CN101428654B - Expandable bionic robot - Google Patents
Expandable bionic robot Download PDFInfo
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- CN101428654B CN101428654B CN2008101437960A CN200810143796A CN101428654B CN 101428654 B CN101428654 B CN 101428654B CN 2008101437960 A CN2008101437960 A CN 2008101437960A CN 200810143796 A CN200810143796 A CN 200810143796A CN 101428654 B CN101428654 B CN 101428654B
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- bionic robot
- expandable
- robot
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- hydraulic device
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Abstract
The invention relates to a retractable bionic robot which is characterized in that the bionic robot moves as a silkworm, has a stronger capability of traversing obstacles, and is suitable to more and more complicated work environments; the bionic robot can not only move freely in a horizontal plane (including turning), on a vertical plane or on a ceiling, but also has a stronger working capacity and a wider applicable working range; one or more working modules can be mounted on the bionic robot; and each working module can have same or different operations, and make cooperation to fulfill the relative work. The retractable bionic robot has an extensive application prospect in dangerous or uncertain circumstance which human can not set foot in.
Description
Technical field
The present invention relates to a kind of novel robot-expandable bionic robot.Belong to the Robotics field.
Background technology
Development along with bionics theory and bionics techniques, people have proposed more and more higher requirement to bio-robot in danger or the work effect under the uncertain environment that the mankind are difficult to set foot in, as bio-robot in low visibility, complicated circumstances not known, can realize safety navigation, detect topography and geomorphology, survey object, tracking target and detect function such as small space.At present, general bio-robot can't satisfy this requirement.
The present invention is a kind of expandable bionic robot, has the movement characteristic of silkworm, not only can be in level ground free motion (comprising turning), and also can free motion on perpendicular walls or top ceiling; Can load onto single or multiple operational modules on one's body at it, operational module can move identical or different operation and cooperatively interact to finish relevant operation.Have broad application prospects in the work of expandable bionic robot aspect danger that the mankind are difficult to set foot in or uncertain environment are inferior.
Summary of the invention
The invention provides a kind of expandable bionic robot, belong to the Robotics field.
The invention provides a kind of expandable bionic robot, it is characterized in that: imitated the movement characteristic of silkworm, not only can be in level ground free motion (comprising turning), also can free motion on perpendicular walls or top ceiling; Can load onto single or multiple operational modules on one's body at it, each operational module can move identical or different operation and cooperatively interact to finish relevant operation.
Expandable bionic robot is made up of sensor groups 1, obstacle analysis and motion controller 2, flexible hydraulic device 3, adsorption plant 4, stiffening ring 5, operational module controller 6, flexible anti retaining ring 7, work probe 8, transmission line 9 etc.Described sensor groups 1 is to be fixed on together on obstacle analysis and the motion controller 2 by various corresponding sensors (as ultrasonic transduter); Obstacle analysis and motion controller 2 are to be used for the signal that processes sensor group 1 transmits, and control the activity of modules such as flexible hydraulic device 3, adsorption plant 4; Flexible hydraulic device 3 is meant that certain elastically-deformable hydraulic press can both take place for the urceolus of hydraulic efficiency gear and stem stem, and the embedded wire net of the urceolus of hydraulic press to be preventing transverse deformation, being fixed in the stiffening ring 5 of flexible hydraulic device 3 symmetries, and number is decided as required; Adsorption plant 4 is used for the corresponding site of robot is fixed on ground (objects such as metope, top ceiling); Stiffening ring 5 is used for fixing flexible hydraulic device 3 and operational module controller 6, it also is the major part of decision expandable bionic robot profile, its contour structures is oval (circle, rectangle or arc), and size determines according to actual needs, and 5 of each stiffening rings are connected by flexible anti retaining ring 7; Operational module controller 6 is used for the activity of analytical work probe 8 data of passing back and commander's work probe 8, each operational module controller 6 one or two (one of every side) of control work probe 8, its number and function can be chosen according to the demand of actual job; Flexible anti retaining ring 7 is made by elastomeric material, rises to connect and protective effect; Work probe 8 is made up of the instrument of implementation, can be in work probe 8 the specific sensor of equipment to realize location or measurement; Transmission line 9 is parts transmission signals such as operational module, controller.
The present invention is achieved in that obstacle analysis and motion controller 2 handle the information of being obtained by sensor groups 1 and control flexible hydraulic device 3 and adsorption plant 4 work, during as the robot straight line moving, the adsorption plant 4 at its middle part is not worked, and flexible hydraulic device 3 constant speed of both sides are flexible simultaneously; Adsorption plant 4 work of back, fwd unclamps, and flexible hydraulic device 3 constant speed extend the longest; Fwd adsorption plant 4 work, the unclamping of back, flexible hydraulic device 3 constant speed contract to the shortest; Adsorption plant 4 work of back, fwd unclamps.Motion and so forth.When running into obstacle,, make robot upwards arch upward and stride across obstacle then by the speed difference (lower end hurry up) of flexible hydraulic device 3 elongations up and down.When needs were turned, then the speed difference of being extended by both sides flexible hydraulic device 3 made robot (right side) motion left and realization turn.
When robot need carry out relevant operation, all adsorption plant 4 work made robot be in steady status; Operational module controller 6 Control work probe 8, flexible hydraulic device 3 can make robot form corresponding straight line or arc, so that a plurality of work probe 8 cooperatively interacts.
The present invention has imitated the movement characteristic of silkworm, has the ability of stronger across obstacle, can adapt to more, complex operating environment more; Not only can be in horizontal surface free motion (comprising turning), also can free motion on vertical surface or top ceiling; And having stronger working ability, the operating range that can be suitable for is more wide: can load onto single or multiple operational modules on one's body at it, each operational module can move identical or different operation and cooperatively interact to finish relevant operation.
Description of drawings
Accompanying drawing 1 is a birds-eye view of the present invention, and accompanying drawing 2 is main cutaway view, and accompanying drawing 3 is a section drawing.
Wherein: 1. sensor groups, 2. obstacle analysis and motion controller, 3. flexible hydraulic device, 4. adsorption plant, 5. stiffening ring, 6. operational module controller, 7. flexible anti retaining ring, 8. work probe, 9. transmission line.
The specific embodiment
Obstacle analysis and motion controller 2 are handled the information of being obtained by sensor groups 1 and are controlled flexible hydraulic device 3 and adsorption plant 4 work, and during as the robot straight line moving, the adsorption plant 4 at its middle part is not worked, and flexible hydraulic device 3 constant speed of both sides are flexible simultaneously; Adsorption plant 4 work of back, fwd unclamps, and flexible hydraulic device 3 constant speed extend the longest; Fwd adsorption plant 4 work, the unclamping of back, flexible hydraulic device 3 constant speed contract to the shortest; Adsorption plant 4 work of back, fwd unclamps.Motion and so forth.When running into obstacle,, make robot upwards arch upward and stride across obstacle then by the speed difference (lower end hurry up) of flexible hydraulic device 3 elongations up and down.When needs were turned, then the speed difference of being extended by both sides flexible hydraulic device 3 made robot (right side) motion left and realization turn.
When robot need carry out relevant operation, all adsorption plant 4 work made robot be in steady status; Operational module controller 6 Control work probe 8, flexible hydraulic device 3 can make robot form corresponding straight line or arc, so that a plurality of work probe 8 cooperatively interacts.
Claims (3)
1. expandable bionic robot, it is characterised in that: it is made up of sensor groups, obstacle analysis and motion controller, flexible hydraulic device, adsorption plant, stiffening ring, operational module controller, flexible anti retaining ring, work probe, transmission line.
2. expandable bionic robot according to claim 1, it is characterised in that: flexible hydraulic device symmetry be fixed in stiffening ring inside, its elongation is with the various motions of shortening with the adsorption plant control robot.
3. expandable bionic robot according to claim 1, it is characterised in that: equip specific sensor in the work probe to realize location, measurement and operation, different work probes can have identical or different function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101437960A CN101428654B (en) | 2008-12-03 | 2008-12-03 | Expandable bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101437960A CN101428654B (en) | 2008-12-03 | 2008-12-03 | Expandable bionic robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101428654A CN101428654A (en) | 2009-05-13 |
| CN101428654B true CN101428654B (en) | 2011-04-20 |
Family
ID=40644353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101437960A Expired - Fee Related CN101428654B (en) | 2008-12-03 | 2008-12-03 | Expandable bionic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101428654B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122901A (en) * | 2011-03-07 | 2011-07-13 | 中国航空工业集团公司北京长城计量测试技术研究所 | Precise motion driving device based on bionics principle |
| CN104440918B (en) * | 2014-08-18 | 2016-03-02 | 浙江工业大学 | Initiatively stiffness variable long-armed type bionic soft robot |
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2008
- 2008-12-03 CN CN2008101437960A patent/CN101428654B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN101428654A (en) | 2009-05-13 |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110420 Termination date: 20121203 |