CN101376407A - Bionic creeping device based on helminth creeping mechanism - Google Patents
Bionic creeping device based on helminth creeping mechanism Download PDFInfo
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- CN101376407A CN101376407A CNA2008101566586A CN200810156658A CN101376407A CN 101376407 A CN101376407 A CN 101376407A CN A2008101566586 A CNA2008101566586 A CN A2008101566586A CN 200810156658 A CN200810156658 A CN 200810156658A CN 101376407 A CN101376407 A CN 101376407A
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Abstract
The invention discloses a bionic worming crawling mechanism which is based on the worm crawling mechanism. The bionic worming crawling mechanism is characterized in that the bionic worming crawling mechanism is provided with a plurality of telescopic body joints and a control body joint which contain curved surface shells, 4 small holes are evenly distributed on the circumferential direction of the curved surface shell of each body joint, and the body joints are mutually connected through elastic ropes. The bionic worming crawling mechanism adopts the elastic energy storage and the reverse brake principle of a one-way wheel to realize the bionic worming crawling. The motion of a rigid body or an elastomer is controlled through changing the length of the elastic ropes, thereby realizing the direction changes of the bionic worming crawling, the obstacle avoidance or the obstacle crossing. The bionic worming crawling mechanism has wide application value, an electromagnetic sucker or a vacuum sucker can be arranged thereon to be used as a new walking driving mechanism of a wall climbing robot; walking wheels which are independently driven can be arranged thereon to realize that a moving robot uses the walking wheels for driving on a flat road surface and uses the mechanism for crossing the obstacle when meeting the obstacle; and the bionic worming crawling mechanism can be used as the driving mechanism of a fish-like robot, a shrimp-like robot, a flapping wing flying-imitation robot and the like.
Description
Technical field
The present invention relates to a kind of driving new mechanism of creeping, particularly a kind ofly can realize climbing and change the climbing direction, and can keep away the driver train of barrier or leaping over obstacles.
Background technology
Bio-robot has all produced far-reaching influence to various aspects such as commercial production, civilian cause and science and techniques of defence since being born, and the bio-robot of a lot of forms also occurred, as robot insect, imitative snake robot, robot fly etc.Except that bio-robot, various bionic function parts such as Pneumatic artificial muscle, marmem etc. also all are applied in the research of bio-robot.
Based on the mobile robot of bionics Study, climbing robot, climbing robot etc., the form of its driver train has Pneumatic artificial muscle, SMA driving, gear drive, connecting rod driving, cylinder or hydraulic oil cylinder driving, wheeled driving, track propulsion etc., they respectively have characteristics, it is little, in light weight to drive volume as Pneumatic artificial muscle, carries problem but need to solve source of the gas; It is little, in light weight that SMA drives same volume, easy for installation, but its telescopic displacement is little, generally is used for the driving of Micro-Robot; Gear drive, connecting rod driving, cylinder or hydraulic oil cylinder driving etc. have Heavy Weight, and bulky characteristics realize unfavorable factors such as multifreedom motion control system complexity.
The body of worm is to be made of many parts similar each other and permutation with repetition, it is body segment, when creeping forward, part is with the absorption of the body segment of appendage or be clamped on the object surfaces such as ground, metope, branch, leaf, body segment lifts before the nervous system control, muscle stretches by changing, fall, absorption or clamping, unclamp the body segment of absorption or clamping then, drive back body segment reach by contraction of muscle again, realize climbing.
Summary of the invention
The present invention gains enlightenment from biological climbing just, proposes the new mechanism that a kind of climbing drives.
Technical scheme of the present invention is: based on the creep bionic creeping mechanism of mechanism of worm, it is characterized in that being provided with several flexible body segments and a control body segment of containing the curved surface shell, the curved surface shell of each body segment has 4 uniform apertures at circumferencial direction, is connected by elastic threads between body segment and the body segment.
Described flexible body segment comprises two iso-curvature curved surface shells, pipe expansion joint and one-way wheels, between two curved surface shells pipe expansion joint is housed, and one-way wheel is installed the bottom be connected flexible body segment, and pipe expansion joint flexible causes two curved surface shell generation relative motions.
Described control body segment comprises two curved surface shells, controller, elastic threads and one-way wheels, and controller is installed between two curved surface shells, and controller connects elastic threads, and one-way wheel is installed the bottom that is connected the control body segment.
Form the biomimetic peristaltic body segment, the body segment of flexible body segment imitation worm, the flexible relative motion that causes two curved surface shells of pipe expansion joint by flexible body segment and control body segment, flexible body segment is supported on the one-way wheel, and one-way wheel can roll forward, backward then self-locking, if move, then can only be slippage.Elastic threads is used for stored energy on the one hand, when flexible body segment shrinks, releases energy, and drags body segment and travels forward; On the other hand, change the length of elastic threads, the force-bearing situation of the flexible body segment of control, change the applying degree between the flexible body segment by the control body segment.
Characteristic of the present invention and innovation part are to adopt the principle of elastic energy storage and one-way wheel plugging, realize bionic creeping, and can control bionic creeping by the length that changes elastic threads, the change that realizes the bionic creeping direction is to keep away barrier or leaping over obstacles.
The present invention is with a wide range of applications, and magnetic chuck or vacuum cup are installed thereon, can be used as to climb wall or the new walking driver train of Climbing Robot; Also the road wheel of individual drive can be installed thereon, realize that the mobile robot travels with road wheel on flat road surface, when meeting barrier, use this mechanism's obstacle detouring; Also can be used as imitative fish robot, imitative shrimp robot, the imitative new driver train of flapping flight robot; Also can simulate the motion of the vertebra of human body and animal; Clamping device is installed thereon, can be realized climbing pipe, climb tree, the function of rope climbing, also can be implemented in climbing in the bend pipe by distortion; Also can be used as the leg of imitative crab robot, imitative insect robot or the functional component of foot.
Description of drawings
Fig. 1 is a flexible body segment structural representation of the present invention;
Fig. 2 is a control body segment structural representation of the present invention;
Fig. 3-the 1st, bionic creeping initial condition scheme drawing of the present invention;
Fig. 3-the 2nd, bionic creeping of the present invention stretches the forward traveling scheme drawing;
Fig. 3-the 3rd, bionic creeping of the present invention is retracted to the scheme drawing of initial condition;
Fig. 4 is that bionic creeping direction of the present invention changes scheme drawing;
Fig. 5 is that bionic creeping of the present invention is crossed over step obstacle process scheme drawing.
Among the figure: 1 curved surface shell, 2 pipe expansion joints, 3 controllers, 4 elastic threads, 5 one-way wheels.
The specific embodiment
As shown in Figure 1 and Figure 2, the flexible body segment of bionic creeping mechanism and control body segment, bionic creeping mechanism is made up of several flexible body segments and one control body segment, and the curved surface shell of each body segment has 4 uniform apertures at circumferencial direction, is connected by elastic threads between body segment and the body segment.Flexible body segment is made of two iso-curvature curved surface shells, pipe expansion joint and one-way wheels etc., adorns pipe expansion joint between two curved surface shells, and one-way wheel is installed the bottom that is connected flexible body segment, and pipe expansion joint flexible causes two curved surface shell generation relative motions.The control body segment is made of two curved surface shells, controller, elastic threads and one-way wheels etc., and controller is installed between two curved surface shells, and controller connects elastic threads, and one-way wheel is installed the bottom that is connected the control body segment.
The process that changes principle and bionic creeping leaping over obstacles from the motion principle of bionic creeping, direction illustrates the specific implementation process of bionic creeping mechanism below.
As shown in Figure 3, stressed when equal when 4 elastic threads of control body segment control, each body segment is arranged in a linear.When the flexible body segment of control stretched, because the effect of one-way wheel, each body segment travelled forward, elasticity stored energy simultaneously, and when flexible body segment shrank, elastic threads released energy, and it is close to body segment foremost to drag each body segment, thereby realizes climbing.
As shown in Figure 4, when 4 elastic threads of control body segment control are stressed when not waiting, tighten up as elastic threads topmost, the elastic threads of two sides is stressed to be equated, nethermost elastic threads is unclamped, but still keeps certain elastic pulling force, then each body segment lateral bending song that makes progress, thereby change the direction of climbing, for dodge or the obstacle of ascending provide may.If the direction of climbing is left, then only need 1 elastic threads of control left surface to tighten up, 1 elastic threads of right flank is unclamped, but still keeps certain elastic pulling force, just can realize climbing left.
As shown in Figure 5, when climbing runs into obstacle, by sensory perceptual system mechanism is stopped, control body segment control elastic threads then, the front end of mechanism is lifted, the flexible body segment of control simultaneously stretches and makes the front end reach; Then control body segment control elastic threads and cause mechanism to deform, thereby the front end of mechanism is contacted with the obstacle step; Constantly make mechanism's reach, mechanism deform and make mechanism finally cross over step then by controlling flexible body segment and elastic threads.
Claims (3)
1, a kind of based on the creep bionic creeping mechanism of mechanism of worm, it is characterized in that being provided with several flexible body segments and a control body segment of containing the curved surface shell, the curved surface shell of each body segment has 4 uniform apertures at circumferencial direction, is connected by elastic threads between body segment and the body segment.
2, according to claim 1 based on the creep bionic creeping mechanism of mechanism of worm, it is characterized in that flexible body segment comprises two iso-curvature curved surface shells, pipe expansion joint and one-way wheels, between two curved surface shells pipe expansion joint is housed, one-way wheel is installed the bottom be connected flexible body segment, and pipe expansion joint flexible causes two curved surface shell generation relative motions.
3, according to claim 1 based on the creep bionic creeping mechanism of mechanism of worm, it is characterized in that controlling body segment and comprise two curved surface shells, controller, elastic threads and one-way wheels, controller is installed between two curved surface shells, controller connects elastic threads, and one-way wheel is installed the bottom that is connected the control body segment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2008101566586A CN101376407B (en) | 2008-09-23 | 2008-09-23 | Bionic creeping device based on helminth creeping mechanism |
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| CN2008101566586A CN101376407B (en) | 2008-09-23 | 2008-09-23 | Bionic creeping device based on helminth creeping mechanism |
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| CN101376407A true CN101376407A (en) | 2009-03-04 |
| CN101376407B CN101376407B (en) | 2010-06-02 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102424074A (en) * | 2011-11-22 | 2012-04-25 | 中国科学院合肥物质科学研究院 | Cylindrical amoeba-like moving robot body structure |
| CN102887184A (en) * | 2012-09-28 | 2013-01-23 | 北京交通大学 | Cube moving mechanism |
| CN102922528A (en) * | 2012-11-02 | 2013-02-13 | 北京化工大学 | Software robot |
| CN107323553A (en) * | 2017-07-18 | 2017-11-07 | 佛山科学技术学院 | Earthworm bio-robot system |
| CN108227344A (en) * | 2018-03-12 | 2018-06-29 | 苏州科技大学 | It takes pictures robot at a high speed |
| CN110104083A (en) * | 2019-06-05 | 2019-08-09 | 苏州柔性智能科技有限公司 | A kind of software climbing robot of multi-locomotion mode |
| CN110450134A (en) * | 2019-07-02 | 2019-11-15 | 清华大学 | Rope control turns to imitative worm creeping robot device |
| CN111805571A (en) * | 2020-07-17 | 2020-10-23 | 北京理工大学 | Bionic multi-body-section mechanism with elastic energy storage and release devices |
| CN112722098A (en) * | 2020-10-28 | 2021-04-30 | 北京工业大学 | High-precision flexible hinge peristaltic robot |
| CN114842729A (en) * | 2022-04-14 | 2022-08-02 | 南京工程学院 | Strong ground-grabbing demonstration bionic crawler |
| CN115285247A (en) * | 2022-08-23 | 2022-11-04 | 江西理工大学 | Bionic snake-shaped robot capable of climbing based on tension integral structure |
| CN116176721A (en) * | 2023-04-25 | 2023-05-30 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
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| CN101913388A (en) * | 2010-07-05 | 2010-12-15 | 扬州大学 | Simulated wriggling crawling robot based on force feedback |
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| US4674585A (en) * | 1985-12-27 | 1987-06-23 | Gordon Barlow Design | Articulated unit vehicle |
| CN100999236A (en) * | 2006-12-31 | 2007-07-18 | 中国科学院西安光学精密机械研究所 | Arch and wriggling crawling mechanism |
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2008
- 2008-09-23 CN CN2008101566586A patent/CN101376407B/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102424074A (en) * | 2011-11-22 | 2012-04-25 | 中国科学院合肥物质科学研究院 | Cylindrical amoeba-like moving robot body structure |
| CN102424074B (en) * | 2011-11-22 | 2013-01-16 | 中国科学院合肥物质科学研究院 | Cylindrical amoeba-like moving robot body structure |
| CN102887184A (en) * | 2012-09-28 | 2013-01-23 | 北京交通大学 | Cube moving mechanism |
| CN102887184B (en) * | 2012-09-28 | 2014-12-24 | 北京交通大学 | Cube moving mechanism |
| CN102922528A (en) * | 2012-11-02 | 2013-02-13 | 北京化工大学 | Software robot |
| CN102922528B (en) * | 2012-11-02 | 2014-11-05 | 北京化工大学 | Software robot |
| CN107323553A (en) * | 2017-07-18 | 2017-11-07 | 佛山科学技术学院 | Earthworm bio-robot system |
| CN108227344A (en) * | 2018-03-12 | 2018-06-29 | 苏州科技大学 | It takes pictures robot at a high speed |
| CN110104083A (en) * | 2019-06-05 | 2019-08-09 | 苏州柔性智能科技有限公司 | A kind of software climbing robot of multi-locomotion mode |
| CN110104083B (en) * | 2019-06-05 | 2021-04-13 | 苏州柔性智能科技有限公司 | Software of many motion modes robot of crawling |
| CN110450134A (en) * | 2019-07-02 | 2019-11-15 | 清华大学 | Rope control turns to imitative worm creeping robot device |
| CN111805571A (en) * | 2020-07-17 | 2020-10-23 | 北京理工大学 | Bionic multi-body-section mechanism with elastic energy storage and release devices |
| CN112722098A (en) * | 2020-10-28 | 2021-04-30 | 北京工业大学 | High-precision flexible hinge peristaltic robot |
| CN112722098B (en) * | 2020-10-28 | 2022-07-22 | 北京工业大学 | High-precision flexible hinge peristaltic robot |
| CN114842729A (en) * | 2022-04-14 | 2022-08-02 | 南京工程学院 | Strong ground-grabbing demonstration bionic crawler |
| CN114842729B (en) * | 2022-04-14 | 2023-12-05 | 南京工程学院 | Powerful ground-grabbing teaching bionic crawler |
| CN115285247A (en) * | 2022-08-23 | 2022-11-04 | 江西理工大学 | Bionic snake-shaped robot capable of climbing based on tension integral structure |
| CN116176721A (en) * | 2023-04-25 | 2023-05-30 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
| CN116176721B (en) * | 2023-04-25 | 2023-07-18 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Continuous jumping robot with adjustable jumping track |
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| CN101376407B (en) | 2010-06-02 |
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