CN210998713U - Wriggling type multi-step robot - Google Patents
Wriggling type multi-step robot Download PDFInfo
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- CN210998713U CN210998713U CN201922117306.6U CN201922117306U CN210998713U CN 210998713 U CN210998713 U CN 210998713U CN 201922117306 U CN201922117306 U CN 201922117306U CN 210998713 U CN210998713 U CN 210998713U
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Abstract
The utility model relates to a wriggling type multi-step attitude robot belongs to the wriggling robot field. The three-freedom-degree connecting joint comprises a head module, three or more same three-freedom-degree connecting joints and motion modules, wherein two ends of one three-freedom-degree connecting joint are respectively connected with the head module and the motion modules, and two ends of the other three-freedom-degree connecting joints are respectively connected with the two motion modules. The bionic gait-based robot has the advantages that the structure is novel, starting from a bionic angle, the unfolding design of functional units required by biological completion actions is realized, and two gaits of snake wriggling and earthworm wriggling are combined, so that the robot can select the most suitable gaits according to the actual working environment, and the adaptability of the robot to narrow and complex spaces is improved.
Description
Technical Field
The utility model belongs to the peristaltic robot field.
Background
The peristaltic robot is one of the hotspots of current research, is based on the motion principles of organisms such as snakes, earthworms, inchworms and the like, is flexible in motion and stronger in adaptability to complex environments, can enter a narrower space for operation compared with the traditional wheeled, crawler-type and other robots, is more suitable for narrow and complex working conditions such as earthquake ruins detection and rescue, and has very wide application prospect and development potential. The current mainstream robots adapted to narrow space operation can be divided into three types according to the bionic biological species: snake-like robots, inchworm-like robots and earthworm-like robots.
For the snake-like robot, the most typical meandering motion is the most efficient and fastest one in the common motion forms of snakes, but for a narrow path which is smaller than the space required by self-bending, gait cannot be carried out, and the motion speed and efficiency are greatly reduced. The flexible movement mode of the earthworms is smaller in the adaptive movement space and higher in movement efficiency under the same size of the robot, but the movement speed of the earthworms is not as good as that of snake-like winding movement under a wider environment. At present, some snake-like robots are already used for disaster rescue, but cannot work efficiently under some narrow working conditions due to the inherent constraint of the motion principle of the snake-like robots. Due to the problems of design and the like, the application value of the wormcast-imitating peristaltic robot system still remains on the level of the artificial specific regular environment, mainly focuses on pipeline detection and medical treatment, and is not applied to the relatively complex and severe working conditions.
Generally speaking, both the earthworm-like robot and the snake-like robot have certain limitations under respective gaits and cannot adapt to more harsh and complex working environments, and the comprehensive application of the snake gaits and the earthworm peristalsis gaits is an effective method for solving the problems. Chinese patent snake-shaped robot with peristalsis and swing functions, patent No. 201410075903.6, adds the peristalsis motion function similar to earthworm on the basis of snake-shaped swing motion, and the peristalsis motion is realized by the telescopic motion of the middle peristalsis part. However, starting from the perspective of bionics, the peristaltic movement of the earthworms requires the interaction of longitudinal and circumferential muscles, the longitudinal and circumferential muscles stretch and contract, and the bristles provide friction braking. In the publication CN103341855A, the robot is proposed to perform snake-like snaking and also to perform large boa crawling, but the large boa crawling requires a friction brake provided by the body support, and this function is not embodied in the robot, so that the possibility of not performing the crawling is also present.
Disclosure of Invention
The utility model provides a wriggling type multi-step robot combines snake-shaped robot wriggling motion and the flexible motion of imitative earthworm robot, can take corresponding advantage gait under the operating mode that corresponds to stable in structure easily controls. And starting from a bionic angle, analyzing the common characteristics of the movement of the snakes and the earthworms, extracting functional units required by the movement, and developing the mechanical device design according to the functional units to ensure the effectiveness of the movement of the designed robot.
The utility model adopts the technical proposal that: the three-freedom-degree connecting joint comprises a head module, three or more same three-freedom-degree connecting joints and motion modules, wherein two ends of one three-freedom-degree connecting joint are respectively connected with the head module and the motion modules, and two ends of the other three-freedom-degree connecting joints are respectively connected with the two motion modules, wherein:
the head module comprises a head transparent shell, a head circuit unit, a head friction braking unit, a head front shell, a head motor support, a head rear shell and a head bottom shell; the head friction braking unit is connected with the head rear shell through a head motor support, and the head transparent shell, the head front shell and the head rear shell are connected with the head bottom shell; the head circuit unit is directly placed in the head transparent shell and the head front shell;
the motion module comprises a telescopic unit, a front shell, a motor support, a rear shell, a bottom shell, a friction braking unit and a second battery; the telescopic unit and the friction braking unit are mutually connected through a bottom shell, the motor support is embedded into a front shell, the front shell is connected with a rear shell, the rear shell is connected with the bottom shell, and a battery II is fixedly connected into the friction braking unit;
the three-degree-of-freedom connecting joint comprises a U-shaped steering engine support I, a U-shaped steering engine support II, a U-shaped steering engine support III, a cross-shaped steering engine support, a pitching steering engine, a yawing steering engine, a rotary steering engine and a metal steering wheel; wherein every single move steering wheel passes through U type steering wheel support III and head drain pan or drain pan fixed connection, and the driftage steering wheel passes through cross steering wheel support and every single move steering wheel fixed connection to through U type steering wheel support II and gyration steering wheel fixed connection, the gyration steering wheel passes through U type steering wheel support I and the slip inner shell fixed connection of back motion module.
Head circuit unit includes: the device comprises a camera, a control panel I, a control panel II, an infrared sensor, a Bluetooth module and a battery I; wherein camera, infrared sensor are fixed in head module front end and are located the head procapsid, and control panel I, control panel II, bluetooth module are fixed in head module middle part and are located the head procapsid, and two battery one are along casing axis symmetry fixed connection in control panel I and control panel II both sides.
Friction braking unit includes: the friction braking unit comprises a direct-current speed reducing motor, a spiral disc, a roller, a friction plate, a braking plate and a hinge connecting rod; the friction plate and the brake plate form hinge connection through a hinge connecting rod, the brake plate is directly embedded in a rectangular groove of the bottom shell to form sliding constraint, one end of the roller is inserted into a round hole fixed on the brake plate, the other end of the roller is embedded in a spiral groove of the spiral disc, a boss of the spiral disc is positioned in the round hole of the bottom shell to form rotation constraint, a central hole of the spiral disc is coaxial with and fixedly connected with a rotating shaft of the friction brake unit direct current speed reducing motor, and the friction brake unit direct current speed reducing motor is embedded in a motor groove of the motor support to be fixed.
The telescopic unit comprises: the device comprises a screw rod I, a screw rod II, a screw rod nut I, a screw rod nut II, a telescopic unit direct current speed reducing motor I, a telescopic unit direct current speed reducing motor II and a sliding inner shell; wherein telescopic unit direct current gear motor I, telescopic unit direct current gear motor II imbeds in the motor groove of motor support fixedly, lead screw I, lead screw II through one end round hole respectively with telescopic unit direct current gear motor I, telescopic unit direct current gear motor II's axis of rotation interference fit is fixed, screw-nut I, screw-nut II respectively with lead screw I through inboard screw thread, screw-nut II external screw thread meshing is connected, and with slip inner shell fixed connection, the slip inner shell inlays to constitute the slip restraint in the inside sliding tray of procapsid.
The utility model discloses the advantage is novel structure, starts from bionical angle, on the common characteristics basis of analysis snake class and earthworm motion to the required functional unit of biological completion action expandes the design, combines snake class to wriggle and two kinds of gaits of earthworm wriggling, therefore the robot can be according to the changeable most suitable gaits of selecting of actual operational environment, has improved the adaptability of robot to narrow and small complicated space. Compared with the two patents in the technical background, the movement is more efficient by adding a friction braking unit and the like. The telescopic gait is realized by matching the telescopic unit with the friction braking unit, and the robot can efficiently move in a hole with the section similar to that of the robot; the three-degree-of-freedom connecting joint is matched with the friction braking unit to realize the winding gait, and the walking robot can move at high speed in a space which meets the requirement of effective development of winding movement; meanwhile, the idea of combining dominant gaits provides a brand new wider idea for the subsequent development and optimization of the peristaltic robot.
The three-freedom-degree connecting joint has three degrees of freedom of pitching, yawing and rotating, better simulates the connection of a spherical hinge of a snake joint, and integrally forms a high-redundancy structure body, improves the flexibility of a high-redundancy robot, and can support the robot to realize the actions of advancing and various obstacle avoidance in a three-dimensional space; the telescopic unit adopts a double-screw nut design, so that the driving force of the robot is increased, the central symmetry of the internal structure of the robot is ensured, the robot is not easy to roll, the external radial acting force is dispersed between the sliding inner shell and the outer shell due to the design of the sliding inner shell, and the internal structure is protected from being damaged; the friction braking unit is a motion auxiliary unit, wherein the friction plate is arranged on the surface of the whole supporting shell of the head module and the body module, so that the generated friction force is increased, and the friction plate and the braking plate act together to achieve a better braking effect; meanwhile, the overall design structure of the robot is compact. High stability and good adaptability to narrow and small complex working conditions.
The utility model discloses a modular design has guaranteed the implementation of two kinds of gaits, makes the cost assurance that has reduced design and manufacturing simultaneously and has good interchangeability and easily assemble simultaneously in machine-building and assembling process, has improved the robustness of robot, can also change the length of robot according to actual conditions increase and decrease subassembly, has enlarged the application scope of robot.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of the creep state of the present invention;
fig. 3 is a schematic structural view of the head module of the present invention;
fig. 4 is an assembly view of the head module of the present invention;
fig. 5 is a schematic structural diagram of the motion module of the present invention;
fig. 6 is an assembly view of the exercise module of the present invention;
fig. 7 is a schematic structural view of the telescopic mechanism of the present invention;
fig. 8 is an assembly view of the telescopic mechanism of the present invention;
fig. 9 is a schematic structural diagram of the three-degree-of-freedom joint of the present invention;
fig. 10 is an assembly view of the three-degree-of-freedom joint of the present invention;
fig. 11 is a schematic structural view of the friction braking mechanism of the present invention;
FIG. 12 is an assembly view of the friction braking mechanism of the present invention;
FIG. 13 is a schematic view of the reverse side of the spiral plate of the present invention;
fig. 14 is a schematic structural view of the support housing of the present invention;
figure 15 is an assembly view of the support housing of the present invention;
fig. 16 is a schematic structural diagram of the circuit unit of the present invention;
fig. 17 is an assembly view of the circuit unit of the present invention;
wherein: head module 1: a head transparent case 101, a head circuit unit 102, a head friction brake unit 103, a head front case 104, a head motor bracket 105, a head rear case 106, a head bottom case 107; a head circuit unit: the device comprises a camera 10201, a control panel I10202, a control panel II 10203, an infrared sensor 10204, a Bluetooth module 10205 and a first battery 10206; three-degree-of-freedom connecting joint 2: a U-shaped steering engine support I201, a U-shaped steering engine support II 202, a U-shaped steering engine support III 203, a cross steering engine support 204, a pitching steering engine 205, a yawing steering engine 206, a rotary steering engine 207 and a metal steering wheel 208; the motion module 3: the telescopic unit 301, the front shell 302, the motor bracket 303, the rear shell 304, the bottom shell 305, the friction braking unit 306 and the second battery 307; the lead screw I30101, the lead screw II30102, the lead screw nut I30103, the lead screw nut II 30104, the telescopic unit direct current speed reducing motor I30105, the telescopic unit direct current speed reducing motor II30106 and the sliding inner shell 30107; the friction braking unit direct current speed reducing motor 30601, a spiral coil 30602, a roller 30603, a friction plate 30604, a braking plate 30605 and a hinge connecting rod 30606.
Detailed Description
Referring to fig. 1 and 2, the three-dimensional connecting joint comprises a head module 1, three or more same three-degree-of-freedom connecting joints 2 and motion modules 3, wherein two ends of one three-degree-of-freedom connecting joint 2 are respectively connected with the head module 1 and the motion modules 3, and two ends of the other three-degree-of-freedom connecting joints 2 are respectively connected with the two motion modules 3, wherein:
referring to fig. 3 and 4, the head module 1: for loading the control elements and sensors and guiding the movement: comprises a head transparent shell 101, a head circuit unit 102, a head friction braking unit 103, a head front shell 104, a head motor bracket 105, a head rear shell 106 and a head bottom shell 107; the head friction braking unit 103 is connected with a head rear shell 106 through a head motor bracket 105, and the head transparent shell 101, the head front shell 104 and the head rear shell 106 are connected with a head bottom shell 107; the head circuit unit 102 is directly placed in the head transparent case 101 and the head front case 104;
with reference to fig. 5, 6, 14, 15, the movement module 3: for constituting a modular robot together with a head module: comprises a telescopic unit 301, a front shell 302, a motor bracket 303, a rear shell 304, a bottom shell 305, a friction braking unit 306 and a second battery 307; the telescopic unit 301 and the friction brake unit 306 are connected with each other through a bottom shell 305, the motor support 303 is embedded into a front shell 302, the front shell 302 is connected with a rear shell 304, the rear shell 304 is connected with the bottom shell 305, and a second battery 307 is fixedly connected into the friction brake unit 306;
referring to fig. 9 and 10, the three-degree-of-freedom joint 2: for connecting the head module with the movement module: the device comprises a U-shaped steering engine bracket I201, a U-shaped steering engine bracket II 202, a U-shaped steering engine bracket III 203, a cross steering engine bracket 204, a pitching steering engine 205, a yawing steering engine 206, a rotary steering engine 207 and a metal steering wheel 208; the pitching steering engine 205 is fixedly connected with the head bottom shell 107 or the head bottom shell 305 through a U-shaped steering engine support III 203, the yawing steering engine 206 is fixedly connected with the pitching steering engine 205 through a cross steering engine support 204 and is fixedly connected with the revolving steering engine 207 through a U-shaped steering engine support II 202, and the revolving steering engine 207 is fixedly connected with the sliding inner shell 30107 of the next motion module 3 through a U-shaped steering engine support I201.
Referring to fig. 16 and 17, the header circuit unit 102 includes: the device comprises a camera 10201, a control panel I10202, a control panel II 10203, an infrared sensor 10204, a Bluetooth module 10205 and a first battery 10206; wherein the camera 10201 and the infrared sensor 10204 are fixed at the front end of the head module 1 and are positioned in the head front shell 104, the control board I10202, the control board II 10203 and the Bluetooth module 10205 are fixed at the middle part of the head module 1 and are positioned in the head front shell 104, and the two batteries I10206 are symmetrically and fixedly connected with the two sides of the control board I10202 and the control board II 10203 along the axis of the shell.
Referring to fig. 11, 12, and 13, the friction brake unit 306 includes: a friction braking unit direct current speed reducing motor 30601, a spiral disc 30602, a roller 30603, a friction plate 30604, a braking plate 30605 and a hinge connecting rod 30606; the friction plate 30604 and the brake plate 30605 form hinge connection through a hinge connecting rod 30606, the brake plate 30605 is directly embedded in a rectangular groove of the bottom shell 305 to form sliding constraint, one end of the roller 30603 is inserted into a round hole fixed on the brake plate 30605, the other end of the roller 30603 is embedded in a spiral groove of the spiral disc 30602, a boss of the spiral disc is positioned in the round hole of the bottom shell 305 to form rotating constraint, a central hole of the spiral disc 30602 is coaxial with and fixedly connected with a rotating shaft of the friction brake unit direct current speed reducing motor 30601, and the friction brake unit direct current speed reducing motor 30601 is embedded in a motor groove of the motor support 303 to be fixed.
The motion mode of the friction brake unit 306: a screw disc 30602 in interference fit with the friction braking unit direct-current speed reducing motor 30601 is actively driven to rotate, a roller 30603 embedded in a screw groove of the friction braking unit direct-current speed reducing motor is driven to move, a braking plate 30605 fixedly connected with the friction braking unit direct-current speed reducing motor extends out of a sliding groove in the bottom shell 305, and the friction plate 30604 is supported away from the surface of the front shell 302 through a hinge connecting rod 30606; according to this movement relationship, when the friction brake unit dc speed reduction motor 30601 rotates reversely, the friction plate 30604 is pulled back to the front housing 302 surface.
Referring to fig. 7 and 8, the telescopic unit 301 includes: the lead screw I30101, the lead screw II30102, the lead screw nut I30103, the lead screw nut II 30104, the telescopic unit direct current speed reducing motor I30105, the telescopic unit direct current speed reducing motor II30106 and the sliding inner shell 30107; the telescopic unit direct-current speed reducing motor I30105 and the telescopic unit direct-current speed reducing motor II30106 are embedded into a motor groove of the motor support 303 and fixed, the screw rod I30101 and the screw rod II30102 are respectively fixed with the telescopic unit direct-current speed reducing motor I30105 and a rotating shaft of the telescopic unit direct-current speed reducing motor II30106 in an interference fit mode through a round hole at one end, the screw rod nut I30103 and the screw rod nut II 30104 are respectively meshed with external threads of the screw rod I30101 and the screw rod II30102 and fixedly connected with the sliding inner shell 30107 through internal threads, and the sliding inner shell 30107 is embedded into a sliding groove in the front shell 302 to form sliding constraint.
The movement mode of the telescopic unit 301: the telescopic unit direct current speed reducing motor I30105 and the telescopic unit direct current speed reducing motor II30106 actively drive the screw rod I30101 and the screw rod II30102 which are in interference fit with the telescopic unit direct current speed reducing motor I30105 and the telescopic unit direct current speed reducing motor II30106 to rotate, and then the screw rod I30101 and the screw rod II30102 drive the screw rod nut I30103 and the screw rod nut II 30104 which are engaged with the screw rod I30103 and the screw rod II30102 through threads to enable the screw rod nut I30103 and the screw rod nut II 30104 to; in accordance with this movement relationship, when the telescopic unit dc reduction motor I30105 and the telescopic unit dc reduction motor II30106 rotate in the reverse direction, the slide inner case 30107 is pulled back to the front case 302.
And a second battery 307 in the motion module 3 provides electric energy for a pitching steering engine 205, a yawing steering engine 206, a rotary steering engine 207, a telescopic unit direct-current speed reducing motor I30105, a telescopic unit direct-current speed reducing motor II30106 and a friction braking mechanism direct-current speed reducing motor 30601 in the three-degree-of-freedom connecting joint 2.
The working principle is as follows:
comprises the following two steps:
s1: imitating the telescopic peristalsis of earthworms, taking a head module 1 and a motion module 3 as examples to explain the motion principle: the friction braking unit 306 of the peristaltic multi-step robot motion module 3 is driven by a power source to move, so that the friction between the whole motion module 3 and a working space is increased, a braking effect is achieved, and meanwhile, the head friction braking unit 103 of the head module 1 does not have a braking effect; the telescopic unit 301 of the motion module 3 is driven by a power source to extend and move, and the head module 1 is pushed to move forwards until the telescopic unit 301 is fully extended; the head friction braking unit 103 of the head module 1 moves under the driving of a power source, the friction between the whole head module 1 and a working space is increased, the braking effect is achieved, meanwhile, the friction braking unit 306 of the motion module 3 moves under the driving of the power source, the friction between the whole motion module 3 and the working space is removed, and the braking effect is not generated; the telescopic unit 301 of the motion module 3 retracts under the driving of the power source, and the motion module 3 is pulled to move forwards until the telescopic unit 301 retracts completely; the series of motion steps are repeated, so that continuous forward telescopic peristalsis of the peristalsis type multi-step robot is realized; by changing the working sequence of the telescopic unit 301 and the friction braking unit 306 or the head friction braking unit 103, the creeping multi-step robot can perform backward telescopic creeping, thereby realizing bidirectional movement.
S2: the snake-like serpentine motion is simulated, and the motion principle is described by taking a head module 1 and two motion modules 3 as examples: the friction braking unit 306 of the second motion module 3 of the peristaltic multi-step robot moves under the driving of the power source, the friction between the whole section and the working space is increased, the braking effect is achieved, and meanwhile the head friction braking unit 103 of the head module 1 and the friction braking unit 306 of the first motion module 3 do not have the braking effect; the three-degree-of-freedom connecting joint 2 among the head module 1, the first section of motion module 3 and the second section of motion module 3 rotates oppositely at the same time, the head module 1 and the first section of motion module 3 are pushed to move forwards, and therefore the whole wriggling multi-step robot extends axially until the whole wriggling multi-step robot extends completely; the head friction braking unit 103 of the head module 1 moves under the driving of a power source, the friction between the whole section and a working space is increased, the braking effect is achieved, and meanwhile the friction braking units 306 of the first section motion module 3 and the second section motion module 3 do not have the braking effect; the three-degree-of-freedom connecting joint 2 among the head module 1, the first section of motion module 3 and the second section of motion module 3 simultaneously and reversely rotates again, and the first section of motion module 3 and the second section of motion module 3 are pulled to move forwards, so that the whole peristaltic multi-step robot is axially shortened until completely retracted; the series of motion steps are repeated, and continuous forward winding motion of the peristaltic multi-step robot is realized; by changing the working sequence of the connecting joint and friction brake unit 306 or the head friction brake unit 103, the peristaltic multi-step robot can perform backward snaking motion, thereby realizing bidirectional movement.
Claims (4)
1. A peristaltic multi-stage robot, comprising: the three-freedom-degree connecting joint comprises a head module, three or more same three-freedom-degree connecting joints and motion modules, wherein two ends of one three-freedom-degree connecting joint are respectively connected with the head module and the motion modules, and two ends of the other three-freedom-degree connecting joints are respectively connected with the two motion modules, wherein:
the head module comprises a head transparent shell, a head circuit unit, a head friction braking unit, a head front shell, a head motor support, a head rear shell and a head bottom shell; the head friction braking unit is connected with the head rear shell through a head motor support, and the head transparent shell, the head front shell and the head rear shell are connected with the head bottom shell; the head circuit unit is directly placed in the head transparent shell and the head front shell;
the motion module comprises a telescopic unit, a front shell, a motor support, a rear shell, a bottom shell, a friction braking unit and a second battery; the telescopic unit and the friction braking unit are mutually connected through a bottom shell, the motor support is embedded into a front shell, the front shell is connected with a rear shell, the rear shell is connected with the bottom shell, and a battery II is fixedly connected into the friction braking unit;
the three-degree-of-freedom connecting joint comprises a U-shaped steering engine support I, a U-shaped steering engine support II, a U-shaped steering engine support III, a cross-shaped steering engine support, a pitching steering engine, a yawing steering engine, a rotary steering engine and a metal steering wheel; wherein every single move steering wheel passes through U type steering wheel support III and head drain pan or drain pan fixed connection, and the driftage steering wheel passes through cross steering wheel support and every single move steering wheel fixed connection to through U type steering wheel support II and gyration steering wheel fixed connection, the gyration steering wheel passes through U type steering wheel support I and the slip inner shell fixed connection of back motion module.
2. The multi-stage peristaltic robot as set forth in claim 1, wherein: the head circuit unit includes: the device comprises a camera, a control panel I, a control panel II, an infrared sensor, a Bluetooth module and a battery I; wherein camera, infrared sensor are fixed in head module front end and are located the head procapsid, and control panel I, control panel II, bluetooth module are fixed in head module middle part and are located the head procapsid, and two battery one are along casing axis symmetry fixed connection in control panel I and control panel II both sides.
3. The multi-stage peristaltic robot as set forth in claim 1, wherein: the friction brake unit includes: the friction braking unit comprises a direct-current speed reducing motor, a spiral disc, a roller, a friction plate, a braking plate and a hinge connecting rod; the friction plate and the brake plate form hinge connection through a hinge connecting rod, the brake plate is directly embedded in a rectangular groove of the bottom shell to form sliding constraint, one end of the roller is inserted into a round hole fixed on the brake plate, the other end of the roller is embedded in a spiral groove of the spiral disc, a boss of the spiral disc is positioned in the round hole of the bottom shell to form rotation constraint, a central hole of the spiral disc is coaxial with and fixedly connected with a rotating shaft of the friction brake unit direct current speed reducing motor, and the friction brake unit direct current speed reducing motor is embedded in a motor groove of the motor support to be fixed.
4. The multi-stage peristaltic robot as set forth in claim 1, wherein: the telescopic unit includes: the device comprises a screw rod I, a screw rod II, a screw rod nut I, a screw rod nut II, a telescopic unit direct current speed reducing motor I, a telescopic unit direct current speed reducing motor II and a sliding inner shell; wherein telescopic unit direct current gear motor I, telescopic unit direct current gear motor II imbeds in the motor groove of motor support fixedly, lead screw I, lead screw II through one end round hole respectively with telescopic unit direct current gear motor I, telescopic unit direct current gear motor II's axis of rotation interference fit is fixed, screw-nut I, screw-nut II respectively with lead screw I through inboard screw thread, screw-nut II external screw thread meshing is connected, and with slip inner shell fixed connection, the slip inner shell inlays to constitute the slip restraint in the inside sliding tray of procapsid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922117306.6U CN210998713U (en) | 2019-11-29 | 2019-11-29 | Wriggling type multi-step robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922117306.6U CN210998713U (en) | 2019-11-29 | 2019-11-29 | Wriggling type multi-step robot |
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| CN210998713U true CN210998713U (en) | 2020-07-14 |
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| CN201922117306.6U Active CN210998713U (en) | 2019-11-29 | 2019-11-29 | Wriggling type multi-step robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112944108A (en) * | 2021-01-25 | 2021-06-11 | 中国石油大学胜利学院 | Bionic creeping robot for inner wall of pipeline and using method thereof |
| CN113427494A (en) * | 2021-07-02 | 2021-09-24 | 西安工业大学 | Bionic water snake-shaped robot based on dielectric elastomer |
| CN114738600A (en) * | 2022-03-15 | 2022-07-12 | 香港理工大学深圳研究院 | Modular pipeline defect detection software robot |
| CN115556082A (en) * | 2022-12-07 | 2023-01-03 | 中国科学院沈阳自动化研究所 | Snakelike manipulator with remove feedwater function |
-
2019
- 2019-11-29 CN CN201922117306.6U patent/CN210998713U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112944108A (en) * | 2021-01-25 | 2021-06-11 | 中国石油大学胜利学院 | Bionic creeping robot for inner wall of pipeline and using method thereof |
| CN113427494A (en) * | 2021-07-02 | 2021-09-24 | 西安工业大学 | Bionic water snake-shaped robot based on dielectric elastomer |
| CN114738600A (en) * | 2022-03-15 | 2022-07-12 | 香港理工大学深圳研究院 | Modular pipeline defect detection software robot |
| CN114738600B (en) * | 2022-03-15 | 2023-11-03 | 香港理工大学深圳研究院 | Modularized pipeline defect detection soft robot |
| CN115556082A (en) * | 2022-12-07 | 2023-01-03 | 中国科学院沈阳自动化研究所 | Snakelike manipulator with remove feedwater function |
| CN115556082B (en) * | 2022-12-07 | 2023-03-24 | 中国科学院沈阳自动化研究所 | Snakelike manipulator with remove feedwater function |
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