Bionic creeping device based on helminth creeping mechanism

Abstract

The invention discloses a bionic worming crawling mechanism which is based on the worm crawling mechanism. The bionic worming crawling mechanism is characterized in that the bionic worming crawling mechanism is provided with a plurality of telescopic body joints and a control body joint which contain curved surface shells, 4 small holes are evenly distributed on the circumferential direction of the curved surface shell of each body joint, and the body joints are mutually connected through elastic ropes. The bionic worming crawling mechanism adopts the elastic energy storage and the reverse brake principle of a one-way wheel to realize the bionic worming crawling. The motion of a rigid body or an elastomer is controlled through changing the length of the elastic ropes, thereby realizing the direction changes of the bionic worming crawling, the obstacle avoidance or the obstacle crossing. The bionic worming crawling mechanism has wide application value, an electromagnetic sucker or a vacuum sucker can be arranged thereon to be used as a new walking driving mechanism of a wall climbing robot; walking wheels which are independently driven can be arranged thereon to realize that a moving robot uses the walking wheels for driving on a flat road surface and uses the mechanism for crossing the obstacle when meeting the obstacle; and the bionic worming crawling mechanism can be used as the driving mechanism of a fish-like robot, a shrimp-like robot, a flapping wing flying-imitation robot and the like.

Description

technical field [0001] The invention relates to a new creeping driving mechanism, in particular to a driving mechanism capable of realizing creeping crawling and changing the direction of creeping crawling and avoiding or crossing obstacles. Background technique [0002] Since the birth of bionic robots, it has had a profound impact on various aspects of industrial production, civil undertakings, and national defense technology. There have also been many forms of bionic robots, such as robotic insects, snake-like robots, and robotic flies. In addition to bionic robots, various bionic functional components such as pneumatic artificial muscles and shape memory alloys are also used in the research of bionic robots. [0003] Mobile robots, crawling robots, and wall-climbing robots based on bionics research have driving mechanisms in the form of pneumatic artificial muscles, SMA drive, gear drive, connecting rod drive, cylinder or oil cylinder drive, wheel drive, track drive, etc...

AI Technical Summary

Problems solved by technology

[0003] Mobile robots, crawling robots, and wall-climbing robots based on bionics research have driving mechanisms in the form of pneumatic artificial muscles, SMA drive, gear drive, connecting rod drive, cylinder or oil cylinder drive, wheel drive, track drive, etc. Each has its own characteristics. For example, the pneumatic artificial muscle drive is small in size and light in weight, but it needs to solve the problem of...

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