Soft circular tumbling robot
A robot and circular technology, applied in the field of tumbling robots, can solve the problems of low driving force movement efficiency, complex structure, and limited application prospects, and achieve the effect of light weight and narrow width
Active Publication Date: 2019-03-22
SHANGHAI JIAO TONG UNIV
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[0027] specific implementation
[0028] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
[0029] like figure 1 As shown, a soft annular rolling robot includes: four springs 1, an isolator 2, a main motion ring 3, a friction belt 4, four relays 5, 6, 7, 8, a control system 18, a power supply 22, a sensor 23, Heating circuit wires 9, 10, 11, 12, 13, 21, sensor circuit wires 24, 25, control circuit wires 14, 15, 16, 17, 19, 20; of which:
[0030] Four springs 1 (only one marked in the figure) are connected to the main motion ring 3 through insulat...
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The invention provides a soft annular tumbling robot. The soft annular tumbling robot comprises a main movement ring, a friction belt, four elastic elements, an isolator, a sensor, relays, a control system and a power source. The friction belt is arranged on the outer side of the main movement ring in a sleeving mode and serves as a movement part of the robot. The four elastic elements are connected with the main movement ring though insulation bolts. The isolator is located at the junction of all the elastic elements in a main movement ring cavity and used for isolating all the elastic elements to avoid the situation that all the elastic elements are wound with one another. The sensor is attached to the inner wall of the main movement ring, located under the connection point of the first elastic element and the main movement ring and connected with the control system through wires. One ends of the relays, the four elastic elements and the power source form a loop through wires, and the other ends of the relays are connected with the control system. The control system is connected with the power source. According to the soft annular tumbling robot, tumbling advance of the soft annular robot is achieved through alternate expansion and contraction of the elastic elements.
Description
technical field [0001] The invention relates to a tumbling robot applied to rescue and detection, in particular to a soft annular tumbling robot. Background technique [0002] A robot is a mechanical device that performs work automatically. It can receive human command immediately; it can also operate autonomously according to the technical indicators and action principles stipulated by humans through pre-written programs. At present, the research on robots is endless, but the common robots are almost rigid, and their size cannot be changed. Rigid robots have the characteristics of fast movement speed, high running accuracy, and relatively simple driving. [0003] With the development of economy, various geological disasters bring more and more losses to human beings, all kinds of robots have played an irreplaceable role in the process of rescue and disaster relief. But due to the unpredictability of various terrains. However, the traditional rigid robot is affected by it...
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IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 费燕琼曹添福许红伟宋立博郑海潮
Owner SHANGHAI JIAO TONG UNIV