A rigid balancing tail fin based on a parallel structure and a robot including the same.

Abstract

This invention relates to the field of robotics and provides a rigid balancing tail fin based on a parallel structure and a robot including the same. The tail fin includes: a support structure; a steering structure mounted on the support structure for yaw and pitch movements; and a telescopic structure connected to the steering structure for telescopic movements, which, under the action of the steering structure, drives a counterweight rod to rotate and extend in all directions. The steering structure includes: a yaw structure for yaw movements; and a pitch structure cooperating with the yaw structure for pitch movements. This invention mimics the dynamic performance of the tail of animals in nature during self-regulation and balance, and features simple structure, high maneuverability, and easy control.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and particularly relates to a rigid balancing tail fin based on a parallel structure and a robot including the same. Background Technology

[0002] Currently, most conventional robots use joint motors to control the joint torque of the legs or wheels to control the robot's gait and achieve overall direction and speed. When quadrupedal and bipedal robots move in complex environments, they often face the risk of instability due to external impacts or sudden terrain changes. The stability control of traditional robots relies on the adjustment of leg joint torque, but the rotational inertia of the legs is limited, making it difficult to quickly adjust posture during takeoff or fall. Animals (such as cats and squirrels) generate reverse angular momentum through active tail swinging, which can achieve aerial posture correction within 0.15 seconds, significantly reducing the risk of landing damage. By applying this biological mechanism to the field of robotics, a tail fin device with high response speed, large workspace, and high rigidity can be designed.

[0003] Current robot tail fin designs mainly focus on the layout of degrees of freedom and the driving method, but they have significant defects in terms of structural stiffness, range of motion and dynamic performance. Problems include contradictions between degrees of freedom and stiffness, insufficient reliability of telescopic mechanisms, and lack of optimization of weight and inertia. Summary of the Invention

[0004] The purpose of this invention is to provide a rigid balance tail fin based on a parallel structure, which aims to solve the problems mentioned in the background art.

[0005] The present invention is implemented as follows: a rigid balance tail fin based on a parallel structure, comprising:

[0006] Support structure;

[0007] A steering structure, mounted on the support structure, is used for yaw and pitch movements;

[0008] A telescopic structure, connected to the steering structure, is used to realize telescopic movement, and under the action of the steering structure, it drives the counterweight rod to rotate and extend in all directions;

[0009] The steering structure includes:

[0010] Yaw structure, used to achieve yaw motion;

[0011] The pitch structure, in conjunction with the yaw structure, is used to achieve pitch motion.

[0012] Preferably, the yaw structure includes:

[0013] A yaw motor is mounted on a motor support, and the output end of the yaw motor is connected to the yaw input pulley via a key.

[0014] The yaw output pulley is connected to the yaw input pulley via a yaw belt, and the yaw output pulley is fixedly connected to the first yaw bevel gear rod.

[0015] The second yaw bevel gear rod has a bevel gear portion that continuously meshes with the bevel gear portion of the first yaw bevel gear rod, and the second yaw bevel gear rod is fixedly connected to the yaw crank.

[0016] Preferably, the pitch structure includes:

[0017] A pitch motor is mounted on a motor support, and the output end of the pitch motor is connected to the pitch input pulley via a key.

[0018] The pitch output pulley is connected to the pitch input pulley via a pitch belt. The pitch output pulley is fixedly connected to one end of the pitch connecting rod. The yaw output pulley is movably connected to one end of the pitch connecting rod via a bearing. The second yaw bevel gear is movably connected to the middle part of the pitch connecting rod via a bearing.

[0019] Preferably, the telescopic structure includes:

[0020] A connecting plate is fixedly connected to the yaw crank, and a telescopic motor is installed on the connecting plate;

[0021] A dual-plane scissor lift parallel mechanism is connected to the output end of the telescopic motor to realize telescopic movement;

[0022] The counterweight bar is connected to the tail end of the dual-plane scissor lift parallel mechanism.

[0023] Preferably, the dual-plane scissor lift parallel mechanism includes an end unit and an intermediate unit. The end unit includes a motor end face unit and a counterweight end face unit. Several intermediate units are provided and connected between the motor end face unit and the counterweight end face unit.

[0024] Preferably, the end units respectively include four double-headed rods, two cross-connecting rods and four triple-headed rods, wherein two double-headed rods and two triple-headed rods form a parallelogram structure in one projection plane, and the other two double-headed rods and two triple-headed rods form a parallelogram structure in their orthogonal projection planes;

[0025] One of the double-headed rods in the motor end face unit is connected to the telescopic motor via a key, and the cross connecting rod on the outside of the counterweight end face unit is replaced by the counterweight rod.

[0026] Preferably, the intermediate unit includes two cross connecting rods and eight three-headed rods, with four three-headed rods forming a parallelogram structure in one projection plane, and the other four three-headed rods forming a parallelogram structure in their orthogonal projection planes.

[0027] Another objective of this invention is to provide a robot including the aforementioned rigid balance tail fin based on a parallel structure.

[0028] Preferably, it also includes a robot body, on which a connection platform is provided, and the connection platform is connected to the support structure via guide rails.

[0029] This invention provides a rigid balance tail fin based on a parallel structure. To address the shortcomings of traditional tail fin variants in robot design and functionality, it uses the tail fin of a quadrupedal cat as a prototype. Inertia balancing is achieved through active deformation, mimicking the cat's ability to change the shape and movement of its tail according to different gaits to optimize the robot's dynamic performance, thereby adapting to different environments and gaits. Compared to traditional tail fin variants (such as single-body or multi-body series structures), the closed-loop topology of the dual-plane scissor parallel mechanism provided in this invention allows for high stiffness and high load capacity. By distributing the load through force flow branches, its resistance to deformation is significantly better than that of series structures, making it suitable for high-frequency tail fin oscillation scenarios. The tail fin length adjustment is orthogonally decoupled from pitch / yaw motion, eliminating the problem of non-uniform torque. Attached Figure Description

[0030] Figure 1 A schematic diagram of a rigid balance tail fin based on a parallel structure is provided for an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of a steering structure in a rigid balance tail fin based on a parallel structure is provided for an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of a telescopic structure in a rigid balance tail fin based on a parallel structure is provided for an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of the structure of a mid-end unit of a rigid balance tail fin based on a parallel structure is provided for an embodiment of the present invention;

[0034] Figure 5 A top view of the mid-end unit of a rigid balance tail fin based on a parallel structure, provided in an embodiment of the present invention;

[0035] Figure 6 A side view of the mid-end unit of a rigid balance tail fin based on a parallel structure, provided in an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of the structure of the intermediate unit in a rigid balance tail fin based on a parallel structure, provided for an embodiment of the present invention;

[0037] Figure 8A top view of the middle unit in a rigid balance tail fin based on a parallel structure, provided in an embodiment of the present invention;

[0038] Figure 9 A side view of the middle unit in a rigid balance tail fin based on a parallel structure, provided as an embodiment of the present invention;

[0039] Figure 10 A state diagram of a rigid balance tail fin based on a parallel structure provided in an embodiment of the present invention;

[0040] Figure 11 Another state diagram of a rigid balance tail fin based on a parallel structure provided for an embodiment of the present invention;

[0041] Figure 12 This is a schematic diagram of a robot including a rigid balancing tail fin based on a parallel structure, provided as an embodiment of the present invention.

[0042] In the attached diagram: 1. Steering structure; 1-1. Yaw motor; 1-2. Yaw belt; 1-3. Yaw input pulley; 1-4. Motor support; 1-5. Pitch motor; 1-6. Pitch input pulley; 1-7. Pitch belt; 1-8. Pitch output pulley; 1-9. First yaw bevel gear; 1-10. Yaw output pulley; 1-11. Pitch connecting rod; 1-12. Yaw crank; 1-13. Second yaw bevel gear; 2. Telescopic structure; 2-1. Connecting plate; 2-2. Telescopic motor; 2-3. Double-headed rod; 2-4. Cross connecting rod; 2-5. Three-headed rod; 2-6. Counterweight rod; 3. Support structure; 4. Connecting platform; 5. Robot body. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0044] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0045] like Figure 1 The diagram shown illustrates a structural design of a rigid balance tail fin based on a parallel structure, according to an embodiment of the present invention, comprising:

[0046] Support structure 3;

[0047] Steering structure 1, mounted on the support structure 3, is used for yaw and pitch movements;

[0048] The telescopic structure 2 is connected to the steering structure 1 and is used to realize telescopic movement. Under the action of the steering structure 1, it drives the counterweight rod 2-6 to rotate and telescopic in all directions.

[0049] The steering structure 1 includes:

[0050] Yaw structure, used to achieve yaw motion;

[0051] The pitch structure, in conjunction with the yaw structure, is used to achieve pitch motion.

[0052] In one embodiment of the present invention, the rigid balance tail fin based on the parallel structure addresses the problems raised in the prior art by providing a steering structure 1 and a telescopic structure 2. It can mimic the movement of a cat's tail and change its orientation and shape according to the current environment and gait to balance its rotational inertia and momentum. This drives the counterweight rod 2-6 at the end of the telescopic structure 2 to perform omnidirectional rotation and telescopic changes, thereby enabling the robot body 5 to achieve highly dynamic and high-performance complex movements in complex environments.

[0053] like Figure 2 As shown, in a preferred embodiment of the present invention, the yaw structure includes:

[0054] A yaw motor 1-1 is mounted on a motor support 1-4, and the output end of the yaw motor 1-1 is connected to the yaw input pulley 1-3 by a key.

[0055] Yaw output pulley 1-10 is connected to yaw input pulley 1-3 via yaw belt 1-2, and yaw output pulley 1-10 is fixedly connected to first yaw bevel gear rod 1-9;

[0056] The second yaw bevel gear rod 1-13 has a bevel gear portion that continuously meshes with the bevel gear portion of the first yaw bevel gear rod 1-9, and the second yaw bevel gear rod 1-13 is fixedly connected to the yaw crank 1-12.

[0057] The motor support 1-4 is fixed to the support structure 3 by bolts. When the yaw motor 1-1 is started, it drives the yaw input pulley 1-3 to rotate. The yaw input pulley 1-3 drives the yaw output pulley 1-10 to rotate through the yaw belt 1-2. The yaw output pulley 1-10 drives the first yaw bevel gear rod 1-9 to rotate through bolts. Through the cooperation of the bevel gears, it drives the second yaw bevel gear rod 1-13 to rotate, thereby driving the yaw crank 1-12 to achieve yaw motion through bolts.

[0058] like Figure 2 As shown, in another preferred embodiment of the present invention, the pitch structure includes:

[0059] Pitch motor 1-5 is mounted on motor support 1-4, and the output end of pitch motor 1-5 is connected to pitch input pulley 1-6 by a key;

[0060] The pitch output pulley 1-8 is connected to the pitch input pulley 1-6 via the pitch belt 1-7. The pitch output pulley 1-8 is fixedly connected to one end of the pitch connecting rod 1-11. The yaw output pulley 1-10 is movably connected to one end of the pitch connecting rod 1-11 via a bearing. The second yaw bevel gear rod 1-13 is movably connected to the middle part of the pitch connecting rod 1-11 via a bearing.

[0061] Start the pitch motor 1-5, which drives the pitch input pulley 1-6 to rotate. The pitch input pulley 1-6 drives the pitch output pulley 1-8 to rotate through the pitch belt 1-7. The pitch output pulley 1-8 drives the pitch connecting rod 1-11 to rotate through bolts (the outer ends of the pitch connecting rod 1-11 are connected to the support structure 3 through bearings). The pitch connecting rod 1-11 is connected to the first yaw bevel gear rod 1-9 and the second yaw bevel gear rod 1-13 through a rotating joint, thereby driving the second yaw bevel gear rod 1-13 and the yaw crank 1-12 to perform pitch motion.

[0062] like Figure 3 As shown, in a preferred embodiment of the present invention, the telescopic structure 2 includes:

[0063] The connecting plate 2-1 is fixedly connected to the yaw crank 1-12, and a telescopic motor 2-2 is installed on the connecting plate 2-1;

[0064] A dual-plane scissor lift parallel mechanism is connected to the output end of the telescopic motor 2-2 to realize telescopic movement;

[0065] Counterweight rods 2-6 are connected to the tail end of the dual-plane scissor lift parallel mechanism.

[0066] The telescopic motor 2-2 is started to drive the parallel double-plane scissor mechanism to extend and deform, which in turn drives the counterweight rod 2-6 to extend and retract. Through the connection between the yaw crank 1-12 and the connecting plate 2-1, the motion of the yaw motor 1-1 and the pitch motor 1-5 is transmitted to the counterweight rod 2-6, realizing the full range of motion of the counterweight rod 2-6.

[0067] like Figures 3 to 9 As shown, in a preferred embodiment of the present invention, the dual-plane scissor lift parallel mechanism includes an end unit and an intermediate unit. The end unit includes a motor end face unit and a counterweight end face unit. Several intermediate units are provided and connected between the motor end face unit and the counterweight end face unit.

[0068] The end units include four double-headed rods 2-3, two cross-connecting rods 2-4, and four triple-headed rods 2-5; the two double-headed rods 2-3 and the two triple-headed rods 2-5 form a parallelogram structure in one projection plane, and the other two double-headed rods 2-3 and the two triple-headed rods 2-5 form a parallelogram structure in their orthogonal projection planes.

[0069] One of the double-headed rods 2-3 in the motor end face unit is connected to the telescopic motor 2-2 via a key, and the cross connecting rod 2-4 on the outside of the counterweight end face unit is replaced by the counterweight rod 2-6;

[0070] The intermediate unit includes two cross-connecting rods 2-4 and eight three-headed rods 2-5. Four three-headed rods 2-5 form a parallelogram structure in one projection plane, and the other four three-headed rods 2-5 form a parallelogram structure in their orthogonal projection planes.

[0071] The telescopic motor 2-2 is fixed to the connecting plate 2-1 by bolts. The output end of the telescopic motor 2-2 is keyed to the double-headed rod 2-3. The double-headed parts of the two double-headed rods 2-3 and the two triple-headed rods 2-5 form a parallelogram structure in a projection plane. The two ends of each triple-headed rod 2-5 are connected to the double-headed rod 2-3 respectively. The triple-headed rod 2-5 is connected to the cross connecting rod 2-4 through the middle hole. Two parallelogram structures are formed on the orthogonal projection plane of the cross connecting rod 2-4. The telescopic motor 2-2 drives the double-headed rod 2-3 to rotate. The double-headed rod 2-3 causes the parallelogram structure to deform. The deformation of the parallelogram structure causes the distance between the two cross connecting rods 2-4 to change, thereby causing the end counterweight rod 2-6 to extend and retract.

[0072] By connecting the yaw crank 1-12 to the connecting plate 2-1, the motion of the yaw motor 1-1 and the pitch motor 1-5 is transferred to the end counterweight rod 2-6, realizing the full-range motion of the end counterweight rod 2-6. Its changing states are as follows: Figure 10 and Figure 11 As shown.

[0073] like Figure 12 The diagram shown is a schematic representation of a robot according to an embodiment of the present invention. It includes the rigid balance tail fin based on the parallel structure mentioned above, and also includes a robot body 5. The robot body 5 is provided with a connecting platform 4, and the connecting platform 4 is connected to the support structure 3 through a guide rail.

[0074] The rigid balance tail fin based on the parallel structure can be applied to robots. The support structure 3 is connected to the connecting platform 4 via a track, and the connecting platform 4 is fixedly connected to the robot body 5 via bolts.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rigid balance tail fin based on a parallel structure, characterized in that, include: Support structure (3); Steering structure (1), mounted on the support structure (3), is used for yaw and pitch movements; The telescopic structure (2) is connected to the steering structure (1) to realize telescopic movement. Under the action of the steering structure (1), it drives the counterweight rod (2-6) to rotate and telescopic in all directions. The steering structure (1) includes: Yaw structure, used to achieve yaw motion; The pitch structure, in conjunction with the yaw structure, is used to achieve pitch motion; The telescopic structure (2) includes a double-plane scissor parallel mechanism, which is connected to the output end of the telescopic motor (2-2) to realize telescopic movement; The dual-plane scissor lift parallel mechanism includes an end unit and an intermediate unit. The end unit includes a motor end face unit and a counterweight end face unit. Several intermediate units are provided and connected between the motor end face unit and the counterweight end face unit. The end units include four double-headed rods (2-3), two cross-connecting rods (2-4), and four triple-headed rods (2-5), wherein two double-headed rods (2-3) and two triple-headed rods (2-5) form a parallelogram structure in one projection plane, and the other two double-headed rods (2-3) and two triple-headed rods (2-5) form a parallelogram structure in their orthogonal projection planes; One of the double-headed rods (2-3) in the motor end face unit is connected to the telescopic motor (2-2) via a key, and the cross connecting rod (2-4) on the outside of the counterweight end face unit is replaced by the counterweight rod (2-6); The intermediate unit includes two cross connecting rods (2-4) and eight three-headed rods (2-5). Four three-headed rods (2-5) form a parallelogram structure in one projection plane, and the other four three-headed rods (2-5) form a parallelogram structure in their orthogonal projection plane.

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

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

4. The rigid balance tail fin based on a parallel structure according to claim 2, characterized in that, The telescopic structure (2) also includes: A connecting plate (2-1) is fixedly connected to the yaw crank (1-12), and a telescopic motor (2-2) is installed on the connecting plate (2-1). The counterweight bar (2-6) is connected to the tail end of the double-plane scissor lift parallel mechanism.

5. A robot, characterized in that, Including the rigid balance tail fin based on a parallel structure as described in any one of claims 1-4.

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

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