CN102424074A - Cylindrical amoeba-like moving robot body structure - Google Patents
Cylindrical amoeba-like moving robot body structure Download PDFInfo
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- CN102424074A CN102424074A CN2011103714527A CN201110371452A CN102424074A CN 102424074 A CN102424074 A CN 102424074A CN 2011103714527 A CN2011103714527 A CN 2011103714527A CN 201110371452 A CN201110371452 A CN 201110371452A CN 102424074 A CN102424074 A CN 102424074A
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Abstract
The invention discloses a cylindrical amoeba-like moving robot body structure which comprises a main bracket, wherein a plurality of strip-shaped moving parts and a plurality of strip-shaped driving parts are arranged on the main bracket. The overturn motion of the strip-shaped moving parts is realized through wide skin which is arranged on wide rollers and surrounds a wide bracket for one circle. The overturn motion of the strip-shaped driving parts is realized through narrow skin which is arranged on narrow rollers and surrounds a narrow bracket for one circle. A shrinkage layer comprises a rope, a motor arranged on the strip-shaped driving parts and speed changing nodes on the moving parts and the driving parts, and the motor rotates and winds the rope to reduce the length and the surrounded area of the rope so as to realize a tail shrinkage action. The cylindrical amoeba-like moving robot body structure disclosed by the invention has the characteristics of compact structure, flexibility, strong movement capability, large application range and the like. The movement capability and the work space of a moving robot are broadened. The moving robot body structure has excellent actual application aspects in the application field of crossing closed space obstacles.
Description
Technical field
The invention belongs to the robot application field, particularly transmit the afterbody contractive action, be converted into the skin flip-flop movement, and then realize advancing, retreat and imitative amoeba mobile robot body construction of the cylindrical shape of turning motion and mode of motion thereof through the speed change node.
Background technology
Mobile robot's driving and type of drive have been one of emphasis of research in recent years.Narrow and small at some, have strong unstructuredness and closure and be full of under the environment of various obstacles, as in pipe detection, medical-therapeutic treatment of human body inspection, the small space search and rescue etc. of collapsing, the size of robot and working space receive very big restriction.Such occasion proposes higher requirement to the move mode of robot: or can get into narrow pipeline checks; Or can check by zero damage ground entering human body alimentary canal, or can get around the sealing underground space that is covered with various obstacles neatly searches and rescues or transports diet.
In existing disclosed technology; The mobile robot has adopted traditional actuating mode such as gear, chain, band; Its move mode is wheeled mechanism, leg formula mechanism (jump, both legs, many legs) and swing migration mechanism basically, like the lunar rover vehicle, machine looper worm, machine fish or snake robot etc.These move and type of drive can not satisfy the technical need of robot application under the environment such as pipe detection, medical-therapeutic treatment of human body inspection, the small space search and rescue of collapsing; Become a technical bottleneck of mobile robot's development in present these applications, pressed for some special move modes of exploitation and solve an above-mentioned difficult problem.
In existing disclosed technology; Retrieve through keyword " mobile robot "; The patent publication No. CN101077717 " small-sized 6-track whole topographic form mobile robot " that has of comparison canonical correlation (discloses a day 2007.11.28; Application number 200710117739.0), patent publication No. CN101746427A " mobile robot on ruin surface " (open day 2010.06.23; Application number 200810229970.3), patent publication No. CN101077717 relates generally to and a kind ofly can have six crawler type ground mobile robots of higher obstacle climbing ability in the complex road surface powered travel; Patent publication No. CN101746427A is primarily aimed at the environmental characteristic on surface, ruins, invention a kind of climbing of design and the better mobile robot of obstacle detouring function.They do not design mobile robot's body construction and mode of motion to the characteristic of pipe detection, medical-therapeutic treatment of human body inspection, the environment such as small space that collapse, and use and receive very big restriction.
Summary of the invention
The objective of the invention is: copy the biological movement technique of amoeba amoeba, a kind of cylindrical structure of invention design adopts the speed change node to realize advancing, retreat and the imitative amoeba mobile robot body construction of the cylindrical shape of turning motion.
Technical scheme of the present invention is: the imitative amoeba mobile robot body construction of cylindrical shape comprises main support, banded moving-member, banded drive element, shrinkage layer.Said main support is the octagon cast structural, vertically equidistantly evenly arranges 3-5 along said banded moving-member and banded drive element, installs some banded moving-members and two banded drive elements on the main support; Said banded moving-member and banded drive element utilize wide (narrow) skin to realize the skin flip-flop movement; The length of said banded moving-member and banded drive element is consistent; Said banded moving-member I is consistent with the flip-flop movement of banded drive element I; Said banded moving-member II is consistent with the flip-flop movement of banded drive element II; Said shrinkage layer is responsible for realizing the afterbody contractile motion, progressively promotes mobile robot's motion.
Said banded moving-member is responsible for contacting, realize that with the external world skin flip-flop movement and then promotion entire machine people move.Said banded moving-member is divided into banded moving-member I and banded moving-member II, and both partner, through main support and wide support be separately fixed at the mobile robot about, about on four limits.Said banded moving-member comprises wide support, wide roller, speed change node and wide skin; Said wide support is a trapezium structure, works to fix and support whole banded moving-member; Said wide roller has rib, the cross section is " recessed " font structure, is arranged on four end points of wide support trapezium structure; Said wide skin is located on the wide roller, and around wide one week of support, wide skin is realized flip-flop movement; Said speed change node vertically equidistantly evenly is fixed on the wide skin successively, and when wide skin carried out flip-flop movement around wide support, the speed change node moved thereupon.
The imitative amoeba mobile robot of said cylindrical shape contacts with extraneous through the banded moving-member of an I and an II type at every turn; Said banded moving-member contacts with extraneous through the speed change node on the wide skin.
Said banded drive element is responsible for carrying the motor of realizing the afterbody contractive action, the function of following banded moving-member upset.Said banded drive element is divided into banded drive element I and banded drive element II, and banded drive element I is fixed on the left side of main support, and banded drive element II is fixed on the right edge of main support.Said banded drive element comprises narrow roller, narrow support, motor, axle sleeve and narrow skin; Said narrow support is a trapezium structure, works to fix and support whole banded drive element; The trapezium structure hypotenuse angle of said narrow support is consistent with the trapezium structure hypotenuse angle of wide support; Said narrow roller has rib, the cross section is " recessed " font structure, is arranged on four end points of narrow support trapezium structure; Said narrow skin is located on the narrow roller and around narrow one week of support, narrow skin is realized flip-flop movement; Said motor vertically equidistantly evenly is fixed on the narrow skin successively, and when narrow skin carried out flip-flop movement around narrow support, motor moved thereupon.
Said speed change node comprises side plate, center push rod, shell, spring and damping system; Said shell is cubic shaped, the oblong unthreaded hole that two of its side arrangement run through, " Lu " font shape about being; Said center push rod, spring and damping system only are installed in the oblong unthreaded hole of upper strata, or only are installed in lower floor's oblong unthreaded hole, and the former is called speed change node I, and the latter is called speed change node II; Said center push rod two ends are fixed through spring and damping system and shell; Said side plate permanent center push rod, spring and damping system, and play the effect of containment shell, to shell, shell is fixed on the wide skin side plate through Bolt Connection; Said speed change node is fixed on the wide skin of banded moving-member through shell.
Said speed change node I is fixed on the wide skin of banded moving-member I; Said speed change node II is fixed on the wide skin of banded moving-member II.The existence of said speed change node makes that the speed of banded skin is not only relevant with the speed of the rope that passes it, but also relevant with the damping system characteristic with this speed change node medi-spring.
Said shrinkage layer is vertically equidistantly evenly arranged some groups on demand along said banded drive element and banded moving-member; Said shrinkage layer comprises shrinkage layer I and shrinkage layer II; Said shrinkage layer I comprises the motor on rope I, the banded drive element I, the speed change node I on the mobile drive element I; Said shrinkage layer II comprises the motor on rope II, the banded drive element II, the speed change node II on the mobile drive element II; The speed change node of said shrinkage layer is fixed on the wide skin of banded moving-member.
Rope one end of said shrinkage layer is fixed on the motor shaft of banded drive element through axle sleeve; After the other end passes speed change node I; Then pass speed change node II, pass another speed change node I again, get back to initial point after continuing to pass all speed change nodes with this; Be fixed on the motor shaft through axle sleeve equally, constitute a closed fake; Fake length on the said shrinkage layer changes with the trapezium structure hypotenuse of the size of surrounding area along said wide support (7) and narrow support (11); Motor (12) rotation wiring on said banded drive element I and the banded drive element II (2,5) makes the contraction in length of fake, and the proportional relation of move distance of its big or small change and edge wide (narrow) support trapezoidal hypotenuse; Reducing of the shortening of said fake length and encirclement area makes fake in plane of living in, produce convergent force, realizes the afterbody contractive action.
Rope in the said shrinkage layer I is the rope I; It passes the hole, upper strata of speed change node I without interruption, through after being installed in center push rod and speed change node I mutual action wherein; Then pass the hole, upper strata of speed change node II; But because the hole, upper strata of speed change node II in center push rod is not installed, and not with speed change node II mutual action; The speed of said banded moving-member I is by motor rotative speed and the spring in the speed change node I and the damping system decision of shrinkage layer I.
The rope II of said shrinkage layer II is passed the hole, upper strata of speed change node I without interruption; But because in the hole, upper strata of speed change node I center push rod is not installed; And not with speed change node I mutual action, pass the hole, upper strata of speed change node II then, through being installed in center push rod and speed change node II mutual action wherein; The speed of said banded moving-member II is by motor rotative speed and the spring in the speed change node II and the damping system decision of shrinkage layer II.
The wide skin of said mobile band shape, the banded narrow skin of driving adopt materials such as PU, rubber, and wherein folder adds netted steel wire, overcomes the elastic deformation in the motion process; Said rope adopts high strength tensile materials such as nylon, fine synthetic fibre.
The present invention does not adopt traditional actuating mode such as gear, chain, band; But invent and designed a kind of speed change node structure; Through the speed change node with the afterbody contractive action be converted into banded skin by internal layer to outer field flip-flop movement, realize entire machine people's straight-line motion; Through speed change node levels various structure characteristic, make the different banded skin of the same outside contact surface of contact have different speed, realize entire machine people's turning motion.
The present invention adopts motor and rope to realize that the mechanism of afterbody contractive action is: because the trapezium structure of wide support and narrow support, the length of fake changes with the hypotenuse of encirclement area size along trapezium structure; When being positioned at the imitative amoeba robot cylindrical shape one end ragged edge of cylindrical shape, the round that rope constitutes has maximum length, and the area of encirclement is also maximum; And be positioned at the inside of imitative amoeba robot cylindrical shape one end of cylindrical shape, and the round that rope constitutes has minimum length, and the area of encirclement is also minimum.Motor rotation wiring on the banded drive element, the length of rope shortens gradually, and in plane, round rope place, produces a convergent force, realizes the afterbody contractive action.The afterbody contractive action that the length of motor wiring rotation shortening rope and the area of encirclement cause is robot motion's important driving factors.
The process of skin upset of the present invention is: the round rope produces convergent force when shrinking in fake plane of living in; This masterpiece is used on the center push rod of speed change node; Make center push rod that two ends are equipped with spring and damping system further with speed change node shell mutual action, produce a power perpendicular to plane, round rope place, this power is parallel to the component of wide support trapezium structure hypotenuse; Promote the motion of speed change node and wide skin; This power forces and is in the imitative wide skin of amoeba mobile robot framework of cylindrical shape and overturns internally and be the outside, and overcome and extraneous contact surface between friction force and move, and then promote whole robot motion.
The process of straight line of the present invention and turning motion is: after the imitative amoeba robot of cylindrical shape is selected and be installed in to spring and damping system; The spring of speed change node and damping system characteristic are immutable; Only by the motor rotative speed decision of shrinkage layer I, the speed of banded moving-member II is only determined by the motor rotative speed of shrinkage layer II the speed of banded moving-member I.Robot contacts with extraneous with a banded moving-member II through a banded moving-member I at every turn; When the motor speed of the banded drive element I speed of control is consistent with the motor speed of the banded drive element II speed of control; Whole robot is done straight-line motion forward or backward; When the motor speed of controlling banded drive element I speed is big; Whole robot (or left) is to the right done turning motion, and when the motor speed of controlling banded drive element II speed was big, whole robot (or to the right) was left done turning motion.Through changing spring and the damping system characteristic in the speed change node, can change the turning performance (like turn radius etc.) of whole robot.
The present invention relies on the rotation of the motor in banded drive element wiring on the shrinkage layer, shortens the length realization afterbody contractive action of rope; The speed change node produces application force to rope on the wide skin, promote the mechanism of action of wide skin around wide bracing frame flip-flop movement to being fixed on when utilizing round rope contraction in length; Through the speed change node afterbody contractive action is converted into the flip-flop movement of wide skin, and then realizes the straight-line motion that moves forward and backward of whole robot; Have the characteristic of different structure by speed change node levels unthreaded hole, realize having different speed, and then realize the turning motion of whole robot with extraneous banded skin I and the II that contacts simultaneously; Each shrinkage layer successively, continuous motion promoted the continuous straight line of whole robot, turning motion.
Design-calculated cylindrical shape mobile robot of the present invention has unique columnar structured, speed change node and transmits that afterbody shrinks and the mode of motion of skin rotary movement, is more suitable for operation and work under narrow and small unstructuredness such as pipe detection, medical-therapeutic treatment of human body inspection, the small space that collapses and closure environment.The present invention adopts the speed change node to transmit the motion of motor; Also rely on simultaneously the structure in the speed change node, different banded skin is produced different speed; Changed the characteristic of speed change node medi-spring and damping system, mobile robot's turning performance (like turn radius etc.) also will change thereupon.Cylindrical shape mobile robot with turning motion ability has increased its operating flexibility property at narrow and small enclosure space.
The invention has the beneficial effects as follows: in terms of existing technologies; Utilizing afterbody to shrink the imitative amoeba mobile robot who realizes straight line and turning motion is a kind of dual cyclic structure cylindrical shape mobile robot; Its afterbody contractive action that is realized by motor and rope drives; Can realize advancing, retreating and turn,, expand mobile robot's locomitivity and working space to walk around the obstacle under the narrow and small unstructuredness complex environment.The imitative amoeba mobile robot structure of cylindrical shape have compact conformation, flexibly, characteristics such as locomitivity is strong, applied widely, its mode of motion has good actual application prospect in the application of passing through the closure obstacle.
Description of drawings
Fig. 1 is the imitative amoeba mobile robot's of cylindrical shape body construction schematic three dimensional views.
Fig. 2 is the imitative amoeba mobile robot's of cylindrical shape body construction planar elevation view.
Fig. 3 is the imitative amoeba mobile robot's of cylindrical shape main support structural representation.
Fig. 4 is the structural representation of the imitative amoeba mobile robot's of cylindrical shape banded moving-member.
Fig. 5 is the structural representation of the imitative amoeba mobile robot's of cylindrical shape banded drive element.
Fig. 6 is the structural representation of the imitative amoeba mobile robot's of cylindrical shape speed change node.
Fig. 7 is the structural representation of center push rod.
Fig. 8 is the action scheme drawing of motor wiring rotation.
Fig. 9 is the scheme drawing of the imitative one group of shrinkage layer of amoeba mobile robot of cylindrical shape.
The scheme drawing that Figure 10 is staggeredly placed for the speed change node.
Figure 11 produces skin flip-flop movement scheme drawing for the imitative amoeba mobile robot's of cylindrical shape afterbody contractive action.
Figure 12 is moved by the rope effect for center push rod scheme drawing.
The specific embodiment is done further to explain to enforcement of the present invention below in conjunction with accompanying drawing:
Fig. 1 is the imitative amoeba mobile robot's of cylindrical shape body construction schematic three dimensional views, and Fig. 2 is the imitative amoeba mobile robot's of cylindrical shape body construction planar elevation view.In Fig. 1,2: 1 is main support, and 2 is banded drive element I, and 5 is banded drive element II, and 3 is banded moving-member I, and 4 is banded moving-member II.The banded moving-member II of four banded moving-member I 3 of mobile robot and four 4 is staggered be installed in main support 1 about, up and down on four limits; Banded drive element I 2 is fixed on the left side of main support; Banded drive element II 5 is fixed on the right edge of main support; Banded moving- member 3,4 is consistent with the length of banded drive element 2,5; Banded moving-member 3 is consistent with the motion of banded drive element 2, and banded moving-member 4 is consistent with the motion of banded drive element 5, and the imitative amoeba mobile robot of cylindrical shape contacts with extraneous through the speed change node of an I and the banded moving-member of an II type at every turn.
Fig. 3 is the imitative amoeba mobile robot's of cylindrical shape main support structural representation.In Fig. 3: 1 is main support, and main support is the octagon round, and 3～5 main supports are equidistant layout, works to connect other parts.
Fig. 4 is the structural representation of the imitative amoeba mobile robot's of cylindrical shape banded moving-member.In Fig. 4: 6 is wide roller, and 7 is wide support, and 8 is the speed change node, and 9 is wide skin.Wide support 7 is trapezium structure, and wide roller 6 is fixed on the wide support 7, wide skin 9 through tight on wide roller around wide 7 one weeks of support, speed change node 8 is fixed on the wide skin 9.Speed change node 8 contacts with the external world, and wide skin 9 is realized the skin flip-flop movements, and speed change node 8 moves with the flip-flop movement of wide skin 9, and wide support 7 connects with main support 1, and carries wide roller 6, speed change node 8 and wide skin 9.Banded moving-member is responsible for contacting, realize that with the external world skin flip-flop movement and then promotion entire machine people move.
Fig. 5 is the structural representation of the imitative amoeba mobile robot's of cylindrical shape banded drive element.In Fig. 5: 10 is narrow roller, and 11 is narrow support, and 12 is motor, and 13 is axle sleeve, and 14 is narrow skin.Narrow support 11 is trapezium structure, and narrow roller 10 is fixed on the narrow support 11, narrow skin 14 through tight on narrow roller around narrow 11 1 weeks of support, motor 12 is fixed on the narrow skin 14, motor 12 moves with the flip-flop movement of narrow skin 14.Narrow support 11 connects with main support 1, and carries narrow roller 10, motor 12 and narrow skin 14, and motor 12 is realized the wirings action, shortened the length of rope, and axle sleeve 13 plays the static line two ends.Banded drive element is responsible for carrying the motor of realizing the afterbody contractive action, the upset of following banded moving-member.
Fig. 6 is the structural representation of the imitative amoeba mobile robot's of cylindrical shape speed change node, and Fig. 7 is the structural representation of center push rod.In Fig. 6,7: 15 is side plate, and 16 is center push rod, and 17 is shell, and 18 is spring and damping system, and 19 is bolt.Center push rod 16 connects with shell 17 through spring 18; Spring 18 remains on initial position with center push rod 16, and guarantees that center push rod 16 can sway, and side plate 15 is connected on the shell 17 through bolt 19; Restraining spring 18 can only move in the chute of shell 17 with center push rod 16; Stop spring 18 and center push rod 16 to break away from the chute of shell 17, shell 17 is fixed on the wide skin 9, plays the effect of supporting other parts.
Fig. 8 is the action scheme drawing of motor wiring rotation, and Fig. 9 is the scheme drawing of the imitative one group of shrinkage layer of amoeba mobile robot of cylindrical shape, the scheme drawing that Figure 10 is staggeredly placed for the speed change node.In Fig. 8,9,10: 20 is speed change node I, and 21 is speed change node II, and 22 are the rope I, and 23 are the rope II.Said shrinkage layer is vertically equidistantly evenly arranged some groups on demand along said banded drive element and banded moving-member, and said shrinkage layer comprises shrinkage layer I and shrinkage layer II.One end of rope I 22 is fixed on the motor shaft sleeve 13 of banded drive element I 2; The other end is fixed on the axle sleeve 13 after passing the speed change node on banded moving-member I and the II equally; One end of rope II 23 is fixed on the motor shaft sleeve 13 of banded drive element II 5, and the other end is fixed on the axle sleeve 13 after passing the speed change node on banded moving-member I and the II equally.After passing the speed change node, rope I 22, rope II 23 are round.Banded moving-member I 3 is installed on the main support 1 with II 4 alternately.Rope I 22 is passed the hole, upper strata of speed change node I 20 without interruption; Be fixedly connected with the center push rod 16 of installing wherein; And with speed change node I 20 mutual actions; Then pass the hole, upper strata of speed change node II 21 on the adjacent wide skin, but because the hole, upper strata of speed change node II 21 in center push rod 16 is not installed, and not with speed change node II 21 mutual actions; 23 II of restricting are passed the lower floor hole that is fixed on speed change node I 20 on the wide skin without interruption; But because in the lower floor hole of speed change node I 20 center push rod 16 is not installed; And not with speed change node I 20 mutual actions; Then pass the hole, upper strata of speed change node II 21 on the adjacent wide skin, be fixedly connected with the center push rod 16 of installing wherein, and with speed change node II 21 mutual actions.
Figure 11 produces skin flip-flop movement scheme drawing, Figure 12 is moved by the rope effect for center push rod scheme drawing for the imitative amoeba mobile robot's of cylindrical shape afterbody contractive action.In Figure 11,12: 24 is that speed change node location 1,25 is that speed change node location 2,26 is a speed change node location 3.The motion
that shrink rope 22 (or 23) causes the constrictive force
of rope to the center; Constrictive force
is the thrust
that acts on the speed change node along the component on wide support 7 trapezium structure inclined-planes; Thrust
promotes the speed change node and produces motion
; Motion
produces the flip-flop movement
of wide skin 9, and flip-flop movement
finally produces the motion
of whole robot.
Figure 13 is the imitative amoeba mobile robot's of cylindrical shape turning motion scheme drawing.In Figure 13: rope I 22 is at first passed the upper strata of speed change node I (20), and connects with wherein center push rod 16, and next passes the upper strata of speed change node II (21), but does not connect with wherein center push rod 16.Rope II 23 is at first passed the lower floor of speed change node I (20), but does not connect with wherein center push rod 16, and next passes the upper strata of speed change node II (21), and connects with wherein center push rod 16.The motion
that the contractile motion
of rope I 22 produces the wide skin 9 of banded moving-member I, the motion
that the contractile motion
of rope II 23 produces the wide skin 9 of banded moving-member II.If the speed of motion
is greater than the speed of motion
; Then cause the imitative amoeba mobile robot's of cylindrical shape cw right-hand rotation motion
; If the speed of motion
less than the speed of motion
, then causes the imitative amoeba mobile robot's of cylindrical shape conter clockwise counterclockwise motion
.
The present invention adopts the speed change node to realize that the method for the imitative amoeba moveable robot movement of cylindrical shape is: when motor 12 begins rotation and during around running rope; The length of rope 22,23 begins to shorten; Make rope 22,23 pass the centre hole lateral slip of center push rod 16; Cause that further center push rod 16 moves along the chute of shell 17, center push rod 16 transmits motion to shell 17 through spring 18.Because shell 17 is fixed with wide skin 9, the wide skin 9 of the final generation of the motion of shell 17 is accomplished the skin flip-flop movement around wide support 7.
The method of the imitative amoeba mobile robot's of cylindrical shape of the present invention realization persistent movement is: the first shrinkage layer motor, 12 rotations that are in position 2 are around playing part rope 22 (or 23); The motion
that shrink rope 22 (or 23) causes the constrictive force
of rope to the center; Constrictive force
is the thrust
that acts on the speed change node along the component on wide support 7 trapezium structure inclined-planes; Thrust
promotes the speed change node and produces motion
; Motion
produces the flip-flop movement
of wide skin 9, and flip-flop movement
finally produces the motion
of whole robot.When ground floor motor and node move to internal layer by skin, when promptly moving to position 3 by position 2, second layer motor and node will move to position 2 by position 1.At this moment, the length of ground floor rope has reached minimum, and the driving function of robot will be accomplished by second layer motor that moves to ground floor motor and the original position of node and node, shrinks and the skin flip-flop movement to carry out continuous afterbody.
The method that the present invention adopts the speed change node to realize that the imitative amoeba mobile robot of cylindrical shape turns is: through speed change node structure and different electric motor speeds, utilize the velocity contrast between the different banded moving-members to realize.When spring and damping system selected and be installed in the imitative amoeba robot of cylindrical shape after, the motor rotative speed has determined the speed of wide skin, and then has determined the imitative amoeba mobile robot's of cylindrical shape bulk velocity.Therefore, two motors are if rotative speed is consistent on shrinkage layer I and the II, and being delivered to banded moving-member I through the speed change node will be consistent with the kinematic velocity of II molded breadth skin, and then cylindrical shape is imitated the amoeba mobile robot and done straight ahead and setback; If the rotative speed of motor is inconsistent, the kinematic velocity that is delivered to banded moving-member I and II molded breadth skin through the speed change node is equally also inconsistent, produces the imitative amoeba mobile robot's of cylindrical shape turning motion thus.
The present invention is directed to narrow and small, have strong unstructuredness and closure and be full of under the environment of various obstacles; The problem that existing transmission and mobile technology are difficult to adapt to; The imitative amoeba mobile apparatus human body's physical construction of cylindrical shape that drive to realize motion with the afterbody contractive action is an emphasis with mode of motion, the invention design is a kind of have columnar structured, be propulsive effort, adopt the transmission of parameter node, skin in framework, to be turned to mode outside the framework to realize that the cylindrical shape of straight line and turning motion imitates the amoeba mobile robot with the afterbody contractive action.The mode of motion of imitative columnar structure of amoeba mobile robot of cylindrical shape and skin upset is suitable in narrow and small unstructuredness and closure environment, moving, and can realize turning motion through the speed change node, passes through and get around various obstacles with this.Cylindrical shape with flexible turning motion ability is imitated the application that the amoeba mobile robot has expanded the mobile robot, and is more with practical value.
Obviously; Those skilled in the art can be to of the present invention: imitative amoeba mobile robot structure of cylindrical shape and mode of motion; Carry out various changes and modification and do not break away from the spirit and scope of the present invention,, or increase relevant mode of motion like the structure of improvement speed change node.Like this, belong within the scope of claim of the present invention and equivalent technologies thereof if of the present invention these are revised with modification, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. the imitative amoeba mobile robot body construction of cylindrical shape is characterized in that: comprise main support (1), banded drive element, banded moving-member, rope and shrinkage layer; Install some banded moving-members and two banded drive elements on the said main support (1); Said banded moving-member comprises wide roller (6), wide support (7), speed change node (8) and wide skin (9); Said wide roller (6) is fixed on the wide support (7); Said wide skin (9) is located on the wide roller (6) and around realizing flip-flop movements wide (7) one weeks of support, said speed change node (8) is fixed on the wide skin (9); Said banded drive element comprises narrow roller (10), narrow support (11), motor (12), axle sleeve (13) and narrow skin (14); Said narrow roller (10) is fixed on the narrow support (11); Said narrow skin (14) is located on the narrow roller (10) and around realizing flip-flop movements narrow (11) one weeks of support, motor (12) is fixed on the narrow skin (14); Said shrinkage layer is responsible for realizing the afterbody contractile motion, progressively to promote mobile robot's motion; It comprises the motor (12) on rope, the banded drive element, the speed change node on the mobile drive element; Rope one end on the said shrinkage layer is fixed on the motor shaft through motor shaft sleeve (13); The other end passes banded moving-member (3 successively; 4) after the speed change node on is got back to initial point; Be fixed on the motor shaft through motor shaft sleeve (13) equally, motor (12) rotation wiring shortens the length of rope and the area of encirclement is realized the afterbody contractive action.
2. cylindrical shape according to claim 1 is imitated amoeba mobile robot body construction, and it is characterized in that: said main support (1) is the octagon cast structural, and vertically equidistantly evenly arranges 3-5 along said banded drive element and banded moving-member; Said banded moving-member comprises some banded moving-member I (3) and some banded moving-member II (4), and both partner, be separately fixed at main support (1) about, about on four limits; Said banded drive element comprises a banded drive element I (2) and a banded drive element II (5), and banded drive element I (2) is fixed on the left side of main support, and banded drive element II (5) is fixed on the right edge of main support; Said shrinkage layer is vertically equidistantly evenly arranged some groups along said banded drive element I, II (2,5) and banded moving-member I, II (3,4).
3. cylindrical shape according to claim 1 is imitated amoeba mobile robot body construction, it is characterized in that: said speed change node (8) comprises side plate (15), center push rod (16), shell (17), spring and damping system (18) and bolt (19); Said shell (17) is cubic shaped, the oblong unthreaded hole that two of its side arrangement run through; Said center push rod (16), spring and damping system (18) only are installed in the oblong unthreaded hole of upper strata, or only are installed in lower floor's oblong unthreaded hole, and the former is called speed change node I (20), and the latter is called speed change node II (21); Said center push rod (16) two ends are fixing with shell (17) through spring and damping system (18); Said side plate (15) permanent center push rod (16), spring and damping system (18), and play the effect of containment shell (17), side plate (15) is connected on the shell (17) through bolt (19), and shell (17) is fixed on the wide skin (9).
4. cylindrical shape according to claim 3 is imitated amoeba mobile robot body construction, it is characterized in that: said speed change node I (20) is fixed on the wide skin of banded moving-member I (3); Said speed change node II (21) is fixed on the wide skin of banded moving-member II (4).
5. cylindrical shape according to claim 4 is imitated amoeba mobile robot body construction, it is characterized in that: said speed change node I (20) vertically is fixed on the wide skin (9) of banded moving-member I (3) successively equally spacedly; Said speed change node II (21) vertically is fixed on the wide skin (9) of banded moving-member II (4) successively equally spacedly.
6. cylindrical shape according to claim 1 is imitated amoeba mobile robot body construction; It is characterized in that: said wide support is a trapezium structure; Fix and support whole banded moving-member; Said wide roller for have rib, the cross section is " recessed " font structure, be arranged on four end points of trapezium structure of wide support; Said narrow support is a trapezium structure, and is fixing and support whole banded drive element, said narrow roller for have rib, the cross section is " recessed " font structure, be arranged on four end points of trapezium structure of narrow support.
7. cylindrical shape according to claim 2 is imitated amoeba mobile robot body construction, it is characterized in that: the fake length on the said shrinkage layer changes with the trapezium structure hypotenuse of the size of surrounding area along said wide support (7) and narrow support (11); Motor (12) rotation wiring on said banded drive element I and the banded drive element II (2,5) makes the contraction in length of fake, in fake plane of living in, produces convergent force, realizes the afterbody contractive action.
8. cylindrical shape according to claim 7 is imitated amoeba mobile robot body construction, and it is characterized in that: said shrinkage layer comprises shrinkage layer I and shrinkage layer II; Rope in the said shrinkage layer I is the rope I; It passes the hole, upper strata that is fixed on speed change node I on the wide skin of banded drive element I without interruption; Be fixedly connected with the center push rod of installing wherein; And pass the hole, upper strata of speed change node II on the wide skin of adjacent banded drive element II, constitute one and close circle by driven by motor; Rope in the said shrinkage layer II is the rope II; It passes the lower floor hole that is fixed on speed change node I on the wide skin of banded drive element I without interruption; And pass the lower floor hole of speed change node II on the wide skin of adjacent banded drive element II; Be fixedly connected with the center push rod of installing wherein, constitute one and close circle by driven by motor.
9. according to claim 7 or the imitative amoeba mobile robot body construction of 8 described cylindrical shapes, it is characterized in that: the speed of said banded moving-member I is by motor rotative speed and the spring in the speed change node I and the damping system decision of shrinkage layer I; The speed of said banded moving-member II is by motor rotative speed and the spring in the speed change node II and the damping system decision of shrinkage layer II.
10. according to the imitative amoeba mobile robot body construction of each described cylindrical shape of claim 1-9, it is characterized in that: said wide, narrow skin adopts PU, elastomeric material, and wherein folder adds netted steel wire, overcomes the elastic deformation in the motion process; Said rope adopts nylon, fine synthetic fibre high strength tensile materials; The length of said banded moving-member and banded drive element is consistent; Said banded moving-member I is consistent with the flip-flop movement of banded drive element I; Said banded moving-member II is consistent with the flip-flop movement of banded drive element II.
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| CN 201110371452 CN102424074B (en) | 2011-11-22 | 2011-11-22 | Cylindrical amoeba-like moving robot body structure |
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| CN 201110371452 CN102424074B (en) | 2011-11-22 | 2011-11-22 | Cylindrical amoeba-like moving robot body structure |
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| CN102424074B CN102424074B (en) | 2013-01-16 |
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| CN106774313A (en) * | 2016-12-06 | 2017-05-31 | 广州大学 | A kind of outdoor automatic obstacle-avoiding AGV air navigation aids based on multisensor |
| CN108583713A (en) * | 2018-05-02 | 2018-09-28 | 北京林业大学 | A kind of bionic type standing tree climbing robot and its application method |
| CN110394814A (en) * | 2019-08-29 | 2019-11-01 | 中南大学 | A kind of software walking robot |
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| CN110394814A (en) * | 2019-08-29 | 2019-11-01 | 中南大学 | A kind of software walking robot |
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| CN102424074B (en) | 2013-01-16 |
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