motion branch are active rods and driven rods symmetrically arranged along the flexible hinge. In this way, when the branch chain reconstruction robot faces a narrow or highly restricted environment, the present application drives the driving shafts of each driver on the static platform to move, drive the corresponding active rods to move, and convert the motion branch into a crawling mode. In the crawling mode, the active rod and the driven rod overlap into one, and crawling motion is achieved by rotating around the corresponding driving shaft of the driver to support the branch chain reconstruction robot to operate in a narrow or highly restricted environment; when the branch chain reconstruction robot faces an environment with open terrain, the present application drives the driving shafts of each driver on the static platform to move, drive the corresponding active rods to move, and convert the motion branch into a jumping mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 A flowchart of a branch chain reconstruction method based on a flexible hinge provided in an embodiment of the present application.

[0035] Figure 2 In an embodiment of the present application, an embodiment of a branched chain reconfiguration robot based on a flexible hinge is provided, and a structural schematic diagram of the branched chain reconfiguration robot is provided when the number of motion branches of the branched chain reconfiguration robot is set to three.

[0036] Figure 3 A schematic diagram of the morphological process of a branched chain reconfiguration robot performing a jumping process when the number of motion branches of the branched chain reconfiguration robot is set to three in a branched chain reconfiguration robot based on a flexible hinge provided in an embodiment of the present application.

[0037] Figure 4 A structural schematic diagram of a branched chain reconfiguration robot based on flexible hinges provided in an embodiment of the present application, in which the branched chain reconfiguration robot is in crawling mode when the number of moving branches of the branched chain reconfiguration robot is set to three.

[0038] Figure 5 A schematic structural diagram of a branched chain reconfiguration robot based on flexible hinges provided in an embodiment of the present application, in which the branched chain reconfiguration robot is in an intermediate mode when the number of motion branches of the branched chain reconfiguration robot is set to three.

[0039] Figure 6A schematic diagram of the morphological switching process of a branched chain reconfiguration robot based on flexible hinges provided in an embodiment of the present application, in which the branched chain reconfiguration robot has three motion branches, switches from a jumping mode to a crawling mode.

[0040] Figure 7 A schematic diagram of the morphological switching process of a branched chain reconfiguration robot based on flexible hinges provided in an embodiment of the present application, when the number of motion branches of the branched chain reconfiguration robot is set to three, is shown.

[0041] Figure 8 In a branched chain reconfiguration robot based on a flexible hinge provided in an embodiment of the present application, when the branched chain reconfiguration robot is provided with two motion branches, a schematic structural diagram of the multiple modes of the branched chain reconfiguration robot.

[0042] Figure 9 In a branched chain reconfiguration robot based on a flexible hinge provided in an embodiment of the present application, when the branched chain reconfiguration robot is provided with multiple static platforms and multiple dynamic platforms, a structural schematic diagram of the branched chain reconfiguration robot is provided.

[0043] Figure 10 In a branched chain reconfiguration robot based on a flexible hinge provided in an embodiment of the present application, when the branched chain reconfiguration robot is provided with multiple static platforms and multiple dynamic platforms, a structural schematic diagram of multiple modes of the branched chain reconfiguration robot.

[0044] Among them, the reference numerals in the figures are:

[0045] 1. Static platform; 2. Moving platform; 3. Driver; 4. Kinematic branch chain; 41. Active rod; 42. Flexible hinge; 43. Driven rod; 5. First kinematic pair; 6. Second kinematic pair; 7. Driver bracket; 81. First branch chain; 82. Second branch chain; 83. Third branch chain. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is 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 this application and are not intended to limit this application.

[0047] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0048] In the existing technology, traditional robots are mainly designed and functionally targeted at open terrains, and their structure and maneuverability are usually not suitable for narrow or highly restricted environments. This is because the jumping joints of traditional robots are generally inelastic, which makes it impossible for traditional robots to fold and reduce the occupied space for use in narrow or highly restricted environments. These limitations reduce the adaptability and efficiency of traditional robots in performing diverse tasks, making it impossible for traditional robots to perform tasks in complex environments.

[0049] For this purpose, see Figure 1 The first aspect of the embodiment of the present application provides a branch chain reconstruction method based on a flexible hinge, comprising:

[0050] S10. Provide a static platform and a dynamic platform, and dispose at least two parallel motion branches between the static platform and the dynamic platform, wherein the motion branches include an active rod, a flexible hinge, and a driven rod connected in sequence, the flexible hinge being elastic, the driven rod being connected to the dynamic platform, and the active rod being symmetrically arranged with respect to the driven rod with the flexible hinge as the center;

[0051] S20, providing a plurality of drivers, driving the active rods to rotate through the drivers, so that the kinematic branch chain has an intermediate mode, a creeping mode, and a jumping mode, wherein the fixed ends of the drivers are disposed on the static platform, and the drive shafts of the drivers are connected to the corresponding active rods;

[0052] S30, when the motion branch chain is in the intermediate mode, the active rod is driven by the corresponding driver to overlap with the driven rod and form a static state;

[0053] S40, when the motion branch chain is in the crawling mode, the active rod and the driven rod overlapped in one body form a folding rod assembly, and the folding rods achieve crawling motion by rotating around the drive shaft of the corresponding driver;

[0054] S50. When the motion branch is in the jumping mode, the active rod forms a certain angle with the driven rod through the driving of the corresponding driver, and the motion branch realizes jumping motion through the driving of the driver and the elastic release of the flexible hinge.

[0055] Specifically, a branch chain reconstruction robot can be manufactured according to the above-mentioned branch chain reconstruction method based on flexible hinges, wherein the driver can be set as a motor, and through the drive of the driver, the motion branch has three modes, namely, intermediate mode, crawling mode and jumping mode, wherein the conversion order of the three modes can be jumping mode, intermediate mode and crawling mode, or crawling mode, intermediate mode and jumping mode. With the jumping mode as the initial state, this embodiment drives the drive shafts of each driver on the static platform to move in the first direction to drive the corresponding active rod to move in the direction close to the driven rod. At this time, the active rod will form a certain bending angle with the corresponding driven rod, and the flexible hinge will bend and store energy. When the flexible hinge stores energy to a certain extent, the motion branch is quickly driven in the second direction (reverse) by the driver, and cooperates with the elastic release of the flexible hinge to achieve jumping motion;

[0056] When the branched chain reconfiguration robot faces a narrow or highly restricted environment and needs to convert the jumping mode to the crawling mode, it is necessary to first convert the jumping mode to the intermediate mode. The process is as follows: continue to drive the drive shafts of each driver on the static platform in the first direction to move, driving the corresponding active rod to move in the direction close to the driven rod until the active rod moves to overlap with the corresponding driven rod, and the motion axes of the overlapping active rod and driven rod coincide with each other. At this time, the static platform and the dynamic platform also overlap, and the branched chain reconfiguration robot occupies the smallest space, forming the intermediate mode.

[0057] When the intermediate mode is converted to the crawling mode, the process is as follows: the drive shafts of each driver continue to be driven in the first direction, and the overlapping active rods and driven rods form a folded rod assembly, which rotates around the drive shaft of the driver to form a crawling mode. This crawling mode enables the branched chain reconfigurable robot to operate in a narrow or highly restricted environment. At this time, the movement mode of the crawling mode is: each of the drivers is driven to move separately, and each of the overlapping active rods and driven rods will alternately crawl around the drive shaft of the corresponding driver;

[0058] When the branched chain reconfiguration robot faces an environment with open terrain, it needs to convert the crawling mode into the jumping mode. At this time, this embodiment drives the driving shafts of each driver to move along the second direction to convert the branched chain reconfiguration robot from the crawling mode to the intermediate mode. At this time, by continuing to drive the driving shafts of each driver to move rapidly along the second direction, the elasticity of the flexible hinge is released, and the corresponding active rod and driven rod will quickly separate to form a jumping mode.

[0059] It can be understood that this embodiment sets up multiple parallel motion branches, and makes the middle part of the motion branch an elastic flexible hinge, and the two ends of the motion branch are active rods and driven rods symmetrically arranged along the flexible hinge. In this way, when the branch chain reconstruction robot faces a narrow or highly restricted environment, this embodiment drives the driving shafts of each driver on the static platform to move, thereby driving the corresponding active rods to move, so that the motion branch is converted into a crawling mode. In the crawling mode, the active rod and the driven rod overlap as one, and crawling motion is achieved by rotating around the corresponding driving shaft of the driver to support the branch chain reconstruction robot to operate in a narrow or highly restricted environment; when the branch chain reconstruction robot faces an environment with open terrain, this embodiment drives the driving shafts of each driver on the static platform to move, thereby driving the corresponding active rods to move, so that the motion branch is converted into a jumping mode.

[0060] Optionally, in one embodiment, when the motion branch chain is in the crawling mode, in the step where the active rod and the driven rod overlapped in one body realize the crawling motion by rotating around the drive shaft of the corresponding driver, the motion mode of the crawling mode is:

[0061] Each of the drivers is driven to move respectively, and the active rods and the driven rods overlapped in one body will crawl alternately around the driving shaft of the corresponding driver.

[0062] Optionally, in one embodiment, when the motion branch is in a jumping mode, the active rod forms a certain angle with the driven rod through the driving of the corresponding driver, and the motion branch realizes a jumping motion through the driving of the driver and the elastic release of the flexible hinge. The motion mode of the jumping mode is:

[0063] driving the driving shafts of the respective drivers to rotate in a first direction, so that the active rod moves closer to the driven rod to form a certain angle with the driven rod, and the flexible hinge is in a compressed state;

[0064] The driving shafts of the respective drivers are driven to reverse rapidly in a second direction, so that the active rod and the driven rod are released through the elasticity of the corresponding flexible hinges to perform jumping motion, and the second direction is opposite to the first direction.

[0065] Optionally, in one embodiment, in the step of providing a static platform and a dynamic platform, and disposing at least two parallel kinematic branches between the static platform and the dynamic platform, three kinematic branches are provided, that is, three active rods, three elastic flexible hinges, and three driven rods are provided. This embodiment, by providing three kinematic branches, can make the structure of the branch-chain reconstruction machine more stable.

[0066] The second aspect of the embodiment of the present application provides a branch chain reconfiguration robot based on a flexible hinge, which is manufactured by the branch chain reconfiguration method based on the flexible hinge 42 as described above. Figure 2 The branch chain reconstruction robot includes a static platform 1, a dynamic platform 2, several drivers 3 and at least two parallel-arranged motion branches 4, the dynamic platform 2 is arranged below the static platform 1, the fixed ends of several drivers 3 are all arranged on the static platform 1, and at least two parallel-arranged motion branches 4 are all arranged between the static platform 1 and the dynamic platform 2, wherein the motion branch 4 includes an active rod 41, a flexible hinge 42 and a driven rod 43 connected in sequence, the flexible hinge 42 is elastic, the active rod 41 is connected to the corresponding drive shaft of the driver 3, the driven rod 43 is connected to the dynamic platform 2, and the active rod 41 is symmetrically arranged with the driven rod 43 with the flexible hinge 42 as the center.

[0067] Among them, the active rod 41 is driven by the driving shaft of the driver 3 to move toward one end close to the driven rod 43, so that the flexible hinge 42 is in a compressed state; when the active rod 41 moves to the point where it overlaps with the driven rod 43, the overlapping active rod 41 and the driven rod 43 have the same movement axis, forming an intermediate mode; in the intermediate mode, the driver 3 is continued to be driven to rotate in the first direction, and the overlapping active rod 41 and the driven rod 43 form a folding rod assembly, which rotates around the driving shaft of the driver 3 to form a crawling mode; in the crawling mode, the driving shaft of the driver 3 is driven to rotate in the second direction, and after forming the intermediate mode, the driving shaft of the driver 3 is continued to be driven to rotate rapidly in the second direction, the elasticity of the flexible hinge 42 is released, and a jumping mode is formed.

[0068] Optional, see Figure 2In one embodiment, the branched chain reconfiguration robot further includes a plurality of first kinematic pairs 5, each of which is disposed on the corresponding drive shaft of the driver 3, and the active rods 41 are connected to the corresponding first kinematic pairs 5. In this embodiment, the first kinematic pairs 5 are provided to facilitate the connection between the active rods 41 and the drive shaft of the driver 3.

[0069] Optional, see Figure 2 In one embodiment, the branched chain reconfiguration robot further includes a plurality of second kinematic pairs 6, which are disposed on the moving platform 2, and the driven rods 43 are connected to corresponding second kinematic pairs 6. In this embodiment, the second kinematic pairs 6 are provided to facilitate the connection between the driven rods 43 and the moving platform 2.

[0070] Optional, see Figure 2 In one embodiment, a plurality of driver brackets 7 are provided on the static platform 1 , and the fixed ends of the drivers 3 are correspondingly provided on the driver brackets 7 .

[0071] Optionally, in one embodiment, the number of the motion branches 4 can be two, three or even more than four.

[0072] When there are three motion branches 4, the three parallel motion branches 4 are evenly distributed between the static platform 1 and the dynamic platform 2. Figure 3 When the branched-chain reconstruction robot is in jumping mode, the jumping process can be divided into four steps: 1. Jumping preparation stage: the robot's driver 3 drives the static platform 1 to move downward, the flexible hinge 42 bends and stores elastic potential energy; 2. Jumping stage: the driver 3 rotates rapidly in the opposite direction, the flexible hinge 42 straightens and releases elastic potential energy, driving the static platform 1 to rise and the moving platform 2 to leave the ground; 3. Posture adjustment stage: in the jumping stage, due to the inertia difference caused by the mass difference between the moving platform 2 and the static platform 1, as well as some errors and other reasons, it is necessary to adjust the landing posture of the branched-chain reconstruction robot through the driver 3; 4. Landing stage: the branched-chain reconstruction robot lands according to the target movement, and the static platform 1 continues to move downward under the drive of the driver 3, preparing for the next jump.

[0073] Among them, see Figure 4When the branched chain reconfiguration robot is in crawling mode, the dynamic platform 2 and the static platform 1 geometrically overlap and remain relatively stationary through mechanical interference. The active rod 41 and the driven rod 43 geometrically overlap, and the three parallel kinematic branches 4 are reconstructed into three new branches: the first branch 81, the second branch 82, and the third branch 83. In the actual structure of the branched chain reconfiguration robot, these branches are offset to achieve overlap, and the rotation axes of the first kinematic pair 5 and the second rotational pair coincide, forming a single kinematic pair. In this mode, when the driver 3 rotates, the first branch 81, the second branch 82, and the third branch 83 rotate around the driver 3's drive axis, following the gait of the three-legged crawling robot and achieving movement in crawling mode.

[0074] Among them, see Figure 5 The first branch chain 81, the second branch chain 82 and the third branch chain 83 are all parallel to the static platform 1, and are in the intermediate mode. Under the elastic force provided by the flexible hinge 42, the dynamic platform 2 tends to move away from the static platform 1 and can leave the intermediate mode.

[0075] Among them, see Figure 6 , this figure is a schematic diagram of the mode switching process from jumping mode to crawling mode in this embodiment, which includes five modes: jumping mode, intermediate mode, first self-locking mode, second self-locking mode and crawling mode. When the branch-chain reconstruction robot needs to switch from jumping mode to crawling mode, four steps are required: 1. Jumping mode to intermediate mode: the driver 3 drives the static platform 1 to move downward until the first branch chain 81, the second branch chain 82 and the third branch chain 83 are parallel to the static platform 1; 2. Intermediate mode to first self-locking mode: in order to achieve mode switching, the driver 3 continues to drive the first branch chain 81, the second branch chain 82 and the third branch chain 83 to continue to rotate to a position away from the intermediate mode; 3. First self-locking mode to second self-locking mode: the driver 3 drives the first branch chain 81 to rotate to the side close to the moving platform 2; 4. Second self-locking mode to crawling mode: the driver 3 drives the second branch chain 82 and the third branch chain 83 to rotate to the side close to the moving platform 2, at which time the first branch chain 81, the second branch chain 82 and the third branch chain 83 touch the ground.

[0076] Among them, see Figure 7 The figure is a schematic diagram of the morphological switching process from the crawling mode to the jumping mode in this embodiment, which has two steps in total: 1. Crawling mode to intermediate mode: the driver 3 drives the first branch chain 81, the second branch chain 82 and the third branch chain 83 to be parallel to the static platform 1, switching to the intermediate mode; 2. Intermediate mode to jumping mode: at this time, under the elastic force of the flexible hinge 42, the static platform 1 has a tendency to move away from the dynamic platform 2, driving the driver 3 to make the static platform 1 rise, switching back to the jumping mode.

[0077] Optional, see Figure 8In one embodiment, when the number of the motion branches 4 is two, the branch-chain reconfiguration robot has a jumping mode, a contraction mode, a monopedal mode, an intermediate mode, and a bipedal mode.

[0078] Optionally, in one embodiment, the static platform 1 and at least two parallel-connected motion branches 4 form a modular unit, the dynamic platform 2 is provided with a plurality of sequentially connected modular units, and each static platform 1 is provided with a driver 3 for driving the corresponding motion branch. The above arrangement can form a multi-section branched reconfiguration robot, see Figure 9 .

[0079] Among them, see Figure 10 When the dynamic platform 2 and the static platform 1 are both set to three, the multi-section branched chain reconstruction robot has a mobile mode, a first intermediate mode, a second intermediate mode, a third intermediate mode, a single operating arm mode, and a dual operating arm mode to adaptively adjust the shape in different pipeline environments.

[0080] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A branch chain reconstruction method based on flexible hinges, characterized in that: include: A static platform and a dynamic platform are provided, and at least two parallel motion branches are arranged between the static platform and the dynamic platform, wherein the motion branches include an active rod, a flexible hinge, and a driven rod connected in sequence, the flexible hinge is elastic, the driven rod is connected to the dynamic platform, and the active rod is symmetrically arranged with the driven rod around the flexible hinge; Providing a plurality of drivers, which drive the active rods to rotate so that the motion branch chain has an intermediate mode, a creeping mode, and a jumping mode, wherein the fixed end of the driver is disposed on the static platform, and the drive shaft of the driver is connected to the corresponding active rod; When the motion branch chain is in the intermediate mode, the active rod is driven by the corresponding driver to overlap with the driven rod and form a static state; When the motion branch chain is in the crawling mode, the active rod and the driven rod overlapped in one body form a folding rod assembly, and the folding rod assembly realizes the crawling motion by rotating around the driving shaft of the corresponding driver; When the motion branch is in the jumping mode, the active rod forms a certain angle with the driven rod through the driving of the corresponding driver, and the motion branch realizes jumping motion through the driving of the driver and the elastic release of the flexible hinge; Providing a plurality of drivers, wherein the drivers drive the active rods to rotate so that the kinematic branch chain has an intermediate mode, a crawling mode, and a jumping mode, wherein the crawling mode is converted to the jumping mode through the intermediate mode, and the jumping mode is converted to the crawling mode through the intermediate mode; When the motion branch chain is in the crawling mode, in the step where the active rod and the driven rod overlapped in one body realize the crawling motion by rotating around the drive shaft of the corresponding driver, the motion mode of the crawling mode is: Each of the drivers is driven to move respectively, and the active rods and the driven rods overlapped in one body will crawl alternately around the driving shaft of the corresponding driver.

2. The branch chain reconstruction method based on flexible hinge according to claim 1, characterized in that: When the motion branch is in the jumping mode, the active rod forms a certain angle with the driven rod through the drive of the corresponding driver, and the motion branch realizes the jumping motion through the drive of the driver and the elastic release of the flexible hinge. The motion mode of the jumping mode is: driving the driving shafts of the respective drivers to rotate in a first direction, so that the active rod moves closer to the driven rod to form a certain angle with the driven rod, and the flexible hinge is in a compressed state; The driving shafts of the respective drivers are driven to reverse rapidly in a second direction, so that the active rod and the driven rod are released through the elasticity of the corresponding flexible hinges to perform jumping motion, and the second direction is opposite to the first direction.

3. The branch chain reconstruction method based on flexible hinge according to claim 1, characterized in that: In the step of providing a static platform and a dynamic platform, and setting at least two parallel motion branches between the static platform and the dynamic platform, three motion branches are set.

4. A branched chain reconfiguration robot based on flexible hinges, characterized in that: The method is applied to a branch chain reconstruction method based on a flexible hinge according to any one of claims 1 to 3, wherein the branch chain reconstruction robot comprises: static platform; A dynamic platform, which is arranged below the static platform; A plurality of drivers, each of which has a fixed end disposed on the static platform; At least two motion branches arranged in parallel are both arranged between the static platform and the dynamic platform, wherein the motion branches include an active rod, a flexible hinge and a driven rod connected in sequence, the flexible hinge is elastic, the active rod is connected to the driving shaft of the corresponding driver, the driven rod is connected to the dynamic platform, and the active rod is symmetrically arranged with the driven rod around the flexible hinge.

5. The branched chain reconfigurable robot based on flexible hinges according to claim 4, characterized in that: The branch chain reconstruction robot further includes: A plurality of first motion pairs are provided on the driving shafts of the corresponding drivers, and the active rods are connected to the corresponding first motion pairs.

6. The branched chain reconfigurable robot based on flexible hinges according to claim 4, characterized in that: The branch chain reconstruction robot further includes: A plurality of second motion pairs are arranged on the moving platform, and the driven rods are connected to corresponding second motion pairs.

7. The branched chain reconfigurable robot based on flexible hinges according to claim 4, characterized in that: The number of the motion branches is three.

8. The branched chain reconfigurable robot based on flexible hinges according to claim 4, characterized in that: The static platform and at least two parallel-connected motion branches form a module unit, and the dynamic platform is provided with a plurality of sequentially connected module units.

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