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A bionic flexible body that can bend sideways and up and down

A lateral bending and body technology, which is applied in motor vehicles, transportation and packaging, etc., can solve the problems that have not been reported in the research of bionic flexible body of quadruped robots.

Inactive Publication Date: 2016-05-25
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Research on quadruped robots at home and abroad mostly focuses on environmental perception, gait planning, walking control, etc., and there is no report on the bionic flexible body of quadruped robots

Method used

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  • A bionic flexible body that can bend sideways and up and down
  • A bionic flexible body that can bend sideways and up and down
  • A bionic flexible body that can bend sideways and up and down

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] like Figure 1~Figure 4 As shown, a bionic flexible body that can bend sideways and up and down according to the present invention consists of a front body (I), a rear body (V), 4 sets of pneumatic artificial muscle components (II), and a bionic spine (Ⅲ) and 4 pairs of slider moving mechanisms (Ⅳ); it is characterized in that: the front body (I) and the rear body (Ⅴ) are space frame structures; 4 sets of pneumatic artificial muscle components (II) pass through 4 pairs The slider moving mechanism (Ⅳ) is connected with the front body (Ⅰ) and the rear body (Ⅴ), of which 2 groups are installed on the left side of the body, and the other 2 groups are installed on the right side of the body, and the 2 groups on the same side are arranged in parallel up and down; the bionic spine (Ⅲ) The front and rear ends are respectively connected with the front body (I) and the rear body (V) by screws.

Embodiment 2

[0022] see figure 2 , this embodiment is basically the same as Embodiment 1, the special feature is: the pneumatic artificial muscle assembly (II) includes 2 joint bearings (2, 7), 2 threaded rods (3, 6), 1 pneumatic artificial muscle (4) and 1 air-connecting piece (5). One of the joint bearings (2) is connected to one end of the pneumatic artificial muscle (4) through a threaded rod (3); while the other joint bearing (7) is connected to the pneumatic artificial muscle (4) through another threaded rod (6) and the air connection piece (5). The other end of the artificial muscle (4) is connected; wherein the air-connecting part (5) has an air-connecting hole to communicate with the inner cavity of the pneumatic artificial muscle (4) to inflate and deflate it.

Embodiment 3

[0024] see image 3 , this embodiment is basically the same as Embodiment 1, and the special features are: the four pairs of slider moving mechanisms (IV) have the same structure, and each slider moving mechanism (IV) includes a front body (I), a cylinder (8 , 26, 25, 24, 16, 17, 19, and 20), sliders (9, 13, 22, 23, 15, 14, 18, and 21). The front body (I) and the rear body (V) are respectively provided with rectangular grooves forming moving pairs with the sliders (9, 13, 22, 23, 15, 14, 18 and 21); the cylinders (8, 26, 25, 24, 16, 17, 19 and 20) are fixed on the front body (I); the piston of the cylinder is connected with the slide block, and the slide block can be moved between the front body (I) and the rear body by charging and deflated air to the cylinder. (Ⅴ) on the rectangular groove slide.

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Abstract

The invention relates to a bionic flexible machine body capable of lateral bending and up-down bending and belongs to the technical field of bionic robots. The bionic flexible machine body comprises a front machine body, a back machine body, a pneumatic artificial muscle component, a bionic spine and a sliding block moving mechanism. The pneumatic artificial muscle component is connected with the front machine and the back machine body through the sliding block moving mechanism respectively. The front end and the back end of the bionic spine are connected with the front machine body and the back machine body through screws respectively. The bionic flexible machine body can achieve lateral bending and up-down tilting bending moving and has the advantages of being good in pliability, flexibility, bionic effect and the like.

Description

technical field [0001] The invention relates to a bionic flexible body that can bend laterally and up and down, is suitable for a quadruped bionic robot, and can improve the mobility of the quadruped robot to adapt to an unstructured environment. Background technique [0002] With the advancement of robot technology, quadruped robots are developing towards better mobility and high-speed dynamic stability. For example, quadruped robots need to be able to turn or run quickly. By observing four-legged animals (such as cheetahs, dogs, horses) when turning or running, their flexible bodies show lateral bending and pitching motion characteristics. Inspired by the mechanism of biological motion, in order to realize the fast turning or running function of a quadruped robot, its body needs to have a certain bending ability. [0003] Research on quadruped robots at home and abroad mostly focuses on environmental perception, gait planning, walking control, etc., and there is no report...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
Inventor 雷静桃俞煌颖吴建东
Owner SHANGHAI UNIV
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