Waist imitating device of robotic rat based on multiple-connecting-rod transmission

Patent metadata

Field	Value
Publication number	US-11241787-B2
Application number	US-201816770940-A
Country	US
Kind code	B2
Filing date	Apr 19, 2018
Priority date	Dec 29, 2017
Publication date	Feb 8, 2022
Grant date	Feb 8, 2022

Abstract

A waist imitating device of robotic rat based on multiple-connecting-rod transmission comprises a pitch parallel connecting rod group (8) and a yaw parallel connecting rod group (2). The pitch parallel connecting rod group (8) and the yaw parallel connecting rod group (2) are respectively connected with a front joint and a back joint of a waist of a robotic rat. Under the drive of a first motor (4), crank connecting rods drive the yaw parallel connecting rod group (2) such that left-right yaw motion of the waist of the robotic rat relative to wheels and forelimbs can be achieved. Under the drive of a second motor (14), crank connecting rods drive the pitch parallel connecting rod group (8) such that upper-down pitch motion of the waist of the robotic rat relative to the wheels and the forelimbs can be achieved.

First claim

What is claimed is:

1. A waist imitating device of a robotic rat based on a multiple-connecting-rod transmission, comprising:
a pitch parallel connecting rod group;
a yaw parallel connecting rod group; and
an output shaft;
wherein the pitch parallel connecting rod group and the yaw parallel connecting rod group are respectively connected with a front joint and a back joint of a waist of a robotic rat such that the front joint and the back joint can correlatively perform upper-down pitch rotation and left-right yaw rotation, and the rotation directions are opposite.

2. The waist imitating device of a robotic rat based on a multiple-connecting-rod transmission according to claim 1 ,
wherein the pitch parallel connecting rod group comprises:
a pitch sliding connecting rod;
a first front connecting rod-sliding connecting rod connecting shaft;
a first back connecting rod-sliding connecting rod connecting shaft;
a first front connecting rod;
a first back connecting rod;
a first front crank-connecting rod connecting shaft;
a first back crank-connecting rod connecting shaft;
a first front crank; and
a first back crank;
wherein the first front crank and the first back crank symmetrically rotate basically about the pitch sliding connecting rod.

3. The waist imitating device of a robotic rat based on a multiple-connecting-rod transmission according to claim 2 ,
wherein the first front connecting rod and the first back connecting rod are respectively fixed to the first front crank-connecting rod connecting shaft and the first back crank-connecting rod connecting shaft;
the pitch sliding connecting rod is fixed to the first front connecting rod-sliding connecting rod connecting shaft and the first back connecting rod-sliding connecting rod connecting shaft; and
the pitch parallel connecting rod group is fixed to a first motor mount and a second motor mount.

4. The waist imitating device of a robotic rat based on a multiple-connecting-rod transmission according to claim 2 ,
wherein the yaw parallel connecting rod group comprises:
a yaw sliding connecting rod;
a second front connecting rod-sliding connecting rod connecting shaft;
a second back connecting rod-sliding connecting rod connecting shaft;
a second front connecting rod;
a second back connecting rod;
a second front crank-connecting rod connecting shaft;
a second back crank-connecting rod connecting shaft;
a second front crank; and
a second back crank;
wherein the second front crank and the second back crank symmetrically rotate basically about the yaw sliding connecting rod.

5. The waist imitating device of a robotic rat based on a multiple-connecting-rod transmission according to claim 4 ,
wherein the second front connecting rod and the second back connecting rod are respectively fixed to the second front crank-connecting rod connecting shaft and the second back crank-connecting rod connecting shaft;
the second front connecting rod and the second back connecting rod are respectively fixed to the second front connecting rod-sliding connecting rod connecting shaft and the second back connecting rod-sliding connecting rod connecting shaft; and
the yaw parallel connecting rod group is fixed to an upper motor mount.

6. The waist imitating device of a robotic rat based on a multiple-connecting-rod transmission according to claim 5 , further comprising:
a first motor; and
a second motor;
wherein an output shaft of the first motor is fixed to the pitch parallel connecting rod group through a first crank;
an output shaft of the second motor is fixed to the yaw parallel connecting rod group through a second crank;
under the drive of a corresponding motor, each crank respectively drives sliding connecting rods of the pitch parallel connecting rod group and the yaw parallel connecting rod group to conduct reciprocative linear sliding;
when the pitch sliding connecting rod of the pitch parallel connecting rod group conducts the reciprocative linear sliding, upper-down pitch motion of the waist of the robotic rat can be achieved; and
when the yaw sliding connecting rod of the yaw parallel connecting rod group conducts the reciprocative sliding, left-right yaw motion of the waist of the robotic rat can be achieved.

7. The waist imitating device of a robotic rat based on a multiple-connecting-rod transmission according to claim 6 ,
wherein the pitch parallel connecting rod group is fixed to support frames through first flange bearings, and the first flange bearing and the support frame are in clearance fit;
the pitch parallel connecting rod group fixedly slides in sliding slots of the first motor mount and the second motor mount through a mini ball bushing, and the mini ball bushing is in clearance fit with the first motor mount and the second motor mount;
the first motor mount and the second motor mount are respectively provided with holes;
the first motor and the second motor are respectively fixed to the first motor mount and the second motor mount and are respectively in clearance fit with the corresponding holes;
the output shaft of the first motor is fixed to the crank connecting rod;
the yaw parallel connecting rod group is fixed to transmission shafts;
the transmission shafts are fixed to the first motor mount and the second motor mount through second flange bearings;
two sliding slots are opened in the first motor mount;
the yaw parallel connecting rod group is fixed to and slides in the sliding slots of the first motor mount through self-lubricating bearings; and
the self-lubricating bearings and the sliding slots of the first motor mount are in clearance fit.

8. The waist imitating device of a robotic rat based on a multiple-connecting-rod transmission according to claim 6 ,
wherein the pitch parallel connecting rod group further comprises:
bearings, snap springs and mini ball bushings;
wherein the pitch sliding connecting rod fits for the sliding slots of the first motor mount and the second motor mount through the mini ball bushings;
the mini ball bushings are in clearance fit with the sliding slots of the motor mounts;
the mini ball bushings are fixed between the sliding slots of the first motor mount and the second motor mount and end caps;
the mini ball bushings fit for the pitch sliding connecting rod;
the holes of the first front connecting rod and the first back connecting rod fit for the mini ball bushing;
the first front connecting rod and the first back connecting rod are respectively fixed to the first front crank-connecting rod connecting shaft and the first back crank-connecting rod connecting shaft;
the bearings are fixed between shaft shoulders of the crank-connecting rod connecting shafts and bosses of the cranks; and
the holes of the first front connecting rod and the first back connecting rod respectively fit for the first front crank-connecting rod connecting shaft and the first back crank-connecting rod connecting shaft, end faces are in contact with the bearings, and the bearings are fixed to the first front crank-connecting rod connecting shaft and the first back crank-connecting rod connecting shaft through snap springs.

9. The waist imitating device of a robotic rat based on a multiple-connecting-rod transmission according to claim 6 ,
wherein the yaw parallel connecting rod group further comprises:
bearings and snap springs;
the yaw sliding connecting rod is fixed to and slides in the sliding slots of the upper motor mount through self-lubricating flange bearings, and the self-lubricating flange bearings are in clearance fit with the sliding slots of the upper motor mount; the bearings are fixed between shaft shoulders of the second front, back connecting rod-sliding connectin

Assignees

• Beijing Institute Tech

Inventors

• Shi Qing
• Li Chang
• Ma Mengchao
• Zou Mingjie
• Wang Shengjie
• Huang Qiang
• Toshio Fukuda

Classifications

• B25J17/00 Primary

  Joints · CPC title

• B25J11/00 Primary

  Manipulators not otherwise provided for · CPC title

• B25J9/1065 Primary

  with parallelograms · CPC title