CN110524515B - A spiral retractable mobile robot - Google Patents
A spiral retractable mobile robot Download PDFInfo
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- CN110524515B CN110524515B CN201910830630.4A CN201910830630A CN110524515B CN 110524515 B CN110524515 B CN 110524515B CN 201910830630 A CN201910830630 A CN 201910830630A CN 110524515 B CN110524515 B CN 110524515B
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- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 230000003205 diastolic effect Effects 0.000 abstract 1
- 230000008602 contraction Effects 0.000 description 7
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
本发明的一种螺旋收缩式移动机器人，包括：壳体，其包括上端盖、下端盖和连接于两所述上端盖和下端盖之间的柔性套；多个以可自转的方式设置于所述壳体内的螺旋杆，所述螺旋杆绕壳体轴线均匀分布于壳体内，且各螺旋杆的中轴线与壳体轴线相互平行；驱动机构，其至少用于驱动各所述螺旋杆绕中轴线同步自转。本发明通过电机带动转盘转动，使转盘上的多个行星齿轮以及与行星齿轮相互固定螺旋杆旋转，使包围螺旋杆的柔性套产生起伏式波浪般运动,即在螺旋杆同一位置处同时呈现收缩或舒张状态,利用柔性套与地面的摩擦,使本机器人获得前进的动力。
A spiral-shrinking mobile robot of the present invention includes: a casing including an upper end cover, a lower end cover and a flexible sleeve connected between the two upper end covers and the lower end cover; The screw rods in the housing, the screw rods are evenly distributed in the housing around the axis of the housing, and the central axis of each screw rod and the axis of the housing are parallel to each other; the driving mechanism is at least used to drive the screw rods around the center The axes rotate synchronously. The invention drives the turntable to rotate through the motor, so that the multiple planetary gears on the turntable and the screw rods fixed to each other with the planetary gears rotate, so that the flexible sleeve surrounding the screw rod produces an undulating wave-like motion, that is, the screw rod simultaneously shrinks at the same position Or in the diastolic state, using the friction between the flexible sleeve and the ground, the robot obtains the power to move forward.
Description
Technical Field
The invention relates to the field of robots, in particular to a spiral contraction type mobile robot.
Background
In recent years, more and more experts and learners pay attention to the flexibility and the flexibility of organisms, and a bionic flexible robot concept is provided, so that the bionic flexible robot becomes a research hotspot in the robot field, the flexible robot technology is developed rapidly, mainly takes an experimental prototype as a main part, and in the aspect of a driving mode, the current research institution mainly has two directions, namely a first method for simulating the motion principle of muscles of a human or an animal, and a second method for acquiring power, such as temperature, air, illumination and the like, by using the change of environment.
Based on this, researchers have given bionic robots in the forms of wave motion, crawling, creeping, swimming, etc., such as shape memory alloy SMA based driving schemes. Because the SMA peristaltic robot adopts a miniature direct current motor, a servo motor, a pneumatic power miniature pump or an external magnetic field driving scheme under specific conditions, the robot has many limitations on the maneuverability and the control performance.
Disclosure of Invention
The invention aims to provide a spiral contraction type mobile robot which is simple and compact in structure and high in reliability.
The invention relates to a spiral contraction type mobile robot, which comprises:
the shell comprises an upper end cover, a lower end cover and a flexible sleeve connected between the upper end cover and the lower end cover; the upper end cover, the lower end cover and the flexible sleeve form a cylindrical closed installation space together so as to install the screw rod;
the spiral rods are arranged in the shell in a self-rotating mode, are uniformly distributed in the shell around the axis of the shell, and the central axis of each spiral rod is parallel to the axis of the shell; the position of the screw rod should be far away from the axis of the shell as far as possible, so that the screw rod can prop open the flexible sleeve and the surface of the flexible sleeve forms a wavy fluctuation structure;
and the driving mechanism is at least used for driving each spiral rod to synchronously rotate around the central axis, when each spiral rod synchronously rotates around the axis of the spiral rod under the driving of the driving mechanism, the outer surface of the flexible sleeve forms undulating wave-like motion, namely, the flexible sleeve simultaneously presents a contraction or relaxation state at the same position of the spiral rod, and the robot obtains forward power by utilizing the friction between the flexible sleeve and the ground.
The driving mechanism should include a power device and all existing transmission mechanisms capable of distributing the power of the power device to the various screw rods, such as a planetary gear mechanism and the like.
The driving mechanisms are two groups of planetary gear trains which are respectively arranged on the upper end cover and the lower end cover; the planetary gear train comprises a rotary disc which is rotatably connected with the upper end cover or the lower end cover, a plurality of planetary gears which are distributed on the rotary disc along the ring shape and are rotatably connected with the rotary disc, and an inner gear ring which is fixed on the upper end cover or the lower end cover and is meshed with the planetary gears; the turntable is driven to rotate relative to the shell by the power source device; the screw rod is connected between two corresponding planetary gears in the two groups of planetary gear trains; when the turntable rotates, each planetary gear revolves around the axis of the shell along with the rotation of the turntable; meanwhile, because each planetary gear is meshed with the outer gear ring, each planetary gear rotates around the axis of the planetary gear while revolving. Because the two ends of the screw rod are respectively fixed between the rotating shafts of the two opposite planetary gears at the upper part and the lower part, and the upper turntable actively drives the lower turntable to rotate and passively drives the upper turntable and the lower turntable to form phase difference, each screw rod also revolves along with the rotation of the planetary gears and generates spiral deformation. The elastic sleeve tightly wraps the screw rods, so that the outer surface of the elastic sleeve is in a wave shape with fluctuating height, and the robot obtains forward power.
Further, the turntable comprises a central disk, an outer ring coaxially sleeved on the central disk in an externally sleeved mode and a plurality of spokes connected between the central disk and the outer ring, and the planetary gears are connected to the spokes in a one-to-one correspondence mode.
Furthermore, the inner gear ring is coaxially fixed on the upper end cover or the lower end cover through a plurality of connecting sleeves uniformly distributed along the circumferential direction. The connecting sleeve is provided with a threaded hole, and the inner gear ring and the upper end cover or the lower end cover can be fixedly connected with each other by using screws.
Further, the flexible sleeve is a rubber sleeve or a silica gel sleeve; the flexible sleeve hoops the screw rod.
Furthermore, the planetary gear is fixed with the countershaft, install on the spoke of carousel with countershaft complex bearing.
Further, the driving device is a motor fixed on the upper end cover, an output shaft of the motor is in transmission connection with the rotary table on the side of the upper end cover, and the rotary table on the side of the lower end cover is driven by the screw rod to rotate passively.
Furthermore, the spiral rod is a flexible rod, and spiral deformation motion is realized under the phase difference of the two groups of planetary gear train turnplates so as to drive the robot to move.
The invention has the beneficial effects that: the invention drives the rotary table to rotate by the motor, so that a plurality of planetary gears on the rotary table and the screw rods mutually fixed with the planetary gears revolve around the axis of the shell and rotate around the axis of the rotary table, the rubber sleeve surrounding the screw rods generates undulating wave-like motion, namely, the rubber sleeve simultaneously presents a contraction or expansion state at the same position of the screw rods, and the robot obtains forward power by using the friction between the flexible sleeve and the ground.
Drawings
FIG. 1 is a schematic view of the internal structure of the robot of the present invention;
FIG. 2 is a cross-sectional view of the robot of the present invention;
FIG. 3 is a top view of the robot of the present invention;
fig. 4 is an overall schematic view of the robot of the present invention.
Reference numerals: 1. the upper end cover 2, the screw rod 3, the sleeve 4, the inner gear ring 5, the planetary gear 6, the flexible sleeve 7, the rotary disc 8, the lower end cover 9 and the spokes.
Detailed Description
The spiral contracting type robot according to the present invention will be described in further detail with reference to the following examples.
As shown in fig. 1, a mobile robot of the present embodiment includes:
the shell comprises an upper end cover 1, a lower end cover 8 and a flexible sleeve connected between the upper end cover 1 and the lower end cover 8; the upper end cover 1 and the lower end cover 8 both adopt disc structures, and the flexible sleeve 6 can be made of elastic materials such as rubber, silica gel and the like, and has better wear resistance.
Two groups of planetary gear trains are respectively arranged on the upper end cover 1 and the lower end cover 8; the planetary gear 5 comprises a rotary disc 7 which is rotatably connected with the upper end cover 1 or the lower end cover 8, a plurality of planetary gears 5 which are distributed on the rotary disc 7 along the ring shape and are rotatably connected with the rotary disc 7, and an inner gear ring 4 which is fixed on the upper end cover 1 or the lower end cover 8 and is meshed with the planetary gears 5; the turntable 7 can be arranged on the upper end cover 1 or the lower end cover 8 through parts such as bearings and the like, the turntable 7 and the end covers are ensured to keep coaxial, the number of the planetary gears 5 is determined according to the size of the whole robot, the planetary gears 5 are uniformly distributed on the turntable 7 along the ring shape and are connected with the turntable 7 through parts such as bearings and the like, and each planetary gear 5 is ensured to rotate;
a screw rod 2 connected between two corresponding planetary gears 5 in the two planetary gear 5 systems, wherein the upper and lower ends of the screw rod 2 are fixed with two planetary gears 5 corresponding to each other at the upper part and the lower part respectively;
the driving device is used for driving the turntable 7 to rotate relative to the shell, and any existing device capable of outputting rotary power can be adopted as the driving device, is arranged on the shell, and can transmit the power to the turntable 7 directly or through a transmission mechanism so as to drive the turntable 7 to rotate;
when the rotary table 7 rotates, each planetary gear 5 revolves around the axis of the shell along with the rotation; meanwhile, since each planetary gear 5 is meshed with the outer ring gear, each planetary gear 5 will rotate on its own axis while revolving. Since the two ends of the screw rods 2 are respectively fixed between the rotating shafts of the two opposite planetary gears 5 at the upper part and the lower part, and the upper turntable 7 actively drives and rotates the lower turntable 7 to passively rotate so as to cause the upper turntable 7 and the lower turntable 7 to form a phase difference, each screw rod 2 also revolves while rotating along with the planetary gears 5 to generate spiral deformation. The flexible sleeve 6 tightly wraps the spiral rods 2, so that the outer surface of the elastic sleeve is in a wave shape with high and low fluctuation, when the spiral rods 2 rotate, the elastic sleeve moves in a wave shape with fluctuation, namely, the elastic sleeve simultaneously takes a contraction or relaxation state at the same position of the spiral rods 2, and the robot obtains forward power by utilizing the friction between the rubber sleeve and the ground;
in a preferred embodiment, the turntable 7 comprises a central disk, an outer ring coaxially sleeved on the central disk and a plurality of spokes 9 connected between the central disk and the outer ring, the planetary gears 5 are connected to the spokes 9 in a one-to-one correspondence, and the self weight of the whole robot can be further reduced by adopting the structure of the disk.
In a preferred embodiment, the inner gear ring 4 is fixed on the upper end cover 1 or the lower end cover 8 through a plurality of connecting sleeves 3 which are uniformly distributed along the circumferential direction and coaxial shafts, and a plurality of mounting holes are uniformly distributed on the end surfaces of the inner gear ring 4, the upper end cover 1 or the lower end cover 8 along the annular direction; the end cover, the connecting sleeve 3 and the ring gear 4 may be fixed to each other with fasteners such as screws.
In a preferred embodiment, the flexible sleeve 6 is a rubber sleeve or a silica gel sleeve; the flexible sleeve 6 tightens the screw rod 2, so that the outer surface of the rubber strip presents a wavy and undulating form.
In a preferred embodiment, the planetary gear 5 is fixed with a central rotating shaft, the spokes 9 of the rotating disk 7 are provided with bearings matched with the central rotating shaft, and two ends of the screw rod 2 are respectively fixed with the central rotating shafts of the two corresponding planetary gears 5 positioned at the upper part and the lower part.
In a preferred embodiment, the driving device is a motor fixed on the upper end cover 1, a body of the motor is fixed on the top of the upper end cover 1, a transmission shaft of the motor extends downwards into the shell and is connected with a turntable on the side of the upper end cover in a transmission manner, and the turntable on the side of the lower end cover is driven by the screw rod to rotate passively.
In a preferred embodiment, the spiral rod is a flexible rod, and spiral deformation motion is realized under the phase difference of the two planetary gear train turntables so as to drive the robot to move.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A spiral contracting mobile robot, comprising:
the shell comprises an upper end cover, a lower end cover and a flexible sleeve connected between the upper end cover and the lower end cover;
the spiral rods are arranged in the shell in a self-rotating mode, are uniformly distributed in the shell around the axis of the shell, and the central axis of each spiral rod is parallel to the axis of the shell;
the driving mechanism is at least used for driving each screw rod to synchronously rotate around the central axis;
the driving mechanism comprises two groups of planetary gear trains which are respectively arranged on the upper end cover and the lower end cover; the planetary gear train comprises a rotary disc which is rotatably connected with the upper end cover or the lower end cover, a plurality of planetary gears which are distributed on the rotary disc along the ring shape and are rotatably connected with the rotary disc, and an inner gear ring which is fixed on the upper end cover or the lower end cover and is meshed with the planetary gears; the turntable is driven to rotate relative to the shell by the power source device; the screw rod is connected between two corresponding planetary gears in the two groups of planetary gear trains.
2. The mobile robot of claim 1, wherein: the turntable comprises a central disk, an outer ring coaxially sleeved on the central disk in an externally sleeved mode and a plurality of spokes connected between the central disk and the outer ring, and the planetary gears are connected to the spokes in a one-to-one corresponding mode.
3. The mobile robot of claim 2, wherein: the inner gear ring is coaxially fixed on the upper end cover or the lower end cover through a plurality of connecting sleeves which are uniformly distributed along the circumferential direction.
4. A spiral retracting mobile robot as claimed in claim 3, wherein: the flexible sleeve is a rubber sleeve or a silica gel sleeve; the flexible hoop tightens the screw rod.
5. The mobile robot of claim 4, wherein: the planet gear is fixed with the countershaft, install on the spoke of carousel with countershaft complex bearing.
6. The mobile robot of claim 5, wherein: the driving device is a motor fixed on the upper end cover, an output shaft of the motor is in transmission connection with the rotary table on the side of the upper end cover, and the rotary table on the side of the lower end cover is driven by the screw rod to rotate passively.
7. The mobile robot of claim 6, wherein: the spiral rod is a flexible rod, and the spiral deformation motion is realized under the phase difference of the turntables of the two planetary gear trains so as to drive the robot to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910830630.4A CN110524515B (en) | 2019-09-04 | 2019-09-04 | A spiral retractable mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910830630.4A CN110524515B (en) | 2019-09-04 | 2019-09-04 | A spiral retractable mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN110524515A CN110524515A (en) | 2019-12-03 |
| CN110524515B true CN110524515B (en) | 2021-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910830630.4A Active CN110524515B (en) | 2019-09-04 | 2019-09-04 | A spiral retractable mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114941764B (en) * | 2022-05-17 | 2023-05-26 | 广州大学 | Pipeline crawling paper folding robot based on dielectric elastomer driving |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090044990A1 (en) * | 2007-08-17 | 2009-02-19 | Timothy Carl Lexen | Screw driven mobile base |
| CN201597658U (en) * | 2010-01-22 | 2010-10-06 | 于琪凡 | Threaded driving running device |
| CN102285387A (en) * | 2011-05-27 | 2011-12-21 | 广东工业大学 | Spiral-walking motion mechanism |
| CN202107033U (en) * | 2011-06-16 | 2012-01-11 | 宁波高新区围海工程技术开发有限公司 | Spiral drum propeller on soft foundation |
| JP2014024375A (en) * | 2012-07-25 | 2014-02-06 | Toyota Industries Corp | Step lifting apparatus |
| CN104416563B (en) * | 2013-08-26 | 2019-04-16 | 龙伟 | A kind of turnable search and rescue robot based on double helix driving |
| CN108382490A (en) * | 2018-04-25 | 2018-08-10 | 常州信息职业技术学院 | A kind of double helix crawling device |
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