CN101913388A - Simulated wriggling crawling robot based on force feedback - Google Patents
Simulated wriggling crawling robot based on force feedback Download PDFInfo
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- CN101913388A CN101913388A CN 201010216806 CN201010216806A CN101913388A CN 101913388 A CN101913388 A CN 101913388A CN 201010216806 CN201010216806 CN 201010216806 CN 201010216806 A CN201010216806 A CN 201010216806A CN 101913388 A CN101913388 A CN 101913388A
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Abstract
The invention relates to a simulated wriggling crawling robot based on force feedback. In the robot, a flexible cable force detection mechanism is arranged on the flexible body segment left curved surface shell of a first flexible body segment and the flexible body segment right curved surface shell of an eighth flexible body segment; one end of a lower flexible cable is fixedly connected with the cable threading plate of the flexible cable force detection mechanism, and the other end of the lower flexible cable is connected with a worm wheel output shaft through each flexible body segment and a control body segment; multiple flexible body segments are respectively arranged on multiple anti-backward gears; and the control body segment is arranged on a first anti-backward gear. The invention solves the defects that the stroke is short, the length of the contracted and stretched cable is limited, the structural size is large, a motor snaps cables or the motor is damaged and the like due to the adoption of a screw mechanism in the existing simulated wriggling crawling robot. The novel simulated wriggling crawling robot based on the force feedback adopts the control body segment, multiple flexible body segments, multiple anti-backward gears and the flexible cable force detection mechanism.
Description
Technical field
The present invention relates to a kind of force feedback simulating crawling robot, particularly a kind of simulated wriggling crawling robot based on force feedback.
Background technology
Body based on the bionics Study 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.
Before the present invention, existing simulated wriggling crawling robot mainly is to rely on the motor-driven screw mechanism, the relevant body segment that stretches is shunk or is stretched to the control rope lengths, and by the effect of one-way wheel, realize the robot climbing, but owing to adopt screw mechanism, it is short that it exists stroke, shrinks and stretch the limited length of rope, and scantling of structure is big, and owing to there is not force checking device, causes the motor part a line or make defective such as motor damage.
Summary of the invention
The object of the invention is exactly in order to overcome above-mentioned defective, develops a kind of simulated wriggling crawling robot based on force feedback.
Technical scheme of the present invention is:
A kind of simulated wriggling crawling robot based on force feedback, its major technique is characterised in that gentle rope tension detection mechanism is installed on the right cambered shell of flexible body segment of the flexible body segment left side cambered shell of the flexible body segment of first segment and the flexible body segment of the 8th joint, an end of gentle rope and the plate of reeving of gentle rope tension detection mechanism connect firmly down, its other end passes each flexible body segment, the control body segment is connected with the worm gear output shaft, a plurality of flexible body segments are installed in respectively in a plurality of anti-retrogression mechanism, and the control body segment is installed in the first anti-retrogression mechanism.
Advantage of the present invention and effect are:
A kind of simulated wriggling crawling robot based on force feedback adopts control body segment, a plurality of flexible body segment, a plurality of anti-retrogression mechanism and gentle rope tension detection mechanism to form a kind of novel simulated wriggling crawling robot.
It has overcome the employing screw mechanism, and it is short to exist stroke, shrinks and stretch the limited length of rope, and scantling of structure is big, and owing to there is not force checking device, causes the motor part a line or makes defective such as motor damage.
Other advantages of the present invention and effect will continue to describe below.
Description of drawings
Fig. 1---structural principle scheme drawing of the present invention.
Fig. 2---A-A is to view among Fig. 1.
Fig. 3---the control body segment scheme drawing among the present invention.
Fig. 4---B-B cutaway view among Fig. 2.
Scheme drawing when Fig. 5---flexible body segment among the present invention stretches.
Scheme drawing when Fig. 6---flexible body segment among the present invention is flexible.
Fig. 7---the anti-retrogression structural scheme of mechanism among the present invention.
Fig. 8---the C-C of the anti-retrogression mechanism cutaway view among Fig. 7.
Fig. 9---the gentle rope tension detection mechanism scheme drawing among the present invention.
Figure 10---crawling exercises scheme drawing of the present invention.
Figure 11---K/UP of the present invention lifts scheme drawing.
Figure 12---obstacle detouring scheme drawing of the present invention.
Among the figure: the first flexible body segment 1, the second flexible body segment 2, the 3rd flexible body segment 3, the 4th flexible body segment 4, the 5th flexible body segment 5, the 6th flexible body segment 6, the 7th flexible body segment 7, the 8th flexible body segment 8, control body segment 9, the first anti-retrogression mechanism 10, gentle rope tension detection mechanism 11, go up gentle rope 12, the gentle rope 13 in a left side, right gentle rope 14, following gentle rope 15, left side cambered shell 16, worm gear case 17, worm gear 18, flat key 19, worm screw 20, fix screw 21, left side connecting panel 22, motor 23, right connecting panel 24, right cambered shell 25, motor fix screw 26, worm gear output shaft 27, pipe link 28, motor output shaft 29, flexible body segment left side cambered shell 30, left spring seat 31, the hole 32 of flexible body segment left side cambered shell 30, spring 33, guidepost 34, right spring perch 35, the right cambered shell 36 of flexible body segment, hole 37 on the right cambered shell 36 of flexible body segment, left side captive nut 38, revolver 39, left side set pin 40, wheel shaft 41, bracing frame 42, ratchet 43, wheel shaft fix screw 44, bracing frame pin 45, erecting frame 46, right set pin 47, right wheel 48, right captive nut 49, ratchet 50, ratchet rotational pin 51, ratchet front end 52, ratchet slot 53, the plate 54 of reeving, the plate bolt 55 of reeving, force gauge 56, output precision 57, pressing plate 58, the second anti-retrogression mechanism 59, the 3rd anti-retrogression mechanism 60, the 4th anti-retrogression mechanism 61, the 5th anti-retrogression mechanism 62, the 6th anti-retrogression mechanism 63, the 7th anti-retrogression mechanism 64, the 8th anti-retrogression mechanism 65, the 9th anti-retrogression mechanism 66.
The specific embodiment
As shown in Figure 1 and Figure 2:
The present invention is by control body segment 9, the first flexible body segment 1, the second flexible body segment 2, the 3rd flexible body segment 3, the 4th flexible body segment 4, the 5th flexible body segment 5, the 6th flexible body segment 6, the 7th flexible body segment 7, the 8th flexible body segment 8, the first anti-retrogression mechanism 10, the second anti-retrogression mechanism 59, the 3rd anti-retrogression mechanism 60, the 4th anti-retrogression mechanism 61, the 5th anti-retrogression mechanism 62, the 6th anti-retrogression mechanism 63, the 7th anti-retrogression mechanism 64, the 8th anti-retrogression mechanism 65, the 9th anti-retrogression mechanism 66 and gentle rope tension detection mechanism 11 are formed.
Its position relation is:
First flexible body segment 1, second flexible body segment the 2, the 3rd flexible body segment the 3, the 4th flexible body segment 4 is arranged in the left side of control body segment 9, the 5th flexible body segment the 5, the 6th flexible body segment the 6, the 7th flexible body segment the 7, the 8th flexible body segment 8 is arranged in the right of control body segment 9, control body segment 9 connects firmly by the erecting frame 46 of the pipe link 28 and the first anti-retrogression mechanism 10, and the first anti-retrogression mechanism 10 is positioned at the middle part of pipe link 28; The first flexible body segment 1, the second flexible body segment 2, the 3rd flexible body segment 3, the 4th flexible body segment 4, the 5th flexible body segment 5, the 6th flexible body segment 6, the 7th flexible body segment 7, the bottom of the left cambered shell 30 of the 8th flexible body segment 8 by separately respectively with the second anti-retrogression mechanism 59, the 3rd anti-retrogression mechanism 60, the 4th anti-retrogression mechanism 61, the 5th anti-retrogression mechanism 62, the 6th anti-retrogression mechanism 63, the 7th anti-retrogression mechanism 64, the 8th anti-retrogression mechanism 65, the erecting frame 46 of the 9th anti-retrogression mechanism 66 connects firmly; Gentle rope tension detection mechanism 11 is installed in respectively on the right cambered shell 36 of flexible body segment of the flexible body segment left side cambered shell 30 of the first flexible body segment 1 and the 8th flexible body segment 8; An end of gentle rope 15 and the plate 54 of reeving of gentle rope tension detection mechanism 11 connect firmly down, the other end passes the hole 32 on the flexible body segment left side cambered shell 30 on first flexible body segment 1, second flexible body segment the 2, the 3rd flexible body segment the 3, the 4th flexible body segment the 4, the 5th flexible body segment the 5, the 6th flexible body segment the 6, the 7th flexible body segment the 7, the 8th flexible body segment 8, the hole 37 on the right cambered shell 36 of flexible body segment, arrive the worm gear driving shaft 27 of control body segment 9, and connect firmly with it, the connection mode of the rope 12 that upward softens, the gentle rope 13 in a left side, right gentle rope 14 is identical with the connection mode of following gentle rope 15.
As shown in Figure 3, Figure 4:
Control body segment 9 comprises left and right two part compositions, and its structure is identical, and left and right two parts respectively are equipped with 4 groups of motor-driven worm-and-wheel gears, with one group of motor and worm-and-wheel gear its composition are described below.
Control body segment 9 is made up of left cambered shell 16, right cambered shell 25, worm gear case 17, worm gear 18, flat key 19, worm gear output shaft 27, worm screw 20, fix screw 21, left adapter plate 22, motor 23, pipe link 28, motor fix screw 26, right adapter plate 24.
Its position relation is: motor 23 is installed on the left adapter plate 22 by motor fix screw 26, and worm gear case 17 is installed on the left adapter plate 22 by fix screw 21, left side adapter plate 22, right adapter plate 24 are fixed with left cambered shell 16, right cambered shell 25 respectively by pipe link 28, motor output shaft 29 links to each other with worm screw 20, worm screw 20 is installed on the worm gear case 17, worm gear 18 is installed on the worm gear output shaft 27 by flat key 19, and worm gear output shaft 27 is installed on the worm gear case 17.
As Fig. 5, shown in Figure 6:
Flexible body segment comprises the part of left and right two relative motions, and two parts are by connecting at the uniform a plurality of guideposts 34 of circumferencial direction.Flexible body segment is made up of flexible body segment left side cambered shell 30, the right cambered shell 36 of flexible body segment, left spring seat 31, right spring perch 34, spring 33, guidepost 34.
Its position relation is as follows:
Flexible body segment left side cambered shell 30, the right cambered shell 36 of flexible body segment link to each other by guidepost 34, guidepost 34 1 ends are fixedly mounted on the right cambered shell 36 of flexible body segment, the other end cooperates with hole 32 on the cambered shell 30 of a flexible body segment left side, form and slide, guidepost 34 hollows, right spring perch 35 is installed in guidepost 34 inner right-hand members, and left spring seat 31 is installed in the hole 32 of flexible body segment left side cambered shell 30, and spring 33 is installed between left spring seat 31, the right spring perch 35.
As Fig. 7, shown in Figure 8:
Anti-retrogression mechanism comprises that left captive nut 38, right captive nut 49, revolver 39, right wheel 48, left set pin 40, right set pin 47, wheel shaft 41, bracing frame 42, ratchet 43, ratchet fix screw 44, bracing frame pin 45, erecting frame 46, ratchet 50 and ratchet rotational pin 51 constitute.
Its position relation is as follows: revolver 39, right wheel 48 are installed in the two ends of wheel shaft 41 respectively, are fixed by left captive nut 38, left set pin 40 and right captive nut 49, right set pin 47 respectively; Ratchet 43 is installed on the wheel shaft 41, and is fixing by ratchet fix screw 44, and bracing frame 42 is installed on the wheel shaft 41, and bracing frame 42 is fixing with erecting frame 46 by bracing frame pin 45, and ratchet 50 is installed on the bracing frame 42 by ratchet rotational pin 51.
As shown in Figure 9:
Gentle rope tension detection mechanism 11 is made up of the plate 54 of reeving, the plate bolt 55 of reeving, force gauge 56, output precision 57, pressing plate 58.
Its position relation is that force gauge 56 is installed on the flexible body segment left side cambered shell 30 of the first flexible body segment 1, pressing plate 58 is pressed on the force gauge 56, and link to each other with the plate 54 of reeving by the plate bolt 55 of reeving, an end of gentle rope 15 connects firmly with the plate 54 of reeving down, and the other end connects firmly with the worm gear output shaft 27 of control body segment 9 and links to each other.
Explanation when the present invention uses:
When electric machine control worm gear 18 rotates, when tightening up gentle rope 12, the gentle rope 13 in a left side, right gentle rope 14, down gentle rope 15, by the plate 54 of reeving, strain the plate bolt 55 of reeving, driving pressing plate 58 is pressed on the force gauge 56, owing to force gauge 56 pressurizeds, obtain the size of power output by power sensing output precision 57.
To go up gentle rope 12, the gentle rope 13 in a left side, right gentle rope 14, down gentle rope 15 stressed when equal when the control of control body segment 9, and first flexible body segment 1, second flexible body segment the 2, the 3rd flexible body segment the 3, the 4th flexible body segment the 4, the 5th flexible body segment the 5, the 6th flexible body segment the 6, the 7th flexible body segment the 7, the 8th flexible body segment 8 is arranged in a linear; When the control first flexible body segment 1, the second flexible body segment 2, the 3rd flexible body segment 3, the 4th flexible body segment 4, the 5th flexible body segment 5, the 6th flexible body segment 6, the 7th flexible body segment 7, when the 8th flexible body segment 8 shrinks, because the first anti-retrogression mechanism 10, the second anti-retrogression mechanism 59, the 3rd anti-retrogression mechanism 60, the 4th anti-retrogression mechanism 61, the 5th anti-retrogression mechanism 62, the 6th anti-retrogression mechanism 63, the 7th anti-retrogression mechanism 64, the 8th anti-retrogression mechanism 65, the effect of the 9th anti-retrogression mechanism 66, the first flexible body segment 1, the second flexible body segment 2, the 3rd flexible body segment 3, the 4th flexible body segment 4, the 5th flexible body segment 5, the 6th flexible body segment 6, the 7th flexible body segment 7, the 8th stretches body segment 8 together to left movement, simultaneously spring 33 stored energy; When the control first flexible body segment 1, the second flexible body segment 2, the 3rd flexible body segment 3, the 4th flexible body segment 4, the 5th flexible body segment 5, the 6th flexible body segment 6, the 7th flexible body segment 7, when the 8th flexible body segment 8 stretches, spring 33 releases energy, same because the first anti-retrogression mechanism 10, the second anti-retrogression mechanism 59, the 3rd anti-retrogression mechanism 60, the 4th anti-retrogression mechanism 61, the 5th anti-retrogression mechanism 62, the 6th anti-retrogression mechanism 63, the 7th anti-retrogression mechanism 64, the 8th anti-retrogression mechanism 65, the effect of the 9th anti-retrogression mechanism 66, by last gentle rope 12, the gentle rope 13 in a left side, right gentle rope 14, gentle rope 15 drags the first flexible body segment 1 down, the second flexible body segment 2, the 3rd flexible body segment 3, the 4th flexible body segment 4, the 5th flexible body segment 5, the 6th flexible body segment 6, the 7th flexible body segment 7, the 8th flexible body segment 8 is close to the first flexible body segment 1, thereby realizes climbing.
When the gentle rope of control body segment 9 control goes up promptly that gentle rope 12, the gentle rope 13 in a left side, right gentle rope 14, down gentle rope 15 are stressed not to be waited, as above gentle rope 12 tightens up, 14 stressed equating of the gentle rope 13 in a left side, right gentle rope, gentle rope 15 unclamps down, but gentle rope 15 still keeps certain elastic pulling force down, then first flexible body segment 1, second flexible body segment the 2, the 3rd flexible body segment the 3, the 4th flexible body segment 4 upwards the lateral bending song lift, for dodge or the obstacle of ascending provide may, as shown in figure 10.
If the gentle rope 13 in a left side is tightened up, right gentle rope 14 loosens, but right gentle rope 14 still keeps certain elastic pulling force, just can realize climbing left, as shown in figure 11.
Figure 12 is the scheme drawing of this climbing robot leaping over obstacles.
Claims (5)
1. simulated wriggling crawling robot based on force feedback, it is characterized in that gentle rope tension detection mechanism is installed on the right cambered shell of flexible body segment of the flexible body segment left side cambered shell of the flexible body segment of first segment and the flexible body segment of the 8th joint, an end of gentle rope and the plate of reeving of gentle rope tension detection mechanism connect firmly down, its other end passes each flexible body segment, the control body segment is connected with the worm gear output shaft, a plurality of flexible body segments are installed in respectively in a plurality of anti-retrogression mechanism, and the control body segment is installed in the first anti-retrogression mechanism.
2. a kind of simulated wriggling crawling robot according to claim 1 based on force feedback, it is characterized in that controlling left and right two parts of body segment 4 groups of motor-driven worm-and-wheel gears respectively are installed, motor, worm gear case are installed on the left adapter plate, left side adapter plate, right adapter plate are fixed with left cambered shell, right cambered shell respectively by pipe link, motor output shaft is connected with worm screw, worm screw, worm gear output shaft are installed on the worm gear case, and worm gear is installed on the worm gear output shaft.
3. a kind of simulated wriggling crawling robot according to claim 1 based on force feedback, it is characterized in that flexible body segment has a left side, right two relative motion parts, two parts are by connecting at the uniform a plurality of guideposts of circumferencial direction, guidepost one end is fixed on the right cambered shell of flexible body segment of flexible body segment, the other end cooperates with hole on the cambered shell of a flexible body segment left side, form and slide, guidepost hollow, right spring perch is installed in the inner right-hand member of guidepost, the left spring seat is installed in the hole of flexible body segment left side cambered shell, and spring is installed in the left spring seat, between the right spring perch.
4. a kind of simulated wriggling crawling robot according to claim 1 based on force feedback, it is characterized in that the revolver of anti-retrogression mechanism, right wheel are installed in the two ends of wheel shaft respectively, ratchet is installed on the wheel shaft, and bracing frame is arranged on the wheel shaft, and ratchet is installed on the bracing frame by the ratchet rotational pin.
5. a kind of simulated wriggling crawling robot according to claim 1 based on force feedback, it is characterized in that a plurality of flexible body segments are installed in respectively is meant in a plurality of anti-retrogression mechanism that the first flexible body segment is installed in the second anti-retrogression mechanism, the second flexible body segment is installed in the 3rd anti-retrogression mechanism, the 3rd flexible body segment is installed in the 4th anti-retrogression mechanism, the 4th flexible body segment is installed in the 5th anti-retrogression mechanism, the 5th flexible body segment is installed in the 6th anti-retrogression mechanism, the 6th flexible body segment is installed in the 7th anti-retrogression mechanism, the 7th flexible body segment is installed in the 8th anti-retrogression mechanism, and the 8th flexible body segment is installed in the 9th anti-retrogression mechanism.
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| CN 201010216806 CN101913388A (en) | 2010-07-05 | 2010-07-05 | Simulated wriggling crawling robot based on force feedback |
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| CN 201010216806 CN101913388A (en) | 2010-07-05 | 2010-07-05 | Simulated wriggling crawling robot based on force feedback |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103915026A (en) * | 2014-03-28 | 2014-07-09 | 江苏省华茂科教设备有限公司 | Bionic electronic helminth model applicable to teaching |
| CN105127162A (en) * | 2015-09-03 | 2015-12-09 | 浙江恩华新材料科技有限公司 | Device for purging aluminum skimmings in aluminum pipe |
| CN106945738A (en) * | 2017-03-31 | 2017-07-14 | 西南科技大学 | A kind of bio-robot of Variable Waveform driving |
| CN107416057A (en) * | 2017-03-27 | 2017-12-01 | 北京航空航天大学 | The netted worm robot of modularization |
| CN112596420A (en) * | 2020-11-24 | 2021-04-02 | 江苏科技大学 | Bionic crawling robot and autonomous control method thereof |
| CN113060307A (en) * | 2021-03-11 | 2021-07-02 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113994786A (en) * | 2021-11-05 | 2022-02-01 | 扬州大学 | Multifunctional earthworm bionic machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201272418Y (en) * | 2008-09-23 | 2009-07-15 | 扬州大学 | Bionic creeping apparatus |
| CN101376407B (en) * | 2008-09-23 | 2010-06-02 | 扬州大学 | Bionic creeping device based on helminth creeping mechanism |
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2010
- 2010-07-05 CN CN 201010216806 patent/CN101913388A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201272418Y (en) * | 2008-09-23 | 2009-07-15 | 扬州大学 | Bionic creeping apparatus |
| CN101376407B (en) * | 2008-09-23 | 2010-06-02 | 扬州大学 | Bionic creeping device based on helminth creeping mechanism |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103915026A (en) * | 2014-03-28 | 2014-07-09 | 江苏省华茂科教设备有限公司 | Bionic electronic helminth model applicable to teaching |
| CN105127162A (en) * | 2015-09-03 | 2015-12-09 | 浙江恩华新材料科技有限公司 | Device for purging aluminum skimmings in aluminum pipe |
| CN107416057A (en) * | 2017-03-27 | 2017-12-01 | 北京航空航天大学 | The netted worm robot of modularization |
| CN106945738A (en) * | 2017-03-31 | 2017-07-14 | 西南科技大学 | A kind of bio-robot of Variable Waveform driving |
| CN106945738B (en) * | 2017-03-31 | 2019-01-11 | 西南科技大学 | A kind of bio-robot of Variable Waveform driving |
| CN112596420A (en) * | 2020-11-24 | 2021-04-02 | 江苏科技大学 | Bionic crawling robot and autonomous control method thereof |
| CN113060307A (en) * | 2021-03-11 | 2021-07-02 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113994786A (en) * | 2021-11-05 | 2022-02-01 | 扬州大学 | Multifunctional earthworm bionic machine |
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Application publication date: 20101215 |