CN115042892A - Rope-driven flexible crawling machine device - Google Patents
Rope-driven flexible crawling machine device Download PDFInfo
- Publication number
- CN115042892A CN115042892A CN202210561293.5A CN202210561293A CN115042892A CN 115042892 A CN115042892 A CN 115042892A CN 202210561293 A CN202210561293 A CN 202210561293A CN 115042892 A CN115042892 A CN 115042892A
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- Prior art keywords
- flexible leg
- rope
- joints
- flexible
- leg joints
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a rope-driven flexible crawling machine device which comprises a machine body, a root flexible leg joint, a plurality of middle flexible leg joints and end flexible leg joints, wherein the end flexible leg joints are connected with the middle flexible leg joints, the two adjacent middle flexible leg joints are connected with each other, and the middle flexible leg joints are connected with the root flexible leg joints through universal joints; the inside of fuselage is provided with the drive structure, and the structural carousel that is connected with of drive has twined the rope on the carousel, and the free end of rope passes fuselage, root flexible leg joint and middle part flexible leg joint in proper order and fixes on the flexible leg joint of tip. According to the invention, the reset spring is connected between the adjacent joints of the leg part, so that the reset of the mechanical arm can be realized by using the reset spring, the overall strength of the mechanical arm is enhanced, and the stability of posture adjustment of the crawling robot is ensured.
Description
Technical Field
The invention relates to the technical field of space and mechanics, in particular to a rope-driven flexible crawling machine device.
Background
In recent years, space science and application provide a plurality of challenging high-precision observation, large-capacity communication, solar power stations and deep space exploration space missions, and large-caliber telescopes, large-caliber cameras, large-caliber antennas, huge solar arrays and solar photon propulsion sails are urgently needed. For large-scale space structures, they can only be designed as multi-module structures, where the modules are launched into the rail first and then assembled on the rail. The space structure assembled by multiple modules has the advantages of unlimited size, easy replacement of fault modules, changeable configuration, gradual upgrade and the like. The space structure on-orbit assembly can be completed by a fixed base mechanical arm, a crawling robot or a flying robot. The crawling robot can meet energy requirements and flexibility, and can crawl freely on the surface of the spacecraft and perform module assembly.
With the increasing development of robot technology, application occasions are continuously enriched, and the requirements of people on the functions of the robot tend to be diversified. The continuous crawling robot has higher flexibility, safety and adaptability compared with a rigid crawling robot due to the flexibility of the legs of the robot, and has unique advantages in the aspects of man-machine interaction, narrow space operation and the like. For example, in the space environment, the continuous crawling robot can bring much convenience to work. The continuous crawling robot has very wide application prospect in the fields of industrial production, aerospace, medical surgery, emergency rescue and disaster relief, environmental detection and the like.
The continuous type crawling robot evolves the flexible mechanical arms into the legs of the crawling robot. The elastic deformation of the flexible body produces a continuous bending motion along the length direction. The rope-driven flexible joint realizes the rotation of the rope-driven flexible mechanical arm, so that the continuous crawling robot can complete different motion forms.
Disclosure of Invention
The invention aims to provide a rope-driven flexible crawling machine device, wherein a return spring is connected between adjacent joints of a leg, the return spring can be used for realizing the resetting of a mechanical arm, the overall strength of the mechanical arm is enhanced, and the stability of posture adjustment of a crawling robot is ensured.
In order to achieve the purpose, the invention provides a rope-driven flexible crawling machine device which comprises a machine body, root flexible leg joints distributed on the periphery of the machine body, a plurality of middle flexible leg joints connected with the root flexible leg joints and end flexible leg joints connected with the middle flexible leg joints, wherein the end flexible leg joints are connected with the middle flexible leg joints, the adjacent two middle flexible leg joints and the middle flexible leg joints through universal joints;
a driving structure is arranged in the machine body, a turntable is connected to the driving structure, a rope is wound on the turntable, and the free end of the rope sequentially penetrates through the machine body, the root flexible leg joint and the middle flexible leg joint and is fixed on the end flexible leg joint;
the root flexible leg joints and the middle flexible leg joints, the adjacent two middle flexible leg joints and the end flexible leg joints are all provided with reset springs, and the reset springs are arranged on the outer sides of the root flexible leg joints and the middle flexible leg joints and the outer sides of the middle flexible leg joints and the end flexible leg joints.
Preferably, the universal joint includes a cross shaft and a rotary member, and the rotary member is disposed at a central position of the cross shaft in a crossing manner, and forms two rotational degrees of freedom in a vertical direction.
Preferably, the root flexible leg joint, the middle flexible leg joint and the end flexible leg joint are all set to be cross frame structures, and the cross frame structures are consistent with the cross direction of the cross shaft.
Preferably, a cable passage is provided in the cross frame structure, and the cable passage is provided in an extending direction of the cross shaft.
Preferably, the opening of the rope channel is provided with a chamfer.
Preferably, a direction of winding and unwinding the rope coincides with a rotation direction of the two rotation shafts of the cross.
Preferably, the root flexible leg joints are fixed on the machine body, and the ropes are connected with the turntables connected with the driving mechanisms in a one-to-one correspondence manner.
Preferably, the driving structure is one of a steering engine, a motor or a reel.
Preferably, the frame body of the machine body is provided with a mounting fixing hole, and the interior of the machine body is provided with a mounting frame for mounting the driving structure.
Therefore, the rope-driven flexible crawling machine device adopting the structure has the following beneficial effects:
(1) through evolving the flexible mechanical arm into the legs of the crawling robot, the elastic deformation of the flexible body generates continuous bending motion along the length direction, and the rotation of the flexible mechanical arm driven by the rope is realized through the flexible joint driven by the rope, so that the continuous crawling robot can complete different motion forms;
(2) the cross frame structure is consistent with the cross direction of a cross shaft of the cross universal joint, the rope channel is arranged in the extending direction of the cross shaft, the cross frame structure can be controlled to rotate around different axial directions of the cross shaft by controlling the extension and the shortening of different ropes, and the bending direction of the flexible leg of the robot can be conveniently controlled;
(3) the reset spring is connected between the adjacent joints of the leg part, so that the reset of the flexible leg can be realized by using the reset spring, the overall strength of the flexible leg is enhanced, and the stability of adjustment of the crawling robot during movement is ensured;
(4) the body and the leg joints of the robot are optimized through topology, so that the structure is better, the material consumption is reduced, and the weight of the whole robot is reduced, so that the robot is small and flexible;
(5) the opening part of the rope channel is provided with the chamfer, so that friction can be reduced, the service life of the rope can be prolonged, and the reliability of the flexible crawling robot in application can be protected.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a rope-driven flexible crawling machine device of the invention;
FIG. 2 is a schematic structural view of a machine body of an embodiment of the rope-driven flexible crawling machine device of the invention;
FIG. 3 is a schematic structural view of a root flexible leg joint of an embodiment of the rope-driven flexible crawling machine device;
FIG. 4 is a schematic structural view of a middle flexible leg joint of an embodiment of the rope-driven flexible crawling machine device;
FIG. 5 is a schematic structural view of an end flexible leg joint of an embodiment of a rope-driven flexible crawling machine device of the invention;
FIG. 6 is a schematic structural view of a universal joint of an embodiment of a rope-driven flexible crawling machine device of the invention;
fig. 7 is a schematic view of a return spring and a rope portion of an embodiment of a rope-driven flexible crawling machine device of the invention.
Detailed Description
The technical solution of the present invention is further illustrated by the accompanying drawings and examples.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Examples
The invention provides a rope-driven flexible crawling machine device which comprises a machine body 1, root flexible leg joints 2 distributed on the periphery of the machine body 1, a plurality of middle flexible leg joints 3 connected with the root flexible leg joints 2 and end flexible leg joints 4 connected with the middle flexible leg joints 3, wherein the end flexible leg joints 4 and the middle flexible leg joints 3, the adjacent two middle flexible leg joints 3 and the root flexible leg joints 2 are connected through universal joints 5; a driving structure is arranged in the machine body 1, a turntable is connected to the driving structure, a rope 10 is wound on the turntable, and the free end of the rope 10 sequentially penetrates through the machine body 1, the root flexible leg joint 2 and the middle flexible leg joint 3 and is fixed on the end flexible leg joint 4; reset springs 9 are arranged between the root flexible leg joints 2 and the middle flexible leg joints 3, between the two adjacent middle flexible leg joints 3 and between the middle flexible leg joints 3 and the end flexible leg joints 4, and the reset springs 9 are arranged on the outer sides of the root flexible leg joints 2 and the middle flexible leg joints 3 and the outer sides of the middle flexible leg joints 3 and the end flexible leg joints 4. When two adjacent joint positions of the flexible leg joint are changed, the reset springs can provide tension to reset the flexible leg joint, effective reset constraint can be realized on the actions of the flexible leg joint in all directions through the arrangement mode of the plurality of reset springs along the circumferential distribution, the overall strength of the whole flexible crawling robot is enhanced, and the stability of posture adjustment of the mechanical arm is ensured.
The universal joint 5 comprises a cross shaft 51 and a rotating piece 52, the rotating piece 52 is arranged at the center of the cross shaft 51 in a crossed mode, two rotational degrees of freedom in the vertical direction are formed, when the rotating piece rotates around the cross shaft, the rotating piece can rotate on the section of the same flexible leg joint, and therefore the deflection direction and the deflection position of each flexible leg joint can be controlled more accurately, each flexible leg joint is of a structure after topology optimization is achieved, the weight of the flexible leg joint can be reduced after optimization, and the control in the actual use process can be increased due to the light weight. The end part flexible leg joint connects the rope channel on the end part flexible leg joint in a welding and bolt connection mode.
The root flexible leg joint 2, the middle flexible leg joint 3 and the end flexible leg joint 4 are all set to be cross frame structures, and the cross frame structures are consistent with the cross direction of the cross shaft 51. The cross frame structure is provided with a rope passage 6, and the rope passage 6 is provided in the extending direction of the cross 51. At this time, four ropes can be provided, and the cross frame structure can be controlled to rotate around different axial directions of the cross shaft by controlling the extension and the shortening of the ropes in four different directions, so that the bending direction of the flexible leg joint can be conveniently controlled. The opening of the rope channel 6 is provided with a chamfer. Rope channel can hold the rope and can make the rope freely slide in rope channel, therefore rope channel both can retrain the moving direction and the position of rope, sets up the chamfer through the opening part at rope channel, and then effectively protects the rope, prolongs the life of rope. The rope winding and unwinding direction coincides with the rotation direction of the two rotation shafts of the cross 51. The robot can be manufactured by adopting a 3D printing technology, the body and the leg joints of the robot are all formed in one step, the processing error is small, and the structural strength is high.
The root flexible leg joints 2 are fixed on the machine body 1, and the ropes are correspondingly connected with the turntables connected with the driving mechanism one by one. The driving structure is one of a steering engine, a motor or a reel. Different motors are controlled through a control system, the rotary table is driven to rotate, so that the winding and unwinding control of different ropes is realized, then the bending and straightening control of each flexible leg joint is realized, and the flexible crawling robot can be completely driven and controlled by the ropes to complete different movement gaits.
Be provided with installation fixed orifices 7 on the support body of fuselage 1, the inside of fuselage 1 is provided with installation drive structure's mounting bracket 8, and through topology optimization back, overall structure is antisymmetric, has increased space utilization, makes whole robot small and exquisite slim and graceful, and not only intensity is qualified, has still reduced the use of material, has alleviateed the weight of robot.
Therefore, according to the rope-driven flexible crawling robot device with the structure, the reset spring is connected between the adjacent joints of the legs, the reset of the mechanical arm can be realized by the reset spring, the overall strength of the mechanical arm is enhanced, and the stability of posture adjustment of the crawling robot is ensured.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the invention without departing from the spirit and scope of the invention.
Claims (9)
1. A rope-driven flexible crawling machine device is characterized in that:
the robot comprises a robot body, root flexible leg joints distributed around the robot body, a plurality of middle flexible leg joints connected with the root flexible leg joints and end flexible leg joints connected with the middle flexible leg joints, wherein the end flexible leg joints are connected with the middle flexible leg joints, the adjacent middle flexible leg joints, the middle flexible leg joints and the root flexible leg joints through universal joints;
a driving structure is arranged in the machine body, a turntable is connected to the driving structure, a rope is wound on the turntable, and the free end of the rope sequentially penetrates through the machine body, the root flexible leg joint and the middle flexible leg joint and is fixed on the end flexible leg joint;
the root flexible leg joints and the middle flexible leg joints, the adjacent two middle flexible leg joints and the end flexible leg joints are all provided with reset springs, and the reset springs are arranged on the outer sides of the root flexible leg joints and the middle flexible leg joints and the outer sides of the middle flexible leg joints and the end flexible leg joints.
2. The rope-driven flexible crawling machine device according to claim 1, characterized in that: the universal joint comprises a cross shaft and a rotating piece, wherein the rotating piece is arranged at the center of the cross shaft in a crossed mode, and two rotational degrees of freedom in the vertical direction are formed.
3. The rope-driven flexible crawling machine device according to claim 2, characterized in that: the root flexible leg joint, the middle flexible leg joint and the end flexible leg joint are all set to be cross frame structures, and the cross frame structures are consistent with the cross direction of the cross shaft.
4. The rope-driven flexible crawling machine device according to claim 3, characterized in that: the cross frame structure is provided with a rope channel, and the rope channel is arranged in the extending direction of the cross shaft.
5. The rope-driven flexible crawling machine device according to claim 4, characterized in that: and a chamfer is arranged at the opening of the rope channel.
6. The rope-driven flexible crawling machine device according to claim 5, characterized in that: the retracting direction of the rope is consistent with the rotating directions of the two rotating shafts of the cross shaft.
7. The rope-driven flexible crawling machine device according to claim 6, characterized in that: the root flexible leg joints are fixed on the machine body, and the ropes are connected with the turntables connected with the driving mechanisms in a one-to-one correspondence mode.
8. The rope-driven flexible crawling machine device according to claim 7, characterized in that: the driving structure is one of a steering engine, a motor or a reel.
9. The rope-driven flexible crawling machine device according to claim 8, characterized in that: the mounting structure is characterized in that mounting fixing holes are formed in the frame body of the machine body, and a mounting frame for mounting the driving structure is arranged in the machine body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210561293.5A CN115042892A (en) | 2022-05-23 | 2022-05-23 | Rope-driven flexible crawling machine device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210561293.5A CN115042892A (en) | 2022-05-23 | 2022-05-23 | Rope-driven flexible crawling machine device |
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| Publication Number | Publication Date |
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| CN115042892A true CN115042892A (en) | 2022-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210561293.5A Pending CN115042892A (en) | 2022-05-23 | 2022-05-23 | Rope-driven flexible crawling machine device |
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| CN106826763A (en) * | 2017-01-23 | 2017-06-13 | 哈尔滨工业大学 | For the flexible exoskeleton robot of climbing knee joint power-assisted |
| CN107161231A (en) * | 2017-05-27 | 2017-09-15 | 郑州大学 | A kind of biomimetic climbing robot for being applied to drag-line bridge Sarasota and cable |
| CN111516003A (en) * | 2020-04-27 | 2020-08-11 | 北京工业大学 | Flexible mechanical arm with hollow channel |
| CN111547153A (en) * | 2020-05-11 | 2020-08-18 | 北京工商大学 | Rope-driven bionic six-foot wall-climbing robot |
| US20210095642A1 (en) * | 2018-02-09 | 2021-04-01 | Bladebug Limited | Wind turbine blade inspection system |
| CN113291389A (en) * | 2021-06-28 | 2021-08-24 | 清华大学深圳国际研究生院 | Four-legged robot with transformable form |
| CN113305827A (en) * | 2021-06-21 | 2021-08-27 | 西南科技大学 | Line-driven flexible mechanical arm suitable for underwater operation |
| CN113894840A (en) * | 2021-11-18 | 2022-01-07 | 南京航空航天大学 | Rope-driven flexible mechanical arm |
| CN114162353A (en) * | 2021-12-07 | 2022-03-11 | 哈尔滨工业大学（深圳） | Tool spacecraft system for on-orbit control |
-
2022
- 2022-05-23 CN CN202210561293.5A patent/CN115042892A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826763A (en) * | 2017-01-23 | 2017-06-13 | 哈尔滨工业大学 | For the flexible exoskeleton robot of climbing knee joint power-assisted |
| CN107161231A (en) * | 2017-05-27 | 2017-09-15 | 郑州大学 | A kind of biomimetic climbing robot for being applied to drag-line bridge Sarasota and cable |
| US20210095642A1 (en) * | 2018-02-09 | 2021-04-01 | Bladebug Limited | Wind turbine blade inspection system |
| CN111516003A (en) * | 2020-04-27 | 2020-08-11 | 北京工业大学 | Flexible mechanical arm with hollow channel |
| CN111547153A (en) * | 2020-05-11 | 2020-08-18 | 北京工商大学 | Rope-driven bionic six-foot wall-climbing robot |
| CN113305827A (en) * | 2021-06-21 | 2021-08-27 | 西南科技大学 | Line-driven flexible mechanical arm suitable for underwater operation |
| CN113291389A (en) * | 2021-06-28 | 2021-08-24 | 清华大学深圳国际研究生院 | Four-legged robot with transformable form |
| CN113894840A (en) * | 2021-11-18 | 2022-01-07 | 南京航空航天大学 | Rope-driven flexible mechanical arm |
| CN114162353A (en) * | 2021-12-07 | 2022-03-11 | 哈尔滨工业大学（深圳） | Tool spacecraft system for on-orbit control |
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