CN107416057B - The netted worm robot of modularization - Google Patents
The netted worm robot of modularization Download PDFInfo
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- CN107416057B CN107416057B CN201710579152.5A CN201710579152A CN107416057B CN 107416057 B CN107416057 B CN 107416057B CN 201710579152 A CN201710579152 A CN 201710579152A CN 107416057 B CN107416057 B CN 107416057B
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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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Abstract
The present invention discloses a kind of netted worm robot of modularization, belong to bio-robot technical field, it is formed by multiple body portions block coupled in series, single body portion module is made of the node that the cradle head of several 3D printings, V-type bearing, ammeter bolt and nut are constituted, it is linked between each node by polycarbonate stick or nylon tube, cylindrical body reticular structure is formed, complete machine is made of each section of reticular structure cascade.Bearing and ammeter bolt on each node have fixed point to dispose motor, motor is connected by square flange, reel, bracket with fixed point for winding fluorine carbon line on each section of reticular structure.Motor winds rope as actuator, so that each section is realized contraction and diastole campaign under rope driving, each reel is wound with 4 ropes, respectively drives wherein two using positive and negative rotation, so that control is shunk and two kinds of motion states of diastole.There is controller in complete machine end, controller controls each motor and generates rhythmic exercise, it can be achieved that the forward setback of the worm type of robot.
Description
Technical field
Present invention design belongs to bio-robot technical field, provides a kind of robot moved in a manner of wriggling, specifically
For, it is a kind of netted worm robot of modularization.
Background technique
Bionics is the special ability an of mimic biology, is developed using the structure and function principle of biology mechanical or each
The science and technology of kind new technology.Modern machines people's motion mode is generally divided into wheeled, leg formula, bionical class robot.Bionical class machine
Device people copies the motion structure principle of biology, realizes special function, plays certain guidance for the production of people.Worm makees
For a kind of ground biology, there is flexibility, adaptable feature.Compared to wheeled, legged mobile robot, Chong Shi robot can more be fitted
Narrow, tortuous environment is answered, job that requires special skills is appropriate for；Traditional worm anthropomorphic robot, most of is the cascade Inchworm type of steering engine
Robot, body lacks flexibility, less for the vermicular movement mode of worm；There are two orthogonal directions for parallelogram sturcutre tool
Deformability, deformation and generate deformation it is similar in hydrostatics to worm body, pass through construction space parallel four
Side shape reticular structure, may be implemented the body structure of imitation worm.
Summary of the invention
For existing research conditions, the present invention proposes a kind of modular worm machine using space net structure
People, with the structure of its special designing, using rod-shaped objects such as polycarbonate stick and nylon tubes as main skeleton, by poly- carbonic acid
The flexible deformation of ester stick and nylon tube is constructed the myrmekitic texture for having certain rigidity again with dough deformation ability, is driven using line
It is dynamic, realize that the body portion module of the bodies portion module animals such as earthworm expands the Bionic conflguration reduced.
The netted worm robot of modularization of the present invention, is made of body portion block coupled in series, and each body portion module is to be saved by 18
Point 6 links of composition, 18 nodes include that 12 A type nodes, 5 Type B nodes and 1 c-type node and noose driving are set
It is standby.
The A type node, Type B node and c-type node all have the cradle head of two right-angled intersections setting, form dead axle
The planar contact pair of rotation.The both ends of cradle head are equipped with connector；It is also coaxial mounted with cradle head with one in A type node
V-type bearing is used for coiling.Type B node also has the wire rope handling channel of the vertical cradle head shaft of an axis, for threading.C-type
Also there is an electric machine support in node.
Three layer arrangements of above-mentioned 18 nodes point, wherein first layer and third layer are circumferentially evenly equipped with 6 A type nodes, and circumferential
Position is opposite.The second layer is circumferentially evenly distributed with 6 nodes, respectively 1 c-type node and 5 Type B nodes.6 nodes of the second layer and
Interlaced arrangement between 6 A type nodes of one layer and third layer.Pass through connecting rod between the cradle head end-fitting of adjacent two layers node
It is connected, makes to be upwardly formed 6 parallelogram links week.
Rope driving equipment includes reel, driving motor, longitudinally controlled coiling and circumferential control coiling.Wherein, reel
With upper layer and lower layer winding position；It is installed on c-type node, is coaxially disposed with the cradle head of c-type node.Driving motor uses
DC speed-reducing with encoder, worm and gear deceleration transmission are installed on the electric machine support of c-type node；Longitudinal control
Coiling processed and circumferential control coiling are two, are wound respectively in the lower layer of reel and upper layer.Longitudinally controlled coiling is connected to
Longitudinal diagonal line of body portion module circumferential direction links forms the threading mode of N font.Circumferential control coiling is connected to body portion mould
The lateral diagonal line of block circumferential direction links forms "-" type winding mode.
The netted worm robot of modularization of the present invention, it is at least coaxial by 3 body portion intermodules, it is interconnected to form；It is adjacent
Preceding the whole body portion module third layer and rear the whole body portion module first layer are passed through connecting rod phase by the two circumferentially staggered settings of body portion module
Even, adjacent two body portion intermodule is made to be similarly formed 6 parallelogram.
The netted worm motion planning and robot control mode of modularization of the present invention are as follows: original state makes to own in each body portion module
Link is in maximum inner diameter state；The driving motor reversion for controlling the first body portion module first, makes the first body portion module radius
It reduces, controlling driving motor rotating forward later increases body portion module radius, while the driving motor for controlling the second body portion module is anti-
Turn, makes the second body portion module reduced radius；Then the driving motor of the second body portion module of control rotates forward, and makes the second body portion module half
Diameter expands, while controlling the driving motor reversion of third body portion module, controls third body portion module reduced radius, and so on,
The driving motor for finally controlling the last one body portion module rotates forward, and increases the last one body portion module radius, while controlling the
The driving motor of the whole body portion module inverts, and makes the first body portion module reduced radius, forms circulation, realizes worm robot forward
It wriggles.
The present invention has the advantages that
1, the netted worm robot of modularization of the present invention, structural module, reconfigurability is strong, convenient for debugging and modification；2,
The netted worm robot of modularization of the present invention, with certain rigidity while with certain flexibility, radius change is big, shrinking percentage
Height, environmental suitability is strong, and the range of P Passable pipeline is wide；
3, the netted worm robot of modularization of the present invention, is driven using line, guarantees the flexibility that machine has, and mitigates mechanical weight
Amount, improves the mobility of machine；
4, the netted worm robot of modularization of the present invention, the creeping motion type motion mode of use, rhythmicity is strong, can rely on
The control of pivot mode generator, can be applied to pipeline detection, in the jobs that requires special skills such as rescue, have a wide range of application；
5, the netted worm robot of modularization of the present invention, using DC speed-reducing with encoder, worm and gear slows down
Transmission, self-locking performance make control simple；Encoder feedback accurately controls the position and speed of direct current generator, realizes the controllable of complete machine
Property is strong；
6, the netted worm robot of modularization of the present invention, basic exercise are to wriggle, and are adapted to wheeled or leg formula machine
The environment that people can not adapt to, adaptive faculty are extremely strong.
Detailed description of the invention
Fig. 1 is the netted worm robot A type node installation diagram of modularization of the present invention；
Fig. 2 is the explosive view of the netted worm robot A type node of modularization of the present invention；
Fig. 3 is the netted worm machine human B-type node B installation diagram of modularization of the present invention；
Fig. 4 is the three-dimensional explosive view of the netted worm machine human B-type node of modularization of the present invention；
Fig. 5 is the netted worm robot C type node installation diagram of modularization of the present invention.
Fig. 6 is the three-dimensional explosive view of the netted worm robot C type node of modularization of the present invention；
Fig. 7 is cradle head structural schematic diagram in the netted worm robot of modularization of the present invention；
Fig. 8 is the netted worm robot middle (center) bearing lid structural schematic diagram of modularization of the present invention；
Fig. 9 is the netted worm robot middle punch cylindrical structure schematic diagram of modularization of the present invention；
Figure 10 is motor supporting structure schematic diagram in c-type node；
Figure 11 is C-shaped node interior joint axle construction schematic diagram；
Figure 12 is the structural schematic diagram of a body portion module in the netted worm robot of modularization of the present invention；
Figure 13 is driving motor mounting means schematic diagram in the netted worm robot of modularization of the present invention；
Figure 14 is reel structural schematic diagram in the netted worm robot of modularization of the present invention；
Figure 15 is each node definition schematic diagram of body portion module in the netted worm robot of modularization of the present invention；
Figure 16 is longitudinal and circumferential driving cotton rope winding mode schematic diagram in the netted worm robot of modularization of the present invention；
Figure 17 is the adjacent body portion intermodule connected mode schematic diagram of the netted worm robot of modularization of the present invention.
In figure:
1- cradle head 2- fast pneumatic connector 3- ammeter bolt
The nonstandard bearing 6- perforation cylinder of 4- bearing cap 5-V shape
7- electric machine support 8- node axis 9- connecting rod
The longitudinally controlled coiling of 10- reel 11- driving motor 12-
13- circumferentially controls coiling 14- motor mounting flange 101- connector
102- connected unit 103- gas port A 104- connected unit bolt hole
105- gas port B 106- air slot 401- bearing cover center hole
The bearing cap notch 501- bearing centre hole 402- 601- wire rope handling channel
602- perforation cylindrical central bore 701- bracket base 702- carriage center hole
703- support arm 704- lacing hole 705- supporting table
The tri- layers of center circular baffle plate 10b- roll of 10a-
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
The netted worm robot of modularization of the present invention, including multiple body portions block coupled in series are constituted, and each body portion module is served as reasons
18 nodes form 6 links, and 18 nodes include 12 A type nodes, 5 Type B nodes and 1 c-type node and a noose
Driving equipment.
The A type node is nonstandard by 2 cradle heads 1,4 fast pneumatic connector 2, ammeter bolt 3, bearing cap 4, V-arrangement
Bearing 5 forms, as shown in Figure 1 and Figure 2.Wherein, cradle head 1 has the cylindrical connector 101 positioned at two sides and middle part
Cylindrical connected unit 102, as shown in Figure 7；The coincidence of 101 axis of two sides connector is simultaneously vertical with 102 axis of connected unit.Two sides connect
101 outer end of connector is provided with pneumatic joint mounting groove, and is provided in 101 side wall circumferential direction of connector and communicates with pneumatic joint mounting groove
Gas port A103, convenient for the installation of fast pneumatic connector 2.102 end face of connected unit is more smooth, convenient between two cradle heads 1
Contact.In connected unit 102, it axially is provided with connected unit bolt hole 104 along connected unit 102, is used to across ammeter bolt 3.Connect simultaneously
Gas port B105 is provided in consecutive 102 circumferential direction, gas port B105 is connected to connected unit bolt hole 105, convenient for turning for ammeter bolt 3
It is dynamic.Two cradle heads 1 of above structure are in right-angled intersection, are coaxially disposed up and down, keep 102 inner side end of connected unit opposite and paste
It closes, forms the planar contact pair of System of Rotating about Fixed Axis between the two；And air guide is provided with along 102 diameter of connected unit on 102 inner side end of connected unit
Slot 106,106 both ends of air slot are connected to the pneumatic joint mounting groove on two sides connector 101 respectively, just with two cradle heads
Installation between 1.4 fast pneumatic connectors 2 are cylindrical structure, and cooperation is plugged in 101 outer end of connector in two cradle heads 1
Pneumatic joint mounting groove, and fixed by adhesive.Bearing cap 4 is tubular structure, and end face center is provided with bearing cover center hole
401, and side offers bearing cap notch 402, is used for cabling, as shown in Figure 8.It is nonstandard that V-type is coaxially installed with inside bearing cap 4
Bearing 5, nonstandard 5 center of bearing of V-type have bearing centre hole 501.Ammeter bolt 3 sequentially passes through bearing cover center hole 401, bearing
After centre bore 501 and the connected unit bolt hole 105 of 2 cradle heads 1, cooperate with nut and position, realizes the company between each section
Connect fixation.
Type B node by 2 cradle heads, 1,4 fast pneumatic connector 2, ammeter bolt 3, perforation cylinder 6 form, as Fig. 3,
Shown in Fig. 4.Wherein, the structure of 2 cradle head 1 and 4 fast pneumatic connectors 2 is identical as A type node, and 2 cradle heads 1
Between connection type, and and 4 fast pneumatic connectors 2 connection type it is identical as A type node.It perforates on 6 middle part of cylinder
The rectangular section wire rope handling channel 601 of perforation perforation 6 side wall relative position of cylinder is offered, and there is the perforation circle opened up along axis
Column centre bore 602, as shown in Figure 9；Perforation cylindrical central bore 602 and 2 cradle heads 1 are sequentially passed through by ammeter bolt 3
Connected unit bolt hole 105 after, with nut cooperate position, realize each section between being connected and fixed.
C-type node is made of the cradle head 1 of fast pneumatic connector 2,2 of electric machine support 7,4 with node axis 8, such as Fig. 5,6
It is shown.Wherein, the structure of 2 cradle head 1 and 4 fast pneumatic connectors 2 is identical as A type node, and 2 cradle heads 1 it
Between connection type, and and 4 fast pneumatic connectors 2 connection type it is identical as A type node.Electric machine support 7 has cross
Type bracket base 701, as shown in Figure 10,701 center of bracket base are provided with carriage center hole 702；The three of bracket base 701
A end design has three support arms 703 perpendicular to bracket base 701, is provided with lacing hole 704, and support arm 703 on support arm side wall
Upper portion side wall on design have supporting table 705.Node axis 8 is hollow shaft, and as shown in figure 11, bottom end has round limit base 801,
And it is connected to inside its diameter design fluted 802, groove 802 and node axis 8 on limit base 801；8 tip side of node axis simultaneously
It is provided with node shaft through-hole 803 on wall, is connected to inside node shaft through-hole 803 and node axis 8.Node axis 8 sequentially passes through 2 rotations and closes
After the connected unit bolt hole 105 of section 1, and pass through the carriage center hole 702 in electric machine support 7 on bracket base 701.
As shown in figure 12, three layer arrangements of totally 18 nodes point of 3 seed types of above structure, between pass through 9 phase of connecting rod
Even.Wherein, first layer and third layer are circumferentially evenly equipped with 6 A type nodes, and circumferential position is opposite；The second layer is circumferentially evenly distributed with 6 sections
Point, respectively 1 c-type node and 5 Type B nodes；It is handed between 6 nodes of the second layer and first layer and 6 A type nodes of third layer
Mistake arrangement, and each node of the second layer is equal with A type nodal distance adjacent thereto in third layer to first layer, makes whole circle
It is upwardly formed 6 parallelogram links column structure week.In each node of aforesaid way arrangement mode, each node of first layer
Between, it is connectionless between the second section each point and between each node of third layer, and pass through between first layer and second layer adjacent node
Connecting rod 9 is connected, and is connected between the second layer and third layer adjacent node by connecting rod 9, i.e., by the both ends of connecting rod 9 and adjacent segments
Fast pneumatic connector 2 in point is connected, and the connecting rod 9 wherein connected between c-type node and adjacent 4 A type node uses nylon
The flexibility of pipe, nylon tube is stronger, is easily bent, so that multiple parallelogram planes in body portion module circumferential direction are rollable；It can
To provide pressure and pulling force along nylon tube axial direction, and make restraining force between expansion section and contraction section connection slightly smaller, guarantor
The movement interference demonstrate,proved between two sections is smaller.And remaining connecting rod 9 is all made of PC stick, PC stick elasticity is preferably, flexible poor, does not generate modeling
Property deformation, during exercise in the gap that generates and remaining link its restraining force is bent, internal stress is larger, makes
Extraneous pressure can be resisted by obtaining worm robot.The internal diameter of fast pneumatic connector 2 is 4mm in above-mentioned each node, with nylon tube
Suitable with the outer diameter of PC stick, nylon bore 3mm, wall thickness 0.5mm increase amount of deflection as far as possible.Nylon tube is with PC stick length
80mm。
The rope driving equipment includes reel 10, driving motor 11, longitudinally controlled coiling 12, circumferentially controls coiling 13,
As shown in figure 13.Wherein, reel 10 is by the upper of three layers of circular baffle plate 10a and center roll the 10b integral structure constituted
Lower bilayer reel is shaped using photosensitive resin printing technique as shown in figure 14, guarantees surface accuracy.Above-mentioned reel 10
Winding slot need to have certain depth, and the line being relaxed in motor rotation is prevented to be detached from reel 10.It is same on 10 one side of reel
Axis is provided with jack.The end the roll 10b design of reel 10 has jack, is plugged in 8 top of c-type node interior joint axis.Driving
Motor 11 is installed in c-type node on support arm 703 by motor mounting flange 14；Wherein, motor mounting flange 14 is square
Shape structure is overlapped on electric machine support 7 in the supporting table on three support arm top, and is fixed the two by screw.Driving motor
11 are fixedly installed on the motor mounting flange 14 of c-type node, and the roll 10b of output shaft and reel 10 is fixed；Pass through
Driving motor controls the folding and unfolding of longitudinally controlled coiling 12, circumferential control coiling 13, drives body portion block motion.
The longitudinally controlled coiling 12 has two, reel 10 lower layer with mutually wind, and end be both secured to around
At fixation hole A on spool 10.Circumferential control coiling 13 has two, winds on the upper layer of reel 10 with phase, and end point
It is not fixed at two opposite fixation hole B of position on roll 10.Two vertical control coilings 12 and circumferential control coiling 13
Winding mode are as follows:
As shown in figure 15, it enables in the first layer A type node of c-type node two sides, by close to the A type node of c-type node
It is followed successively by 1A1、1A2、1A3；Enable in the third layer A type node of c-type node two sides, by close to c-type node A type node according to
Secondary is 3A1、3A2、3A3；It enables in the second layer Type B node of c-type node two sides, it is primary by close to the Type B node of c-type node
For 2B1、2B2、2B3.Then:
As shown in figure 16, two longitudinally controlled coilings 12 are pierced by from a support arm 703 in electric machine support 7,
3A is successively bypassed by c-type node two sides1、1A1、2B1、3A2、1A2、2B2、3A3、1A3Afterwards, in 2B3Converge at place.Make longitudinal control as a result,
Coiling 12 processed is connected to longitudinal diagonal line of body portion module circumferential direction links, forms the threading mode of N font.Wherein, longitudinal
Winding mode of the control coiling 12 on each A type node is identical, after bypassing the V-arrangement bearing in A type node, by bearing cap 4
On notch be pierced by.Winding mode of the longitudinally controlled coiling 12 on Type B node is identical, by the lacing hole 601 on perforation cylinder 6
One end passes through, and the other end is pierced by, and two longitudinally controlled coilings 12 are in node 2B3After place converges, it is wound in node 2B3On,
Finally lie in 2B33 top through hole of ammeter bolt.
Two circumferential control coilings 13 are pierced by from the perforation on the opposite support arm 703 of the another two of electric machine support 7 respectively, by
C-type node two sides sequentially pass through 2B1、2B2Afterwards, in 2B3Converge at place.Circumferential control coiling 13 passes through mode phase in each Type B node
With directly by 3 top through-hole of ammeter bolt in Type B node directly through finally in node 2B3After place converges, node is lain in
2B33 top through hole of ammeter bolt.
As a result, when driving motor 11 rotates forward, longitudinally controlled coiling 12 is tightened, makes robot circumferential direction upper each parallel four
Side shape reduces along longitudinal width, while increases all diameters of entire body portion module.When driving motor 11 inverts
When, while so that longitudinally controlled coiling 12 is released from reel 10, by circumferential control coiling 13 with reversed winding mode
Around entering on reel 10, so that body portion module reduces circumferentially receiving restraining force, the radius of body portion module, while body portion module
Longitudinal length elongation.When motor rotates forward again later, circumferential control coiling 13 is released, and longitudinally controlled coiling 12 is tightened, and is made
The positive and negative rotation for obtaining a driving motor 11 can control two states of body portion block motion, and not occur between two states
Interference.
Worm robot of the present invention, it is whole coaxial by the body portion intermodule of at least three above structure, it is interconnected to form；
Preceding the whole body portion module third layer and rear the whole body portion module first layer are passed through connecting rod by the circumferentially staggered setting of adjacent two body portion module
It is connected, so that adjacent two body portion intermodule is similarly formed 6 parallelogram, as shown in figure 17.Simultaneously in worm machine of the present invention
It can also continue to extend in each body portion module circumferential direction of people, by increasing A type node and Type B node in each layer, make body portion
Module circumferentially has more too many levels.The motion mode of worm may be implemented in worm robot of the present invention as a result, and concrete operations are such as
Under: original state makes 6 links in each body portion module be in maximum inner diameter state；The drive of the first body portion module is controlled first
Dynamic motor 11 inverts, and makes the first body portion module reduced radius, and controlling the rotating forward of driving motor 11 later increases body portion module radius,
The driving motor 11 for controlling the second body portion module simultaneously inverts, and makes the second body portion module reduced radius；Then the second body portion of control
The driving motor 11 of module rotates forward, and makes the second body portion module increasing radius, while the driving motor for controlling third body portion module is anti-
Turn, controls third body portion module reduced radius, and so on, finally controlling the driving motor 11 of the last one body portion module just
Turn, increase the last one body portion module radius, while the driving motor 11 for controlling the first body portion module inverts, and makes the first body portion
Module reduced radius forms circulation, realizes the wriggling forward of worm robot.In worm robot kinematics, Mei Yibu
It is required to detect the position of the operating status of each driving motor 11 and motor rotation, and then worm robot may be implemented from appointing
Meaning state starts to move ahead.
In the present invention, cradle head 1, bearing cap 4, perforation cylinder 6, node axis 8, reel 10 be all made of 3D printing at
Type, longitudinally controlled coiling 12 use No. 14 fluorine carbon lines with circumferential control coiling 13.Driving motor 11 chooses 370 direct currents deceleration electricity
Machine, Worm Wheel System, voltage rating 24V, no-load speed 180r/min, reduction ratio 1 to 65, nominal torque 3.6kgcm.It drives
Dynamic motor 11 is driven using L298N drive module, and input voltage 24V, driving current maximum 2A are powered by D.C. regulated power supply,
Drive module output voltage 24V is powered by Du Pont's line to driving motor 11.It is watched simultaneously using Hall encoder as position
Clothes record the circle number that motor turns over, and speed, as feedback signal to main control chip, main control chip is by feedback signal to electricity
The shutdown of machine turns to, and revolving speed is controlled, the closed loop feedback control of forming position ring and speed ring.Control section selection
STM32F103ZET6 carries hardware coder interface using STM32 as main control chip, 5V lithium battery power supply, receives six tunnels and compiles
Code device feedback data, encoder are powered by STM32 output 3.3V level, and encoder output pulse amplitude is 3.3V.Pass through reception
The information of encoder feedback, judges the position of driving motor 11, revolving speed, and whether stall, when guaranteeing 11 stall of driving motor
Between it is short, turnning circle is fixed, and velocity of rotation is stablized, and driving circuit is simple, and control is simple.Whole driving motors 11 are connected to master control
On chip STM32F103ZET6, rhythmicity control command is generated to 6 DC speed-reducings by STM32F103ZET6, dependence is compacted
The worm rule of worm realizes the movement that moves forward and backward.The modularized design of worm robot of the present invention makes robot convenient for repairing
Change, test, replaces components, and realize the expansion of worm joint number；The shrinkage rates of robot can make maximum outside diameter minimum
1.5 times of outer diameter, the vacant big quantity space of robot interior may be implemented to carry multiple sensors, such as multiple wireless cameras, more
It is worked at the same time between machine, information is transmitted to host computer, the detection realized for circumstances not known is handled by host computer.
Claims (7)
1. the netted worm robot of modularization, it is characterised in that: be made of body portion block coupled in series, each body portion module is by 18
Node forms 6 links, and 18 nodes include that 12 A type nodes, 5 Type B nodes and 1 c-type node and a noose drive
Equipment；
The A type node, Type B node and c-type node all have the cradle head of two right-angled intersections setting, form System of Rotating about Fixed Axis
Planar contact pair；The both ends of cradle head are equipped with connector；Also there is one and the coaxial mounted V-arrangement of cradle head in A type node
Bearing is used for coiling；Type B node also has the wire rope handling channel of the vertical cradle head shaft of an axis, for threading；C-type section
Also there is an electric machine support in point；
Three layer arrangements of above-mentioned 18 nodes point, wherein first layer and third layer are circumferentially evenly equipped with 6 A type nodes, and circumferential position
Relatively；The second layer is circumferentially evenly distributed with 6 nodes, respectively 1 c-type node and 5 Type B nodes；6 nodes of the second layer and first layer
The interlaced arrangement between 6 A type nodes of third layer；Pass through connecting rod phase between the cradle head end-fitting of adjacent two layers node
Even, make to be upwardly formed 6 parallelogram links week；
Rope driving equipment includes reel, driving motor, longitudinally controlled coiling and circumferential control coiling；Wherein, reel has
Upper layer and lower layer winding position；It is installed on c-type node, is coaxially disposed with the cradle head of c-type node；Driving motor is installed on C
On the electric machine support of type node；The longitudinally controlled coiling and circumferential control coiling are two, respectively in the lower layer of reel
It is wound with upper layer；Longitudinally controlled coiling is connected to longitudinal diagonal line of body portion module circumferential direction links, forms the threading of N font
Mode；Circumferential control coiling is connected to the lateral diagonal line of body portion module circumferential direction links, forms "-" type winding mode.
2. the netted worm robot of modularization as described in claim 1, it is characterised in that: at least coaxial by 3 body portion modules, phase
It connects to be formed；The circumferentially staggered setting of adjacent two body portion module, by preceding the whole body portion module third layer and rear the whole body portion module first
Layer is connected by connecting rod, and adjacent two body portion intermodule is made to be similarly formed 6 parallelogram.
3. the netted worm robot of modularization as described in claim 1, it is characterised in that: by increasing in body portion module circumferential direction
A type node and Type B node increase body portion module circumferential direction link quantity.
4. the netted worm robot of modularization as described in claim 1, it is characterised in that: movement control mode are as follows: original state
All links in each body portion module are made to be in maximum inner diameter state；The driving motor for controlling the first body portion module first is anti-
Turn, make the first body portion module reduced radius, controlling driving motor rotating forward later increases body portion module radius, while controlling second
The driving motor of body portion module inverts, and makes the second body portion module reduced radius；The then driving motor of the second body portion module of control
It rotates forward, makes the second body portion module increasing radius, while controlling the driving motor reversion of third body portion module, control third body portion mould
Block reduced radius, and so on, the driving motor for finally controlling the last one body portion module rotates forward, and makes the last one body portion module
Radius increases, while controlling the driving motor reversion of the first body portion module, makes the first body portion module reduced radius, forms circulation,
Realize the wriggling forward of worm robot.
5. the netted worm robot of modularization as described in claim 1, it is characterised in that: wherein, longitudinally controlled coiling is in coiling
When, it is bypassed by the V-arrangement bearing in A type node；It is passed through by the wire rope handling channel in Type B node；It is circumferential to control coiling in coiling, by
The through-hole designed on Type B node directly through.
6. the netted worm robot of modularization as described in claim 1, it is characterised in that: c-type node and 4 adjacent A type sections
The connecting rod connected between point uses nylon tube, remaining connecting rod is all made of PC stick.
7. the netted worm robot of modularization as described in claim 1, it is characterised in that: driving motor is using with encoder straight
Decelerating motor is flowed, worm and gear deceleration transmission is passed through.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710190069 | 2017-03-27 | ||
| CN2017101900699 | 2017-03-27 |
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| CN107416057A CN107416057A (en) | 2017-12-01 |
| CN107416057B true CN107416057B (en) | 2019-06-25 |
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| CN110561388A (en) * | 2019-08-30 | 2019-12-13 | 东北大学 | modular mesh robot |
| CN112193347A (en) * | 2020-11-11 | 2021-01-08 | 张丽英 | Crawling robot |
| CN113236905B (en) * | 2021-06-25 | 2022-10-18 | 杭州电子科技大学 | Inchworm type magnetic control soft robot for small-sized pipeline detection and using method |
| CN116442204B (en) * | 2023-05-22 | 2024-02-23 | 浣江实验室 | Voxel type robot and system comprising same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6218375A (en) * | 1985-07-17 | 1987-01-27 | Toshiba Corp | Magnetic adsorption type movable robot |
| CN100443352C (en) * | 2007-06-21 | 2008-12-17 | 上海交通大学 | Creep walking mechanism inside pipeline |
| CN101913388A (en) * | 2010-07-05 | 2010-12-15 | 扬州大学 | Simulated wriggling crawling robot based on force feedback |
| CN101973320B (en) * | 2010-09-21 | 2012-06-13 | 上海大学 | Simulation wriggling walking device |
| JP6109643B2 (en) * | 2012-05-26 | 2017-04-05 | 学校法人 龍谷大学 | Crawler type robot and traveling robot connected body connecting it |
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