Tail biomimetic mechanism, tail device and robot

Abstract

The utility model relates to the field of robot, especially the bionic tail of robot, provide a tail bionic mechanism, tail device and robot. Tail bionic mechanism includes: at least two tail segments, tail segment includes the first segment and the second segment of adjacent arrangement, and the first segment and the second segment have first central axis and second central axis respectively, and joint assembly, and joint assembly includes first joint and second joint, first joint rotatably set up in the distal end of first segment, can adjust position along the circumference of first segment, and / or, second joint rotatably set up in the proximal end of second segment, can adjust position along the circumference of second segment, first joint and second joint can relatively rotate to adjust circumferential relative position, and the joint rotation axis of first joint and second joint is inclined relative to first central axis and second central axis. The utility model mainly solves the technical problem that bionic tail is difficult to realize more forms.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a bionic tail for robots. Background Technology

[0002] An animal's tail consists of multiple interlocking caudal vertebrae surrounded by muscles and tendons, used for controlling and executing movements. The structure of an animal's tail enables complex and delicate movements, playing an important role in locomotion and balance, warmth and protection from wind and rain, communication, and the transmission of social signals.

[0003] In the field of robotics, because the structure of a tail makes it difficult to achieve complex movements and / or shapes, in most cases the tail is either omitted or a single tail with no function and a fixed shape is used for the sake of appearance, such as a straight tail. Utility Model Content

[0004] This invention mainly solves the technical problem that bionic tails are difficult to achieve in many different shapes.

[0005] Firstly, this application provides a tail-like bionic mechanism, comprising:

[0006] The tail has at least two tail segments, each comprising a first segment and a second segment arranged adjacent to each other, the first segment and the second segment being arranged sequentially from the proximal end to the distal end of the tail bionic mechanism; the first segment and the second segment each have a first central axis and a second central axis.

[0007] And a joint assembly connected between two adjacent tail segments, including a first joint and a second joint; the first joint is rotatably disposed at the distal end of the first segment and is adjustable in position along the circumference of the first segment, and / or the second joint is rotatably disposed at the proximal end of the second segment and is adjustable in position along the circumference of the second segment;

[0008] The first joint and the second joint are rotatable relative to each other to adjust their circumferential relative positions, and the joint rotation axes of the first joint and the second joint are inclined relative to the first central axis and the second central axis.

[0009] In one embodiment, the first joint has a first fitting surface at the end near the second joint, and the second joint has a second fitting surface at the end near the first joint. The second fitting surface is in contact with the first fitting surface, and the joint rotation axis is perpendicular to the first fitting surface and the second fitting surface.

[0010] In one embodiment, a positioning member is included, disposed between the first joint and the second joint, the positioning member being used to determine the joint rotation axis and prevent the first joint and the second joint from separating along the joint rotation axis.

[0011] In one embodiment, the positioning member includes a first connector fixed to the center of the first adapter surface and a second connector fixed to the center of the second adapter surface. One of the first connector and the second connector has an adapter protrusion and the other has an adapter recess. The adapter protrusion is embedded in the adapter recess. The first connector and the second connector have a magnetic attraction to prevent the first joint and the second joint from separating along the joint rotation axis.

[0012] In one embodiment, the adapting surfaces of the adapting protrusion and the adapting recess are spherical.

[0013] In one embodiment, the device includes a first driving device disposed at the distal end of the first segment and / or a second driving device disposed at the proximal end of the second segment; the first driving device is used to drive the first joint to adjust its position circumferentially along the first segment, and the second driving device is used to drive the second joint to adjust its position circumferentially along the second segment; the tail bionic mechanism further includes a circumferential limiting member, which is fixed circumferentially along the first segment and the second segment, and the circumferential limiting member has an elastically bent segment connected between the first segment and the second segment, the elastically bent segment being adapted to changes in the angle between the first central axis and the second central axis.

[0014] In one embodiment, the tail segment and / or the corresponding first drive device / second drive device are provided with a limiting member through hole, and the circumferential limiting member passes through the limiting member through hole and is movable along the limiting member through hole.

[0015] In one embodiment, the tail segment includes a head segment disposed at the nearest end of the tail bionic mechanism and an end segment disposed at the farthest end of the tail bionic mechanism; the far end of the end segment has an arcuate surface, the circumferential limiting member has a first end, a second end and a middle portion located at the first end and the second end, the first end and the second end are respectively fixed to the radially opposite sides of the head segment, and the middle portion bypasses the arcuate surface and is capable of sliding along the arcuate surface.

[0016] In one embodiment, the circumferential limiting member is a light guide member, used to form a light-emitting band when light is incident on the end face of the circumferential limiting member.

[0017] In one embodiment, the tail segment has a receiving cavity, and the first driving device and / or the second driving device are at least partially embedded in the corresponding receiving cavity.

[0018] In one embodiment, the first driving device and / or the second driving device is a servo motor or a stepper motor, which can lock the rotation position when the rotation stops.

[0019] In one embodiment, a decorative layer is included that covers at least a portion of the outer surface of the tail bionic mechanism, the decorative layer having a plush feature.

[0020] In one embodiment, a first driving device is disposed at the distal end of the first segment in two adjacent tail segments, and a joint driving device is disposed at the first joint or the second joint; the first driving device is used to drive the first joint to adjust its position circumferentially along the first segment; the joint driving device is used to drive the first joint and the second joint to rotate relative to each other to adjust their relative circumferential positions.

[0021] Secondly, this application provides a tail device, comprising:

[0022] A tail-like bionic mechanism as described in any of the above;

[0023] And a tail connector, wherein the first tail segment at the proximal end of the tail bionic mechanism is fixed to the tail connector.

[0024] In one embodiment, the tail connector has an electrical component mounting cavity, and the tail device includes a drive control circuit and / or a light-emitting element disposed in the electrical component mounting cavity. The drive control circuit is used to drive the tail segments to move, and the light-emitting element is used to provide a light source for the tail bionic mechanism.

[0025] Thirdly, this application provides a robot, including a body and a tail device as described in any of the preceding claims.

[0026] The beneficial effects of this utility model are:

[0027] According to an embodiment of this utility model, the tail segment of the bionic tail mechanism includes a first segment and a second segment arranged adjacent to each other. A joint assembly is provided between the two adjacent tail segments. The first joint and the second joint of the joint assembly can rotate relative to each other, thereby adjusting the circumferential relative position of the first joint and the second joint. At the same time, the joint rotation axis of the first joint and the second joint is inclined relative to the first central axis of the first joint and the second central axis of the second joint. Therefore, when the circumferential relative position of the first joint and the second joint is adjusted, the angle between the central axis of the first joint and the central axis of the second joint can be changed, that is, the angle between the first central axis and the second central axis can be changed, thereby realizing the shape change of the corresponding segment of the bionic tail mechanism. Furthermore, the first joint and / or the second joint of the joint assembly can rotate relative to the corresponding tail segment to realize circumferential position adjustment. Therefore, the angle between the central axis of the first joint and the central axis of the second joint can be changed at different circumferential positions of the bionic tail mechanism, thereby giving the bionic tail mechanism a flexible adjustment method, meeting a variety of motion adjustment needs, and making it easier to realize a variety of shape changes. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of one embodiment of the tail bionic mechanism in this utility model;

[0029] Figure 2 yes Figure 1 Front view of the mid-tail bionic mechanism;

[0030] Figure 3 yes Figure 2 Top view;

[0031] Figure 4 yes Figure 2 The right view;

[0032] Figure 5 yes Figure 1 A three-dimensional diagram of a tail segment and its corresponding first joint;

[0033] Figure 6 yes Figure 5 Exploded structural diagram;

[0034] Figure 7 yes Figure 6 Longitudinal sectional view;

[0035] Figure 8 This is an exploded view of the joint assembly.

[0036] Figure 9 yes Figure 8 Longitudinal sectional view;

[0037] Figure 10This is a schematic diagram showing the first and second segments arranged adjacently in their initial positions.

[0038] Figure 11 yes Figure 10 A schematic diagram of the first joint rotating counterclockwise by 60 degrees.

[0039] Figure 12 yes Figure 1 A schematic diagram of the connection relationship between the bionic tail mechanism and the tail connector, which is also a schematic diagram of an embodiment of the tail device of this utility model;

[0040] Figure 13 This is a schematic diagram of all relative motion positions of the first and second segments arranged adjacent to each other in one embodiment;

[0041] Figure 14 This is a schematic diagram of one working mode of the tail bionic mechanism in this utility model.

[0042] List of feature names corresponding to the labels in the figure:

[0043] 100. Tail-like bionic mechanism;

[0044] 110. Tail segment; 111. First segment; 112. Second segment; 113. Proximal segment; 114. Terminal segment; 1141. End cap; 1142. Arc-shaped surface;

[0045] 120. Segmental matrix; 121. Receiving cavity; 122. Partition section;

[0046] 130. Joint assembly; 131. First joint; 1311. First adapter surface; 132. Second joint; 1321. Second adapter surface;

[0047] 133. Positioning component; 1331. First connecting component; 1332. Second connecting component;

[0048] 141. First driving device; 142. Second driving device; 143. Perforation of limiting member; 144. Proximal driving device;

[0049] 150. Circumferential limiting component;

[0050] 200. Tail connector; 210. Electrical component mounting cavity; 211. Drive control circuit; 212. Light-emitting component;

[0051] 301. First central axis; 302. Joint rotation axis; 303. First swing axis; 304. Second swing axis. Detailed Implementation

[0052] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0053] The embodiments described in the detailed implementation can be combined in any suitable manner without contradiction. For example, different implementation methods can be formed by combining different embodiments. In order to avoid unnecessary repetition, the various possible combinations of the embodiments will not be described separately.

[0054] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0055] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0056] Those skilled in the art should understand that in the engineering field, "proximal end" and "farthest end" are terms used to distinguish proximity based on a reference point, which is typically a fixed base or power source. For a tail attached to the robot's main body, the end of the tail fixedly connected to the robot's main body is the proximal end, and the end furthest from the robot's main body is the farthest end. The proximal and farthest ends can be determined by reference... Figure 1 The orientation shown in the diagram. Accordingly, the circumferential direction is the direction in which the corresponding component revolves around the axis corresponding to the proximal-distal direction, and the proximal-distal direction is the distribution direction of the proximal and distal ends of the corresponding component.

[0057] In an embodiment of this invention, adjacent tail segments of the bionic tail mechanism are connected by joint components. The first and second joints of the joint components are rotatable relative to each other. The rotation axis of the joint between the first and second joints is inclined relative to the first and second central axes. By changing the circumferential relative position of the first and second joints, the angle between the central axes of the first and second joints is changed. At the same time, by adjusting the circumferential position of the first joint relative to the first segment and / or the circumferential position of the second joint relative to the second segment, the angle between the central axes of the first and second joints can be changed at different circumferential positions of the bionic tail mechanism, thereby enabling the bionic tail mechanism to achieve richer forms.

[0058] An embodiment of the tail bionic mechanism in this utility model:

[0059] In some embodiments, please refer to Figures 1 to 3 The tail bionic mechanism 100 includes at least two tail segments 110. Please refer to [reference needed]. Figure 10 The tail segment 110 includes a first segment 111 and a second segment 112 arranged adjacent to each other, with the first segment 111 and the second segment 112 arranged sequentially from the proximal end to the distal end of the tail bionic mechanism 100. The tail bionic mechanism 100 also includes a joint assembly 130, which connects two adjacent tail segments 110 and includes a first joint 131 and a second joint 132. By changing the relative positions of the tail segments 110 through the joint assembly 130, the tail bionic mechanism 100 can achieve different shapes.

[0060] The number of tail segments 110 is at least two, but the specific number is not limited and can be determined based on factors such as the overall shape control requirements of the tail bionic mechanism 100, length requirements, and the length of each tail segment 110 itself. For example, in some embodiments, the number of tail segments 110 can be from 2 to 20. Those skilled in the art will understand that the more tail segments 110 there are and the shorter the length of each tail segment 110, the more beneficial it is to achieve higher "resolution," that is, to achieve more degrees of adjustment freedom and morphological freedom. Figures 1 to 3 In the exemplary embodiment shown, the number of tail segments 110 is 13. Each tail segment 110 includes a head segment 113 located at the closest end of the tail bionic mechanism 100 and a tail tail segment 114 located at the farthest end of the tail bionic mechanism 100. In two adjacent tail segments 110, the first segment 111 may be the head segment located at the closest end of the tail bionic mechanism 100, and the proximal end of the head segment has a fixing structure for fixing to a corresponding base.

[0061] The first segment 111 and the second segment 112 have a first central axis 301 and a second central axis, respectively (the second central axis is not shown in the figure). Figure 10 In the illustrated state, the second central axis coincides with the first central axis 301. The first central axis 301 and the second central axis are respectively aligned with the extension directions of the corresponding parts of the tail bionic mechanism 100. If the tail bionic mechanism 100 is in a bent state, the positions of the first central axis 301 and the second central axis may change according to the real-time bending shape of the tail bionic mechanism 100 at a certain moment. The first central axis 301 is the axis of the part of the tail bionic mechanism 100 corresponding to the first segment 111, and the second central axis is the axis of the part of the tail bionic mechanism 100 corresponding to the second segment 112. The basic outline of the first segment 111 and the second segment 112 can be cylindrical, such as cylindrical or prismatic, and the central axis is the central axis of the cylindrical body. In some other embodiments, the tail segment 110 can also be other shapes, such as ellipsoidal or spherical. Those skilled in the art will understand that the shapes of different tail segments 110 can be the same or different. Figures 1 to 3 In the tail segment 110, all segments are identical except for the distal terminal segment 114. The difference of the distal terminal segment 114 is that it has an end cap 1141 at its distal end, and is no longer connected to the joint assembly 130. The structure of the end cap 1141 will be further described in the corresponding section below.

[0062] The tail bionic mechanism has an initial straight state. The first central axis 301 is also the overall axis of the tail bionic mechanism 100 when it is in the initial straight state. At this time, the central axes of each tail segment 110 coincide.

[0063] The following will combine Figures 5 to 7 The specific structure of the tail segment 110 in some embodiments is described below.

[0064] In some embodiments, the tail segment 110 may include a segment base 120, which has a receiving cavity 121. For example, a receiving cavity 121 may be provided at each of its axial ends. The receiving cavity 121 forms an opening at the axial end face of the segment base 120 for the corresponding driving device to be at least partially embedded. The driving device is a mechanism used in some embodiments to realize the shape control and driving of the tail bionic mechanism 100, and may include the first driving device 141 and the second driving device 142 mentioned below. For the proximal segment 113 and the distal segment 114, in some embodiments, the receiving cavity 121 may be omitted at the proximal end of the proximal segment 113 and the distal end of the distal segment 114. However, in order to reduce the number of parts, the receiving cavity 121 may still be retained even if it is not in use. In some embodiments, a proximal drive device 144 is provided at the proximal end of the head segment. The proximal drive device 144 can drive the entire tail bionic mechanism 100 to rotate when needed. At this time, the receiving cavity 121 at the proximal end of the head segment 113 can accommodate the proximal drive device 144.

[0065] It should be noted that the receiving cavity 121 is not essential. In some other embodiments, the first driving device 141, the second driving device 142, and other driving devices can be directly fixed to the end face of the segment base 120. Furthermore, although driving devices are described here, in some other embodiments, the driving devices can be omitted, in which case the shape of the tail bionic mechanism 100 can be manually adjusted.

[0066] In some embodiments, the segmental base 120 may be in the form of a sleeve, with its inner cavity forming a receiving cavity 121. Referring to 7, a partition portion 122 may be provided within the segmental base 120, and the receiving cavities 121 at both ends of the segmental base 120 may be formed by the cavity spaces on both sides of the partition portion 122, respectively. The segmental base 120 may be made of an elastic material, such as rubber, silicone, or a material with similar properties, which is beneficial for improving the texture of the tail bionic mechanism 100, thereby improving the simulation effect. In some specific embodiments, the material of the segmental base 120 may also be replaced with any other material that can meet its usage requirements. In some embodiments, the partition portion 122 may have a through hole at its center, which allows connecting wires to pass through for wiring.

[0067] The shape of the drive unit can be adapted to the segment base 120. After the drive unit is embedded in the receiving cavity 121 of the segment base 120, it is fixed together with the segment base 120 to form the tail segment 110. The fixing method between the drive unit and the segment base 120 is not limited, such as bonding, fastener connection, or fixing by interference fit. The drive unit can have the function of locking the rotation position when it stops rotating, for example, it can be a servo motor or a stepper motor. This function of locking the rotation position will be further explained below.

[0068] The following will combine Figures 5 to 10 The specific structure of the joint assembly 130 is described.

[0069] The joint assembly 130 includes a first joint 131 and a second joint 132. The first joint 131 is rotatably disposed at the distal end of the first segment 111, and the second joint 132 is rotatably disposed at the proximal end of the second segment 112. The first joint 131 can be coaxially disposed with the first segment 111, and the second joint 132 can be coaxially disposed with the second segment 112.

[0070] The first joint 131 and the second joint 132 can rotate relative to each other to adjust their circumferential relative positions. The joint rotation axis 302 of the first joint 131 and the second joint 132 is inclined relative to the first central axis 301 and the second central axis, so as to change the angle between the central axis of the first joint 131 and the central axis of the second joint 132 when the first joint 131 and the second joint 132 rotate relative to each other, that is, to change the angle between the first central axis 301 and the second central axis.

[0071] It should be noted that, in this application, circumferential adjustment of position means that the position can be changed by rotation, and the rotational position is locked when rotation stops. When locked, even if subjected to a certain external torque, the circumferential position can be maintained and no change in circumferential position will occur.

[0072] The method of adjusting the circumferential relative position between the first joint 131 and the second joint 132 is not limited. For the manually adjustable tail bionic mechanism 100, for example, the first joint 131 and the second joint 132 can be connected by a pivot, and the rotational position can be maintained by friction between the first joint 131 and the second joint 132, or by friction between the first joint 131 and / or the second joint 132 and the pivot; or, in some other embodiments, the rotational position can also be maintained by the cooperation of an elastic baffle and a stop boss. When the first joint 131 and the second joint 132 rotate relative to each other under the action of an external force, the stop boss pushes the elastic baffle to bend and deform and pass over the elastic baffle, and then positions itself between the passed elastic baffle and the next adjacent elastic baffle. For the automatically adjustable tail bionic mechanism 100, for example, the drive device for adjusting the circumferential relative position between the first joint 131 and the second joint 132 can have a rotational position locking function, for example, by relying on the continuous power supply of a stepper motor or a servo motor to generate a position holding torque.

[0073] Those skilled in the art will understand that, since the joint rotation axis 302 of the first joint 131 and the second joint 132 is inclined relative to the first central axis 301 and the second central axis, the motion trajectory of the central axis of the second joint 132 relative to the central axis of the first joint 131 will be conical. Similarly, the motion trajectory of the second segment 112, coaxially arranged with the second joint 132, relative to the first segment 111, coaxially arranged with the first joint 131, will also be conical.

[0074] In some specific embodiments, the end of the relatively rotatable first joint 131 near the second joint 132 has a first adapter surface 1311, and the end of the second joint 132 near the first joint 131 has a second adapter surface 1321. The second adapter surface 1321 is in contact with the first adapter surface 1311, and the joint rotation axis 302 is perpendicular to the first adapter surface 1311 and the second adapter surface 1321. The contact of the adapter surfaces between the first joint 131 and the second joint 132 facilitates the positioning of their relative positions, ensuring the realization of the conical motion trajectory.

[0075] In some other embodiments, the first joint 131 and the second joint 132 can also be connected in other ways, such as by bearings or by a pivot (for example, a protruding pivot is fixedly provided on the first joint 131, the axis of the pivot is inclined relative to the first central axis 301 and the second central axis, and the second joint 132 is rotatably mounted on the pivot). In these cases, the fit between the first mating surface 1311 and the second mating surface 1321 is not required. Of course, regardless of the connection method used, it should be ensured that the axis between the first joint 131 and the second joint 132 is inclined relative to the first central axis 301 and the second central axis.

[0076] In some embodiments, the joint assembly 130 may include a positioning member 133 disposed between the first joint 131 and the second joint 132. The positioning member 133 is used to define the joint rotation axis 302 and prevent the first joint 131 and the second joint 132 from separating along the joint rotation axis 302, thereby facilitating axial positioning between the first joint 131 and the second joint 132. For example, please refer to... Figure 8 and Figure 9 The positioning component 133 includes a first connector 1331 fixed to the center of the first adapter surface 1311 and a second connector 1332 fixed to the center of the second adapter surface 1321. One of the first connector 1331 and the second connector 1332 has an adapter protrusion, and the other has an adapter recess. The adapter protrusion is embedded in the adapter recess. The first connector 1331 and the second connector 1332 have a magnetic attraction to prevent the first joint 131 and the second joint 132 from separating along the joint rotation axis 302. The fixing method of the first connector 1331 and the second connector 1332 to the corresponding tail segment 110 is not limited, such as bonding, welding, fastener connection, etc.

[0077] The mating surfaces of the aforementioned adapter protrusions and recesses can be spherical. Those skilled in the art should understand that this description is not intended to limit the adapter protrusion to a perfect sphere, but rather that the mating surface satisfies spherical characteristics, such as a hemisphere. In some specific embodiments, the first connector 1331 can be a sphere, while the second connector 1332 can be a bowl with a hemispherical groove. Using a spherical shape facilitates guidance during the assembly of the first joint 131 and the second joint 132, thus simplifying assembly.

[0078] One of the first connector 1331 and the second connector 1332 may be magnetic and made of magnetic materials, such as neodymium iron boron magnets, ferrite magnets, AlNiCo magnets, and Samarium Cobalt magnets, and be able to form a magnetic field. The other connector may be magnetically attracted and be made of materials that can be attracted by a magnetic field, such as ferromagnetic materials like iron, cobalt, and nickel, or some paramagnetic materials with weak attraction, thereby achieving the magnetic attraction between the first connector 1331 and the second connector 1332. Alternatively, both the first connector 1331 and the second connector 1332 may be magnetic, but with opposite magnetic poles.

[0079] In some other embodiments, the first connector 1331 and the second connector 1332 may only serve a rotational engagement function, relying on the magnetic attraction between the first joint 131 and the second joint 132 to position the first joint 131 and the second joint 132 along the joint rotation axis 302, preventing the first joint 131 and the second joint 132 from separating along the joint rotation axis 302. Alternatively, the adapting protrusion and the adapting recess may also be of other shapes, such as cylindrical. Furthermore, the positioning of the first joint 131 and the second joint 132 along the joint rotation axis 302 can also be achieved in other ways. For example, when the first joint 131 and the second joint 132 are connected by a bearing, the axial positioning between the inner and outer rings of the corresponding bearing itself can be used to achieve the positioning of the first joint 131 and the second joint 132 along the joint rotation axis 302.

[0080] The following section will introduce the drive structure of the tail bionic mechanism 100.

[0081] By relying on the joint assembly 130 between two adjacent tail segments 110, the included angle between adjacent first segments 111 and second segments 112 can be adjusted, allowing the tail bionic mechanism 100 to form a corresponding shape. This shape change can be achieved manually by adjusting the circumferential relative position of the first joint 131 and the second joint 132, as well as the circumferential position between the first joint 131 and / or the second joint 132 and the corresponding tail segment 110. To achieve automatic shape change of the tail bionic mechanism 100, a drive device can also be provided to complete the adjustment process.

[0082] In some embodiments, the tail bionic mechanism 100 includes a first drive device 141 disposed at the distal end of the first segment 111, and / or a second drive device 142 disposed at the proximal end of the second segment 112; the output shaft of the first drive device 141 is connected to the first joint 131 to drive the first joint 131 to adjust its position circumferentially along the first segment 111; the output shaft of the second drive device 142 is connected to the second joint 132 to drive the second joint 132 to adjust its position circumferentially along the second segment 112. The fixing method between the first joint 131 and the output shaft of the first drive device 141 is not limited, nor is the fixing method between the second joint 132 and the output shaft of the second drive device 142, for example, torque transmission can be achieved through key transmission. Preferably, the first drive device 141 and the second drive device 142 have a 360-degree rotation capability.

[0083] Since the head segment 113 of the tail bionic mechanism 100 is fixed, if the second drive device 142 is simply rotated, the adjacent second joint 132 may remain stationary, while all other components at the distal end of the second joint 132 will rotate as a whole, making it difficult to ensure the shape adjustment of the tail bionic mechanism 100. Therefore, the tail bionic mechanism 100 also includes a circumferential limiting member 150, which is fixed circumferentially along the first segment 111 and the second segment 112. This allows the first segment 111 and the second segment 112 to be mutually limited circumferentially when the second drive device 142 rotates, restricting their relative rotation and ensuring the relative rotation of the first joint 131 and / or the second joint 132. Meanwhile, since the relative position between the first segment 111 and the second segment 112 changes when the shape of the tail bionic mechanism 100 changes, the circumferential limiting member 150 has an elastic bending segment connected between the first segment 111 and the second segment 112. The elastic bending segment is used to adapt to the change of the included angle between the first central axis 301 and the second central axis, so that the second driving device 142 can effectively drive the second joint 132.

[0084] In some specific embodiments, the tail segment 110 and / or the corresponding first drive device 141 / second drive device 142 are provided with limiting member through holes 143, and a circumferential limiting member 150 passes through the limiting member through holes 143 and is movable along the limiting member through holes 143. The circumferential limiting member 150 is movably disposed along the limiting member through holes 143 to facilitate adaptation to changes in the position of the limiting member through holes 143 on adjacent tail segments 110 when the angle of adjacent tail segments 110 changes, thereby helping to prevent the circumferential limiting member 150 from obstructing changes in the included angle between adjacent tail segments 110. The limiting member through holes 143 may be provided on the radially protruding ear plates of the tail segment 110 and / or the corresponding first drive device 141 / second drive device 142.

[0085] In some embodiments, the distal end of the terminal segment 114 has an arcuate surface 1142 (see Figure 4 The circumferential limiting member 150 has a first end, a second end, and a middle portion located at the first and second ends. The first and second ends are respectively fixed to the radially opposite sides of the first end segment 113. The middle portion bypasses the arcuate surface 1142 and can slide along the arcuate surface. The arcuate surface 1142 can be provided at the end cap 1141 at the distal end of the end segment 114. The end cap 1141 can have a groove for the circumferential limiting member 150 to be inserted to achieve positioning of the circumferential limiting member 150.

[0086] Those skilled in the art will understand that in some other embodiments, the adjacent first segment 111 and second segment 112 may also be fixedly connected to the circumferential limiting member 150. The limiting member through hole 143 may be a fixing hole for fixing the circumferential limiting member 150. In this case, the elastic bending segment can completely adapt to the change in the included angle between the first segment 111 and the second segment 112.

[0087] Please refer to Figure 10 and Figure 11 The figure shows two adjacent tail segments 110, with a set of joint assemblies 130 sandwiched between them. The first joint 131 and the second joint 132 of the joint assembly 130 are held together by magnetic attraction. The first joint 131 and the second joint 132 can rotate relative to each other about the joint rotation axis 302 located at the center of the first adapter surface 1311 and the second adapter surface 1321 and perpendicular to the first adapter surface 1311 and the second adapter surface 1321, while the circumferential limiting member 150 can restrict the rotation. The first segment 111 and the second segment 112 rotate relative to each other along the first central axis 301 of the first segment 111, so that the first segment 111 and the second segment 112 can swing about a first swing axis 303 and / or a second swing axis 304 perpendicular to the first central axis 301, wherein the circumferential limiter 150 is located on one side of the tail segment 110 along the extension direction of the first swing axis 303, and the second swing axis 304 is perpendicular to both the first swing axis 303 and the first central axis 301.

[0088] Figure 11 This demonstrates the result when the first segment 111 is grounded, i.e., fixed, the first drive device 141 rotates 60 degrees counterclockwise, and the second drive device 142 locks its rotational position. As the first drive device 141 rotates its output shaft, the first joint 131 is driven and rotates with the first drive device 141. The circumferential limiting member 150 restricts the rotation of the second segment 112 along the first central axis 301, forcing the second joint 132 and the second segment 112 to rotate to maintain the contact between the first mating surface 1311 and the second mating surface 1321. It should be noted that in order to achieve... Figure 11 The displayed state indicates that when the first drive device 141 rotates, the second drive device 142 connected to the second joint 132 must not rotate, but should remain locked.

[0089] In some embodiments, the circumferential limiting member 150 is a light guide, used to form a light-emitting band when light is incident on the end face of the circumferential limiting member 150. When needed, light can be incident on the end face of the circumferential limiting member 150 through a light source, causing the entire rope-like circumferential limiting member 150 to emit light, which helps to improve the visual effect. In some embodiments, the circumferential limiting member 150 can be a wire made of PMMA (Polymethyl methacrylate). In some other embodiments, the circumferential limiting member 150 can also be replaced with other materials.

[0090] In some embodiments, the tail bionic mechanism 100 may include a decorative layer (not shown) covering at least a portion of the outer surface of the tail bionic mechanism 100. The decorative layer has a plush feature to more realistically reproduce the appearance and feel of some animal tails. The decorative layer may be formed by a decorative sleeve fitted onto the tail segment 110, or it may be formed by a decorative piece attached to the tail segment 110.

[0091] like Figure 12 When the tail bionic mechanism 100 is in operation, it can be connected to the tail connector 200. The tail connector 200 may have an electrical component mounting cavity 210. For example, the tail connector 200 may be a box structure, with the inner cavity of the box forming the electrical component mounting cavity 210. The tail device includes a drive control circuit 211 and / or a light-emitting element 212 disposed within the electrical component mounting cavity 210. The drive control circuit 211 is used to drive the tail segment 110 to move, and the light-emitting element 212 is used to provide a light source for the tail bionic mechanism 100, for example, to provide a light source to the end face of the circumferential limiting member 150. The tail connector 200 may be provided with a flange structure with bolt holes so that the tail connector 200 can be connected to the application body, such as the body of a robot, by bolts. In addition, each of the first drive devices 141 and the second drive device 142 is connected to the drive control circuit 211 within the tail connector 200 via connecting wires. These connecting wires may be arranged on the outside of the tail segment 110 or pass through a cable channel disposed inside the tail segment 110. The servo system may include closed-loop feedback circuits and hardware (such as a digital encoder AS5600) to know the position of the servo motor output shaft, thereby controlling the shape of the tail bionic mechanism 100. These closed-loop feedback circuits and hardware can refer to existing structures in related technologies, and will not be described in detail here.

[0092] Figure 13The diagram illustrates the range of motion of the other tail segment 110 relative to the fixed tail segment 110 when one of any two adjacent tail segments 110 is fixed. This range of motion is obtained through changes in the circumferential relative position between the first joint 131 and the second joint 132, and changes in the circumferential relative position of the first joint 131 and / or the second joint 132 relative to the corresponding tail segment. The tail bionic mechanism has an initial straight state where the central axes of the two adjacent tail segments 110 coincide. Figure 13 The intersection of the two vertically intersecting dashed lines is located at the first central axis 301. These two dashed lines divide the space into four quadrants. The left quadrant (including the upper left and lower left quadrants) represents the first drive device 141 driving the first joint 131 to complete a full 360-degree rotation. The upper left quadrant indicates that the same drive device drives the same joint to rotate only 180 degrees (from 0 to 180 degrees). The right quadrant (including the upper right and lower right quadrants) represents the drive device driving the same joint to complete a full 360-degree rotation. The upper right quadrant indicates that the same drive device drives the same joint disc to rotate only 180 degrees (from 0 to 180 degrees). The result shown is the result of the first joint 131 and the second joint 132 each rotating 36 times, with each joint starting from 0 degrees and increasing the rotation angle by 10 degrees each time. If only the shape change on one side of the vertical dashed line is required, only the first drive device 141 or only the second drive device 142 can be used.

[0093] For the entire tail bionic mechanism 100, which includes all tail segments 110, a form can be achieved by controlling the rotation of each first drive device 141 and second drive device 142, such as... Figure 14 As shown.

[0094] In some embodiments, the tail bionic mechanism 100 includes a first drive device 141 disposed at the distal end of the first segment 111, and a joint drive device (omitted in the figure) disposed at the first joint 131 or the second joint 132; the output shaft of the first drive device 141 is connected to the first joint 131 to drive the first joint 131 to adjust its position circumferentially along the first segment 111; the joint drive device is used to drive the first joint 131 and the second joint 132 to rotate relative to each other to adjust their relative circumferential position. The joint drive device may be, for example, a servo motor or a stepper motor, the housing of which is fixedly connected to the first joint 131, and the output shaft of which is fixedly connected to the second joint 132. The joint drive device can directly drive the first joint 131 and the second joint 132 to rotate relative to each other. When the proximal segment of an adjacent tail segment 110 remains fixed, the components at the distal end of the distal segment will rotate synchronously. By controlling the circumferential relative position of the first joint 131 and the second joint 132 in each joint assembly 130, the tail bionic mechanism 100 can have different shapes. Driving the first joint 131 and the second joint 132 relative to each other solely through the joint drive device (omitted in the figure) can only achieve… Figure 13 The shape change on one side of the vertical dashed line is to achieve... Figure 13 The complete shape change can be achieved through the coordinated action of the first drive device 141 located at the far end of the first segment 111, which combines the relative rotation between the first segment 111 and the first joint 131.

[0095] While assembling the joint drive device, the tail bionic mechanism 100 may also include a circumferential limiting member 150, which is fixed circumferentially along the first segment 111 and the second segment 112. The circumferential limiting member 150 has an elastic bending segment connected between the first segment 111 and the second segment 112. The elastic bending segment is used to adapt to the change in the included angle between the first central axis 301 and the second central axis.

[0096] An embodiment of the tail device in this utility model:

[0097] The tail device includes a tail bionic mechanism 100 and a tail connector 200. The structure of the tail bionic mechanism 100 is the same as that of any of the above embodiments, and will not be described again here. The first tail segment 110 at the proximal end of the tail bionic mechanism 100 is fixed to the tail connector 200 as a fixed base.

[0098] Embodiments of the robot in this utility model:

[0099] The robot consists of a main body and the tail device mentioned above. The main body of the robot can be of any type, such as a robotic dog or a robotic cat.

[0100] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A tail-like bionic mechanism, characterized in that, include: The tail has at least two tail segments, each comprising a first segment and a second segment arranged adjacent to each other, the first segment and the second segment being arranged sequentially from the proximal end to the distal end of the tail bionic mechanism; the first segment and the second segment each have a first central axis and a second central axis. And a joint assembly connected between two adjacent tail segments, including a first joint and a second joint; the first joint is rotatably disposed at the distal end of the first segment and is adjustable in position along the circumference of the first segment, and / or the second joint is rotatably disposed at the proximal end of the second segment and is adjustable in position along the circumference of the second segment; The first joint and the second joint are rotatable relative to each other to adjust their circumferential relative positions, and the joint rotation axes of the first joint and the second joint are inclined relative to the first central axis and the second central axis.

2. The tail-like bionic mechanism as described in claim 1, characterized in that, The first joint has a first fitting surface at the end near the second joint, and the second joint has a second fitting surface at the end near the first joint. The second fitting surface is in contact with the first fitting surface, and the joint rotation axis is perpendicular to the first fitting surface and the second fitting surface.

3. The tail-like bionic mechanism as described in claim 2, characterized in that, It includes a positioning member disposed between the first joint and the second joint, the positioning member being used to determine the joint rotation axis and prevent the first joint and the second joint from separating along the joint rotation axis.

4. The tail-like bionic mechanism as described in claim 3, characterized in that, The positioning component includes a first connector fixed to the center of the first adapter surface and a second connector fixed to the center of the second adapter surface. One of the first connector and the second connector has an adapter protrusion and the other has an adapter recess. The adapter protrusion is embedded in the adapter recess. The first connector and the second connector have a magnetic attraction to prevent the first joint and the second joint from separating along the joint rotation axis.

5. The tail-like bionic mechanism as described in claim 4, characterized in that, The adapting surfaces of the adapting protrusion and the adapting concave are spherical.

6. The tail bionic mechanism as described in any one of claims 1 to 5, characterized in that, The device includes a first drive unit disposed at the distal end of the first segment and / or a second drive unit disposed at the proximal end of the second segment; the first drive unit is used to drive the first joint to adjust its position circumferentially along the first segment, and the second drive unit is used to drive the second joint to adjust its position circumferentially along the second segment; the tail bionic mechanism further includes a circumferential limiting member, which is fixed circumferentially along the first segment and the second segment, and the circumferential limiting member has an elastically bent segment connected between the first segment and the second segment, the elastically bent segment being used to adapt to changes in the included angle between the first central axis and the second central axis.

7. The tail-like bionic mechanism as described in claim 6, characterized in that, The tail segment and / or the corresponding first drive device / second drive device are provided with a limiting member through hole, and the circumferential limiting member passes through the limiting member through hole and can move along the limiting member through hole.

8. The tail-like bionic mechanism as described in claim 7, characterized in that, The tail segment includes a head segment located at the closest end of the tail bionic mechanism and an end segment located at the farthest end of the tail bionic mechanism; the far end of the end segment has an arcuate surface, and the circumferential limiting member has a first end, a second end, and a middle portion located at the first end and the second end, the first end and the second end being fixed to the radially opposite sides of the head segment, and the middle portion bypassing the arcuate surface and being able to slide along the arcuate surface.

9. The tail-like bionic mechanism as described in claim 6, characterized in that, The circumferential limiting member is a light guide member, used to form a light-emitting band when light is incident on the end face of the circumferential limiting member.

10. The tail-like bionic mechanism as described in claim 6, characterized in that, The tail segment is provided with a receiving cavity, and the first driving device and / or the second driving device are at least partially embedded in the corresponding receiving cavity.

11. The tail-like bionic mechanism as described in claim 6, characterized in that, The first drive device and / or the second drive device are servo motors or stepper motors, which can lock the rotation position when the rotation stops.

12. The tail bionic mechanism as described in any one of claims 1 to 5, characterized in that, It includes a decorative layer that covers at least a portion of the outer surface of the tail bionic mechanism, the decorative layer having a plush feature.

13. The tail bionic mechanism as described in any one of claims 1 to 5, characterized in that, It includes a first drive device disposed at the distal end of the first segment in two adjacent tail segments, and a joint drive device disposed at the first joint or the second joint. The first driving device is used to drive the first joint to adjust its position circumferentially along the first segment; The joint drive device is used to drive the first joint and the second joint to rotate relative to each other in order to adjust their circumferential relative positions.

14. A tail device, characterized in that, include: The tail bionic mechanism as described in any one of claims 1 to 13; And a tail connector, wherein the first tail segment at the proximal end of the tail bionic mechanism is fixed to the tail connector.

15. The tail device as claimed in claim 14, characterized in that, The tail connector has an electrical component mounting cavity, and the tail device includes a drive control circuit and / or a light-emitting element disposed in the electrical component mounting cavity. The drive control circuit is used to drive the tail segments to move, and the light-emitting element is used to provide a light source for the tail bionic mechanism.

16. A robot, characterized in that, It includes a main body and a tail device as described in claim 14 or 15.

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