CN2532954Y - Snakelike robot - Google Patents
Snakelike robot Download PDFInfo
- Publication number
- CN2532954Y CN2532954Y CN 02210932 CN02210932U CN2532954Y CN 2532954 Y CN2532954 Y CN 2532954Y CN 02210932 CN02210932 CN 02210932 CN 02210932 U CN02210932 U CN 02210932U CN 2532954 Y CN2532954 Y CN 2532954Y
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- snake
- robot
- spring
- sma
- foot
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Abstract
The utility model relates to a snakelike robot consisting of a snakehead, a snake tail, and multi knot ends. Each knot end is connected by general steel springs and shape memory alloy springs for a driving device; each knot end is equipped with a protruding or retractive foot; each knot can be heated and cooled, so that the snake-like robot can have a front and back, or left and right turning movement. When the length of the body of the snake-like robot is equal to or larger than the trunk or the circumference of a cylinder, the snake-like robot can climb over or crawl down. The operation of the snake-like robot is controlled by hand or procedure. The snake-like robot can be used in long pipeline to find faults, in disaster accident to look for persons or objects, and in intellectual toys for children. The manufacturing cost is low.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of a kind of snake-shaped robot that utilizes marmem (SMA) spring and ordinary steel wire spring to do the telescopic motion of drive unit.
Background technology
Japan TOHOLU university utilizes micro-fabrication technique to adopt marmem to drive, and belongs to miniature snake-shaped robot, be applicable to human body intestinal canal or vascular environment, and the human body environment has seriously restricted the heat transfer and the heat radiation of marmem, makes and utilizes face to be restricted.Another kind of miniature multi-articulation electromagnetic creeping motion robot is by several driver element spares, elastic sealing film, rear deck, front deck constitute, each saves between driver element and connects with universal joint, it is the overall actuation movement that realizes robot system by the frictional force of interface, can only advance, retreat, can not climb tree and other cylinder.
Summary of the invention
The objective of the invention is to overcome above technical deficiency, provide a kind of simple in structure, function is many, utilize marmem (SMA) and ordinary steel wire spring made a kind of snake-shaped robot of driving.It also has following characteristics: when being equal to or greater than right circular cylinder body girths such as trunk or cylindrical bar when the snake-shaped robot body length, can be around climbing upper and lower creeping, owing to utilize shape memory alloy spring and ordinary steel wire spring to drive, low cost of manufacture, can in adverse circumstances, work, particularly work under water, be used in and seek people or thing in the disaster accident, in slender pipeline, search fault, also can be used in the exploitation children intelligent toy.
For achieving the above object, technical scheme of the present invention be achieved in that it by snakehead, ophiruid, several joint ends, ordinary steel wire spring, marmem (SMA) spring and enough etc. critical pieces form.Link up as drive unit with the ordinary steel wire spring and four marmems (SMA) spring that are fixed on the joint end between joint end and the joint end, it is to be made of a plurality of (more than or equal to 3) marmem (SMA) spring and one or more ordinary steel wire spring that each joint all has drive unit, drive unit.On the joint end foot that can stretch out and regain is housed, can rubber or metal tines be housed completely according to the ground characteristics of creeping.During walking, give marmem (SMA) the spring energising heating of control foot earlier, a joint end foot is stretched out with ground contact, give the heat shrink of marmem (SMA) energising between the joint end again, compress the ordinary steel wire spring simultaneously, the snake body that podomere end back is stretched out in pulling moves ahead.The joint of front stretches out backward, according to different operating character and condition, can arbitrarily increase and decrease joint terminal number amount, and in order to guarantee the flexibility on the axis direction, it is shared that middle several joint ends are two joints.The moving ahead of snake-shaped robot, retreat, about turn and climb up, climb down by artificial or programming and control.
Description of drawings
Specify with embodiment below in conjunction with accompanying drawing.
Fig. 1 shows snake-shaped robot general assembly schematic diagram.
The A-A cutaway view of Fig. 2 diagrammatic sketch 1.
Fig. 3 shows the partial cutaway diagrammatic sketch of I.
Among the figure, the 1-snakehead; The 2-ophiruid; 3,4,5,6-saves end; 7-ordinary steel rope spring; 8,9,10,11,13-marmem (SMA) spring; The 12-foot; 14,15,16-connecting rod; The 17-spring leaf; The 18-slideway
The specific embodiment
Among Fig. 1, a kind of snake-shaped robot is to be made of snakehead 1, ophiruid 2, several joint ends 3,4,5,6, ordinary steel wire spring 7, marmem (SMA) spring 8,9,10,11 and foot 12 critical pieces.Ordinary steel wire spring 7 and four marmems (SMA) spring 8,9,10,11 link up on the joint end 3,4 with being fixed between joint end 3 and the joint end 4, other each save by that analogy, can form snake-shaped robot.The joint end is to make with insulating materials, all is equipped with on each joint end and can controls foot 12 mechanisms of stretching out, regaining (seeing Fig. 2 for details).This controlling organization is made up of marmem (SMA) spring 13, connecting rod 14,15,16, spring leaf 17 and the slideway 18 that are contained in the joint end, and foot 12 according to the ground characteristics of creeping, can be equipped with rubber blanket or metal tines.Its operation principle is: shrink during the 13 energising heating of marmem (SMA) spring, draw connecting rod 14,15 to move inward, drive link 16 outwards moves along slideway 18, make foot 12 protruding, this moment, spring leaf 17 also moved inward, when outage, under the effect of spring leaf 17 bounces, connecting rod 14,15 is outwards retracted original position, foot 12 is regained.
The operation principle of a kind of snake-shaped robot of the present invention is: when the foot 12 of joint end 4 stretches out, contact with ground, as fixing point, joint end 4 is to marmem (SMA) spring 8,9,10, the 11 energising heat shrink of 5 at joint end, and the snake body that compresses ordinary steel wire spring 7 and pulling joint end 5 and back simultaneously advances; When the foot 12 of joint end 5 stretches out, 12 withdrawals of foot of joint end 4, this moment, the foot 12 with joint end 5 was a fixing point, joint end 5 is to marmem (SMA) spring 8,9,10,11 heat shrink of joint end 6, and joint end 4 to the shape memory alloy spring 8,9,10,11 that saves end 5 stops heating, then anamorphic stretching again under the effect of its ordinary steel wire spring+(preparing next time to shrink).Stretch out before this time end 4 is pushed to, and the ophiruid 2 of joint end 6 and back thereof contracts before being drawn, by that analogy, thus flexible the moving ahead of wriggling of having realized snakelike body.
When each being saved the extension and contraction control reversed in order of marmem (SMA) spring 8,9,10,11 foots of holding 12, then snake-shaped robot is done setback.When marmem (SMA) spring 8,9 of each joint or spring 10,11 as one group simultaneously during heat shrink, snake-shaped robot is then made left and right sides turning motion.
When joint end 3 to joint held 4 intermediate shape memorial alloy (SMA) springs 8,9 to shrink simultaneously, snakehead 1 can be steeved.
If the snake-shaped robot joint number increases, when height is equal to or greater than trunk, column girth, stretch out, regain action simultaneously by the foot 12 on each joint end, can climb up, climb down objects such as trunk, cylinder smoothly.
Claims (4)
1, a kind of by snakehead (1), ophiruid (2), several joint ends (3), (4), (5), (6), ordinary steel wire spring (7), four marmems (SMA) springs (8), (9), (10), (11) and a kind of snake-shaped robot of constituting of several foots (12), it is characterized in that saving between end and the joint end with the ordinary steel wire spring (7) and four marmems (SMA) springs (8) that are fixed on the joint end, (9), (10), (11) link up, and as the drive unit of each joint, on each joint end, all be equipped with and stretch out, the foot of regaining (12) is realized moving ahead, retreat, about turn, multiple function such as creep up and down.
2, a kind of snake-shaped robot according to claim 1 is characterized in that drive unit is made up of a plurality of (more than or equal to 3) marmems (SMA) springs (8) and one or more ordinary steel wire spring (7).
3, a kind of snake-shaped robot according to claim 1, the controlling organization that it is characterized in that foot (12) is by marmem (SMA) spring (13), connecting rod (14), (15), (16), spring leaf (17), slideway (18) is formed, and foot (12) can be equipped with rubber or metal tines according to the ground characteristics of creeping.
4, a kind of snake-shaped robot according to claim 1, it is shared that several joints are held (4) in the middle of it is characterized in that, (5) are two joints, guaranteed the flexibility on the axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02210932 CN2532954Y (en) | 2002-03-27 | 2002-03-27 | Snakelike robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02210932 CN2532954Y (en) | 2002-03-27 | 2002-03-27 | Snakelike robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2532954Y true CN2532954Y (en) | 2003-01-29 |
Family
ID=33690966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02210932 Expired - Lifetime CN2532954Y (en) | 2002-03-27 | 2002-03-27 | Snakelike robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2532954Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501910A (en) * | 2011-10-18 | 2012-06-20 | 南京航空航天大学 | Robot for exploring unknown environment |
| CN102658554A (en) * | 2012-04-27 | 2012-09-12 | 北京工业大学 | Full flexible controlled mechanical arm |
| CN105881493A (en) * | 2016-06-04 | 2016-08-24 | 上海大学 | Ring-foot type micro creeping robot |
| CN105922245A (en) * | 2016-06-23 | 2016-09-07 | 福建工程学院 | Torsional transmission based worm type telescopic forward moving device |
| CN107214687A (en) * | 2017-07-25 | 2017-09-29 | 江苏大学 | A kind of thermal deformation cavity drives soft robot of creeping |
| CN107486849A (en) * | 2017-08-30 | 2017-12-19 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
| CN108839722A (en) * | 2018-05-31 | 2018-11-20 | 江西理工大学 | One kind being based on the spring driven imitative caterpillar soft robot of SMA |
| CN109551470A (en) * | 2018-09-13 | 2019-04-02 | 清华大学 | A kind of variable diameters snake-shaped robot module and snake-shaped robot |
| CN110154009A (en) * | 2019-06-14 | 2019-08-23 | 李忠吉 | A kind of bionic snake-shaped robot |
| CN112518726A (en) * | 2020-12-10 | 2021-03-19 | 中国科学院沈阳自动化研究所 | Multi-module flexible water snake robot |
-
2002
- 2002-03-27 CN CN 02210932 patent/CN2532954Y/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102501910A (en) * | 2011-10-18 | 2012-06-20 | 南京航空航天大学 | Robot for exploring unknown environment |
| CN102658554A (en) * | 2012-04-27 | 2012-09-12 | 北京工业大学 | Full flexible controlled mechanical arm |
| CN102658554B (en) * | 2012-04-27 | 2015-05-20 | 北京工业大学 | Full flexible controlled mechanical arm |
| CN105881493A (en) * | 2016-06-04 | 2016-08-24 | 上海大学 | Ring-foot type micro creeping robot |
| CN105922245A (en) * | 2016-06-23 | 2016-09-07 | 福建工程学院 | Torsional transmission based worm type telescopic forward moving device |
| CN107214687B (en) * | 2017-07-25 | 2021-04-20 | 江苏大学 | Thermal deformation cavity driven crawling soft robot |
| CN107214687A (en) * | 2017-07-25 | 2017-09-29 | 江苏大学 | A kind of thermal deformation cavity drives soft robot of creeping |
| CN107486849A (en) * | 2017-08-30 | 2017-12-19 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
| CN108839722A (en) * | 2018-05-31 | 2018-11-20 | 江西理工大学 | One kind being based on the spring driven imitative caterpillar soft robot of SMA |
| CN109551470A (en) * | 2018-09-13 | 2019-04-02 | 清华大学 | A kind of variable diameters snake-shaped robot module and snake-shaped robot |
| CN110154009A (en) * | 2019-06-14 | 2019-08-23 | 李忠吉 | A kind of bionic snake-shaped robot |
| CN112518726A (en) * | 2020-12-10 | 2021-03-19 | 中国科学院沈阳自动化研究所 | Multi-module flexible water snake robot |
| CN112518726B (en) * | 2020-12-10 | 2023-12-19 | 中国科学院沈阳自动化研究所 | Multi-module flexible water snake robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20020327 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |