CN105501323A - Worm robot and control method thereof - Google Patents
Worm robot and control method thereof Download PDFInfo
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- CN105501323A CN105501323A CN201610045451.6A CN201610045451A CN105501323A CN 105501323 A CN105501323 A CN 105501323A CN 201610045451 A CN201610045451 A CN 201610045451A CN 105501323 A CN105501323 A CN 105501323A
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- worm
- steering wheel
- polypide
- pawl
- robot
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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
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a worm robot and a control method thereof. The worm robot comprises at least three worm body structure sections, extensible structures, worm claw structures, steering engines and a control circuit, each extensible structure is mounted between two adjacent worm body structure sections, each worm claw structure is mounted on the corresponding worm body structure section, one steering engine is mounted on each worm claw structure and controls movement direction of the same, two steering machines are mounted on each extensible structure and control movement direction of the same, and the control circuit is connected with the steering engines and sends control instructions to the same. The worm robot can climb columnar objects, overhead collection of video information can be realized by utilizing the worm robot, and the worm robot can replace overhead operation personnel to realize overhead operation.
Description
Technical field
The invention belongs to Mechanical course field, be specifically related to a kind of worm robot and control method thereof.
Background technology
Existing robot is confined to move in the plane.Such as mesh worm, by constriction body, wriggles from the teeth outwards as earthworm; Climbing worm robot, uses sucker structure to be adsorbed on more smooth plane and climbs.These robots above-mentioned all can not in the climbing of columnar object surface.
Summary of the invention
In order to solve the problems referred to above that prior art exists, the invention provides a kind of worm robot and control method thereof.
An embodiment provides a kind of worm robot, comprise at least three joint polypide structures, stretching structure, worm pawl structure, steering wheel and control circuit; Described stretching structure is arranged between adjacent two joint polypide structures; Described worm pawl structure installment is in described polypide structure; Described worm pawl structure is provided with a described steering wheel, the sense of motion of worm pawl structure described in described servos control; Described stretching structure is provided with two described steering wheels, the sense of motion of stretching structure described in described servos control; Described control circuit is connected with described steering wheel, to described steering wheel sending controling instruction.
Further, described stretching structure comprises linear bearing, expansion link, drive link and rocking arm, and described expansion link is arranged between described linear bearing, and described rocking arm is connected with described expansion link by described drive link, and described steering wheel is arranged on described rocking arm.
Further, described worm pawl structure comprises two connecting rods and two cranks, and described two cranks are arranged on the both sides of described polypide structure respectively, and described steering wheel is connected with described two cranks by described two connecting rods.
Further, described steering wheel comprises shell, coreless motor, gear and position detector.
Further, described polypide structure and worm pawl structure adopt acrylic material to make.
One embodiment of the present of invention additionally provide a kind of control method for above-mentioned worm robot, comprising:
Described control circuit receives the control signal controlling worm robot;
Described control circuit generates control command according to control signal and sends to described steering wheel,
Described steering wheel to be creeped action according to the execution that described control command controls described stretching structure and described worm pawl structure.
Further, described execution is creeped action, comprising:
First segment polypide structural worm pawl structure opens crank, and stretching structure travels forward, and crank closes;
Second section polypide structural worm pawl structure opens crank, and stretching structure travels forward, and crank closes;
Section three, polypide structural worm pawl structure opens crank, and stretching structure travels forward, and crank closes;
Wherein, perform in the process of above-mentioned steps at arbitrary joint polypide structure motion, other joint polypide structures keep static.
Beneficial effect:
Above-mentioned worm robot utilizes the vermicular mode of motion of class, realizes carrying out in damaged surface at any angle wrigglings climb by the combination of stretching structure and worm pawl structure.Utilize above-mentioned worm robot can realize high-altitude and gather video information, also alternative aloft work personnel realize aloft work etc.
Accompanying drawing explanation
Fig. 1 is the structural representation of worm robot in one embodiment of the invention;
Fig. 2 is the structural representation of stretching structure 102 in one embodiment of the invention; And
Fig. 3 is the structural representation of worm pawl structure 103 in one embodiment of the invention.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
As shown in Figure 1, present embodiments provide a kind of worm robot, comprise at least three joint polypide structures 101, stretching structure 102, worm pawl structure 103, steering wheel 104 (not shown) and control circuit 105 (not shown), stretching structure 102 is arranged between adjacent two joint polypide structures 101, worm pawl structure 103 is arranged in polypide structure 101, worm pawl structure 103 is provided with a steering wheel 104, steering wheel 104 controls the sense of motion of worm pawl structure 103, stretching structure 102 is provided with two steering wheels 104, steering wheel 104 controls the sense of motion of stretching structure 102, control circuit 105 is connected with steering wheel 104, to steering wheel 104 sending controling instruction.
The motion principle of worm robot is the mode of motion of bionical " too many levels worm ".The structure of " too many levels worm " is made up of musculature (stretching structure 102) between multiple link trunk (polypide structure 101) and links, and each link length has worm pawl (worm pawl structure 103).
Motion flow process during worm robot crawling is: first segment polypide structure 101 opens worm pawl structure 103, and stretching structure 102 travels forward, then closed worm pawl structure 103; Second section polypide structure 101 opens worm pawl structure 103, and stretching structure 102 travels forward, then closed worm pawl structure 103; Section three, polypide structure 101 opens worm pawl structure 103, stretching structure 102 travels forward, then closed worm pawl structure 103, when each joint polypide structure 101 is moved, other worm pawl structures 103 are firmly grasped object and are kept polypide structure 101 to stablize, complete a motion cycle thus, repeat above-mentioned circulation and realize running continuously.
Select as one, worm robot has N and saves polypide structure (N is greater than 3).When worm robot application is in the occasion of bearing a heavy burden heavier, can by increasing the joint number of polypide structure to strengthen the degree of stability of worm robot.
As shown in Figure 2, select as one, stretching structure 102 comprises linear bearing 201, expansion link 202, drive link 203 and rocking arm 204, and expansion link 202 is arranged between linear bearing 201; rocking arm 204 is connected with expansion link 202 by drive link 203, and steering wheel 104 is arranged on rocking arm 204.The principle of work of stretching structure 102 is: the control command that steering wheel 104 is sent according to control circuit 105 does crankmotion, rocking arm 204 is driven to do crankmotion; rocking arm 204 drives expansion link 202 to do fore and aft motion by drive link 203, thus realizes the fore and aft motion of worm robot.
As shown in Figure 3, select as one, worm pawl structure 103 comprises the both sides that two connecting rods 301 and two cranks, 302, two cranks 302 are arranged on polypide structure 101 respectively, and steering wheel 104 is connected with two cranks 302 by two connecting rods 301.The principle of work of worm pawl structure 103 is: steering wheel 104 does crankmotion according to the control command of control circuit 105, drives 2 cranks 302 to do open or closing motion by connecting rod, thus realizes worm pawl structure 103 promptly or unclamp cylinder.
Select as one, steering wheel 104 comprises shell, coreless motor, gear and position detector.
The principle of work of steering wheel 104 sends control command to steering wheel 104 by control circuit 105, rotation direction is judged via the IC on its circuit card, coreless motor is driven to start to rotate again, by reducing gear, power is reached rocking arm, send signal back to by position detector, judge whether to arrive location, position detector can be realized by variable resistance simultaneously, when steering wheel 104 rotates, resistance value also can change thereupon, according to the angle of detection resistance value just known rotation.
Select as one, polypide structure 101 and worm pawl structure 103 adopt acrylic material to make.
A kind of control method for above-mentioned worm robot that the present embodiment provides, comprising:
S1: control circuit 105 receives the control signal that operating personal controls worm robot;
S2: control circuit generates control command according to control signal and sends to steering wheel 104,
S3: steering wheel 104 to be creeped action according to the execution that control command controls stretching structure 102 and worm pawl structure 103.
Select as one, perform action of creeping and comprise:
S3.1: the worm pawl structure 102 in first segment polypide structure 101 opens crank 302, and stretching structure 102 travels forward, crank 302 closes;
S3.2: the worm pawl structure 102 in second section polypide structure 101 opens crank 302, and stretching structure 102 travels forward, crank 302 closes;
Section S3.3: the three, the worm pawl structure 102 in polypide structure 101 opens crank 302, and stretching structure 102 travels forward, and crank 302 closes;
Wherein, perform in the process of above-mentioned steps in arbitrary joint polypide structure 101, other joint polypide structures 101 keep static.
In the present embodiment, the workflow of worm robot is as follows:
1, initialization: after the start of worm robot, control circuit 105 controls the steering wheel 104 of worm pawl structure 103, the steering wheel 104 of stretching structure 102 rotates to specified angle, and all worm pawl structures 103 are opened, and stretching structure 102 shrinks.Maintained the statusquo for 5 seconds (convenient being put into by worm robot is climbed on cylinder), after 5 seconds terminated, the steering wheel 104 that control circuit 105 controls all worm pawl structures 103 rotates to specified angle, all worm pawl structures 103 are closed, realize promptly cylinder action and constitution status, then wait-receiving mode control signal.
2, Received signal strength is judged: this signal is self-locking type signal (namely without new signal, it keeps original signal).Operating personal sends unlike signal (comprise advance, retrogressing, stopping, platform for video camera turn left, turn right, face upward, nutation, stopping etc.) by remote controller key.Control circuit 105 makes corresponding judgement according to different control signals.
3, corresponding sports is made according to signal content: example: control circuit 105 receives advance control signal, then run corresponding advance program.
1. the steering wheel 104 Unscrew first segment worm pawl structure 103 of first segment worm pawl structure 103;
2. steering wheel 104 rotatable elongate of telescoping mechanism 102 between the first to second section;
3. the steering wheel 104 rotating closed first segment worm pawl structure 103 of first segment worm pawl structure 103;
4. the steering wheel 104 Unscrew second section worm pawl structure 103 of second section worm pawl structure 103;
5. between the first to second section, the steering wheel 104 of telescoping mechanism 102 rotates shortening; Steering wheel 104 rotatable elongate of the second to the 3rd internode telescoping mechanism 102; (running) simultaneously
6. the steering wheel 104 rotating closed second section worm pawl structure 103 of second section worm pawl structure 103;
7. steering wheel 104 Unscrew Section of three worm pawl structure 103 of Section of three worm pawl structure 103;
8. the steering wheel 104 of the second to the 3rd internode telescoping mechanism 102 rotates and shortens;
9. the rotating closed Section of three worm pawl structure 103 of the steering wheel 104 of Section of three worm pawl structure 103;
Advance program completes.
4, judgement received signal is returned: turn back to judgement control signal after completing once motion at once, now again make corresponding sports according to signal content.Constantly circulate with this.
Above-mentioned worm robot utilizes the vermicular mode of motion of class, realizes carrying out in damaged surface at any angle wrigglings climb by the combination of stretching structure and worm pawl structure.Utilize above-mentioned worm robot can realize high-altitude and gather video information, substitute aloft work personnel and realize aloft work etc.
The present invention is not limited to above-mentioned preferred forms; any those skilled in the art can draw other various forms of products under enlightenment of the present invention; no matter but any change is done in its shape or structure; every have identical with the application or akin technical scheme, all drops within protection scope of the present invention.
Claims (7)
1. a worm robot, is characterized in that, comprises at least three joint polypide structures, stretching structure, worm pawl structure, steering wheel and control circuit;
Described stretching structure is arranged between adjacent two joint polypide structures;
Described worm pawl structure installment is in described polypide structure;
Described worm pawl structure is provided with described steering wheel, the sense of motion of worm pawl structure described in described servos control;
Described stretching structure is provided with described steering wheel, the sense of motion of stretching structure described in described servos control;
Described control circuit is connected with described steering wheel, to described steering wheel sending controling instruction.
2. worm robot according to claim 1, it is characterized in that, described stretching structure comprises linear bearing, expansion link, drive link and rocking arm, described expansion link is arranged between described linear bearing, described rocking arm is connected with described expansion link by described drive link, and described steering wheel is arranged on described rocking arm.
3. worm robot according to claim 1, it is characterized in that, described worm pawl structure comprises two connecting rods and two cranks, and described two cranks are arranged on the both sides of described polypide structure respectively, and described steering wheel is connected with described two cranks by described two connecting rods.
4. worm type robot according to claim 1, is characterized in that, described steering wheel comprises shell, coreless motor, gear and position detector.
5. the worm type robot according to claim 1,2,3 or 4, is characterized in that, described polypide structure and worm pawl structure adopt acrylic material to make.
6., for a control method for the worm robot as described in claim 1 to 5, it is characterized in that, comprising:
Described control circuit receives the control signal controlling worm robot motion;
Described control circuit generates control command according to control signal and sends to described steering wheel,
Described steering wheel to be creeped action according to the execution that described control command controls described stretching structure and described worm pawl structure.
7. control method according to claim 6, is characterized in that, described execution action of creeping comprises:
First segment polypide structural worm pawl structure opens crank, and stretching structure travels forward, and crank closes;
Second section polypide structural worm pawl structure opens crank, and stretching structure travels forward, and crank closes;
Section three, polypide structural worm pawl structure opens crank, and stretching structure travels forward, and crank closes;
Wherein, perform in the process of above-mentioned steps in arbitrary joint polypide structure, other joint polypide structures keep static.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610045451.6A CN105501323A (en) | 2016-01-22 | 2016-01-22 | Worm robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610045451.6A CN105501323A (en) | 2016-01-22 | 2016-01-22 | Worm robot and control method thereof |
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| CN105501323A true CN105501323A (en) | 2016-04-20 |
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| CN201610045451.6A Pending CN105501323A (en) | 2016-01-22 | 2016-01-22 | Worm robot and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367639A (en) * | 2018-11-15 | 2019-02-22 | 国网湖南省电力有限公司 | A kind of climbing level robot and its application method |
| CN113173211A (en) * | 2021-05-06 | 2021-07-27 | 李云飞 | Worm-imitating soft robot |
| CN113635987A (en) * | 2021-08-25 | 2021-11-12 | 武汉理工大学 | Multi-step mobile soft robot based on shape memory alloy |
| IT202100002651A1 (en) * | 2021-02-05 | 2022-08-05 | Giuseppe Carbone | DEVICE FOR THE AUTOMATED MONITORING OF OCCLUSIONS IN SEWER CONDUITS |
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| IT202100002651A1 (en) * | 2021-02-05 | 2022-08-05 | Giuseppe Carbone | DEVICE FOR THE AUTOMATED MONITORING OF OCCLUSIONS IN SEWER CONDUITS |
| CN113173211A (en) * | 2021-05-06 | 2021-07-27 | 李云飞 | Worm-imitating soft robot |
| CN113635987A (en) * | 2021-08-25 | 2021-11-12 | 武汉理工大学 | Multi-step mobile soft robot based on shape memory alloy |
| CN113635987B (en) * | 2021-08-25 | 2023-09-29 | 武汉理工大学 | Multistep mobile soft robot based on shape memory alloy |
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Application publication date: 20160420 |