CN110450134B - Rope-controlled steering worm-imitating crawling robot device - Google Patents
Rope-controlled steering worm-imitating crawling robot device Download PDFInfo
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- CN110450134B CN110450134B CN201910589682.7A CN201910589682A CN110450134B CN 110450134 B CN110450134 B CN 110450134B CN 201910589682 A CN201910589682 A CN 201910589682A CN 110450134 B CN110450134 B CN 110450134B
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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
A rope control steering worm-imitating crawling robot device belongs to the field of mobile robots and comprises n telescopic units, a tail unit, n joint shafts, a first spring piece, a second spring piece, a left tendon rope assembly and a right tendon rope assembly; the telescopic unit comprises a main frame, an auxiliary frame, a first driver, a first transmission mechanism and a foot component, the tail unit comprises the foot component and the main frame, and the foot component comprises a second driver, a second transmission mechanism and an adsorption unit. The device realizes crawling movement of imitating worm worms. The main frame is reliably connected with the working wall surface by active adsorption, and the telescopic motion between the units is realized by the telescopic assembly; the under-actuated left-right steering can be realized, the control is easy, the two-dimensional curve motion can be flexibly and controllably performed on a working plane, the climbing is stable and reliable, the load capacity is strong, the expandability is good, and the device is suitable for wall mobile robots.
Description
Technical Field
The invention belongs to the field of mobile robots, and particularly relates to a structural design of a rope-controlled steering worm-imitating crawling robot device.
Background
In recent years, the principle of bionic motion is gradually applied to the design of various mobile robots. Among the various biological movement modes in nature, worm movement is a flexible and efficient mode. There is a worm movement represented by earthworms, in which the middle section of the body can be elongated or shortened in the axial direction, and at this time, either one of the front and rear ends of the local body is fixed to the ground by bristles, and the other end is separated from the ground and moves forward. Therefore, by means of the movement mode, the earthworms can flexibly move in the complex space environment of the soil by means of simple body structures.
Besides the advantages of simple structure, low control difficulty and the like, the earthworm does not need to bend or arch the body in the crawling process, the variation of the cross-sectional area of the earthworm perpendicular to the moving direction is small, and the moving mode of the earthworm also has the advantage of small space occupation. Therefore, the bionic motion principle is widely applied to the field of crawling robots.
The prior modularized reconfigurable worm type wall-climbing robot (patent CN101537619B) is formed by connecting a plurality of adsorption joints with the same structure. Two adjacent adsorption joints of the robot are in orthogonal connection, and in the forward direction, the suction cups are in contact with or separate from the working plane through the coordinated action of the adsorption joints, so that forward movement and steering are realized. The disadvantages are that: the robot has a complex structure, a plurality of active joints driven by the motor, great control difficulty during movement, great dead weight and weak load capacity.
The prior sliding rail guide sucker telescopic worm-imitating wall-climbing robot device (patent CN109176468A) comprises a plurality of adsorption units, a plurality of telescopic connecting rod assemblies, a guide shaft, a sliding block, an electric air pump, an electromagnetic valve, a controller and the like. The device can be adsorbed on the vertical wall surface, and the forward and backward wall climbing movement of the worm imitation is realized. The disadvantages are that: the device can only realize linear crawling, cannot turn left and right, is difficult to complete two-dimensional curvilinear motion on the wall surface, and has no obstacle avoidance capability.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rope-controlled steering worm-imitating crawling robot device. The device has the multisection, can realize imitative worm and crawl, can also realize steering to left or right simultaneously, and it is reliable and stable to crawl, and load capacity is strong, and control is easy.
The technical scheme of the invention is as follows:
the invention relates to a rope-controlled steering worm-imitating crawling robot device, which is characterized in that: the device comprises n telescopic units, a tail unit, n joint shafts, a first spring piece, a second spring piece, a left tendon rope assembly and a right tendon rope assembly; the telescopic unit comprises a main frame, an auxiliary frame, a first driver, a first transmission mechanism and a foot component; the auxiliary machine frame is embedded on the main machine frame in a sliding manner; the first driver is fixedly connected with the main frame, the output end of the first driver is connected with the input end of a first transmission mechanism, and the output end of the first transmission mechanism is connected with the auxiliary frame; the sliding direction of the auxiliary frame relative to the main frame is parallel to the working plane of the rope-controlled steering worm-imitating crawling robot device; the tail unit comprises a foot component and a main frame; the foot component comprises a second driver, a second transmission mechanism and an adsorption unit; the second driver is fixedly connected with the corresponding main frame, the output end of the second driver is connected with the input end of the second transmission mechanism, and the output end of the second transmission mechanism is connected with the adsorption unit; under the action of a second driver, the action surface of the adsorption unit is contacted with or separated from the working plane of the rope-controlled steering worm-imitating crawling robot device; the adsorption unit is in a negative pressure sucker mode, an electromagnet mode or a combination of the two modes; the central lines of the joint shafts are parallel to each other, the central lines of the joint shafts are perpendicular to the working plane of the rope-controlled steering worm-imitating crawling robot device, the ith joint shaft is sleeved in an auxiliary rack in the ith telescopic unit, and a main rack in the (i + 1) th telescopic unit is sleeved on the ith joint shaft; the nth joint shaft is sleeved in the auxiliary rack in the nth telescopic unit, and the main rack of the tail unit is sleeved on the nth joint shaft; the two ends of the first spring piece are respectively connected with the 1 st telescopic unit and the 2 nd telescopic unit, and the two ends of the second spring piece are respectively connected with the nth telescopic unit and the tail unit; the left tendon rope assembly comprises a left tendon rope, n +1 left rope penetrating rings, a left rotating shaft, a left rope winding drum, a left driver and a left transmission mechanism; the left driver is fixedly connected with the main frame of the tail unit; the output end of the left driver is connected with the input end of a left transmission mechanism, the output end of the left transmission mechanism is connected with a left rotating shaft, the left rotating shaft is sleeved on a main rack of the tail unit, and the left rope winding drum is fixedly sleeved on the left rotating shaft; the jth left stringing ring is fixedly connected to the left side of the main frame of the jth telescopic unit, and the (n + 1) th left stringing ring is fixedly connected to the left side of the main frame of the tail unit; one end of the left tendon rope is fixedly connected with the 1 st left rope penetrating ring, the left tendon rope sequentially penetrates through the 2 nd left rope penetrating ring … th +1 th left rope penetrating ring, then the left tendon rope is wound on the left rope winding barrel, and the other end of the left tendon rope is fixedly connected with the left rope winding barrel; the right tendon rope assembly comprises a right tendon rope, n +1 right rope penetrating rings, a right rotating shaft, a right rope winding drum, a right driver and a right transmission mechanism; the right driver is fixedly connected with the main frame of the tail unit; the output end of the right driver is connected with the input end of a right transmission mechanism, the output end of the right transmission mechanism is connected with a right rotating shaft, the right rotating shaft is sleeved on a main rack of the tail unit, and the right rope winding drum is fixedly sleeved on the right rotating shaft; the jth right stringing ring is fixedly connected to the right side of the main frame of the jth telescopic unit, and the (n + 1) th right stringing ring is fixedly connected to the right side of the main frame of the tail unit; one end of the right tendon rope is fixedly connected with the 1 st right rope penetrating ring, the right tendon rope sequentially penetrates through the 2 nd right rope penetrating ring …, the n +1 th right rope penetrating ring, the right tendon rope is wound on the right rope winding barrel, and the other end of the right tendon rope is fixedly connected with the right rope winding barrel; the left tendon rope assembly and the right tendon rope assembly are symmetrically distributed on the left side and the right side of the rope-controlled steering worm-imitating crawling robot device; the telescopic unit and the tail unit are arranged in series; wherein n is a natural number greater than 2, i is 1, 2 … n-1, and j is 1, 2 … n.
The invention relates to a rope-controlled steering worm-imitating crawling robot device, which is characterized in that: the adsorption unit adopts a negative pressure sucker mode; the adsorption unit comprises a sucker, an air source and a conduit; the sucking discs are connected with the output ends of the corresponding second transmission mechanisms; under the action of a second driver, the sucker is contacted with or separated from a working plane of the rope-controlled steering worm-imitating crawling robot device; the air source is communicated with the sucker through a conduit and is a negative pressure air source which can be controlled to open and close.
The invention relates to a rope-controlled steering worm-imitating crawling robot device, which is characterized in that: the first driver adopts a cylinder, the cylinder comprises a cylinder body and a piston, the cylinder body is fixedly connected with the corresponding main frame, and the piston is fixedly connected with the corresponding auxiliary frame.
The invention relates to a rope-controlled steering worm-imitating crawling robot device, which is characterized in that: the second driver adopts a cylinder, the cylinder comprises a cylinder body and a piston, the cylinder body is fixedly connected with the corresponding main frame, and the piston is connected with the input end of the corresponding second transmission mechanism.
The invention relates to a rope-controlled steering worm-imitating crawling robot device, which is characterized in that: the first driver adopts a motor.
The invention relates to a rope-controlled steering worm-imitating crawling robot device, which is characterized in that: the second driver adopts a motor.
The invention relates to a rope-controlled steering worm-imitating crawling robot device, which is characterized in that: the foot component further comprises a sliding rail and a sliding table, the sliding table is embedded on the sliding rail in a sliding mode, the sliding rail is fixedly connected to the corresponding main frame, and the sliding direction of the sliding table on the sliding rail is perpendicular to the working plane of the rope-controlled steering worm-imitating crawling robot device; the second transmission mechanism comprises a first connecting rod, a second connecting rod, a first shaft and a second shaft; the first connecting rod is fixedly sleeved on an output shaft of the second driver, the first connecting rod is hinged with the second connecting rod through a first shaft, the second connecting rod is hinged with the sliding table through a second shaft, the center lines of the first shaft and the second shaft are parallel, and the center line of the first shaft is parallel to the working plane of the rope-controlled steering worm-imitating crawling robot device; the output shaft of the second driver, the first connecting rod, the first shaft, the second connecting rod, the second shaft, the sliding table and the sliding rail form a slider-crank mechanism; the sliding table is connected with the adsorption unit.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the steerable earthworm worm crawling motion by adopting a telescopic unit, a tail unit, a joint shaft, a spring piece, a tendon rope assembly and the like. In the device, the main frame is reliably connected with the working wall surface by active adsorption, and the telescopic motion between units is realized by the telescopic assembly; the left and right steering is realized by using the driver, the tendon rope and the spring, the steering motion is under-actuated, and the control is easy. The device can realize two-dimensional curvilinear motion on a working plane; because only one unit needs to be moved in each action, the climbing robot has the advantages of large contact area with a working plane, stability and reliability in climbing, strong load capacity and good expandability, and is suitable for wall-surface mobile robots.
Drawings
Fig. 1 is a perspective appearance view of a rope-controlled steering worm-imitating crawling robot device designed by the invention when turning right.
Fig. 2 is a perspective view of the embodiment shown in fig. 1 when turning left.
Fig. 3 is a perspective view of the embodiment of fig. 1 in a straight line motion.
Fig. 4 is a top external view of fig. 3 (a top view of fig. 3).
Fig. 5 is a side external view of fig. 3 (right side view of fig. 3).
Fig. 6 is an external view of fig. 3 as viewed from the head.
Fig. 7 to 8 are schematic views illustrating a movement process of the adsorption unit of the embodiment shown in fig. 1 (a-a partial sectional view of fig. 4).
Fig. 9 is a schematic view (a-a partial sectional view of fig. 4) of the vicinity of the joint axis of the embodiment shown in fig. 1.
Fig. 10 to 13 are schematic diagrams of a right turning process in the embodiment shown in fig. 1.
In fig. 1 to 13:
1-a telescopic unit, 2-a tail unit, 3-a joint shaft, 4-a first left spring,
5-a first right spring, 6-a second left spring, 7-a second right spring, 8-a main frame,
9-auxiliary frame, 10-cylinder, 11-second driver, 12-first connecting rod,
13-second connecting rod, 14-first shaft, 15-second shaft, 16-sliding rail,
17-sliding table, 18-sucker, 19-left key rope, 20-right key rope,
21-left spindle, 22-right spindle, 23-left driver, 24-right driver,
25-left rope winding drum, 26-right rope winding drum, 27-left rope threading ring, 28-right rope threading ring,
29-left transmission mechanism, 29-right transmission mechanism and 30-working plane.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
The invention relates to a rope-controlled steering worm-imitating crawling robot device, which is characterized in that: the device comprises n telescopic units, a tail unit, n joint shafts, a first spring piece, a second spring piece, a left tendon rope assembly and a right tendon rope assembly; the telescopic unit comprises a main frame, an auxiliary frame, a first driver, a first transmission mechanism and a foot component; the auxiliary machine frame is embedded on the main machine frame in a sliding manner; the first driver is fixedly connected with the main frame, the output end of the first driver is connected with the input end of a first transmission mechanism, and the output end of the first transmission mechanism is connected with the auxiliary frame; the sliding direction of the auxiliary frame relative to the main frame is parallel to the working plane of the rope-controlled steering worm-imitating crawling robot device; the tail unit comprises a foot component and a main frame; the foot component comprises a second driver, a second transmission mechanism and an adsorption unit; the second driver is fixedly connected with the corresponding main frame, the output end of the second driver is connected with the input end of the second transmission mechanism, and the output end of the second transmission mechanism is connected with the adsorption unit; under the action of a second driver, the action surface of the adsorption unit is contacted with or separated from the working plane of the rope-controlled steering worm-imitating crawling robot device; the adsorption unit is in a negative pressure sucker mode, an electromagnet mode or a combination of the two modes; the central lines of the joint shafts are parallel to each other, the central lines of the joint shafts are perpendicular to the working plane of the rope-controlled steering worm-imitating crawling robot device, the ith joint shaft is sleeved in an auxiliary rack in the ith telescopic unit, and a main rack in the (i + 1) th telescopic unit is sleeved on the ith joint shaft; the nth joint shaft is sleeved in the auxiliary rack in the nth telescopic unit, and the main rack of the tail unit is sleeved on the nth joint shaft; the two ends of the first spring piece are respectively connected with the 1 st telescopic unit and the 2 nd telescopic unit, and the two ends of the second spring piece are respectively connected with the nth telescopic unit and the tail unit; the left tendon rope assembly comprises a left tendon rope, n +1 left rope penetrating rings, a left rotating shaft, a left rope winding drum, a left driver and a left transmission mechanism; the left driver is fixedly connected with the main frame of the tail unit; the output end of the left driver is connected with the input end of a left transmission mechanism, the output end of the left transmission mechanism is connected with a left rotating shaft, the left rotating shaft is sleeved on a main rack of the tail unit, and the left rope winding drum is fixedly sleeved on the left rotating shaft; the jth left stringing ring is fixedly connected to the left side of the main frame of the jth telescopic unit, and the (n + 1) th left stringing ring is fixedly connected to the left side of the main frame of the tail unit; one end of the left tendon rope is fixedly connected with the 1 st left rope penetrating ring, the left tendon rope sequentially penetrates through the 2 nd left rope penetrating ring … th +1 th left rope penetrating ring, then the left tendon rope is wound on the left rope winding barrel, and the other end of the left tendon rope is fixedly connected with the left rope winding barrel; the right tendon rope assembly comprises a right tendon rope, n +1 right rope penetrating rings, a right rotating shaft, a right rope winding drum, a right driver and a right transmission mechanism; the right driver is fixedly connected with the main frame of the tail unit; the output end of the right driver is connected with the input end of a right transmission mechanism, the output end of the right transmission mechanism is connected with a right rotating shaft, the right rotating shaft is sleeved on a main rack of the tail unit, and the right rope winding drum is fixedly sleeved on the right rotating shaft; the jth right stringing ring is fixedly connected to the right side of the main frame of the jth telescopic unit, and the (n + 1) th right stringing ring is fixedly connected to the right side of the main frame of the tail unit; one end of the right tendon rope is fixedly connected with the 1 st right rope penetrating ring, the right tendon rope sequentially penetrates through the 2 nd right rope penetrating ring …, the n +1 th right rope penetrating ring, the right tendon rope is wound on the right rope winding barrel, and the other end of the right tendon rope is fixedly connected with the right rope winding barrel; the left tendon rope assembly and the right tendon rope assembly are symmetrically distributed on the left side and the right side of the rope-controlled steering worm-imitating crawling robot device; the telescopic unit and the tail unit are arranged in series; wherein n is a natural number greater than 2, i is 1, 2 … n-1, and j is 1, 2 … n.
This example was obtained by taking n as 3.
The invention relates to an embodiment of a rope-controlled steering worm-imitating crawling robot device, which comprises 3 telescopic units 1, a tail unit 2, 3 joint shafts 3, a first spring (comprising a first left spring 4 and a first right spring 5), a second spring (comprising a second left spring 6 and a second right spring 7), a left tendon rope assembly and a right tendon rope assembly; the telescopic unit comprises a main frame 8, an auxiliary frame 9, a first driver, a first transmission mechanism and a foot component; the auxiliary frame 9 is embedded on the main frame 8 in a sliding manner; the first driver is fixedly connected with the main frame 8, the output end of the first driver 8 is connected with the input end of a first transmission mechanism, and the output end of the first transmission mechanism is connected with the auxiliary frame 9; the sliding direction of the auxiliary frame 9 relative to the main frame 8 is parallel to the working plane 30 of the rope-controlled steering worm-imitating crawling robot device; the tail unit 2 comprises a foot assembly and a main frame 8; the foot component comprises a second driver 11, a second transmission mechanism and an adsorption unit; the second driver 11 is fixedly connected with the corresponding main frame 8, the output end of the second driver 11 is connected with the input end of a second transmission mechanism, and the output end of the second transmission mechanism is connected with the adsorption unit; under the action of the second driver, the action surface of the adsorption unit is contacted with or separated from the working plane 30 of the rope-controlled steering worm-imitating crawling robot device; the adsorption unit is in a negative pressure sucker mode, an electromagnet mode or a combination of the two modes; the central lines of the joint shafts 3 are parallel to each other, the central lines of the joint shafts 3 are perpendicular to a working plane 30 of the rope-controlled steering worm-imitating crawling robot device, the ith joint shaft 3 is sleeved in an auxiliary frame 9 in the ith telescopic unit 1, and a main frame 8 in the (i + 1) th telescopic unit 1 is sleeved on the ith joint shaft 3; the 3 rd joint shaft 3 is sleeved in an auxiliary frame 8 in the 3 rd telescopic unit 1, and the main frame 8 of the tail unit 2 is sleeved on the 3 rd joint shaft 3; the two ends of the first spring piece are respectively connected with a 1 st telescopic unit 1 and a 2 nd telescopic unit 1, and the two ends of the second spring piece are respectively connected with a 3 rd telescopic unit 1 and a tail unit 2; the left tendon rope assembly comprises a left tendon rope 19, 4 left rope penetrating rings 27, a left rotating shaft 21, a left rope winding drum 25, a left driver 23 and a left transmission mechanism; the left driver 23 is fixedly connected with the main frame 8 of the tail unit 2; the output end of the left driver 23 is connected with the input end of the left transmission mechanism, the output end of the left transmission mechanism is connected with the left rotating shaft 21, the left rotating shaft 21 is sleeved on the main frame 8 of the tail unit 2, and the left rope winding drum 25 is fixedly sleeved on the left rotating shaft 21; the jth left rope threading ring 27 is fixedly connected to the left side of the main frame 8 of the jth telescopic unit 2, and the 4 th left rope threading ring 27 is fixedly connected to the left side of the main frame 8 of the tail unit 2; one end of the left tendon rope 19 is fixedly connected with the 1 st left string passing ring 27, the left tendon rope 19 sequentially passes through the 2 nd left string passing ring 27 … and the 4 th left string passing ring 27, then the left tendon rope 19 is wound on the left rope winding drum 25, and the other end of the left tendon rope 19 is fixedly connected with the left rope winding drum 25; the right tendon rope assembly comprises a right tendon rope 20, 4 right rope penetrating rings 28, a right rotating shaft 22, a right rope winding drum 26, a right driver 24 and a right transmission mechanism; the right driver 24 is fixedly connected with the main frame of the tail unit 2; the output end of the right driver 24 is connected with the input end of a right transmission mechanism, the output end of the right transmission mechanism is connected with a right rotating shaft 22, the right rotating shaft 22 is sleeved on the main frame 8 of the tail unit 2, and the right rope winding drum 26 is fixedly sleeved on the right rotating shaft 22; the jth right rope threading ring 28 is fixedly connected to the right side of the main frame 8 of the jth telescopic unit 1, and the 4 th right rope threading ring 28 is fixedly connected to the right side of the main frame 8 of the tail unit 2; one end of the right tendon rope 20 is fixedly connected with the 1 st right threading ring 28, the right tendon rope 20 sequentially passes through the 2 nd right threading ring 28 … and the 4 th right threading ring 28, then the right tendon rope 20 is wound on the right rope winding drum 26, and the other end of the right tendon rope is fixedly connected with the right rope winding drum 26; the left tendon rope assembly and the right tendon rope assembly are symmetrically distributed on the left side and the right side of the rope-controlled steering worm-imitating crawling robot device; the telescopic unit 1 and the tail unit 2 are arranged in series; wherein i is 1 and 2, and j is 1, 2 and 3.
In this embodiment, the adsorption unit adopts a negative pressure suction cup manner; the adsorption unit comprises a suction cup 18, a gas source and a conduit; the sucking discs 18 are connected with the output ends of the corresponding second transmission mechanisms; under the action of the second driver 11, the sucker 18 is contacted with or separated from the working plane 30 of the rope-controlled steering worm-imitating crawling robot device; the air source is communicated with the sucker 18 through a conduit and is a negative pressure air source which can be controlled to open and close.
In this embodiment, the first driver adopts a cylinder 10, the cylinder 10 includes a cylinder body and a piston, the cylinder body is fixedly connected with the corresponding main frame 8, and the piston is fixedly connected with the corresponding auxiliary frame 9. In another embodiment of the present invention, the first driver employs a motor.
In this embodiment, the second driver 11 is a motor. In another embodiment of the present invention, the second actuator 11 is a cylinder, and the cylinder includes a cylinder body and a piston, the cylinder body is fixedly connected to the corresponding main frame 8, and the piston is connected to the input end of the corresponding second transmission mechanism.
In this embodiment, the foot component further comprises a slide rail 16 and a slide table 17, the slide table 17 is movably embedded on the slide rail 16, the slide rail 16 is fixedly connected to the corresponding main frame 8, and the sliding direction of the slide table 17 on the slide rail 16 is perpendicular to the working plane 30 of the rope-controlled steering worm-imitating crawling robot device; the second transmission mechanism comprises a first connecting rod 12, a second connecting rod 13, a first shaft 14 and a second shaft 15; the first connecting rod 12 is fixedly sleeved on an output shaft of the second driver 11, the first connecting rod 12 is hinged with the second connecting rod 12 through a first shaft 14, the second connecting rod 12 is hinged with the sliding table 17 through a second shaft 15, the center lines of the first shaft 14 and the second shaft 15 are parallel, and the center line of the first shaft 14 is parallel to a working plane 30 of the rope-controlled steering worm-imitating crawling robot device; an output shaft of the second driver 11, a first connecting rod 12, a first shaft 14, a second connecting rod 13, a second shaft 15, a sliding table 17 and a sliding rail 16 form a crank-slider mechanism; the slide table 17 is connected to the adsorption unit.
In this embodiment, the air pressure in the telescopic cylinder is provided by an external air pump, and besides the above-mentioned labeled elements, a plurality of plastic conduits, a plurality of leads, and a battery are also used.
The working principle of this embodiment is described below with reference to fig. 1 to 10:
the various phases of motion shown implementing one periodic motion are shown in figures 10-13.
The specific working principle of this embodiment is described as follows:
a) in the telescopic unit 1 and the tail unit 2, the air source is disconnected, the negative pressure in the suction cup 18 disappears, the output shaft of the second driver 11 rotates clockwise, a slider-crank mechanism consisting of the output shaft of the second driver 11, the first connecting rod 12, the first shaft 14, the second connecting rod 13, the second shaft 15, the sliding table 17 and the sliding rail 16 moves (as shown in fig. 7), the sliding table 17 moves along the sliding rail 16, the direction of the sliding table is perpendicular to the working plane 30 of the rope-controlled steering worm-simulated crawling robot device and faces upwards, and the suction cup 18 is separated from the working plane 30 of the rope-controlled steering worm-simulated crawling robot device. This motion is defined as a lifting motion, and a state in which the lifting motion is completed is referred to as a lifted state.
b) In the telescopic unit 1 and the tail unit 2, an output shaft of a second driver 11 rotates anticlockwise, a slider-crank mechanism consisting of the output shaft of the second driver 11, a first connecting rod 12, a first shaft 14, a second connecting rod 13, a second shaft 15, a sliding table 17 and a sliding rail 16 moves (as shown in fig. 8), the sliding table 17 moves along the sliding rail 16, the direction of the sliding table is vertical to a working plane 30 of the rope-controlled steering worm-simulated crawling robot device and faces downwards, and the suction cup 18 is in contact with the working plane 30 of the rope-controlled steering worm-simulated crawling robot device; the air source is connected, negative pressure is generated in the sucker 18, and the sucker 18 is adsorbed on the working plane 30 of the rope-controlled steering worm-imitating crawling robot device; the motion is defined as a drop motion, a state in which the drop motion is completed is called a drop state, and the lift state and the drop state do not coexist.
c) In the telescopic unit 1, a motion of extending the cylinder 10 is defined as an extending motion, and a state of completing the extending motion is an extending state.
d) In the telescopic unit 1, a shortening motion of the cylinder 10 is defined as a shortening motion, a state in which the shortening motion is completed is defined as a shortening state, and the extension state and the shortening state do not coexist.
e) In the left tendon rope steering mechanism, an output shaft of a left driver 23 rotates clockwise to drive a left rope winding drum 25 to rotate clockwise, and the left tendon rope 19 is tightened and shortened in length, which is defined as left tightening movement.
f) In the left tendon rope steering mechanism, the output shaft of the left driver 23 rotates counterclockwise to drive the left rope winding drum 25 to rotate counterclockwise, the left tendon rope 19 is loosened, the length is increased, and the movement is defined as left loosening movement.
g) In the right tendon rope steering mechanism, the output shaft of the right driver 24 rotates clockwise to drive the right rope winding drum 26 to rotate clockwise, and the right tendon rope 20 is tightened and shortened in length, which is defined as right tightening movement.
h) In the right tendon rope steering mechanism, the output shaft of the right driver 24 rotates counterclockwise to drive the right rope winding drum 26 to rotate counterclockwise, the right tendon rope 20 is loosened, the length is increased, and the movement is defined as right loosening movement.
g) When the left tendon rope steering mechanism executes left loosening movement and the right tendon rope steering mechanism executes right tightening movement, the first telescopic unit 1 of the rope-controlled steering worm-imitating crawling robot device rotates clockwise by taking the first joint shaft 3 as a center, meanwhile, the tail unit 2 rotates anticlockwise by taking the third joint shaft 3 as a center, and at the moment, the rope-controlled steering worm-imitating crawling robot device bends to be in a C shape (as shown in figure 1). The motion is defined as a right turn motion.
h) When the left tendon rope steering mechanism executes left tightening movement and the right tendon rope steering mechanism executes right loosening movement, the first telescopic unit 1 of the rope-controlled steering worm-imitating crawling robot device rotates anticlockwise by taking the first joint shaft 3 as a center, meanwhile, the tail unit 2 rotates clockwise by taking the third joint shaft 3 as a center, and at the moment, the rope-controlled steering worm-imitating crawling robot device bends to be in an inverse C shape (as shown in fig. 2). The motion is defined as a left turn motion.
i) The crawling motion of the illustrated embodiment is periodic, the motion period is divided into 4 motion phases, and the specific motion process is as follows:
initial state: as shown in fig. 1, a first telescopic unit 1, a second telescopic unit 1, a third telescopic unit 1 and a tail unit 2 are all in a down state; the first telescopic unit 1 and the second telescopic unit 1 are in a shortened state, and the third telescopic unit 1 is in an extended state;
stage 1: the first telescopic unit 1 and the tail unit 2 perform lifting movement; and then performs a left-turn motion or a right-turn motion (as shown in fig. 10).
And (2) stage: the first telescopic unit 1 performs an extension movement and the third telescopic unit 1 performs a shortening movement; the first telescopic unit 1 then performs a lowering movement with the tail unit 2 (as shown in fig. 11).
And (3) stage: the second telescopic unit 1 performs a lifting movement; subsequently the first telescopic unit 1 performs a shortening movement and the second telescopic unit 1 performs an elongation movement; the second telescopic unit 1 then performs a lowering movement (as shown in fig. 12).
And (4) stage: the third telescopic unit 1 performs a lifting movement; subsequently the second telescopic unit 1 performs a shortening movement and the third telescopic unit 1 performs an elongation movement; the third telescopic unit 1 then performs a lowering movement (as shown in figure 13). To this end, the robot device moves forward a distance and a movement cycle ends and returns to the initial state
The rest of the motion periods are the same and are not described again.
The device comprehensively realizes the steerable earthworm worm crawling motion by adopting a telescopic unit, a tail unit, a joint shaft, a spring piece, a tendon rope assembly and the like. In the device, the main frame is reliably connected with the working wall surface by active adsorption, and the telescopic motion between units is realized by the telescopic assembly; the left and right steering is realized by using the driver, the tendon rope and the spring, the steering motion is under-actuated, and the control is easy. The device can realize two-dimensional curvilinear motion on a working plane; because only one unit needs to be moved in each action, the climbing robot has the advantages of large contact area with a working plane, stability and reliability in climbing, strong load capacity and good expandability, and is suitable for wall-surface mobile robots.
Claims (6)
1. The utility model provides a rope accuse turns to imitative worm robot device of crawling which characterized in that: the device comprises n telescopic units, a tail unit, n joint shafts, a first spring piece, a second spring piece, a left tendon rope assembly and a right tendon rope assembly; the telescopic unit comprises a main frame, an auxiliary frame, a first driver, a first transmission mechanism and a foot component; the auxiliary machine frame is embedded on the main machine frame in a sliding manner; the first driver is fixedly connected with the main frame, the output end of the first driver is connected with the input end of a first transmission mechanism, and the output end of the first transmission mechanism is connected with the auxiliary frame; the sliding direction of the auxiliary frame relative to the main frame is parallel to the working plane of the rope-controlled steering worm-imitating crawling robot device; the tail unit comprises a foot component and a main frame; the foot component comprises a second driver, a second transmission mechanism and an adsorption unit; the second driver is fixedly connected with the corresponding main frame, the output end of the second driver is connected with the input end of the second transmission mechanism, and the output end of the second transmission mechanism is connected with the adsorption unit; under the action of a second driver, the action surface of the adsorption unit is contacted with or separated from the working plane of the rope-controlled steering worm-imitating crawling robot device; the adsorption unit is in a negative pressure sucker mode, an electromagnet mode or a combination of the two modes; the central lines of the joint shafts are parallel to each other, the central lines of the joint shafts are perpendicular to the working plane of the rope-controlled steering worm-imitating crawling robot device, the ith joint shaft is sleeved in an auxiliary rack in the ith telescopic unit, and a main rack in the (i + 1) th telescopic unit is sleeved on the ith joint shaft; the nth joint shaft is sleeved in the auxiliary rack in the nth telescopic unit, and the main rack of the tail unit is sleeved on the nth joint shaft; the two ends of the first spring piece are respectively connected with the 1 st telescopic unit and the 2 nd telescopic unit, and the two ends of the second spring piece are respectively connected with the nth telescopic unit and the tail unit; the left tendon rope assembly comprises a left tendon rope, n +1 left rope penetrating rings, a left rotating shaft, a left rope winding drum, a left driver and a left transmission mechanism; the left driver is fixedly connected with the main frame of the tail unit; the output end of the left driver is connected with the input end of a left transmission mechanism, the output end of the left transmission mechanism is connected with a left rotating shaft, the left rotating shaft is sleeved on a main rack of the tail unit, and the left rope winding drum is fixedly sleeved on the left rotating shaft; the jth left stringing ring is fixedly connected to the left side of the main frame of the jth telescopic unit, and the (n + 1) th left stringing ring is fixedly connected to the left side of the main frame of the tail unit; one end of the left tendon rope is fixedly connected with the 1 st left rope penetrating ring, the left tendon rope sequentially penetrates through the 2 nd left rope penetrating ring … th +1 th left rope penetrating ring, then the left tendon rope is wound on the left rope winding barrel, and the other end of the left tendon rope is fixedly connected with the left rope winding barrel; the right tendon rope assembly comprises a right tendon rope, n +1 right rope penetrating rings, a right rotating shaft, a right rope winding drum, a right driver and a right transmission mechanism; the right driver is fixedly connected with the main frame of the tail unit; the output end of the right driver is connected with the input end of a right transmission mechanism, the output end of the right transmission mechanism is connected with a right rotating shaft, the right rotating shaft is sleeved on a main rack of the tail unit, and the right rope winding drum is fixedly sleeved on the right rotating shaft; the jth right stringing ring is fixedly connected to the right side of the main frame of the jth telescopic unit, and the (n + 1) th right stringing ring is fixedly connected to the right side of the main frame of the tail unit; one end of the right tendon rope is fixedly connected with the 1 st right rope penetrating ring, the right tendon rope sequentially penetrates through the 2 nd right rope penetrating ring …, the n +1 th right rope penetrating ring, the right tendon rope is wound on the right rope winding barrel, and the other end of the right tendon rope is fixedly connected with the right rope winding barrel; the left tendon rope assembly and the right tendon rope assembly are symmetrically distributed on the left side and the right side of the rope-controlled steering worm-imitating crawling robot device; the telescopic unit and the tail unit are arranged in series; wherein n is a natural number greater than 2, i is 1, 2 … n-1, j is 1, 2 … n; the foot component further comprises a sliding rail and a sliding table, the sliding table is embedded on the sliding rail in a sliding mode, the sliding rail is fixedly connected to the corresponding main frame, and the sliding direction of the sliding table on the sliding rail is perpendicular to the working plane of the rope-controlled steering worm-imitating crawling robot device; the second transmission mechanism comprises a first connecting rod, a second connecting rod, a first shaft and a second shaft; the first connecting rod is fixedly sleeved on an output shaft of the second driver, the first connecting rod is hinged with the second connecting rod through a first shaft, the second connecting rod is hinged with the sliding table through a second shaft, the center lines of the first shaft and the second shaft are parallel, and the center line of the first shaft is parallel to the working plane of the rope-controlled steering worm-imitating crawling robot device; the output shaft of the second driver, the first connecting rod, the first shaft, the second connecting rod, the second shaft, the sliding table and the sliding rail form a slider-crank mechanism; the sliding table is connected with the adsorption unit.
2. The rope-controlled steering worm-imitating crawling robot device according to claim 1, wherein: the adsorption unit adopts a negative pressure sucker mode; the adsorption unit comprises a sucker, an air source and a conduit; the sucking discs are connected with the output ends of the corresponding second transmission mechanisms; under the action of a second driver, the sucker is contacted with or separated from a working plane of the rope-controlled steering worm-imitating crawling robot device; the air source is communicated with the sucker through a conduit and is a negative pressure air source which can be controlled to open and close.
3. The rope-controlled steering worm-imitating crawling robot device according to claim 1, wherein: the first driver adopts a cylinder, the cylinder comprises a cylinder body and a piston, the cylinder body is fixedly connected with the corresponding main frame, and the piston is fixedly connected with the corresponding auxiliary frame.
4. The rope-controlled steering worm-imitating crawling robot device according to claim 1, wherein: the second driver adopts a cylinder, the cylinder comprises a cylinder body and a piston, the cylinder body is fixedly connected with the corresponding main frame, and the piston is connected with the input end of the corresponding second transmission mechanism.
5. The rope-controlled steering worm-imitating crawling robot device according to claim 1, wherein: the first driver adopts a motor.
6. The rope-controlled steering worm-imitating crawling robot device according to claim 1, wherein: the second driver adopts a motor.
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| CN113002739A (en) * | 2021-03-28 | 2021-06-22 | 西北工业大学 | Bionic peristaltic crawling underwater vehicle and motion control method |
| CN114454189B (en) * | 2022-02-11 | 2022-10-21 | 成都锦城学院 | Bionic inchworm robot for structural member flaw detection |
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| US5161631A (en) * | 1989-11-27 | 1992-11-10 | Uragami Fukashi | Suction device capable of moving along a surface |
| CN100567068C (en) * | 2007-12-10 | 2009-12-09 | 北京航空航天大学 | Tandem modularized wall-climbing robot |
| CN100554068C (en) * | 2008-07-31 | 2009-10-28 | 北京航空航天大学 | Multi-node wall-climbing worm type robot |
| CN101376407B (en) * | 2008-09-23 | 2010-06-02 | 扬州大学 | Bionic creeping device based on helminth creeping mechanism |
| CN206125221U (en) * | 2016-09-19 | 2017-04-26 | 南京航空航天大学 | Curved surface articulated wall climbing robot |
| US10357140B2 (en) * | 2016-12-15 | 2019-07-23 | Xiamen Huaway IOT Technology Co., Ltd. | Autonomous wall cleaner |
| CN109176468B (en) * | 2018-09-11 | 2021-08-13 | 清华大学 | Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device |
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