CN108583703B - Crawler-type pillworm bionic deformation robot - Google Patents
Crawler-type pillworm bionic deformation robot Download PDFInfo
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- CN108583703B CN108583703B CN201810457641.8A CN201810457641A CN108583703B CN 108583703 B CN108583703 B CN 108583703B CN 201810457641 A CN201810457641 A CN 201810457641A CN 108583703 B CN108583703 B CN 108583703B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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Abstract
The invention provides a crawler-type pillworm bionic deformation robot which comprises a body contraction mechanism, a lifting mechanism and a walking mechanism, wherein the body contraction mechanism comprises a shell body and a contraction assembly, the shell body is formed by sequentially arranging and hinging a head shell, a plurality of belly shells and a tail shell, and when a winding motor works, a winding wheel is driven to rotate to tension a steel wire so that the shell body is unfolded into a long strip shape or contracted into a spherical shape; elevating system includes the upper plate, lower plate and two sets of link mechanism, running gear is including setting up two mounting panels in the lower plate bottom, all install the take-up pulley on each mounting panel, two tight pulleys and two adjusting gear, two adjusting gear's bottom all links to each other with propping the ground wheel through the regulation pole that corresponds, the take-up pulley, two tight pulleys and two outsides of propping the ground wheel are around being equipped with the track, this robot can warp according to the environment of difference, adaptable multiple complicated external environment, there is stronger open air ability of surmounting.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a crawler-type pillworm bionic deformation robot.
Background
Bionics is a relatively new science, which is born in 1960, and 9/13 of the year, the first bionics discussion in the united states was called, and a bionic robot is a product of bionics and application requirements in the robot field. From the perspective of a robot, a biomimetic robot is a high-level stage of robot development. Biological characteristics provide many beneficial references for the design of a robot, so that the robot can learn a series of good performances such as adaptivity, robustness, motion diversity and flexibility from organisms. The bionic robot can be divided into a land bionic robot, an aerial bionic robot and an underwater bionic robot according to the working environment. In addition, some research institutions research bionic robots with comprehensive purposes, such as amphibious robots, water-air amphibious robots and the like. The bionic robot has the characteristics of both biology and robots, and has gradually shown good application prospects in environments unsuitable for human undertaking such as anti-terrorism explosion prevention, space exploration, emergency rescue and disaster relief.
The research and development of robots in China are started in the 70 th 20 th century, and in recent years, the robot industry in China is rapidly developed under the support of a series of policies and the pull of market demands. And the bionic research in China starts late, and the bionic research in China is subject to three stages of tracking foreign research, simulating foreign achievements and carrying forward in the local field under the vigorous subsidization of NSFC in recent 30 years. The national science foundation committee, abbreviated as "NSFC", places great importance on the work of cultivation, optimization and subsidization of a bionic robot project. Currently, the project application in this field mainly focuses on 2 directions of E0501 mechanics and robotics and E0507 mechanical bionics of the mechanical engineering subject E05 code.
Disclosure of Invention
The invention aims to provide a crawler-type pillworm bionic deformation robot which can deform according to different road conditions and different environments, can adapt to various complex external environments and has strong outdoor obstacle crossing capability.
The technical scheme adopted by the invention for solving the technical problems is as follows: a caterpillar type pillworm bionic deformation robot comprises a body contraction mechanism, a lifting mechanism and a walking mechanism, wherein the body contraction mechanism comprises a shell body and a contraction assembly arranged on the shell body, the shell body is formed by sequentially arranging and hinging a head shell, a plurality of belly shells and a tail shell, the head shell, the plurality of belly shells and the tail shell are arc shells, each arc shell is correspondingly provided with a framework, every two adjacent frameworks are connected through a spring, and each framework is provided with a through hole I; the contraction assembly comprises a winding motor arranged on the head shell, a mounting rack I for fixing the winding motor, a winding wheel and a steel wire; the winding wheel is connected with the output end of the winding motor, one end of the steel wire is fixed on the tail shell, the other end of the steel wire sequentially passes through the through hole I arranged on each framework and then is connected with the winding wheel, and when the winding motor works, the winding wheel is driven to rotate, the steel wire is tensioned, and the shell body is unfolded into a long strip shape or contracted into a spherical shape;
the lifting mechanism is arranged below the shell body and comprises an upper base plate, a lower base plate and two groups of connecting rod mechanisms which are arranged between the upper base plate and the lower base plate and are arranged in parallel, the upper base plate is arranged on the shell body, the connecting rod mechanisms comprise a plurality of groups of two connecting rod structures, the two groups of connecting rod structures are sequentially hinged, each two connecting rod structures comprise a first connecting rod and a second connecting rod which are arranged in a crossed mode and are hinged at the middle positions, the two groups of connecting rod mechanisms are hinged at the corresponding hinged positions through bolts, two ends of two bolts located at the bottommost part extend outwards and are connected with a sliding block I at the outermost side of the extending section, two sliding blocks I located on one side of the same two connecting rod structures are sleeved on a first guide rail, two ends of the first guide rail are fixedly arranged on the lower base plate, two ends of two bolts located at the topmost part extend outwards and are connected with a sliding block II at the outermost side of the extending section Two sliding blocks II positioned on one side of the same two-connecting-rod structure are sleeved on a second guide rail, and two ends of the second guide rail are fixedly arranged on the upper bottom plate; a sliding table is arranged at the middle position of one of the bolts, a through hole II is formed in the sliding table, a screw nut is fixedly connected in the through hole II and is arranged on a screw, one end of the screw penetrates through the through hole II, the other end of the screw is connected with a lifting motor arranged on an installation frame II, and the installation frame II is arranged on the bolt at the same height as the bolt provided with the sliding table;
the walking mechanism comprises two mounting plates arranged at the bottom end of a lower bottom plate, each mounting plate is provided with a tensioning wheel, two fixed wheels and two adjusting gears, the two fixed wheels and the two adjusting gears are symmetrically arranged on two sides of the tensioning wheel, the fixed wheels are positioned on the outer sides of the adjusting gears, the tensioning wheel is mounted on the mounting plates through an elastic supporting mechanism, the elastic supporting mechanism comprises a supporting frame, a supporting rod and a spring, the supporting frame is fixedly connected with the mounting plates, the supporting frame is perpendicular to the supporting rod, the top end of the supporting rod is connected with the tensioning wheel, and the bottom end of the supporting rod is connected with the supporting frame through the spring; one of the fixed wheels on each mounting panel is driven by a driving motor, the two adjusting gears are meshed with each other, one of the adjusting gears is connected with the adjusting motor and rotates synchronously with the adjusting motor, the bottom ends of the two adjusting gears are connected with a ground supporting wheel through corresponding adjusting rods, and the outer sides of the tensioning wheel, the two fixed wheels and the two ground supporting wheels are wound with tracks.
Furthermore, the number of the abdomen casings is 3.
Further, the width of the head shell and the width of the tail shell are both larger than the width of the abdomen shell.
Further, the upper bottom plate is arranged in the middle of the shell body.
Furthermore, the included angle between the two adjusting rods on each mounting plate is 10-120 degrees along with the change range of the driving of the adjusting motor.
The beneficial effects of the invention are mainly shown in the following aspects: according to the invention, the body contraction mechanism is arranged, the winding motor works to drive the winding wheel to rotate and tension the steel wire, so that the shell body is expanded into a long strip shape or contracted into a spherical shape, the winding motor can realize self-locking, and the robot can deform randomly between a contracting state and an extending state;
by arranging the lifting mechanism, the sliding table can be driven to move on the screw rod by controlling the lifting motor, so that the parallel connecting rod mechanism is driven to realize lifting motion;
through setting up crawler-type running gear, make whole device transmission steady in the motion process, transmission efficiency is high, and the vibration is little, and bearing capacity is strong, through setting up the take-up pulley, can guarantee that the robot keeps the tensioning state at the in-process track that warp, improves transmission efficiency. The robot combines the bionic principle and is fused with modern mechanical design, the spherical contraction improves the harmony of a deformation mechanism, the deformation can be carried out according to different road conditions and different environments, the robot can adapt to various complex external environments, and the robot has stronger outdoor obstacle crossing capability.
Drawings
FIG. 1 is a schematic structural view of the overall mechanism of the present invention in an expanded state;
FIG. 2 is a schematic structural view of the overall mechanism of the present invention in an expanded state;
FIG. 3 is a schematic structural view of the housing body of the present invention;
FIG. 4 is a schematic view of the lift mechanism of the present invention;
FIG. 5 is a schematic view of the lift mechanism and mounting plate of the present invention;
FIG. 6 is a schematic structural view of the traveling mechanism of the present invention;
FIG. 7 is a schematic structural view of the overall mechanism of the present invention in a contracted state;
the labels in the figure are: 1. the outer shell body, 101, the skeleton, 1011, through-hole I, 102, mounting bracket I, 103, the kinking motor, 104, the kinking wheel, 2, the upper plate, 201, slider II, 202, the second guide rail, 203, first connecting rod, 204, the second connecting rod, 205, the bolt, 3, the lower plate, 301, slider I, 302, first guide rail, 4, mounting bracket II, 401, elevator motor, 402, the lead screw, 403, the slip table, 5, the mounting panel, 6, driving motor, 601, the tight pulley, 7, adjusting motor, 701, adjusting gear, 702, adjust the pole, 703, prop the land wheel, 8, the take-up pulley, 801, the bracing piece, 802, the spring, 803, the support frame, 9, the track.
Detailed Description
The embodiments of the present invention are described in detail with reference to the accompanying drawings, and the embodiments and specific operations of the embodiments are provided on the premise of the technical solution of the present invention, but the scope of the present invention is not limited to the following embodiments.
According to the attached drawings, the caterpillar 9-type pillworm bionic deformation robot comprises a body contraction mechanism, a lifting mechanism and a walking mechanism, wherein the body contraction mechanism comprises a shell body 1 and a contraction assembly arranged on the shell body 1, the shell body 1 is formed by sequentially arranging and hinging a head shell, a plurality of belly shells and a tail shell, the number of the belly shells is 3, the widths of the head shell and the tail shell are both larger than that of the belly shells, the head shell, the belly shells and the tail shell are all arc shells, each arc shell is correspondingly provided with a framework 101, two adjacent frameworks 101 are connected through a spring 802, and each framework 101 is provided with a through hole I1011; the contraction assembly comprises a winding motor 103 arranged on the head shell, a mounting frame I102 used for fixing the winding motor 103, a winding wheel 104 and a steel wire; the winding wheel 104 is connected with the output end of the winding motor 103, one end of the steel wire is fixed on the tail shell, the other end of the steel wire sequentially passes through the through hole I1011 arranged on each framework 101 and then is connected with the winding wheel (104), and when the winding motor 103 works, the winding wheel 104 is driven to rotate, the steel wire is tensioned, and the shell body 1 is unfolded into a long strip shape or contracted into a spherical shape;
the lifting mechanism is arranged below the shell body 1, the upper base plate 2 is arranged in the middle of the shell body 1, the lifting mechanism comprises an upper base plate 2, a lower base plate 3 and two groups of connecting rod mechanisms which are arranged between the upper base plate 2 and the lower base plate 3 and are arranged in parallel, the upper base plate 2 is arranged on the shell body 1, the connecting rod mechanisms comprise a plurality of groups of two connecting rod structures, the two groups of two connecting rod structures are sequentially hinged, the two connecting rod structures comprise a first connecting rod 203 and a second connecting rod 204 which are arranged in a crossed mode and hinged at the middle positions, the two groups of connecting rod mechanisms are hinged at corresponding hinged positions through bolts 205, two ends of two bolts 205 positioned at the bottommost part extend outwards and are connected with a first sliding block I301 at the outermost side of an extending section, and two sliding blocks I301 positioned at one side of the same two connecting rod structures are sleeved on a first guide rail 302, two ends of the first guide rail 302 are fixedly arranged on the lower bottom plate 3, two ends of two bolts 205 positioned at the top extend outwards and are connected with the second sliding blocks 201 at the outermost sides of the extending sections, the two sliding blocks II 201 positioned at one side of the same two-connecting-rod structure are sleeved on the second guide rail 202, and two ends of the second guide rail 202 are fixedly arranged on the upper bottom plate 2; one of the bolts 205 is provided with a sliding table 403 at the middle position, a through hole II is formed in the sliding table 403, a screw nut is fixedly arranged in the through hole II, the screw nut is arranged on a screw 402, one end of the screw 402 penetrates through the through hole II, the other end of the screw 402 is connected with a lifting motor 401 arranged on an installation frame II 4, and the installation frame II 4 is arranged on the bolt 205 at the same height as the bolt 205 provided with the sliding table 403;
the traveling mechanism comprises two mounting plates 5 arranged at the bottom end of a lower bottom plate 3, each mounting plate 5 is provided with a tensioning wheel 8, two fixed wheels 601 and two adjusting gears 701, the two fixed wheels 601 and the two adjusting gears 701 are symmetrically arranged at two sides of the tensioning wheel 8, the fixed wheels 601 are positioned at the outer sides of the adjusting gears 701, the tensioning wheel 8 is mounted on the mounting plate 5 through an elastic supporting mechanism, the elastic supporting mechanism comprises a supporting frame 803, a supporting rod 801 and a spring 802, the supporting frame 803 is fixedly connected with the mounting plate 5, the supporting frame 803 is perpendicular to the supporting rod 801, the top end of the supporting rod 801 is connected with the tensioning wheel 8, and the bottom end of the supporting rod 801 is connected with the supporting frame 803 through the spring 802; one of the fixed wheels 601 on each mounting plate 5 is driven by a driving motor 6, the two adjusting gears 701 are meshed, one of the adjusting gears 701 is connected with an adjusting motor 7 and rotates synchronously with the adjusting motor 7, the bottom ends of the two adjusting gears 701 are connected with a ground supporting wheel 703 through corresponding adjusting rods 702, the included angle between the two adjusting rods 702 on each mounting plate 5 is 10-120 degrees along with the driving range of the adjusting motor 7, and a crawler 9 is wound on the outer sides of the tensioning wheel 8, the two fixed wheels 601 and the two ground supporting wheels 703.
According to the invention, the body contraction mechanism is arranged, the winding motor 103 works to drive the winding wheel 104 to rotate and tension the steel wire, so that the shell body 1 is expanded to be a strip shape or contracted to be a spherical shape, the winding motor 103 can realize self-locking, and the robot can be randomly deformed between a contracting state and an extending state; by arranging the lifting mechanism, the sliding table 403 can be driven to move on the screw rod 402 by controlling the lifting motor 401, so as to drive the parallel connecting rod mechanism to realize lifting movement,
by arranging the crawler-type travelling mechanism, the driving motor 6 drives the fixed wheel 601 to rotate, so that the crawler 9 is driven to move; when the robot deforms, the adjusting gear 701 is driven to rotate by the adjusting motor 7 arranged on the lower bottom plate 3, so that the adjusting rods 702 are driven to rotate, the included angle between the adjusting rods 702 is 120 degrees when the robot is in an extended state, and the included angle between the adjusting rods 702 is 10 degrees when the robot contracts into a spherical shape. Take-up pulley 8 installs on support frame 803, the pretightning force through spring 802 in 9 accommodation process of track, realize the tensioning of track, through setting up crawler-type running gear, it is steady to make whole device transmission in the motion process, the transmission efficiency is high, the vibration is little, bearing capacity is strong, through setting up take-up pulley 8, can guarantee that the robot keeps the tensioning state at the in-process track 9 that warp, improve transmission efficiency, this robot can warp according to different road surface conditions and different environment, adaptable multiple complicated external environment, there is stronger outdoor obstacle crossing ability.
It is further noted that relational terms such as i, ii, and iii may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (4)
1. The utility model provides a crawler-type pillworm bionic deformation robot, includes body shrink mechanism, elevating system and running gear, its characterized in that: the body contraction mechanism comprises a shell body (1) and a contraction assembly arranged on the shell body (1), the shell body (1) is formed by sequentially arranging and hinging a head shell, a plurality of belly shells and a tail shell, the head shell, the plurality of belly shells and the tail shell are arc shells, each arc shell is correspondingly provided with a framework (101), two adjacent frameworks (101) are connected through a spring (802), and each framework (101) is provided with a through hole I (1011); the contraction assembly comprises a winding motor (103) arranged on the head shell, a mounting frame I (102) used for fixing the winding motor (103), a winding wheel (104) and a steel wire; the winding wheel (104) is connected with the output end of the winding motor (103), one end of the steel wire is fixed on the tail shell, the other end of the steel wire sequentially passes through the through hole I (1011) arranged on each framework (101) and then is connected with the winding wheel (104), and when the winding motor (103) works, the winding wheel (104) is driven to rotate, the steel wire is tensioned, and the shell body (1) is unfolded into a long strip shape or contracted into a spherical shape;
the lifting mechanism is arranged below the shell body (1), the lifting mechanism comprises an upper base plate (2), a lower base plate (3) and two groups of connecting rod mechanisms which are arranged between the upper base plate (2) and the lower base plate (3) and are arranged in parallel, the upper base plate (2) is arranged on the shell body (1), the connecting rod mechanisms comprise a plurality of groups of two connecting rod structures, the two groups of two connecting rod structures are sequentially hinged, the two connecting rod structures comprise a first connecting rod (203) and a second connecting rod (204) which are arranged in a crossed mode and hinged at the middle positions, the two groups of connecting rod mechanisms are hinged at corresponding hinged positions through bolts (205), two ends of two bolts (205) positioned at the bottommost part extend outwards and are connected with a sliding block I (301) at the outermost side of an extending section, the two sliding blocks I (301) positioned at one side of the same two connecting rod structures are sleeved on a first guide rail (302), two ends of the first guide rail (302) are fixedly arranged on the lower bottom plate (3), two ends of two bolts (205) positioned at the top extend outwards and are connected with a sliding block II (201) at the outermost side of the extending section, two sliding blocks II (201) positioned on one side of the same two-connecting-rod structure are sleeved on a second guide rail (202), and two ends of the second guide rail (202) are fixedly arranged on the upper bottom plate (2); one of the bolts (205) is provided with a sliding table (403) at the middle position, a through hole II is formed in the sliding table (403), a lead screw nut is fixedly connected in the through hole II and arranged on a lead screw (402), one end of the lead screw (402) penetrates through the through hole II, the other end of the lead screw (402) is connected with a lifting motor (401) arranged on an installation frame II (4), and the installation frame II (4) is arranged on the bolt (205) at the same height as the bolt (205) provided with the sliding table (403);
the travelling mechanism comprises two mounting plates (5) arranged at the bottom end of a lower bottom plate (3), each mounting plate (5) is provided with a tension wheel (8), two fixed wheels (601) and two adjusting gears (701), the two fixed wheels (601) and the two adjusting gears (701) are symmetrically arranged at two sides of the tension wheel (8), and the fixed wheels (601) are positioned at the outer sides of the adjusting gears (701), the tension wheel (8) is arranged on the mounting plate (5) through an elastic supporting mechanism, the elastic supporting mechanism comprises a supporting frame (803) fixedly connected with the mounting plate (5), a supporting rod (801) and a spring (802), the supporting frame (803) is perpendicular to the supporting rod (801), the top end of the supporting rod (801) is connected with the tensioning wheel (8), the bottom end of the supporting rod (801) is connected with the supporting frame (803) through a spring (802); one of the fixed wheels (601) on each mounting plate (5) is driven by a driving motor (6), the two adjusting gears (701) are meshed, one of the adjusting gears (701) is connected with an adjusting motor (7) and synchronously rotates along with the adjusting motor (7), the bottom ends of the two adjusting gears (701) are connected with a ground supporting wheel (703) through corresponding adjusting rods (702), and a crawler belt (9) is wound on the outer sides of the tensioning wheel (8), the two fixed wheels (601) and the two ground supporting wheels (703);
the included angle between two adjusting rods (702) on each mounting plate (5) is 10-120 degrees along with the change range driven by the adjusting motor (7).
2. The tracked pillworm bionic deformation robot according to claim 1, characterized in that: the number of the abdomen shells is 3.
3. The tracked pillworm bionic deformation robot according to claim 1, characterized in that: the width of the head shell and the width of the tail shell are both larger than the width of the abdomen shell.
4. The tracked pillworm bionic deformation robot according to claim 1, characterized in that: the upper bottom plate (2) is arranged in the middle of the shell body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810457641.8A CN108583703B (en) | 2018-05-14 | 2018-05-14 | Crawler-type pillworm bionic deformation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810457641.8A CN108583703B (en) | 2018-05-14 | 2018-05-14 | Crawler-type pillworm bionic deformation robot |
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| CN108583703A CN108583703A (en) | 2018-09-28 |
| CN108583703B true CN108583703B (en) | 2020-10-16 |
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| CN201810457641.8A Active CN108583703B (en) | 2018-05-14 | 2018-05-14 | Crawler-type pillworm bionic deformation robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909981B (en) * | 2019-04-22 | 2022-05-27 | 滨州学院 | Spherical protection device |
| CN112775988B (en) * | 2021-01-06 | 2022-09-13 | 武汉理工大学 | Spherical robot |
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| CN102398638A (en) * | 2010-09-12 | 2012-04-04 | 湖南省农友机械集团有限公司 | Crawler travelling device with adjustable chassis height |
| KR20160047021A (en) * | 2014-10-21 | 2016-05-02 | 한국생산기술연구원 | a robot hand |
| CN105946941A (en) * | 2016-05-20 | 2016-09-21 | 长春理工大学 | Wheel-track integrated loading building climbing vehicle for inclinable lifting platform |
| CN106609894A (en) * | 2017-03-10 | 2017-05-03 | 中南大学 | A power plant boiler pipeline detection robot |
| CN206654116U (en) * | 2017-03-17 | 2017-11-21 | 河南科技大学 | A kind of bionical fighter toy of pillworm |
| CN107914788A (en) * | 2017-12-14 | 2018-04-17 | 浙江大学自贡创新中心 | The height adjustment device and method of a kind of caterpillar chassis |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398638A (en) * | 2010-09-12 | 2012-04-04 | 湖南省农友机械集团有限公司 | Crawler travelling device with adjustable chassis height |
| KR20160047021A (en) * | 2014-10-21 | 2016-05-02 | 한국생산기술연구원 | a robot hand |
| CN105946941A (en) * | 2016-05-20 | 2016-09-21 | 长春理工大学 | Wheel-track integrated loading building climbing vehicle for inclinable lifting platform |
| CN106609894A (en) * | 2017-03-10 | 2017-05-03 | 中南大学 | A power plant boiler pipeline detection robot |
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| CN108583703A (en) | 2018-09-28 |
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Effective date of registration: 20210409 Address after: 471000 Yujiagou village, advanced manufacturing cluster, Jianxi District, Luoyang City, Henan Province Patentee after: LUOYANG CHUANGDA MACHINERY Co.,Ltd. Address before: 471000 No. 48, Xiyuan Road, Jianxi District, Henan, Luoyang Patentee before: HENAN University OF SCIENCE AND TECHNOLOGY |
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