CN211494304U - Multi-joint worm-imitating robot motion structure - Google Patents
Multi-joint worm-imitating robot motion structure Download PDFInfo
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- CN211494304U CN211494304U CN202020070917.XU CN202020070917U CN211494304U CN 211494304 U CN211494304 U CN 211494304U CN 202020070917 U CN202020070917 U CN 202020070917U CN 211494304 U CN211494304 U CN 211494304U
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Abstract
The utility model is suitable for the technical field of robots, and provides a multi-joint worm-imitating robot motion structure, which consists of a plurality of independent motion joint modules; the motion joint module comprises a fixed bracket, a motion arm, a support bracket and a driven platform; all articulated between fixed bolster and the support holder and between support bolster and the driven platform install the motion arm, be equipped with the promotion slip table that is used for contracting expansion motion arm between fixed bolster and the driven platform, install the driving piece on the fixed bolster. The multi-joint worm-imitating robot motion structure can adjust the outer diameter of the robot structure by controlling the contraction and expansion duration, so that the robot can move in size spaces with different diameters; the length of the robot can be adjusted by adjusting the number of the motion joint modules according to the environment, so that the robot motion structure is suitable for different spaces.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to an imitative worm robot motion structure of multiarticular.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human beings working, such as production, construction, or dangerous work.
At present, the movement structures of robots for various complex terrains are not many, and basically, the movement structures are mainly wheel type or multi-foot movement structures.
The biggest defect of the motion mechanism of the wheeled and multi-legged robots is that the volume is fixed, and the motion is difficult to realize in complex spaces with different volumes. Therefore, the utility model provides a multi-joint worm-imitating robot movement structure.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an imitative worm robot motion structure of multiarticular to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a multi-joint worm-imitating robot motion structure is composed of a plurality of independent motion joint modules;
the motion joint module comprises a fixed bracket, a motion arm, a support bracket and a driven platform;
the device comprises a fixed support, a support bracket, a driven platform, a plurality of driving arms, a plurality of driving sliding tables and a driving piece, wherein the driving arms are hinged between the fixed support and the support bracket and between the support bracket and the driven platform, the driving sliding tables are distributed in a central symmetry manner, the driving sliding tables are used for contracting and expanding the driving arms, the driving sliding tables are arranged between the fixed support and the driven platform, the driving sliding tables are provided with strip-shaped sliding grooves matched with the driving sliding tables, and the driving piece is arranged on the; the driving piece drives the sliding table to move back and forth, so that a reciprocating motion structure is realized, and then the plurality of motion force arms are driven to contract and expand, so that the contraction and expansion of a single motion joint module are realized, and the worm-imitating motion mode can be realized by orderly contracting and expanding the plurality of motion joint modules; the outer diameter of the robot structure can be adjusted by controlling the contraction and expansion duration, so that the robot can move in dimensional spaces with different diameters; the length of the robot can be adjusted by adjusting the number of the motion joint modules according to the environment, so that the robot motion structure is suitable for different spaces.
As a further aspect of the present invention: the fixed support, the supporting support and the driven platform are respectively provided with a first fixed bolt, a third fixed bolt and a fourth fixed bolt which are used for connecting a moving force arm, and the moving force arm is provided with a second fixed bolt which is used for connecting a pushing sliding table; one end of the motion arm is installed on the supporting bracket through a third fixing bolt, and the other end of the motion arm is installed on the fixing bracket through a first fixing bolt or installed on the driven platform through a fourth fixing bolt.
As a further aspect of the present invention: the robot motion structure at least comprises three motion joint modules.
As a further aspect of the present invention: the driving piece comprises a power speed reducing motor and a screw rod, and the screw rod is connected to an output shaft of the power speed reducing motor; the power gear motor and the screw rod drive the sliding table to move.
As a further aspect of the present invention: the driving piece is an air cylinder or a hydraulic cylinder; the air cylinder or the hydraulic cylinder drives the sliding table to move back and forth, so that the single moving joint module is contracted and expanded, and the worm-imitating moving mode can be realized by orderly contracting and expanding the plurality of moving joint modules.
Compared with the prior art, the beneficial effects of the utility model are that:
the multi-joint worm-imitating robot motion structure drives the pushing sliding table to move back and forth through the driving part to realize a reciprocating motion structure, further drives the motion force arms to contract and expand, realizes the contraction and expansion of a single motion joint module, and realizes a worm-imitating motion mode through orderly contraction and expansion of the motion joint modules; the outer diameter of the robot structure can be adjusted by controlling the contraction and expansion duration, so that the robot can move in dimensional spaces with different diameters; the length of the robot can be adjusted by adjusting the number of the motion joint modules according to the environment, so that the robot motion structure is suitable for different spaces.
Drawings
In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a kinematic joint module according to an embodiment of the present invention.
In the figure: 01-a fixed support, 02-a first fixed bolt, 03-a motion arm, 04-a second fixed bolt, 05-a support, 06-a third fixed bolt, 07-a fourth fixed bolt, 08-a driven platform, 09-a pushing sliding table and 10-a driving piece.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1-2, in an embodiment of the present invention, a multi-joint worm-imitating robot motion structure is composed of a plurality of individual motion joint modules;
the motion joint module comprises a fixed bracket 01, a motion force arm 03, a supporting bracket 05 and a driven platform 08;
the device comprises a fixed support 01, a support 05, a driven platform 08, a plurality of movable arms 03, a plurality of pushing sliding tables 09 for contracting and expanding the movable arms 03, a driving piece 10 and a driving piece, wherein the movable arms 03 are hinged between the fixed support 01 and the support 05 and between the support 05 and the driven platform 08; the driving piece 10 drives the pushing sliding table 09 to move back and forth to realize a reciprocating motion structure, and further drives the plurality of motion power arms 03 to contract and expand to realize the contraction and expansion of a single motion joint module, so that the worm-imitating motion mode can be realized by orderly contracting and expanding the plurality of motion joint modules; the outer diameter of the robot structure can be adjusted by controlling the contraction and expansion duration, so that the robot can move in dimensional spaces with different diameters; the length of the robot can be adjusted by adjusting the number of the motion joint modules according to the environment, so that the robot motion structure is suitable for different spaces.
Specifically, a first fixing bolt 02, a third fixing bolt 06 and a fourth fixing bolt 07 which are used for connecting a moving force arm 03 are respectively arranged on the fixing support 01, the supporting support 05 and the driven platform 08, and a second fixing bolt 04 which is used for connecting a pushing sliding table 09 is arranged on the moving force arm 03; one end of the motion arm 03 is mounted on the support bracket 05 through a third fixing bolt 06, and the other end is mounted on the fixing bracket 01 through a first fixing bolt 02 or mounted on the driven platform 08 through a fourth fixing bolt 07.
Further, the robot motion structure at least comprises three motion joint modules.
Specifically, the driving member 10 includes a power speed reduction motor and a screw rod, and the screw rod is connected to an output shaft of the power speed reduction motor; the power speed reducing motor and the screw rod drive the sliding table 09 to move.
The embodiment of the utility model provides a theory of operation is: the driving piece 10 drives the pushing sliding table 09 to move back and forth to realize a reciprocating motion structure, and further drives the plurality of motion power arms 03 to contract and expand to realize the contraction and expansion of a single motion joint module, so that the worm-imitating motion mode can be realized by orderly contracting and expanding the plurality of motion joint modules; the outer diameter of the robot structure can be adjusted by controlling the contraction and expansion duration, so that the robot can move in dimensional spaces with different diameters; the length of the robot can be adjusted by adjusting the number of the motion joint modules according to the environment, so that the robot motion structure is suitable for different spaces.
Example 2
Referring to fig. 1-2, in an embodiment of the present invention, a multi-joint worm-imitating robot motion structure is different from that in embodiment 1, the driving member 10 is a cylinder or a hydraulic cylinder; the air cylinder or the hydraulic cylinder drives the sliding table 09 to move back and forth, so that the single moving joint module is contracted and expanded, and the worm-imitating moving mode can be realized by orderly contracting and expanding the plurality of moving joint modules.
To sum up, this imitative worm robot motion structure of many joints can carry out the adaptation through the quantity of adjusting the motion joint module according to the difference of topography complexity, and under the condition that the joint is many, the power of motion is stronger, and adaptability is better, and the joint is few then more power saving, and the energy saving can freely increase or reduce the motion joint module according to user's demand to the conflict of balanced power and energy consumption.
In the complicated topography, the adaptability is better, can move in the space of different sizes with same set of equipment, and is more nimble.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A multi-joint worm-imitating robot motion structure is characterized in that:
the robot motion structure is composed of a plurality of independent motion joint modules;
the motion joint module comprises a fixed bracket (01), a motion arm (03), a supporting bracket (05) and a driven platform (08);
all articulate between fixed bolster (01) and support bracket (05) and between support bracket (05) and driven platform (08) and install motion arm (03), motion arm (03) and support bracket (05) are all including a plurality of that are central symmetric distribution, be equipped with between fixed bolster (01) and driven platform (08) and be used for shrink expansion motion arm (03) promote slip table (09), set up on motion arm (03) and promote slip table (09) complex bar spout, install driving piece (10) on fixed bolster (01).
2. The multi-joint worm-imitating robot motion structure as claimed in claim 1, wherein:
be equipped with first fixing bolt (02), third fixing bolt (06) and fourth fixing bolt (07) that are used for connecting motion arm (03) on fixed bolster (01), support bracket (05) and driven platform (08) respectively, be equipped with second fixing bolt (04) that are used for connecting promotion slip table (09) on motion arm (03).
3. The multi-joint worm-imitating robot motion structure as claimed in claim 1 or 2, wherein:
the robot motion structure at least comprises three motion joint modules.
4. The multi-joint worm-imitating robot motion structure as claimed in claim 1, wherein:
the driving piece (10) comprises a power speed reducing motor and a screw rod, and the screw rod is connected to an output shaft of the power speed reducing motor.
5. The multi-joint worm-imitating robot motion structure as claimed in claim 1, wherein:
the driving piece (10) is an air cylinder or a hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020070917.XU CN211494304U (en) | 2020-01-14 | 2020-01-14 | Multi-joint worm-imitating robot motion structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020070917.XU CN211494304U (en) | 2020-01-14 | 2020-01-14 | Multi-joint worm-imitating robot motion structure |
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| CN211494304U true CN211494304U (en) | 2020-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020070917.XU Expired - Fee Related CN211494304U (en) | 2020-01-14 | 2020-01-14 | Multi-joint worm-imitating robot motion structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113173211A (en) * | 2021-05-06 | 2021-07-27 | 李云飞 | Worm-imitating soft robot |
-
2020
- 2020-01-14 CN CN202020070917.XU patent/CN211494304U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113173211A (en) * | 2021-05-06 | 2021-07-27 | 李云飞 | Worm-imitating soft robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200915 Termination date: 20220114 |