Bionic snake joint

Abstract

The utility model provides a bionic snake joint which comprises a joint support, two force transmission ribs, two motor grooves, two vibration motors and two ground pins. The joint support is in a semi-circular ring shape and forms a main body structure of the snake spine joint. The upper ends of the two force transmission ribs are hinged to the two lower ends of the joint support respectively to form a movable joint. The two motor grooves are fixed to the two force transmission ribs respectively, and the two vibration motors are installed in the two motor grooves respectively and used for driving the force transmission ribs to swing around the upper hinged ends. The upper ends of two ground pins are hinged to the lower end of the force transmission rib, a first reset spring is connected between the two ground pins, and the lower ends of the ground pins are provided with ground friction surfaces; the ground friction surface is horizontally arranged, and the bionic joint main body formed by the joint support, the force transmission ribs and the main body part of the ground pin is obliquely arranged relative to the ground friction surface. The bionic snake joint has the advantages of being driven by vibration energy to act, small in structure and capable of being used in groups in a matched mode.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic robots, in particular to a bionic snake joint. Background Art

[0002] Bionic snake robots are mainly used in field terrain exploration, ecological monitoring, emergency rescue and other places. They have certain advantages in field situations due to their bionic form similar to that of a snake.

[0003] At present, the bionic snake structures that have been developed are mostly multi-joint structures, which use the coordination of various joints to complete the movement, turning and other functions of the snake shape.

[0004] Therefore, the key design of the bionic snake robot's movement lies in the design of the units that constitute the snake's joints.

[0005] The application number is CN202410591840.3, and the invention name is: In the invention patent application of a multi-joint bionic composite snake-like robot, a mode similar to a variable-diameter pipe is adopted to simulate the winding or wriggling of a snake, but these keys do not participate in the main power function. The power mainly comes from the power drive of the snake head or tail, and the requirements for the power structure are relatively high.

[0006] In order to reduce the demand for power, the power is distributed inside the various joint structures, and the bionics of the snake form is completed through coordination. This can solve the problem of dependence on large power equipment to a certain extent, while also reducing weight, reducing volume, and increasing freedom.

[0007] In order to achieve the above objectives, people have been seeking an ideal technical solution. Utility Model Content

[0008] The purpose of the utility model is to address the deficiencies of the existing technology and thus provide a bionic snake joint which utilizes vibration energy to drive movement, has a compact structure, and can be used in groups.

[0009] In order to achieve the above-mentioned object, the technical solution adopted by the present utility model is as follows: a bionic snake joint, comprising a joint bracket, two force transmission ribs, two motor slots, two vibration motors and two ground pins;

[0010] The joint support is in the shape of a semicircle and constitutes the main structure of the snake spine joint;

[0011] The upper ends of the two force transmission ribs are respectively hinged to the two lower ends of the joint bracket to form an active joint;

[0012] The two motor slots are respectively fixed to the two force transmission ribs, and the two vibration motors are respectively installed in the two motor slots to drive the force transmission ribs to swing around the upper hinge end;

[0013] The upper ends of the two ground pins are hinged to the lower ends of the force transmission ribs, a first return spring is connected between the two ground pins, and the lower ends of the ground pins are provided with a ground friction surface;

[0014] The ground friction surface is arranged horizontally, and the bionic joint body composed of the joint bracket, the force transmission ribs and the main body of the ground pin is arranged obliquely relative to the ground friction surface.

[0015] Based on the above, adjacent sides of the two motor slots are hinged together.

[0016] Based on the above, the hinged ends of the two motor slots are connected to the top end of the joint bracket through a second return spring.

[0017] Based on the above, a connecting shaft is provided on the joint bracket or at the hinge of the two motor slots for connecting different bionic snake joints.

[0018] Based on the above, the ground pin has a triangular structure as a whole, and the ground friction surface constitutes the bottom side of the triangular structure.

[0019] Based on the above, the main body of the joint bracket, the force transmission ribs and the ground pin forms a ring as a whole.

[0020] Based on the above, the hinge ends of the two motor slots are located at the center of the ring.

[0021] Based on the above, bearings are installed at the hinges between the joint bracket and the force transmission rib, and at the hinges between the force transmission rib and the ground pin.

[0022] Based on the above, the ground friction surface is a surface with patterns.

[0023] Based on the above, a guide column extending horizontally forward and backward is provided at the top end of the joint bracket, and a groove is provided at one end of the guide column, and a protrusion matching the groove is provided at the other end.

[0024] Compared with the existing technology, the present invention has substantial characteristics and progress. Specifically, the present invention uses vibration energy as the main energy to drive movement, uses the inclined design of the joint body to provide directional guidance for force transmission, uses the hinged structure design of the force transmission ribs and the ground pins to provide a stepping structure during the vibration movement, and uses a reset spring to provide a reset tension. The joint design can drive power to concentrate in each joint. Through the synchronous or selective movement of the two ground pins, the snake robot body can move forward or turn, and through the cooperation of multiple joints, the forward or winding movement can be completed.

[0025] Due to the decentralized power of this solution, there is less demand for a large power mechanism, the overall volume can be made smaller, the weight is lighter, and the movement is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the bionic snake joint in the utility model.

[0027] Figure 2 It is a side view of the bionic snake joint in the utility model.

[0028] Figure 3 It is a schematic diagram of the structure in which the bionic snake joints are connected together in the utility model.

[0029] Figure 4 It is a force analysis principle diagram of the bionic snake joint forward mode in the utility model.

[0030] Figure 5 This is a schematic diagram of the force analysis principle of the unilateral forward mode of the bionic snake joint in the utility model.

[0031] In the figure: 1. Joint bracket; 2. Force transmission rib; 3. Motor slot; 4. First return spring; 5. Ground pin; 6. Ground friction surface; 7. Guide column; 8. Connecting shaft; 9. Second return spring. DETAILED DESCRIPTION

[0032] The technical solution of the present utility model is further described in detail below through specific implementation methods.

[0033] like Figure 1-Figure 5 As shown, a bionic snake joint includes a joint bracket 1, two force transmission ribs 2, two motor slots 3, two vibration motors and two ground pins 5.

[0034] The joint support 1 is in the shape of a semicircle, forming the main structure of the snake spine joint, and is raised at the top to simulate the upper shape of a bionic snake.

[0035] In a preferred embodiment, a guide column 7 extending horizontally to the front and rear is added. A groove is set at one end of the guide column 7 and a protrusion matching the groove is set at the other end. Its main function is to provide a certain limit and guidance effect between different joints connected continuously. The protrusion of the front joint is stuck in the groove of the rear joint. Coupled with the constraint of the outer skin, the constraint of the swinging movement of the designed shape can be completed.

[0036] Of course, in this embodiment, a connecting shaft 8 is provided at the hinge of the joint bracket 1 or the two motor slots for connecting different bionic snake joints, which are specifically connected together through universal joints to provide sufficient degrees of freedom.

[0037] The upper ends of the two force transmission ribs 2 are respectively hinged to the two lower ends of the joint bracket 1 to form an active joint;

[0038] The two motor slots 3 are respectively fixed to the two force transmission ribs 2 , and the two vibration motors are respectively installed in the two motor slots 3 to drive the force transmission rib 2 to swing around the upper hinge end.

[0039] The upper ends of the two ground pins 5 are hinged to the lower end of the force transmission rib 2, and a first return spring 4 is connected between the two ground pins 5. The lower end of the ground pin 5 is provided with a ground friction surface 6, and the ground friction surface 6 is a surface with a pattern.

[0040] The ground friction surface 6 is arranged horizontally, and the bionic joint body composed of the joint bracket 1, the force transmission ribs 2 and the main part of the ground pin 5 is arranged obliquely relative to the ground friction surface 6, so that the force transmission direction can be transmitted to the front or the rear.

[0041] The main parts of the joint bracket 1, the force transmission ribs 2 and the ground pins 5 are formed into a ring as a whole, so as to form a bionic snake with a circular cross-section.

[0042] Due to the constraint of the first return spring, the entire bionic snake joint is self-stabilized in a static state. When the vibration motor is started, the two force transmission ribs swing around the upper hinge point, thereby driving the ground pin 5 at the lower end to swing. Through the cooperation of the two ground pins 5, synchronous movement or turning is completed.

[0043] In a preferred embodiment, in order to provide better self-stabilization capability, the adjacent sides of the two motor slots 3 are hinged together, and the hinged ends of the two motor slots 3 are connected to the top end of the joint bracket 1 through a second return spring 9 .

[0044] In this embodiment, the ground pin 5 is in a triangular structure as a whole, and the ground friction surface 6 constitutes the bottom side of the triangular structure.

[0045] The hinged ends of the two motor slots 3 are located at the center of the ring. The hinges between the joint support 1 and the force transmission rib 2, and the hinges between the force transmission rib 2 and the ground pin 5 are all equipped with bearings to maintain the smoothness and stability of the hinge movement.

[0046] Working principle description:

[0047] The vibration forward mechanism is assumed to meet the following conditions:

[0048] Each part of the bionic snake joint is an ideal rigid body, that is, each part will not undergo slight deformation due to external forces;

[0049] Because the length and shape of the bionic snake joint are optimized, the center of mass of the entire bionic snake joint can be approximately considered to be located at the center of this approximate circle;

[0050] Based on the shape design and material selection, the forces acting on each part can be approximately considered to act on the center of mass, and it can be approximately considered that no friction couple will be generated, that is, a single bionic snake joint will not experience positive rolling or tipping.

[0051] The contact between each ground friction surface and the ground is planar and uniform contact, ensuring that the contact points are continuous and form a plane.

[0052] Under this premise, we conduct stress analysis:

[0053] In the forward mode, the analysis is carried out with a single bionic snake joint as a unit. The vibration motors on both sides apply force to both sides at the same time, so that the overall force is as follows: Figure 4 As shown, since the bionic snake joint is tilted as a whole, the resultant force of the forces applied on both sides is directed toward the front. Therefore, under the forces applied on both sides, the entire bionic snake joint moves toward the front through the action of friction.

[0054] In the unilateral forward mode, the analysis is carried out with a single bionic snake joint as the unit, and the overall force is as follows: Figure 5 As shown, when a force is applied on one side, due to the overall inclination of the bionic snake joint, the force moves forward horizontally toward the non-vibrating side, thereby completing the forward turning action.

[0055] From basic mechanics knowledge, we know that the three forces acting on the pins are located in the same plane. If we assume that the force exerted by the center rod on one side is F(t), then the force acting on each pin is

[0056] F(t)'=F(t)sin60° / sin45°

[0057] Then the vertical force generated by the contact surface can be solved

[0058] Fn=F(t)'cos 15°

[0059] Then the vertical pressure distribution function q z1 (a) Need to be satisfied

[0060]

[0061] Combining the friction mechanics in the spatial coordinate system, the following formula can be obtained:

[0062]

[0063] Then the vertical pressure distribution function q on the other side is z2 (a) and f2 are

[0064]

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model and not to limit it; although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the utility model can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the utility model, they should all be included in the scope of the technical solution for which protection is requested in the utility model.

Claims

1. A bionic snake joint, characterized by: Includes joint bracket, two force transmission ribs, two motor slots, two vibration motors and two ground pins; The joint support is in the shape of a semicircle and constitutes the main structure of the snake spine joint; The upper ends of the two force transmission ribs are respectively hinged to the two lower ends of the joint bracket to form an active joint; The two motor slots are respectively fixed to the two force transmission ribs, and the two vibration motors are respectively installed in the two motor slots to drive the force transmission ribs to swing around the upper hinge end; The upper ends of the two ground pins are hinged to the lower ends of the force transmission ribs, a first return spring is connected between the two ground pins, and the lower ends of the ground pins are provided with a ground friction surface; The ground friction surface is arranged horizontally, and the bionic joint body composed of the joint bracket, the force transmission ribs and the main body of the ground pin is arranged obliquely relative to the ground friction surface.

2. The bionic snake joint according to claim 1, characterized in that: The adjacent sides of the two motor slots are hinged together.

3. The bionic snake joint according to claim 2, characterized in that: The hinged ends of the two motor slots are connected to the top end of the joint bracket through a second return spring.

4. The bionic snake joint according to claim 3, characterized in that: A connecting shaft is provided on the joint bracket or at the hinge of the two motor slots for connecting different bionic snake joints.

5. The bionic snake joint according to claim 4, characterized in that: The ground pin is in a triangular structure as a whole, and the ground friction surface constitutes the bottom side of the triangular structure.

6. The bionic snake joint according to claim 5, characterized in that: The joint bracket, the force transmission ribs and the main body of the ground pin form a ring as a whole.

7. The bionic snake joint according to claim 6, characterized in that: The hinged ends of the two motor slots are located at the center of the ring.

8. The bionic snake joint according to claim 7, characterized in that: Bearings are installed at the hinges between the joint bracket and the force transmission rib, and at the hinges between the force transmission rib and the ground pin.

9. The bionic snake joint according to claim 8, characterized in that: The ground friction surface is a surface with patterns.

10. The bionic snake joint according to claim 9, characterized in that: A guide column extending horizontally forward and backward is provided at the top end of the joint bracket, and a groove is provided at one end of the guide column, and a protrusion matching the groove is provided at the other end.

Images