A biomimetic continuum tail fin mechanism and attitude adjustment method for a wheeled robot

Abstract

This invention belongs to the field of wheeled robot technology, and specifically relates to a biomimetic continuum tail fin mechanism and attitude adjustment method for a wheeled robot. It includes a mounting base detachably and fixedly connected to the rear side of the wheeled robot body, and further includes a damping and vibration reduction component, a yaw and pitch oscillation component, a chord drive component, and a tail fin assembly. This invention employs a segmented tail fin structure that combines yaw, pitch oscillation, and continuous planar bending capabilities, enriching the attitude adjustment methods. Simultaneously, by concentrating the drive components at the root of the tail fin, it effectively reduces the distal mass and rotational inertia, improving dynamic response speed. Combined with the damping and vibration reduction component, it can bidirectionally weaken the vertical vibration impact transmission between the wheeled robot body and the tail fin assembly, helping to suppress body attitude fluctuations and improve the motion stability of the wheeled robot.

Description

Technical Field

[0001] This invention belongs to the field of wheeled robot technology, and in particular relates to a biomimetic continuum tail fin mechanism and attitude adjustment method for a wheeled robot. Background Technology

[0002] Wheeled robots combine the efficient mobility of wheeled mobility with the terrain adaptability of legged mobility, enabling them to perform tasks such as inspection, material transportation, and scientific research experiments on flat roads, slopes, and unstructured complex environments, and have broad application prospects in the field of mobile robots. Currently, the attitude stability control of wheeled robots mainly relies on leg joint adjustment and wheel speed difference control. Under high-dynamic conditions such as high-speed driving, sharp turns, acceleration and deceleration, and obstacle crossing and landing, the wheeled robot body is prone to significant pitch and yaw attitude fluctuations due to the limitations of actuator response speed and adjustment margin, which affects driving stability.

[0003] Inspired by the mechanism of biological tail-assisted balance, biomimetic tail mechanisms are gradually being applied to robot platforms as a supplementary means of posture adjustment. Existing robot tail mechanisms mostly adopt single rigid pendulum or multi-link structure with few degrees of freedom. However, the single rigid pendulum structure has limited motion freedom and can only achieve unidirectional overall swing, which cannot improve the balance effect through shape optimization. The driving components of multi-link tail are mostly distributed at each joint, which increases the mass and rotational inertia of the far end of the tail, which is not conducive to improving the dynamic response speed.

[0004] To address the aforementioned technical problems, this invention proposes a biomimetic continuum tail wing mechanism and attitude adjustment method for a wheeled robot. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a biomimetic continuum tail fin mechanism and attitude adjustment method for wheeled robots. This addresses the problems in the prior art where wheeled robots, under high-dynamic conditions such as high-speed driving, sharp turns, and obstacle crossing and landing, rely solely on leg joint adjustment and wheel speed difference to control their attitude. This is limited by the actuator response speed and adjustment margin, resulting in significant pitch and yaw attitude fluctuations and insufficient driving stability. Furthermore, the existing robot tail mechanisms have limited degrees of freedom of motion; single rigid pendulum structures cannot improve balance through morphological optimization; and multi-link tail drive components are dispersed at various joints, leading to excessively large mass and moment of inertia at the distal end of the tail, resulting in poor dynamic response speed.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a biomimetic continuous tail wing mechanism for a wheeled robot, including a mounting base that is detachably and fixedly connected to the rear side of the wheeled robot body, and further including a buffer and vibration damping component, a yaw and pitch swing component, a tendon cable drive component and a tail wing component;

[0007] The buffer and vibration damping assembly is fixedly installed on the upper side of the mounting base to buffer the vertical vibration and impact transmission between the wheeled robot body and the tail fin assembly.

[0008] The yaw and pitch swing assembly is fixedly installed on the top of the buffer and vibration damping assembly. It is used to output yaw reciprocating swing around the vertical axis and pitch reciprocating swing around the horizontal axis, which drives the tail wing assembly to swing as a whole and outputs reaction torque to suppress the attitude fluctuation of the wheeled robot body in the corresponding dimension.

[0009] The tendon cable drive assembly is fixedly installed at the output end of the yaw and pitch swing assembly.

[0010] The tail fin assembly is fixedly connected to the side of the chord drive assembly away from the yaw and pitch oscillation assembly. The chord drive assembly is used to drive the tail fin assembly to generate biplane independent continuous bending deformation, which works in coordination with the overall oscillation in the same dimension to help improve attitude stability.

[0011] Furthermore, the damping and shock absorption assembly includes a connecting seat, a support seat, and multiple damping springs. The connecting seat is fixedly mounted on the mounting base. The support seat is slidably connected above the connecting seat in a direction perpendicular to the top surface of the mounting base. The multiple damping springs are fixedly connected between the bottom surface of the support seat and the inner bottom surface of the connecting seat. Each damping spring has a guide rod inserted inside it. The lower end of the guide rod is fixedly connected to the inner bottom surface of the connecting seat, and the upper end of the guide rod is slidably engaged with the support seat. The yaw and pitch oscillation assembly is fixedly mounted on the upper surface of the support seat.

[0012] Furthermore, the yaw and pitch oscillation assembly includes a first disc motor, a second disc motor, and a support arm. The first disc motor is fixedly installed on the upper surface of the support base, and its output axis is vertically arranged for outputting yaw reciprocating oscillation. The output end of the first disc motor is fixedly connected to a first turntable.

[0013] The lower side of the support arm is fixedly connected to the first turntable, and the upper side of the support arm is fixedly connected to the second disc motor. The output axis of the second disc motor is set horizontally and is used to output pitch and reciprocating swing. The output end of the second turntable is fixedly connected to the second turntable, and the tendon rope drive assembly is fixedly connected to the second turntable.

[0014] Furthermore, the tendon rope drive assembly includes a drive cabin, four tendon rope drive motors, four reels, and four tendon ropes. The drive cabin is fixedly mounted on the second turntable. The four tendon rope drive motors are all fixedly installed inside the drive cabin, and the output ends of the four tendon rope drive motors are respectively coaxially and fixedly connected to the corresponding reels. The proximal ends of the four tendon ropes are respectively wound and fixed to the corresponding reels, and the distal ends of the tendon ropes pass through the drive cabin and are fixedly connected to the tail end of the tail fin assembly.

[0015] Furthermore, the tail fin assembly includes a root flange, a tail counterweight, and multiple annular support blocks. The root flange is fixedly connected to the side wall of the drive compartment away from the second turntable. Adjacent annular support blocks, annular support blocks and root flanges, and annular support blocks and tail counterweights are all detachably and fixedly connected by multiple flexible reinforcing beams, which are connected in series to form a segmented continuous structure.

[0016] Each of the annular support blocks has four tendon rope guide holes in its circumference. The four tendon ropes are evenly and symmetrically distributed at 90° along the circumference of the tail fin assembly cross section. The two tendon ropes facing each other on the left and right constitute the yaw tendon rope differential group, and the two tendon ropes facing each other on the top and bottom constitute the pitch tendon rope differential group.

[0017] After the distal ends of each tendon rope pass through the tendon rope guide holes corresponding to the root flange and each annular support block in sequence, they are fixedly connected to the tail end counterweight block. The yaw tendon rope differential group corresponds to the left and right bending in the horizontal plane, and the pitch tendon rope differential group corresponds to the up and down bending in the vertical plane.

[0018] Furthermore, a PLC controller is fixedly installed inside the drive cabin. The PLC controller is electrically connected to the main control system of the wheeled robot body. The first disc motor, the second disc motor, and the four tendon rope drive motors are all electrically connected to the PLC controller. The PLC controller outputs control signals in a unified manner to achieve coordinated control of the overall swing and bending deformation in the same dimension.

[0019] Furthermore, a tail fairing is fixedly installed at the tail end of the tail counterweight block;

[0020] Each tendon rope is fixedly connected to the tail end counterweight via a tension sensor. The tension sensor is electrically connected to the PLC controller and is used to detect the axial tension at the corresponding tendon rope end and feed it back to the PLC controller.

[0021] Furthermore, a limit block is fixedly connected to the upper end of the guide rod, and multiple telescopic damping rods are also fixedly arranged between the support seat and the connecting seat.

[0022] A method for attitude adjustment of a biomimetic continuum tail fin mechanism of a wheeled robot, the method comprising the following steps:

[0023] S1, the PLC controller establishes communication with the main control system of the wheeled robot body, obtains the motion state data and posture adjustment instructions of the wheeled robot body in real time, and identifies the current working condition type. The motion state data includes vehicle speed, steering angle, body tilt angle, and acceleration information. The working condition types are divided into large disturbance single-dimensional working condition, large disturbance composite-dimensional working condition, small disturbance and steady-state working condition.

[0024] S2, the PLC controller calls the corresponding adjustment strategy according to the working condition type and the target requirements of the attitude adjustment command, and calculates the swing amplitude, swing frequency and real-time target bending amplitude of the tail wing component in the corresponding dimension by combining motion state data, and outputs the same dimension coordinated control signal.

[0025] S3, under the large disturbance single-dimensional working condition, the yaw pitch swing component drives the tail fin assembly to swing back and forth in one dimension through the tendon cable drive component. The tendon cable drive component synchronously controls the tail fin assembly to dynamically bend to the same side of the swing, increasing the compensation torque amplitude in the corresponding direction. The tendon cable in the non-working dimension maintains the reference tension state to keep the tail fin shape stable.

[0026] S4, under the condition of large disturbance and complex dimensions, the yaw and pitch oscillation component drives the tail fin component to perform spatial complex oscillation through the tendon cable drive component, and the tendon cable drive component synchronously drives the tail fin component to perform complex bending, so as to achieve synchronous compensation of multi-dimensional attitude deviation.

[0027] S5, under small disturbances and steady-state conditions, the yaw and pitch oscillation components remain locked and stationary, and the chord drive components suppress small attitude fluctuations with gentle torque by only finely adjusting the bending shape of the tail fin components.

[0028] S6. Throughout the adjustment process, each tension sensor collects the tension value of the corresponding tendon rope in real time and feeds it back to the PLC controller. The PLC controller executes the corresponding tension control strategy according to the current working condition mode. At the same time, the PLC controller receives the motion status data returned by the main control system of the wheeled robot in real time, dynamically corrects the swing parameters and bending amplitude of the corresponding dimension, and continuously assists the wheeled robot in maintaining motion stability.

[0029] Compared with existing technologies, the advantages of a biomimetic continuum tail fin mechanism and attitude adjustment method for a wheeled robot are:

[0030] 1. By setting up a yaw and pitch swing component and a chord drive component, the yaw and pitch swing component can drive the tail wing component to complete the reciprocating swing in two orthogonal dimensions of yaw and pitch. The generated inertial reaction torque acts on the wheeled robot body, forming the basic torque for attitude compensation and suppressing attitude fluctuations in the corresponding dimension. The chord drive component can drive the tail wing component to produce continuous bending deformation in the corresponding plane, which is synchronized with the overall swing in the same dimension. During the swing acceleration phase, the tail wing component is controlled to accelerate and bend to the same side of the swing, so that the tail end of the tail wing component obtains an additional tangential acceleration in the same direction as the swing, which is superimposed to increase the total tangential acceleration, increase the instantaneous output amplitude of the inertial reaction torque, and enhance the attitude correction effect.

[0031] 2. By setting up a tendon cable drive assembly with concentrated arrangement at the root, the tendon cable drive motor, winding wheel and other drive components are centrally installed in the drive cabin at the root of the tail wing assembly. This effectively reduces the mass and rotational inertia of the far end of the tail wing assembly, reduces the load of bending motion, and improves the response speed of bending motion. In conjunction with the buffer and vibration damping assembly at the mounting base, it can buffer the transmission of vertical vibration and impact between the wheeled robot body and the tail wing assembly in both directions, and improve the operational stability of the tail wing mechanism.

[0032] 3. By setting up modular tail wing components connected in series in segments and external mounting bases, the number of tail wing components can be increased or decreased and different specifications of tail end counterweights can be replaced according to actual usage needs, so as to adjust the length of the tail wing and the end inertia parameters. The external mounting base can be fixed without modifying the body structure of the wheeled robot, which is convenient for disassembly, assembly, maintenance and parameter debugging on the existing wheeled robot platform, and is compatible with wheeled robot platforms of different specifications. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the tail wing mechanism and the wheeled robot body provided by the present invention.

[0034] Figure 2 This is a schematic diagram of the overall structure of the tail fin mechanism provided by the present invention;

[0035] Figure 3 This is a cross-sectional structural schematic diagram of the buffer and vibration reduction assembly of the tail wing mechanism provided by the present invention;

[0036] Figure 4 This is a cross-sectional structural diagram showing the interaction between the tendon cable drive assembly and the tail wing assembly of the tail wing mechanism provided by the present invention.

[0037] Figure 5 This is a cross-sectional structural schematic diagram of the tendon cable drive assembly of the tail wing mechanism provided by the present invention.

[0038] In the diagram: 1. Wheeled robot body; 2. Mounting base; 3. Buffer and vibration damping assembly; 31. Connecting seat; 32. Support seat; 33. Vibration damping spring; 4. Yaw and pitch swing assembly; 41. First disc motor; 42. Second disc motor; 43. Support arm; 5. Tendon cable drive assembly; 51. Drive compartment; 52. Tendon cable drive motor; 53. Winding reel; 54. Tendon cable; 6. Tail wing assembly; 61. Root flange; 62. Tail end counterweight; 63. Annular support block; 7. Guide rod; 8. First turntable; 9. Second turntable; 10. Flexible reinforcing beam; 11. Tendon cable guide hole; 12. PLC controller; 13. Tail end fairing; 14. Limiting block; 15. Telescopic damping rod. Detailed Implementation

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0040] like Figures 1-5 As shown, a biomimetic continuous tail fin mechanism for a wheeled robot includes a mounting base 2 that is detachably and fixedly connected to the rear side of the wheeled robot body 1, and also includes a buffer and vibration damping component 3, a yaw and pitch swing component 4, a tendon cable drive component 5, and a tail fin component 6. The mounting base 2 is fixedly installed to the rear side of the wheeled robot body 1 by bolts, so that the entire tail fin mechanism can be disassembled and replaced later by removing the bolts.

[0041] The damping and shock absorption assembly 3 is fixedly installed on the upper side of the mounting base 2 to dampen the vertical vibration and impact transmission between the wheeled robot body 1 and the tail wing assembly 6. The yaw and pitch swing assembly 4 is fixedly installed on the top of the damping and shock absorption assembly 3.

[0042] The damping and shock absorption assembly 3 includes a connecting seat 31, a support seat 32, and multiple damping springs 33. The connecting seat 31 is fixedly mounted on the mounting base 2. The support seat 32 is slidably connected above the connecting seat 31 in a direction perpendicular to the top surface of the mounting base 2. The multiple damping springs 33 are fixedly connected between the bottom surface of the support seat 32 and the inner bottom surface of the connecting seat 31. Each damping spring 33 has a guide rod 7 inserted inside it. The lower end of the guide rod 7 is fixedly connected to the inner bottom surface of the connecting seat 31, and the upper end of the guide rod 7 is slidably engaged with the support seat 32. By setting the connection seat 31, the support seat 32, and the damping springs 33 together, the shock and vibration energy can be buffered and absorbed in the vertical direction, weakening the bidirectional vibration transmission between the tail wing mechanism and the wheeled robot body 1. The guide rod 7, which passes through the damping spring 33, can provide guiding constraints for the up and down sliding of the support seat 32 along its own axis, limiting the radial displacement of the support seat 32 and preventing the damping spring 33 from tilting and becoming unstable under load.

[0043] The upper end of the guide rod 7 is fixedly connected to the limit block 14. Multiple telescopic damping rods 15 are also fixedly installed between the support seat 32 and the connecting seat 31. By setting the limit block 14 and the guide rod 7, the axial sliding stroke of the support seat 32 can be constrained to the upper limit, so as to prevent the support seat 32 from detaching from the guide rod 7 when it rebounds under load, thus ensuring the operational reliability of the buffer and vibration damping assembly 3. The telescopic damping rods 15 can provide damping effect during the reciprocating deformation of the vibration damping spring 33, consume vibration energy, suppress the rebound oscillation of the vibration damping spring 33, and accelerate the vibration attenuation rate.

[0044] The yaw and pitch oscillation assembly 4 is fixedly installed on the upper surface of the support base 32. It is used to output yaw reciprocating oscillation around the vertical axis and pitch reciprocating oscillation around the horizontal axis, driving the tail fin assembly 6 to swing as a whole and outputting a reaction torque to suppress the attitude fluctuation of the wheeled robot body 1 in the corresponding dimension. The tendon cable drive assembly 5 is fixedly installed on the output end of the yaw and pitch oscillation assembly 4. The yaw and pitch oscillation assembly 4 includes a first disc motor 41, a second disc motor 42, and a support arm 43. The first disc motor 41 is fixedly installed on the upper surface of the support base 32, and its output axis is set vertically to output yaw reciprocating oscillation. The output end of the first disc motor 41 is fixedly connected to a first turntable 8. The lower part of the support arm 43... The support arm 43 is fixedly connected to the first turntable 8 on the side, and the upper side of the support arm 43 is fixedly connected to the second disc motor 42. The output axis of the second disc motor 42 is set horizontally and is used to output pitch reciprocating swing. The output end is fixedly connected to the second turntable 9. By setting the cooperation between the first disc motor 41 and the second disc motor 42, the tail wing assembly 6 can be driven to achieve reciprocating swing in two orthogonal dimensions of yaw and pitch. It can perform single-dimensional attitude compensation alone, or output composite spatial swing simultaneously, adapting to different disturbed working conditions. The support arm 43 lifts the tendon cable drive assembly 5 and the tail wing assembly 6 and extends them backward, which can avoid the movement space of the wheeled robot body 1 and avoid structural interference during the movement of the tail wing assembly 6.

[0045] The tendon cable drive assembly 5 is fixedly connected to the second turntable 9, and the tail fin assembly 6 is fixedly connected to the side of the tendon cable drive assembly 5 away from the yaw and pitch swing assembly 4. The tendon cable drive assembly 5 is used to drive the tail fin assembly 6 to generate biplane independent continuous bending deformation, which works in coordination with the overall swing in the same dimension to help improve the attitude stability effect.

[0046] The chord drive assembly 5 includes a drive cabin 51, four chord drive motors 52, four reels 53, and four chords 54. The drive cabin 51 is fixedly mounted on the second turntable 9. The four chord drive motors 52 are all fixedly installed inside the drive cabin 51, and the output ends of the four chord drive motors 52 are coaxially and fixedly connected to the corresponding reels 53. The proximal ends of the four chords 54 are respectively wound and fixed to the corresponding reels 53, and the distal ends of the chords 54 pass through the drive cabin 51 and are fixedly connected to the tail end of the tail fin assembly 6. By setting the drive cabin 51 and the chord drive motors 52 and reels 53 in a concentrated arrangement, the drive elements are concentrated in the drive cabin 51 at the root of the tail fin assembly 6. This can reduce the mass of the distal end of the tail fin assembly 6, reduce the rotational load of the swing and bending motion, and improve the action response speed. The four chords 54 are divided into two groups to form a differential drive structure, which can independently drive the tail fin assembly 6 to produce continuous bending deformation in the yaw and pitch planes, which is convenient for synchronous linkage with the overall swing in the same dimension.

[0047] A PLC controller 12 is fixedly installed inside the drive compartment 51. The PLC controller 12 is electrically connected to the main control system of the wheeled robot body 1. The first disc motor 41, the second disc motor 42, and the four tendon rope drive motors 52 are all electrically connected to the PLC controller 12. The PLC controller 12 outputs control signals in a unified manner to achieve coordinated control of the overall swing and bending deformation in the same dimension. By setting the PLC controller 12 to cooperate with the main control system of the wheeled robot body 1 and each motor, the control signals can be output in a unified manner to schedule the swing and bending movements, ensuring the synchronous linkage of the overall swing and bending deformation in the same dimension and improving the coordination of posture adjustment.

[0048] The tail fin assembly 6 includes a root flange 61, a tail counterweight 62, and multiple annular support blocks 63. The root flange 61 is fixedly connected to the side wall of the drive compartment 51 away from the second turntable 9. Adjacent annular support blocks 63, the annular support block 63 and the root flange 61, and the annular support block 63 and the tail counterweight 62 are all detachably and fixedly connected by multiple flexible reinforcing beams 10, forming a segmented continuous structure. Each annular support block 63 has four tendon rope guide holes 11 circumferentially. The four tendon ropes 54 are evenly and symmetrically distributed at 90° along the circumferential direction of the tail fin assembly 6. The two tendon ropes 54 facing each other on the left and right constitute a yaw tendon rope differential group, and the two tendon ropes 54 facing each other vertically constitute a pitch tendon rope differential group. The distal ends of each tendon rope 54 pass through the root flange 61 in sequence. After the flange 61 is connected to the tendon rope guide hole 11 corresponding to each annular support block 63, it is fixedly connected to the tail end counterweight block 62. The yaw tendon rope differential group corresponds to the left and right bending in the horizontal plane, and the pitch tendon rope differential group corresponds to the up and down bending in the vertical plane. By setting the annular support block 63, the flexible reinforcing beam 10 and the tendon rope guide hole 11, the components are connected in series to form a segmented continuous tail fin structure. This ensures the basic axial stiffness of the tail fin assembly 6 and can achieve smooth continuous bending deformation under the traction of the tendon rope 54. The two sets of tendon rope differential groups arranged in a cross orthogonal manner correspond to the bending action in the yaw and pitch planes, which facilitates synchronous linkage with the overall swing in the same dimension. At the same time, the segmented and detachable connection method makes it easy to adjust the number of sections of the tail fin assembly 6 and the end counterweight parameters, improving the platform adaptability.

[0049] A tail fairing 13 is fixedly installed at the tail end of the tail counterweight 62. The tail fairing 13 can regulate the end shape of the tail counterweight 62, reduce the air resistance during the movement of the tail wing assembly 6, and at the same time, it can provide a closed protection for the end of the tail counterweight 62. Each tendon rope 54 is fixedly connected to the tail counterweight 62 through a tension sensor. The tension sensor is electrically connected to the PLC controller 12 and is used to detect the axial tension at the end of the corresponding tendon rope 54 and feed it back to the PLC controller 12. Based on the axial tension data of the tendon rope 54 fed back by the tension sensor in real time, the PLC controller 12 can perform differentiated tension control on the tendon rope 54 for different working conditions, which can not only avoid overload damage or loosening and instability of the tendon rope 54, but also ensure the control accuracy of the bending shape, and improve the stability and reliability of the tail wing mechanism.

[0050] In practical use, through-hole conductive slip rings can also be coaxially installed at the rotational engagement points of the first turntable 8 and the support base 32, and the second turntable 9 and the support arm 43. These slip rings are used to supply power to the second disc motor 42, the tendon rope drive motor 52, the PLC controller 12, and each tension sensor that move with the rotational side, and to transmit bidirectional control and feedback signals, thus preventing the connecting cables from twisting and tangling as they swing back and forth.

[0051] This embodiment also provides an attitude adjustment method for the biomimetic continuum tail fin mechanism applied to the above-mentioned wheeled robot, the method comprising the following steps:

[0052] S1, PLC controller 12 establishes communication with the main control system of wheeled robot body 1, and obtains motion state data and posture adjustment instructions of wheeled robot body 1 in real time, and identifies the current working condition type. The motion state data includes vehicle speed, steering angle, body tilt angle and acceleration information. The working condition type is divided into large disturbance single dimension working condition, large disturbance compound dimension working condition, small disturbance and steady state working condition.

[0053] S2, PLC controller 12 calls the corresponding adjustment strategy according to the working condition type and the target requirements of the attitude adjustment command, and calculates the swing amplitude, swing frequency and real-time target bending amplitude of the tail wing component 6 in the corresponding dimension by combining motion state data, and outputs the same dimension coordinated control signal.

[0054] S3, Under the single-dimensional working condition of large disturbance, the yaw pitch swing component 4 drives the tail fin component 6 to swing back and forth in a single dimension through the tendon rope drive component 5. The tendon rope drive component 5 synchronously controls the tail fin component 6 to dynamically bend to the same side of the swing, increasing the compensation torque amplitude in the corresponding direction. The tendon rope 54 in the non-working dimension maintains the reference tension state to keep the tail fin shape stable.

[0055] S4, Under the condition of large disturbance and complex dimensions, the yaw and pitch oscillation component 4 drives the tail fin component 6 to perform spatial complex oscillation through the tendon rope drive component 5, and the tendon rope drive component 5 synchronously drives the tail fin component 6 to perform complex bending, so as to achieve synchronous compensation of multi-dimensional attitude deviation.

[0056] S5, under small disturbances and steady-state conditions, the yaw and pitch oscillation assembly 4 remains locked and stationary, and the tendon cable drive assembly 5 suppresses small attitude fluctuations with a gentle torque by only finely adjusting the bending shape of the tail assembly 6.

[0057] S6. During the entire adjustment process, each tension sensor collects the tension value of the corresponding tendon rope 54 in real time and feeds it back to the PLC controller 12. The PLC controller 12 has preset tension safety threshold, minimum tension threshold and steady-state tension threshold range. The PLC controller 12 executes the corresponding tension control strategy according to the current working condition mode. At the same time, the PLC controller 12 receives the motion state data returned by the main control system of the wheeled robot body 1 in real time, dynamically corrects the swing parameters and bending amplitude of the corresponding dimension, and continuously assists the wheeled robot body 1 to maintain motion stability.

[0058] The operating principle of the present invention is described as follows:

[0059] When the tail wing mechanism is working, the PLC controller 12 maintains real-time communication with the main control system of the wheeled robot body 1, receives motion state data and attitude adjustment instructions sent by the main control system, identifies the current working condition type, matches the corresponding adjustment strategy, and outputs coordinated control signals to drive the actions of each execution component.

[0060] When in a single-dimensional working condition with large disturbances such as sharp turns, one-sided obstacle crossing, acceleration and deceleration, the PLC controller 12 drives the corresponding disc motor of the yaw and pitch swing component 4 to work, which drives the tendon cable drive component 5 and the tail wing component 6 to swing in a single dimension, generating a basic inertial reaction torque on the wheeled robot body 1, and synchronously drives the same-dimensional tendon cable differential group to perform differential retraction and extension, causing the tail wing component 6 to bend to the same side of the swing, superimposing additional inertial reaction torque to enhance the attitude suppression effect;

[0061] Under the condition of large disturbance in yaw single dimension, the first disc motor 41 drives the first turntable 8 to reciprocate, and through the support arm 43 drives the drive cabin 51 and the entire tail wing assembly 6 to yaw back and forth around the vertical axis. The inertial reaction torque generated by the overall swing of the tail wing assembly 6 acts on the wheeled robot body 1, which cancels the attitude deflection in the corresponding direction and attenuates the yaw oscillation amplitude. During the swing, the yaw tendon rope differential group is synchronously linked. For example, when the tail wing assembly 6 swings to the right, the right tendon rope 54 tightens and the left tendon rope 54 releases. The tail wing assembly 6 bends to the right in sync, which drives the tail end counterweight 62 to shift to the right, increasing the compensation torque in the yaw direction. At this time, the two tendon ropes 54 in the pitch tendon rope differential group maintain the reference tension and move slightly with the bending deformation of the tail wing assembly 6 to maintain the tension stability and avoid the tail wing assembly 6 from having coupled swaying in the pitch direction.

[0062] Under the condition of large disturbance in the single dimension of pitch, the second disc motor 42 drives the second turntable 9 to reciprocate, which directly drives the drive cabin 51 and the entire tail wing assembly 6 to reciprocate around the horizontal axis, generating an inertial reaction torque in the pitch direction on the wheeled robot body 1. During the swing, the pitch tendon cable differential group is synchronously linked. For example, when the tail wing assembly 6 swings upward, the upper tendon cable 54 tightens and the lower tendon cable 54 releases, and the tail wing assembly 6 bends upward in sync, causing the tail end counterweight 62 to shift upward, improving the torque compensation effect in the pitch direction. At this time, the yaw tendon cable differential group maintains the reference tension to ensure the stability of the tail wing assembly 6 in the left and right directions.

[0063] For the scenario of continuous unidirectional deviation of the wheeled robot body 1, an offset reciprocating swing control logic is adopted to shift the swing center to the opposite direction of the deviation. At the same time, a larger angular acceleration and swing stroke are used in the acceleration phase of the output compensation torque, and a smaller angular acceleration is used in the return phase. Within a single swing cycle, a net directional compensation torque opposite to the direction of the deviation is output to gradually correct the steady-state attitude deviation of the body.

[0064] When in a complex situation with large disturbances, such as oblique obstacle crossing or high-speed turning on a side slope, the PLC controller 12 synchronously drives the first disc motor 41 and the second disc motor 42, and simultaneously controls the yaw and pitch differential groups to work together, so that the tail fin assembly 6 can complete spatial complex swing and complex bending, and at the same time, it synchronously compensates for the attitude deviations in the yaw and pitch dimensions to adapt to the attitude stabilization requirements under complex disturbance scenarios.

[0065] When in a state of high-speed cruising, smooth road driving, or other small disturbances and steady-state conditions, the yaw and pitch oscillation assembly 4 remains locked and stationary. Only the chord drive assembly 5 drives the chord differential assembly in the corresponding dimension to work. By slightly bending, the center of mass position of the tail wing assembly 6 is adjusted, generating a smooth correction torque to suppress small attitude fluctuations, avoid energy consumption and step disturbances caused by overall oscillation, and improve ride smoothness.

[0066] Throughout the adjustment process, each tension sensor collects the axial tension of the corresponding tendon rope 54 in real time and feeds it back to the PLC controller 12. The controller executes a differentiated tension control strategy according to the working condition mode. Under the dynamic swing condition with large disturbance, the preset tension safety threshold and minimum tension threshold are used as the judgment criteria to realize bidirectional dynamic protection of the working tendon rope 54. When the tension of the tendon rope 54 exceeds the safety threshold, the winding speed of the corresponding tendon rope drive motor 52 is reduced or the winding is stopped to avoid the tendon rope 54 being overloaded and broken or damaged. When the tension of the tendon rope 54 is lower than the minimum tension threshold, the corresponding tendon rope drive motor 52 is controlled to slightly wind up the rope to increase the tension and prevent the tendon rope 54 from slack and causing control lag. The tendon rope 54 in the non-working dimension always maintains the reference tension force and moves with the winding and releasing, taking into account the shape stiffness and movement freedom of the tail wing component 6. Under the steady-state maintenance condition with small disturbance, the tension of the tendon rope 54 is stabilized within the target range based on the preset steady-state tension threshold range to ensure the accuracy and stability of the bending shape.

[0067] During the operation of the tail wing mechanism, the buffer and vibration damping component 3 serves as a vibration isolation layer between the wheeled robot body 1 and the tail wing component 6. It absorbs part of the vibration energy through the elastic deformation of the damping spring 33, and consumes the vibration energy and accelerates the attenuation rate with the damping effect of the telescopic damping rod 15, thereby reducing the mutual transmission of vertical vibration and impact between the wheeled robot body 1 and the tail wing component 6.

[0068] 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, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A biomimetic continuum tail fin mechanism for a wheeled robot, comprising a mounting base (2) detachably and fixedly connected to the rear side of the wheeled robot body (1), characterized in that, It also includes a damping and shock absorption assembly (3), a yaw and pitch oscillation assembly (4), a chord drive assembly (5), and a tail fin assembly (6). The buffer and vibration damping component (3) is fixedly installed on the upper side of the mounting base (2) to buffer the vertical vibration and impact transmission between the wheeled robot body (1) and the tail wing component (6); The yaw and pitch swing assembly (4) is fixedly installed on the top of the buffer and vibration damping assembly (3) to output yaw reciprocating swing around the vertical axis and pitch reciprocating swing around the horizontal axis, thereby driving the tail wing assembly (6) to swing as a whole and output reaction torque to suppress the attitude fluctuation of the wheeled robot body (1) in the corresponding dimension. The tendon cable drive assembly (5) is fixedly installed at the output end of the yaw and pitch swing assembly (4); The tail fin assembly (6) is fixedly connected to the side of the tendon rope drive assembly (5) away from the yaw and pitch swing assembly (4). The tendon rope drive assembly (5) is used to drive the tail fin assembly (6) to generate biplane independent continuous bending deformation, which works in coordination with the overall swing in the same dimension to help improve the attitude stability effect.

2. The biomimetic continuum tail fin mechanism for a wheeled robot according to claim 1, characterized in that, The buffer and vibration damping assembly (3) includes a connecting seat (31), a support seat (32), and multiple damping springs (33). The connecting seat (31) is fixedly mounted on the mounting base (2). The support seat (32) is slidably connected above the connecting seat (31) in a direction perpendicular to the top surface of the mounting base (2). Multiple damping springs (33) are fixedly connected between the bottom surface of the support seat (32) and the inner bottom surface of the connecting seat (31). Each damping spring (33) is fitted with a guide rod (7). The lower end of the guide rod (7) is fixedly connected to the inner bottom surface of the connecting seat (31), and the upper end of the guide rod (7) is slidably engaged with the support seat (32). The yaw and pitch swing assembly (4) is fixedly mounted on the upper surface of the support seat (32).

3. The biomimetic continuum tail fin mechanism for a wheeled robot according to claim 2, characterized in that, The yaw pitch oscillation assembly (4) includes a first disc motor (41), a second disc motor (42), and a support arm (43). The first disc motor (41) is fixedly installed on the upper surface of the support base (32), and its output axis is vertically set for outputting yaw reciprocating oscillation. The output end of the first disc motor (41) is fixedly connected to a first turntable (8). The lower side of the support arm (43) is fixedly connected to the first turntable (8), and the upper side of the support arm (43) is fixedly connected to the second disc motor (42). The output axis of the second disc motor (42) is set horizontally and is used to output pitch and reciprocate swing. The output end of the second turntable (9) is fixedly connected to it. The tendon rope drive assembly (5) is fixedly connected to the second turntable (9).

4. The biomimetic continuum tail fin mechanism for a wheel-legged robot according to claim 3, characterized in that, The tendon cable drive assembly (5) includes a drive cabin (51), four tendon cable drive motors (52), four reels (53) and four tendon cables (54). The drive cabin (51) is fixedly mounted on the second turntable (9). The four tendon cable drive motors (52) are all fixedly installed inside the drive cabin (51), and the output ends of the four tendon cable drive motors (52) are coaxially fixedly connected to the corresponding reels (53). The proximal ends of the four tendon cables (54) are respectively wound and fixedly attached to the corresponding reels (53), and the distal ends of the tendon cables (54) penetrate the drive cabin (51) and are fixedly connected to the tail end of the tail fin assembly (6).

5. The biomimetic continuum tail fin mechanism for a wheeled robot according to claim 4, characterized in that, The tail fin assembly (6) includes a root flange (61), a tail counterweight (62), and multiple annular support blocks (63). The root flange (61) is fixedly connected to the side wall of the drive compartment (51) away from the second turntable (9). The two adjacent annular support blocks (63), the annular support block (63) and the root flange (61), and the annular support block (63) and the tail counterweight (62) are all detachably and fixedly connected by multiple flexible reinforcing beams (10), which are connected in series to form a segmented continuous structure. Each of the annular support blocks (63) has four tendon rope guide holes (11) in the circumferential direction. The four tendon ropes (54) are evenly and symmetrically distributed at 90° along the cross-section of the tail fin assembly (6). The two tendon ropes (54) opposite each other on the left and right constitute the yaw tendon rope differential group, and the two tendon ropes (54) opposite each other on the top and bottom constitute the pitch tendon rope differential group. After the distal ends of each tendon rope (54) pass through the tendon rope guide holes (11) corresponding to the root flange (61) and each annular support block (63) in sequence, they are fixedly connected to the tail end counterweight block (62). The yaw tendon rope differential group corresponds to the left and right bending in the horizontal plane, and the pitch tendon rope differential group corresponds to the up and down bending in the vertical plane.

6. The biomimetic continuum tail fin mechanism for a wheel-legged robot according to claim 5, characterized in that, A PLC controller (12) is fixedly installed inside the drive cabin (51). The PLC controller (12) is electrically connected to the main control system of the wheeled robot body (1). The first disc motor (41), the second disc motor (42), and the four tendon rope drive motors (52) are all electrically connected to the PLC controller (12). The PLC controller (12) outputs control signals in a unified manner to realize the coordinated linkage control of the overall swing and bending deformation in the same dimension.

7. The biomimetic continuum tail fin mechanism for a wheel-legged robot according to claim 6, characterized in that, The tail end counterweight (62) is fixedly provided with a tail end fairing (13). Each tendon rope (54) is fixedly connected to the tail counterweight (62) by a tension sensor. The tension sensor is electrically connected to the PLC controller (12) and is used to detect the axial tension at the end of the corresponding tendon rope (54) and feed it back to the PLC controller (12).

8. The biomimetic continuum tail fin mechanism for a wheel-legged robot according to claim 7, characterized in that, The upper end of the guide rod (7) is fixedly connected to a limit block (14), and multiple telescopic damping rods (15) are also fixedly arranged between the support seat (32) and the connecting seat (31).

9. A method for attitude adjustment of a biomimetic continuum tail fin mechanism for a wheeled robot, applied to the biomimetic continuum tail fin mechanism of the wheeled robot as described in claim 8, characterized in that, The method includes the following steps: S1, the PLC controller (12) establishes communication with the main control system of the wheeled robot body (1), and obtains the motion state data and posture adjustment instructions of the wheeled robot body (1) in real time, and identifies the current working condition type. The motion state data includes vehicle speed, steering angle, body tilt angle and acceleration information. The working condition type is divided into large disturbance single-dimensional working condition, large disturbance composite-dimensional working condition, small disturbance and steady-state working condition. S2, PLC controller (12) calls the corresponding adjustment strategy according to the working condition type and the target requirements of the attitude adjustment command, and calculates the swing amplitude, swing frequency and real-time target bending amplitude of the tail wing component (6) in the corresponding dimension by combining motion state data, and outputs the same dimension coordinated control signal. S3, Under the single-dimensional working condition of large disturbance, the yaw pitch swing component (4) drives the tail fin component (6) to swing back and forth in a single dimension through the tendon rope drive component (5). The tendon rope drive component (5) synchronously controls the tail fin component (6) to bend dynamically to the same side of the swing, increasing the compensation torque amplitude in the corresponding direction. The tendon rope (54) in the non-working dimension maintains the reference tension state and keeps the tail fin shape stable. S4, Under the condition of large disturbance and complex dimension, the yaw pitch swing component (4) drives the tail fin component (6) to perform spatial complex swing through the tendon rope drive component (5), and the tendon rope drive component (5) synchronously drives the tail fin component (6) to perform complex bending, so as to realize the synchronous compensation of multi-dimensional attitude deviation. S5, under small disturbances and steady-state conditions, the yaw and pitch oscillation assembly (4) remains locked and stationary, and the tendon cable drive assembly (5) suppresses small attitude fluctuations with a gentle torque by only finely adjusting the bending shape of the tail assembly (6). S6. During the entire adjustment process, each tension sensor collects the tension value of the corresponding tendon rope (54) in real time and feeds it back to the PLC controller (12). The PLC controller (12) executes the corresponding tension control strategy according to the current working condition mode. At the same time, the PLC controller (12) receives the motion state data returned by the main control system of the wheeled robot body (1) in real time, dynamically corrects the swing parameters and bending amplitude of the corresponding dimension, and continuously assists the wheeled robot body (1) to maintain motion stability.

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