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Cylindrical amoeba-like moving robot body structure

A mobile robot, amoeba technology, used in motor vehicles, transportation and packaging to achieve the effect of increasing operational flexibility

Inactive Publication Date: 2013-01-16
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

They do not design the body structure and movement mode of mobile robots according to the environmental characteristics of pipeline inspection, human medical inspection, collapsed narrow space, etc., and the application is greatly restricted.

Method used

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  • Cylindrical amoeba-like moving robot body structure
  • Cylindrical amoeba-like moving robot body structure
  • Cylindrical amoeba-like moving robot body structure

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specific Embodiment approach

[0039] detailed description Implementation of the present invention will be further explained below in conjunction with accompanying drawing:

[0040] figure 1 It is a three-dimensional schematic diagram of the body structure of the cylindrical amoeba-like mobile robot, figure 2 It is the front view of the body structure of the cylindrical amoeba-like mobile robot. exist figure 1 , 2 Middle: 1 is the main support, 2 is the belt-shaped driving part I, 5 is the belt-shaped driving part II, 3 is the belt-shaped moving part I, and 4 is the belt-shaped moving part II. The four belt-shaped moving parts Ⅰ3 and four belt-shaped moving parts Ⅱ4 of the mobile robot are installed alternately on the left, right, upper and lower sides of the main bracket 1, and the belt-shaped driving part Ⅰ2 is fixed on the left side of the main bracket. Part II 5 is fixed on the right side of the main bracket, the belt-shaped moving parts 3 and 4 have the same length as the belt-shaped driving p...

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Abstract

The invention discloses a cylindrical amoeba-like moving robot body structure which comprises a main bracket, wherein a plurality of strip-shaped moving parts and a plurality of strip-shaped driving parts are arranged on the main bracket. The overturn motion of the strip-shaped moving parts is realized through wide skin which is arranged on wide rollers and surrounds a wide bracket for one circle. The overturn motion of the strip-shaped driving parts is realized through narrow skin which is arranged on narrow rollers and surrounds a narrow bracket for one circle. A shrinkage layer comprises a rope, a motor arranged on the strip-shaped driving parts and speed changing nodes on the moving parts and the driving parts, and the motor rotates and winds the rope to reduce the length and the surrounded area of the rope so as to realize a tail shrinkage action. The cylindrical amoeba-like moving robot body structure disclosed by the invention has the characteristics of compact structure, flexibility, strong movement capability, large application range and the like. The movement capability and the work space of a moving robot are broadened. The moving robot body structure has excellent actual application aspects in the application field of crossing closed space obstacles.

Description

technical field [0001] The invention belongs to the field of robot application, and particularly relates to a cylindrical amoeba imitating amoeba mobile robot body structure and its movement mode, which transmits the tail contraction action through a variable speed node and converts it into skin turning motion, and then realizes forward, backward and turning motions. Background technique [0002] In recent years, the driving and transmission methods of mobile robots have become one of the focuses of research. In some narrow, non-structural and closed environments, and full of various obstacles, such as pipeline inspection, human medical inspection, search and rescue in collapsed narrow spaces, etc., the size and working space of robots are greatly limited. Such occasions put forward higher requirements for the way the robot moves: either it can enter narrow pipes for inspection, or it can enter the human digestive tract without damage for inspection, or it can flexibly byp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 孙恒辉骆敏舟董翔钱荣荣
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI