Simulated wriggling crawling robot based on force feedback
A technology of creeping crawling and robotics, which is applied in the directions of motor vehicles, transportation and packaging, etc., and can solve problems such as broken motors, limited length of shrinking and stretching ropes, and short strokes
Inactive Publication Date: 2010-12-15
YANGZHOU UNIV
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Problems solved by technology
[0003] Before the present invention, the existing bionic creeping crawling robot mainly relies on the motor to drive the screw mechanism to control the length of the rope to shrink or stretch the relevant telescopic body segments, and realizes the crawling of the robot with the help of the one-way wheel. However, due to the use of the screw Mechanism, it has short stroke, limited length of contraction and extension rope, large structure size, and lack of force detection device, which causes the motor to break the rope or damage the motor, etc.
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[0024] Such as figure 1 , figure 2 Shown:
[0025] The present invention consists of a control body section 9, a first telescopic body section 1, a second telescopic body section 2, a third telescopic body section 3, a fourth telescopic body section 4, a fifth telescopic body section 5, a sixth telescopic body section 6, The seventh telescopic body section 7, the eighth telescopic body section 8, the first anti-backward mechanism 10, the second anti-backward mechanism 59, the third anti-backward mechanism 60, the fourth anti-backward mechanism 61, the fifth anti-backward mechanism 62, the The sixth anti-backward mechanism 63 , the seventh anti-backward mechanism 64 , the eighth anti-backward mechanism 65 , the ninth anti-backward mechanism 66 and the cable force detection mechanism 11 are composed.
[0026] Its positional relationship is:
[0027] The first telescopic body section 1, the second telescopic body section 2, the third telescopic body section 3, and the fourth ...
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The invention relates to a simulated wriggling crawling robot based on force feedback. In the robot, a flexible cable force detection mechanism is arranged on the flexible body segment left curved surface shell of a first flexible body segment and the flexible body segment right curved surface shell of an eighth flexible body segment; one end of a lower flexible cable is fixedly connected with the cable threading plate of the flexible cable force detection mechanism, and the other end of the lower flexible cable is connected with a worm wheel output shaft through each flexible body segment and a control body segment; multiple flexible body segments are respectively arranged on multiple anti-backward gears; and the control body segment is arranged on a first anti-backward gear. The invention solves the defects that the stroke is short, the length of the contracted and stretched cable is limited, the structural size is large, a motor snaps cables or the motor is damaged and the like due to the adoption of a screw mechanism in the existing simulated wriggling crawling robot. The novel simulated wriggling crawling robot based on the force feedback adopts the control body segment, multiple flexible body segments, multiple anti-backward gears and the flexible cable force detection mechanism.
Description
technical field [0001] The invention relates to a bionic crawling robot with force feedback, in particular to a bionic creeping crawling robot based on force feedback. Background technique [0002] Based on bionics research, the body of worms is composed of many parts that are similar to each other and arranged repeatedly, that is, body segments. When crawling forward, some body segments with appendages are adsorbed or clamped on the ground, walls, branches, leaves, etc. On the surface of other objects, by changing the nervous system to control the lifting of the front body segment, muscle stretching, falling, adsorption or clamping, and then releasing the adsorption or clamping body segment, and then driving the rear body segment forward through muscle contraction, to achieve Creeping. [0003] Before the present invention, the existing bionic creeping crawling robot mainly relies on the motor to drive the screw mechanism to control the length of the rope to shrink or stre...
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IPC IPC(8): B62D57/02
Inventor 朱兴龙张颖
Owner YANGZHOU UNIV