Robot capable of pulling load in narrow and small space
A technology for towing loads and small spaces, applied in the field of robots, can solve the problem that the traction robot cannot be used, and achieve the effect of reducing the size, facilitating installation and disassembly, and reducing the volume.
Active Publication Date: 2019-09-27
BEIJING UNIV OF TECH
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Problems solved by technology
Although it can be applied in daily life, in a small space, due to the size, these traction robots cannot be used.
Method used
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Embodiment Construction
[0029] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0030] The schematic diagram of the overall structure of the micro-bionic ant robot is as follows: figure 1 shown. A working cycle of the robot is divided into two stages, one is the stage of pulling heavy objects, and the other is the stage of the robot moving itself. The two stages alternate continuously to realize the ability of the robot to pull the load. For these two working stages, the robot is divided into three parts as a whole, and these three parts are the sticking sole unit, the forearm lifting structure and the driving structure of the robot. These three parts coordinate with each other to complete the function of the miniature bionic ant robot to pull the load. The attached foot unit can realize the function of traction load; the forearm lifting structure realizes the mutual conversion and alternation of the two working stages; the mob...
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The invention discloses a robot capable of pulling load in a narrow and small space. The robot capable of pulling the load in the narrow and small space comprises an adhesion sole loading / desorbing part, a motion control part of a front arm, a free moving part of a robot and a corresponding circuit control module and a driving module; the adhesion sole loading / desorbing part is used for contacting and generating an adhesion force so as to realize a characteristic of unusual strength of an ant; the motion control part of the front arm is used for switching two different working modes; the free moving part of the robot is used for realizing movement of the robot; and the circuit control module and the driving module are used for providing a control signal for motor driving and a steering engine. According to the robot capable of pulling the load in the narrow and small space, by using a bionic dry-adhesion material, the adhesion force of the bionic dry-adhesion material is much larger than the adhesion forces or friction forces generated by other materials under the condition of same volume and mass; and meanwhile, compared with a traditional foot ant robot, a wheel type ant robot has the advantages that the adaptability of the wheel type ant robot to a complicated ground situation is higher, and the wheel type ant robot can be used for load pulling operation in the narrow and small space.
Description
technical field [0001] The invention relates to the technical field of mechatronics, in particular to a robot capable of pulling loads in a narrow space. Background technique [0002] At present, bionic micro-robots have attracted more and more attention from relevant scholars at home and abroad, because they can assist humans in a narrower space or complete tasks that humans cannot complete, especially in search, rescue, monitoring and environmental monitoring. in the field. Therefore, how to realize the miniaturization of the robot as much as possible under the condition of ensuring a certain function of the robot has become a hot research direction at present. This is also the research target of the patent of the present invention. [0003] Traditional pulling robots usually rely on high-torque motors and large weights to pull some loads. Although it can be used in daily life, in a small space, these traction robots cannot be used due to their size. However, in contra...
Claims
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IPC IPC(8): B62D57/02B62D57/024B25J9/12B25J11/00
CPCB25J9/12B25J11/00B62D57/02B62D57/024
Inventor 崔晶田雨楚中毅刘慧敏李明昊
Owner BEIJING UNIV OF TECH