CN110450134A - Rope control turns to imitative worm creeping robot device - Google Patents
Rope control turns to imitative worm creeping robot device Download PDFInfo
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- CN110450134A CN110450134A CN201910589682.7A CN201910589682A CN110450134A CN 110450134 A CN110450134 A CN 110450134A CN 201910589682 A CN201910589682 A CN 201910589682A CN 110450134 A CN110450134 A CN 110450134A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
Rope control turns to imitative worm creeping robot device, belongs to mobile robot field, including n telescopic unit, tail units, n joint shaft, the first spring part, the second spring part, left tendon rope component and right tendon rope component；The telescopic unit includes mainframe, slave frame, the first driver, the first transmission mechanism and foot component, and the tail units include foot component and mainframe, and the foot component includes the second driver, the second transmission mechanism and absorbing unit.The arrangement achieves the crawling exercises of imitative earthworm worm.It realizes that mainframe is reliably connected with work wall surface using active absorption, reaches the stretching motion between unit using telescopic component；The left and right turn of drive lacking is can be realized, control is easy, and two-dimensional curve that can be flexibly controllable on working face moves, and climbing is reliable and stable, and load capacity is strong, and scalability is good, is suitable for metope mobile robot.
Description
Technical field
The invention belongs to mobile robot field, in particular to a kind of rope control turns to the knot of imitative worm creeping robot device
Structure design.
Background technique
In recent years, bionic movement principle is gradually applied in the design of all kinds of mobile robots.In the various of nature
In biological motion mode, worm movement is a kind of flexible, efficient mode.Have it is a kind of using earthworm as representative worm move,
Body middle section can elongate or shorten in the axial direction, and any end passes through bristle and ground in the rear and front end of local body at this time
Face is fixed, and the other end is detached from ground and travels forward.Therefore, rely on this motion mode, earthworm relies on simple body make-up just
Can in the complex space environment of soil flexible motion.
Other than the advantages such as structure is simple, control difficulty is low, due to earthworm in crawling process body without bending or arch
It rises, the cross-section variation amount being perpendicularly to the direction of movement is small, and the motion mode of earthworm also has the advantages that space hold amount is small.
Therefore, this bionic movement principle is widely applied in climbing robot field.
Existing a kind of modular reconfigurable worm type wall climbing robot (patent CN101537619B), using multiple structures
Identical absorption joints connect.The two neighboring absorption joints of the robot commissure that is positive connects, and on preceding line direction, passes through
Multiple absorption joints coordinations make respective sucker contact or separate with working face, to realize advance and steering.It is not
Foot place is: the robot architecture is complicated, and motor-driven active joint is more, and control difficulty is big when movement, entire robot
From great, load capacity is weak.
A kind of existing flexible imitative worm climbing robot device (patent CN109176468A) of sliding rail guiding sucker, including
Multiple absorbing units, multiple shrinking connecting-rod components, guide shaft, sliding block, electric air pump, solenoid valve and controller etc..The device can
It is adsorbed in vertical walls, realizes to advance and climb wall movement with the imitative worm retreated.Disadvantage is that: the device is only able to achieve
Rectilinear creeping, can not left and right turn, it is difficult to the two-dimensional curve movement on wall surface is completed, without obstacle avoidance ability.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, propose that a kind of rope control turns to imitative worm creeper
Device people's device.The device has more piece, and imitative worm may be implemented and creep, while can also realize leftward or rightward steering, climb
Row is reliable and stable, and load capacity is strong, and control is easy.
Technical scheme is as follows:
Rope control that the present invention designs turns to imitative worm creeping robot device, it is characterised in that: including n telescopic unit,
Tail units, n joint shaft, the first spring part, the second spring part, left tendon rope component and right tendon rope component；The telescopic unit includes
Mainframe, slave frame, the first driver, the first transmission mechanism and foot component；The pair housing slide is embedded on mainframe；
First driver and mainframe are affixed, and the output end of first driver is connected with the input terminal of the first transmission mechanism,
The output end of first transmission mechanism is connected with slave frame；Slave frame is turned to relative to the glide direction of mainframe and the rope control
The working face of imitative worm creeping robot device is parallel；The tail units include foot component and mainframe；The foot
Component includes the second driver, the second transmission mechanism and absorbing unit；Second driver and corresponding mainframe are affixed, the
The output end of two drivers is connected with the input terminal of the second transmission mechanism, output end and the absorbing unit phase of the second transmission mechanism
Even；Under the action of the second driver, the acting surface of the absorbing unit and the rope control turn to imitative worm creeping robot device
Working face be in contact or separate；The absorbing unit is the group of negative pressure sucker mode, electromagnet mode or both modes
It closes；The center line of the joint shaft is parallel to each other, and the center line of the joint shaft is each perpendicular to the imitative worm of rope control steering and creeps
The working face of robot device, i-th of joint shaft are set in the slave frame in i-th of telescopic unit, and the i+1 is stretched
Mainframe in contracting unit is socketed on i-th of joint shaft；N-th of joint shaft is set in the slave frame in n-th of telescopic unit
In, the mainframe of the tail units is socketed on n-th of joint shaft；The both ends of the first spring part are separately connected the 1st and stretch
Contracting unit, the 2nd telescopic unit, the both ends of the second spring part are separately connected n-th of telescopic unit, tail units；The left side
Tendon rope component includes left tendon rope, n+1 left wire rope handling circles, left rotary shaft, left rope drum, left driver, Left Drive mechanisms；The left drive
Dynamic device and the mainframe of tail units are affixed；The output end of the left driver is connected with the input terminal of Left Drive mechanism, described
The output end of Left Drive mechanism is connected with left rotary shaft, and the left rotary shaft is set on the mainframe of tail units, the left wiring
Cylinder is fixed in left rotary shaft；J-th of left wire rope handling circle is fixed in the left side of the mainframe of j-th of telescopic unit, (n+1)th left wire rope handling
Circle is fixed in the left side of the mainframe of tail units；One end of the left tendon rope and the 1st left wire rope handling circle are affixed, and left tendon rope is successively
Across the 2nd left wire rope handling circle of (n+1)th, left wire rope handling circle ..., rear left tendon rope be wrapped on left rope drum, the other end of left tendon rope
It is affixed with left rope drum；The right tendon rope component includes right tendon rope, n+1 right wire rope handling circles, right spindle, right rope drum, right drivings
Device, right transmission mechanism；The right driver and the mainframe of tail units are affixed；The output end of the right driver and right transmission
The input terminal of mechanism is connected, and the output end of the right transmission mechanism is connected with right spindle, and the right spindle is set in tail units
Mainframe on, the right rope drum is fixed on right spindle；J-th of right wire rope handling circle is fixed in the host of j-th of telescopic unit
The right side of frame, (n+1)th right wire rope handling circle are fixed in the right side of the mainframe of tail units；One end of the right tendon rope with the 1st
Right wire rope handling circle is affixed, and right tendon rope sequentially passes through the 2nd right wire rope handling circle of (n+1)th, right wire rope handling circle ..., and right tendon rope is wrapped in the right side later
On rope drum, the other end and right rope drum of right tendon rope are affixed；The left tendon rope component and right tendon rope component are symmetrically distributed in this
Rope control turns to the left and right sides of imitative worm creeping robot device；The telescopic unit and tail units are in arranged in series；Wherein,
N is the natural number greater than 2, i 1,2 ... n-1, j 1,2 ... n.
Rope control of the present invention turns to imitative worm creeping robot device, it is characterised in that: the absorbing unit uses
Negative pressure sucker mode；The absorbing unit includes sucker, gas source and conduit；The sucker is defeated with corresponding second transmission mechanism
Outlet is connected；Under the action of the second driver, the sucker and the rope control turn to the work for imitating worm creeping robot device
Flat face touching or separation；The gas source is connected by conduit with sucker, and the gas source is the negative pressure gas source being controllably opened and closed.
Rope control of the present invention turns to imitative worm creeping robot device, it is characterised in that: first driver is adopted
With cylinder, cylinder includes cylinder body and piston, and the cylinder body and corresponding mainframe are affixed, and the piston is solid with corresponding slave frame
It connects.
Rope control of the present invention turns to imitative worm creeping robot device, it is characterised in that: second driver is adopted
With cylinder, cylinder includes cylinder body and piston, and the cylinder body and corresponding mainframe are affixed, and the piston is driven with corresponding second
The input terminal of mechanism is connected.
Rope control of the present invention turns to imitative worm creeping robot device, it is characterised in that: first driver is adopted
Use motor.
Rope control of the present invention turns to imitative worm creeping robot device, it is characterised in that: second driver is adopted
Use motor.
Rope control of the present invention turns to imitative worm creeping robot device, it is characterised in that: the foot component is also wrapped
Sliding rail and slide unit are included, the slide unit sliding is inlayed on the slide rail, and the sliding rail is fixed on corresponding mainframe, and the slide unit exists
Glide direction on sliding rail is vertical with the imitative working face of worm creeping robot device of rope control steering；Second driver
Structure includes first connecting rod, second connecting rod, first axle and the second axis；The first connecting rod is fixed in the output shaft of the second driver
On, first connecting rod and second connecting rod are hinged by first axle, and the second connecting rod is hinged by the second axis and slide unit, first axle and
The centerline parallel of second axis, the centerline parallel of the first axle turn to the work of imitative worm creeping robot device in the rope control
Make plane；Output shaft, first connecting rod, first axle, second connecting rod, the second axis, slide unit and the sliding rail composition of second driver
Slider-crank mechanism；The slide unit is connected with absorbing unit.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
The device can be turned to using comprehensive realize such as telescopic unit, tail units, joint shaft, spring part, tendon rope component
Imitative earthworm worm crawling exercises.It in the device, is adsorbed using active and realizes that mainframe is reliably connected with work wall surface, using stretching
Contracting component reaches the stretching motion between unit；Left and right turn is realized using driver, tendon rope and spring, and divertical motion is to owe to drive
Dynamic, control is easy.The movement of the two-dimensional curve on working face may be implemented in the device；Movement one is only needed due to acting every time
Unit, big with working face contact area, climbing is reliable and stable, and load capacity is strong, and scalability is good, is suitable for wall surface moving machine
Device people.
Detailed description of the invention
Fig. 1 is vertical when a kind of embodiment for the imitative worm creeping robot device of rope control steering that the present invention designs is turned right
Body outside drawing.
Fig. 2 is stereo appearance figure when embodiment illustrated in fig. 1 is turned left.
Stereo appearance figure when Fig. 3 is embodiment illustrated in fig. 1 linear motion.
Fig. 4 is the vertical view outside drawing (top view of Fig. 3) of Fig. 3.
Fig. 5 is the side external view (right view of Fig. 3) of Fig. 3.
Fig. 6 is the outside drawing from cephalic inspection of Fig. 3.
Fig. 7 to Fig. 8 is the absorbing unit motion process schematic diagram (the A-A partial sectional view of Fig. 4) of embodiment illustrated in fig. 1.
Fig. 9 is the schematic diagram (the A-A partial sectional view of Fig. 4) near the joint shaft of embodiment illustrated in fig. 1.
Figure 10 to Figure 13 is embodiment illustrated in fig. 1 right-hand bend process schematic.
In Fig. 1 into Figure 13:
1- telescopic unit, 2- tail units, 3- joint shaft, the left spring of 4- first,
The right spring of 5- first, the left spring of 6- second, the right spring of 7- second, 8- mainframe,
9- slave frame, 10- cylinder, the second driver of 11-, 12- first connecting rod,
13- second connecting rod, 14- first axle, the second axis of 15-, 16- sliding rail,
17- slide unit, 18- sucker, 19- left button rope, 20- right button rope,
21- left rotary shaft, 22- right spindle, the left driver of 23-, the right driver of 24-,
The left rope drum of 25-, the right rope drum of 26-, the left wire rope handling circle of 27-, the right wire rope handling circle of 28-,
29- Left Drive mechanism, the right transmission mechanism of 29-, 30- working face.
Specific embodiment
The content of specific structure of the invention, working principle is described in further detail with reference to the accompanying drawings and embodiments.
Rope control that the present invention designs turns to imitative worm creeping robot device, it is characterised in that: including n telescopic unit,
Tail units, n joint shaft, the first spring part, the second spring part, left tendon rope component and right tendon rope component；The telescopic unit includes
Mainframe, slave frame, the first driver, the first transmission mechanism and foot component；The pair housing slide is embedded on mainframe；
First driver and mainframe are affixed, and the output end of first driver is connected with the input terminal of the first transmission mechanism,
The output end of first transmission mechanism is connected with slave frame；Slave frame is turned to relative to the glide direction of mainframe and the rope control
The working face of imitative worm creeping robot device is parallel；The tail units include foot component and mainframe；The foot
Component includes the second driver, the second transmission mechanism and absorbing unit；Second driver and corresponding mainframe are affixed, the
The output end of two drivers is connected with the input terminal of the second transmission mechanism, output end and the absorbing unit phase of the second transmission mechanism
Even；Under the action of the second driver, the acting surface of the absorbing unit and the rope control turn to imitative worm creeping robot device
Working face be in contact or separate；The absorbing unit is the group of negative pressure sucker mode, electromagnet mode or both modes
It closes；The center line of the joint shaft is parallel to each other, and the center line of the joint shaft is each perpendicular to the imitative worm of rope control steering and creeps
The working face of robot device, i-th of joint shaft are set in the slave frame in i-th of telescopic unit, and the i+1 is stretched
Mainframe in contracting unit is socketed on i-th of joint shaft；N-th of joint shaft is set in the slave frame in n-th of telescopic unit
In, the mainframe of the tail units is socketed on n-th of joint shaft；The both ends of the first spring part are separately connected the 1st and stretch
Contracting unit, the 2nd telescopic unit, the both ends of the second spring part are separately connected n-th of telescopic unit, tail units；The left side
Tendon rope component includes left tendon rope, n+1 left wire rope handling circles, left rotary shaft, left rope drum, left driver, Left Drive mechanisms；The left drive
Dynamic device and the mainframe of tail units are affixed；The output end of the left driver is connected with the input terminal of Left Drive mechanism, described
The output end of Left Drive mechanism is connected with left rotary shaft, and the left rotary shaft is set on the mainframe of tail units, the left wiring
Cylinder is fixed in left rotary shaft；J-th of left wire rope handling circle is fixed in the left side of the mainframe of j-th of telescopic unit, (n+1)th left wire rope handling
Circle is fixed in the left side of the mainframe of tail units；One end of the left tendon rope and the 1st left wire rope handling circle are affixed, and left tendon rope is successively
Across the 2nd left wire rope handling circle of (n+1)th, left wire rope handling circle ..., rear left tendon rope be wrapped on left rope drum, the other end of left tendon rope
It is affixed with left rope drum；The right tendon rope component includes right tendon rope, n+1 right wire rope handling circles, right spindle, right rope drum, right drivings
Device, right transmission mechanism；The right driver and the mainframe of tail units are affixed；The output end of the right driver and right transmission
The input terminal of mechanism is connected, and the output end of the right transmission mechanism is connected with right spindle, and the right spindle is set in tail units
Mainframe on, the right rope drum is fixed on right spindle；J-th of right wire rope handling circle is fixed in the host of j-th of telescopic unit
The right side of frame, (n+1)th right wire rope handling circle are fixed in the right side of the mainframe of tail units；One end of the right tendon rope with the 1st
Right wire rope handling circle is affixed, and right tendon rope sequentially passes through the 2nd right wire rope handling circle of (n+1)th, right wire rope handling circle ..., and right tendon rope is wrapped in the right side later
On rope drum, the other end and right rope drum of right tendon rope are affixed；The left tendon rope component and right tendon rope component are symmetrically distributed in this
Rope control turns to the left and right sides of imitative worm creeping robot device；The telescopic unit and tail units are in arranged in series；Wherein,
N is the natural number greater than 2, i 1,2 ... n-1, j 1,2 ... n.
N=3 is taken, the present embodiment is obtained.
The rope control that the present invention designs turns to a kind of embodiment of imitative worm creeping robot device, including 3 telescopic units
1, (including second is left for 2,3 joint shafts 3 of tail units, the first spring part (including the first left spring 4 and first right spring 5), the second spring part
Spring 6 and the second right spring 7), left tendon rope component and right tendon rope component；The telescopic unit includes mainframe 8, the drive of slave frame 9, first
Dynamic device, the first transmission mechanism and foot component；The sliding of slave frame 9 is embedded on mainframe 8；First driver and master
Rack 8 is affixed, and the output end of first driver 8 is connected with the input terminal of the first transmission mechanism, first transmission mechanism
Output end be connected with slave frame 9；Slave frame 9 turns to imitative worm creeper relative to the glide direction of mainframe 8 and the rope control
The working face 30 of device people's device is parallel；The tail units 2 include foot component and mainframe 8；The foot component includes
Second driver 11, the second transmission mechanism and absorbing unit；Second driver 11 and corresponding mainframe 8 are affixed, and second
The output end of driver 11 is connected with the input terminal of the second transmission mechanism, output end and the absorbing unit phase of the second transmission mechanism
Even；Under the action of the second driver, the acting surface of the absorbing unit and the rope control turn to imitative worm creeping robot device
Working face 30 be in contact or separate；The absorbing unit is negative pressure sucker mode, electromagnet mode or both modes
Combination；The center line of the joint shaft 3 is parallel to each other, and the center line of the joint shaft 3 is each perpendicular to the rope control and turns to imitative worm
The working face 30 of creeping robot device, i-th of joint shaft 3 is set in the slave frame 9 in i-th of telescopic unit 1, described
Mainframe 8 in i+1 telescopic unit 1 is socketed on i-th of joint shaft 3；3rd joint shaft 3 is set in the 3rd flexible list
In slave frame 8 in member 1, the mainframe 8 of the tail units 2 is socketed on the 3rd joint shaft 3；The two of the first spring part
End is separately connected the 1st telescopic unit 1, the 2nd telescopic unit 1, and the both ends of the second spring part are separately connected the 3rd flexible list
First 1, tail units 2；The left tendon rope component includes 19,4 left wire rope handling circles 27 of left tendon rope, left rotary shaft 21, left rope drum 25, a left side
Driver 23, Left Drive mechanism；The left driver 23 and the mainframe 8 of tail units 2 are affixed；The left driver 23 it is defeated
Outlet is connected with the input terminal of Left Drive mechanism, and the output end of the Left Drive mechanism is connected with left rotary shaft 21, the left rotary shaft
21 are set on the mainframe 8 of tail units 2, and the left rope drum 25 is fixed in left rotary shaft 21；J-th of left wire rope handling circle 27 is solid
It connects in the left side of the mainframe 8 of j-th of telescopic unit 2, the 4th left wire rope handling circle 27 is fixed in a left side for the mainframe 8 of tail units 2
Side；One end of the left tendon rope 19 and the 1st left wire rope handling circle 27 are affixed, and left tendon rope 19 sequentially passes through the 2nd left wire rope handling circle 27 ...
4th left wire rope handling circle 27, rear left tendon rope 19 be wrapped on left rope drum 25, the other end of left tendon rope 19 and left rope drum 25 are solid
It connects；The right tendon rope component includes 20,4 right wire rope handling circles 28 of right tendon rope, right spindle 22, right rope drum 26, right driver 24, the right side
Transmission mechanism；The right driver 24 and the mainframe of tail units 2 are affixed；The output end of the right driver 24 and right transmission
The input terminal of mechanism is connected, and the output end of the right transmission mechanism is connected with right spindle 22, and the right spindle 22 is set in tail portion
On the mainframe 8 of unit 2, the right rope drum 26 is fixed on right spindle 22；J-th of right wire rope handling circle 28 is fixed in j-th and stretches
The right side of the mainframe 8 of contracting unit 1, the 4th right wire rope handling circle 28 are fixed in the right side of the mainframe 8 of tail units 2；The right tendon
One end of rope 20 and the 1st right wire rope handling circle 28 are affixed, and right tendon rope 20 sequentially passes through the 4th right wire rope handling of the 2nd right wire rope handling circle 28 ...
Circle 28, right tendon rope 20 is wrapped on right rope drum 26 later, and the other end of right tendon rope and right rope drum 26 are affixed；The left tendon rope
Component and right tendon rope component are symmetrically distributed in the left and right sides that the rope control turns to imitative worm creeping robot device；The flexible list
Member 1 is in arranged in series with tail units 2；Wherein, i 1,2, j 1,2,3.
In the present embodiment, the absorbing unit uses negative pressure sucker mode；The absorbing unit include sucker 18, gas source and
Conduit；The sucker 18 is connected with the output end of corresponding second transmission mechanism；Under the action of the second driver 11, the suction
Disk 18 is in contact or separates with the working face 30 that the rope control turns to imitative worm creeping robot device；The gas source passes through conduit
It is connected with sucker 18, the gas source is the negative pressure gas source being controllably opened and closed.
In the present embodiment, first driver uses cylinder 10, and cylinder 10 includes cylinder body and piston, the cylinder body and phase
The mainframe 8 answered is affixed, and the piston and corresponding slave frame 9 are affixed.In another embodiment of the invention, described first is driven
Dynamic device uses motor.
In the present embodiment, second driver 11 uses motor.In another embodiment of the invention, described second is driven
Dynamic device 11 uses cylinder, and cylinder includes cylinder body and piston, and the cylinder body and corresponding mainframe 8 are affixed, the piston with accordingly
The second transmission mechanism input terminal be connected.
In the present embodiment, the foot component further includes sliding rail 16 and slide unit 17, and the slide unit sliding 17 is dynamic to be embedded in sliding rail
On 16, the sliding rail 16 is fixed on corresponding mainframe 8, and 16 glide direction and the rope control turn the slide unit 17 on the slide rail
Working face 30 to imitative worm creeping robot device is vertical；Second transmission mechanism includes that first connecting rod 12, second connects
Bar 13, first axle 14 and the second axis 15；The first connecting rod 12 is fixed on the output shaft of the second driver 11, first connecting rod 12
Hinged by first axle 14 with second connecting rod 12, the second connecting rod 12 is hinged by the second axis 15 and slide unit 17, first axle 14
Imitative worm climbing robot dress is turned in the rope control with the centerline parallel of the centerline parallel of the second axis 15, the first axle 14
The working face 30 set；Output shaft, first connecting rod 12, first axle 14, second connecting rod 13, the second axis of second driver 11
15, slide unit 17 and sliding rail 16 form slider-crank mechanism；The slide unit 17 is connected with absorbing unit.
In the present embodiment, air pressure is provided by external air pump in telescopic cylinder, in addition to above-mentioned labeled elements, also uses plastic cement
Conduit is several, and conducting wire is several and one piece of battery, belongs to known common technology or element above, does not repeat.
The working principle of the present embodiment is described below in conjunction with attached drawing 1 to Figure 10:
The shown each course movement for implementing a cycle movement is as shown in Figure 10 to Figure 13.
The concrete operating principle of the present embodiment, is described below:
A) in the telescopic unit 1 and tail units 2, gas source is disconnected, and the negative pressure in sucker 18 disappears, the second driver
11 output shafts rotate clockwise, by the output shaft of the second driver 11, first connecting rod 12, first axle 14, second connecting rod 13, second
The slider-crank mechanism that axis 15, slide unit 17 and sliding rail 16 form moves (such as Fig. 7), and slide unit 17 is moved along sliding rail 16, and direction is vertical
Upward in the working face 30 that the rope control turns to imitative worm creeping robot device, the disengaging of sucker 18 rope control steering is imitated compacted
The working face 30 of worm creeping robot device.Defining the movement is lift motion, and the state for completing lift motion is known as lifting
State.
B) in the telescopic unit 1 with tail units 2,11 output shaft of the second driver is rotated counterclockwise, and is driven by second
The song that output shaft, first connecting rod 12, first axle 14, second connecting rod 13, the second axis 15, slide unit 17 and the sliding rail 16 of dynamic device 11 form
Handle slide block mechanism moves (such as Fig. 8), and slide unit 17 is moved along sliding rail 16, and direction turns to imitative worm climbing robot perpendicular to the rope control
Downwards, the working face 30 that the sucker 18 turns to imitative worm creeping robot device with the rope control connects the working face 30 of device
Touching；Gas source is connected, the generation negative pressure in sucker 18, and sucker 18 is adsorbed on the work that the rope control turns to imitative worm creeping robot device
Make in plane 30；Defining the movement is to put down movement, and the state that movement is put down in completion is known as down state, lifting status with put down
State does not coexist.
C) in the telescopic unit 1, defining the movement that cylinder 10 extends is stretching motion, completes the state of stretching motion
For elongation state.
D) in the telescopic unit 1, defining the movement that cylinder 10 shortens is to shorten movement, completes the state for shortening movement
To shorten state, elongation state does not coexist with shortening state.
E) in the Zuo Jiansheng steering mechanism, the output shaft of left driver 23 is rotated clockwise, and drives left rope drum 25
It rotates clockwise, left tendon rope 19 is tightened, and length shortens, and defines the movement as left tightening movement.
F) in the Zuo Jiansheng steering mechanism, the output shaft of left driver 23 rotates counterclockwise, drives left rope drum 25
Rotation, left tendon rope 19 loosen counterclockwise, and length increases, and defining the movement is left relaxing exercise.
G) in the You Jiansheng steering mechanism, the output shaft of right driver 24 is rotated clockwise, and drives right rope drum 26
It rotates clockwise, right tendon rope 20 is tightened, and length shortens, and defines the movement as right tightening movement.
H) in the You Jiansheng steering mechanism, the output shaft of right driver 24 rotates counterclockwise, drives right rope drum 26
Rotation, right tendon rope 20 loosen counterclockwise, and length increases, and defining the movement is right relaxing exercise.
G) when the Zuo Jiansheng steering mechanism executes left relaxing exercise, while the right tightening of You Jiansheng steering mechanism execution
When movement, which turns to first flexible single 1 yuan of imitative worm creeping robot device centered on first joint shaft 3
It rotates clockwise, while tail units 2 occur to rotate counterclockwise centered on third joint shaft 3, the rope control at this time turns
To the bending of imitative worm creeping robot device in alphabetical " C " shape (such as Fig. 1).Defining the movement is right turn movements.
H) it is moved when the Zuo Jiansheng steering mechanism executes left tightening, while the You Jiansheng steering mechanism executes the right side and loosens
When movement, which turns to first flexible single 1 yuan of imitative worm creeping robot device centered on first joint shaft 3
Rotation counterclockwise occurs, while tail units 2 are rotated clockwise centered on third joint shaft 3, the rope control at this time turns
It is in inverted " C " shape (such as Fig. 2) to the bending of imitative worm creeping robot device.Defining the movement is counterclockwise motion.
I) in periodically, which is divided into 4 motion stages, specific motion process for the crawling exercises of illustrated embodiment
It is as follows:
Original state: as shown in Figure 1, first telescopic unit 1, second telescopic unit 1, third telescopic unit 1, tail
Portion's unit 2 is in down state；First telescopic unit, 1, second telescopic unit 1 is in shortening state, and third is flexible
Unit 1 is in elongation state；
Stage 1: first telescopic unit 1 and tail units 2 execute lift motion；Then execute counterclockwise motion or the right side
Transport dynamic (as shown in Figure 10).
Stage 2: first telescopic unit 1 executes stretching motion, and third telescopic unit 1, which executes, shortens movement；With
Movement (as shown in figure 11) is put down in first telescopic unit 1 and the execution of tail units 2 afterwards.
Stage 3: second telescopic unit 1 executes lift motion；Subsequent first telescopic unit 1, which executes, shortens fortune
Dynamic, second telescopic unit 1 executes stretching motion；Movement (as shown in figure 12) is put down in subsequent second telescopic unit 1 execution.
Stage 4: the third telescopic unit 1 executes lift motion；Subsequent second telescopic unit 1, which executes, shortens fortune
Dynamic, third telescopic unit 1 executes stretching motion；Subsequent third telescopic unit 1, which executes, puts down movement (as shown in figure 13).Extremely
This, which has travelled forward a distance, while a period of motion terminates, and returns to original state
Remaining period of motion similarly, repeats no more.
The device can be turned to using comprehensive realize such as telescopic unit, tail units, joint shaft, spring part, tendon rope component
Imitative earthworm worm crawling exercises.It in the device, is adsorbed using active and realizes that mainframe is reliably connected with work wall surface, using stretching
Contracting component reaches the stretching motion between unit；Left and right turn is realized using driver, tendon rope and spring, and divertical motion is to owe to drive
Dynamic, control is easy.The movement of the two-dimensional curve on working face may be implemented in the device；Movement one is only needed due to acting every time
Unit, big with working face contact area, climbing is reliable and stable, and load capacity is strong, and scalability is good, is suitable for wall surface moving machine
Device people.
Claims (7)
1. a kind of rope control turns to imitative worm creeping robot device, it is characterised in that: including n telescopic unit, tail units, n
A joint shaft, the first spring part, the second spring part, left tendon rope component and right tendon rope component；The telescopic unit includes mainframe, slave
Frame, the first driver, the first transmission mechanism and foot component；The pair housing slide is embedded on mainframe；Described first drives
Dynamic device and mainframe are affixed, and the output end of first driver is connected with the input terminal of the first transmission mechanism, and described first passes
The output end of motivation structure is connected with slave frame；Slave frame turns to imitative worm with the rope control relative to the glide direction of mainframe and creeps
The working face of robot device is parallel；The tail units include foot component and mainframe；The foot component includes the
Two drivers, the second transmission mechanism and absorbing unit；Second driver and corresponding mainframe are affixed, the second driver
Output end is connected with the input terminal of the second transmission mechanism, and the output end of the second transmission mechanism is connected with absorbing unit；It is driven second
Under the action of dynamic device, the acting surface of the absorbing unit turns to the working face phase of imitative worm creeping robot device with the rope control
Contact or separation；The absorbing unit is the combination of negative pressure sucker mode, electromagnet mode or both modes；The joint shaft
Center line be parallel to each other, the center line of the joint shaft is each perpendicular to the work that the rope control turns to imitative worm creeping robot device
Make plane, i-th of joint shaft is set in the slave frame in i-th of telescopic unit, the host in the i+1 telescopic unit
Frame is socketed on i-th of joint shaft；N-th of joint shaft is set in the slave frame in n-th of telescopic unit, the tail units
Mainframe be socketed on n-th of joint shaft；The both ends of the first spring part be separately connected the 1st telescopic unit, the 2nd it is flexible
The both ends of unit, the second spring part are separately connected n-th of telescopic unit, tail units；The left tendon rope component includes left tendon
Rope, n+1 left wire rope handling circle, left rotary shaft, left rope drum, left driver, Left Drive mechanism；The left driver and tail units
Mainframe is affixed；The output end of the left driver is connected with the input terminal of Left Drive mechanism, the output of the Left Drive mechanism
End is connected with left rotary shaft, and the left rotary shaft is set on the mainframe of tail units, and the left rope drum is fixed in left rotary shaft；
J-th of left wire rope handling circle is fixed in the left side of the mainframe of j-th of telescopic unit, and (n+1)th left wire rope handling circle is fixed in tail units
Mainframe left side；One end of the left tendon rope and the 1st left wire rope handling circle are affixed, and left tendon rope sequentially passes through the 2nd left wire rope handling
Circle ... (n+1)th left wire rope handling circle, rear left tendon rope be wrapped on left rope drum, the other end and left rope drum of left tendon rope are affixed；
The right tendon rope component includes right tendon rope, n+1 right wire rope handling circles, right spindle, right rope drum, right driver, right transmission mechanisms；Institute
The mainframe for stating right driver and tail units is affixed；The input terminal phase of the output end of the right driver and right transmission mechanism
Even, the output end of the right transmission mechanism is connected with right spindle, and the right spindle is set on the mainframe of tail units, described
Right rope drum is fixed on right spindle；J-th of right wire rope handling circle is fixed in the right side of the mainframe of j-th of telescopic unit, and (n+1)th
Right wire rope handling circle is fixed in the right side of the mainframe of tail units；One end of the right tendon rope and the 1st right wire rope handling circle are affixed, right tendon
Rope sequentially passes through the 2nd right wire rope handling circle of (n+1)th, right wire rope handling circle ..., and right tendon rope is wrapped on right rope drum later, right tendon rope
The other end and right rope drum are affixed；The left tendon rope component is symmetrically distributed in the imitative worm of rope control steering with right tendon rope component and creeps
The left and right sides of robot device；The telescopic unit and tail units are in arranged in series；Wherein, n is the natural number greater than 2, i
For 1,2 ... n-1, j 1,2 ... n.
2. rope control as described in claim 1 turns to imitative worm creeping robot device, it is characterised in that: the absorbing unit is adopted
With negative pressure sucker mode；The absorbing unit includes sucker, gas source and conduit；The sucker and corresponding second transmission mechanism
Output end is connected；Under the action of the second driver, the sucker and the rope control turn to the work for imitating worm creeping robot device
Make flat face touching or separation；The gas source is connected by conduit with sucker, and the gas source is the negative pressure gas source being controllably opened and closed.
3. rope control as described in claim 1 turns to imitative worm creeping robot device, it is characterised in that: first driver
Using cylinder, cylinder includes cylinder body and piston, and the cylinder body and corresponding mainframe are affixed, the piston and corresponding slave frame
It is affixed.
4. rope control as described in claim 1 turns to imitative worm creeping robot device, it is characterised in that: second driver
Using cylinder, cylinder includes cylinder body and piston, and the cylinder body and corresponding mainframe are affixed, and the piston is passed with corresponding second
The input terminal of motivation structure is connected.
5. rope control as described in claim 1 turns to imitative worm creeping robot device, it is characterised in that: first driver
Using motor.
6. rope control as described in claim 1 turns to imitative worm creeping robot device, it is characterised in that: second driver
Using motor.
7. rope control as described in claim 1 turns to imitative worm creeping robot device, it is characterised in that: the foot component is also
Including sliding rail and slide unit, the slide unit sliding is inlayed on the slide rail, and the sliding rail is fixed on corresponding mainframe, the slide unit
Glide direction on the slide rail is vertical with the imitative working face of worm creeping robot device of rope control steering；Second transmission
Mechanism includes first connecting rod, second connecting rod, first axle and the second axis；The first connecting rod is fixed in the output shaft of the second driver
On, first connecting rod and second connecting rod are hinged by first axle, and the second connecting rod is hinged by the second axis and slide unit, first axle and
The centerline parallel of second axis, the centerline parallel of the first axle turn to the work of imitative worm creeping robot device in the rope control
Make plane；Output shaft, first connecting rod, first axle, second connecting rod, the second axis, slide unit and the sliding rail composition of second driver
Slider-crank mechanism；The slide unit is connected with absorbing unit.
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| CN201910589682.7A CN110450134B (en) | 2019-07-02 | 2019-07-02 | Rope-controlled steering worm-imitating crawling robot device |
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| CN201910589682.7A CN110450134B (en) | 2019-07-02 | 2019-07-02 | Rope-controlled steering worm-imitating crawling robot device |
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| CN111890341A (en) * | 2020-08-22 | 2020-11-06 | 浙江工业大学 | Snakelike crawling robot |
| CN113002739A (en) * | 2021-03-28 | 2021-06-22 | 西北工业大学 | Bionic peristaltic crawling underwater vehicle and motion control method |
| CN114367965A (en) * | 2022-02-28 | 2022-04-19 | 复旦大学 | Earthworm-imitating plane mobile robot |
| CN114454189A (en) * | 2022-02-11 | 2022-05-10 | 成都锦城学院 | Bionic inchworm robot for structural member flaw detection |
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