Biomimetic peristaltic robot

Abstract

The application discloses a bionic peristaltic robot, which comprises a driving motor (1), wherein the driving motor (1) is provided with a mounting plate (2), the mounting plate (2) is provided with rotatably connected connecting rods (3) on both sides, and the connecting rods (3) are jointly provided with a caterpillar band (4); the caterpillar band (4) comprises a plurality of sequentially connected connecting plates (5), the end portions on both sides of the connecting plates (5) are provided with connecting seats (7), and the connecting seat (7) of the innermost connecting plate (5) is vertically rotatably connected with the end portion of the connecting rod (3); the single driving motor can realize the orderly peristalsis and barrier breaking, and has the characteristics of simple structure and reliable use.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a bionic peristaltic robot. BACKGROUND

[0002] The peristaltic robot is realized by imitating the crawling mode of natural creatures, and can enter narrow environment to replace manpower to complete the task, so it is widely used in military reconnaissance, medicine and rescue field; for the complex terrain scene, the peristaltic robot used usually includes a breaking mechanism and a peristaltic mechanism, but the two are independent, so multiple power sources are needed to drive, and connecting mechanism is also needed to coordinate the work of the two to achieve the desired working effect, which results in complex components and large size, and has the disadvantage of high failure rate. SUMMARY

[0003] The present application aims to provide a bionic peristaltic robot. The present application can realize the orderly breaking and peristalsis by a single driving motor, and has the characteristics of simple structure and reliable use.

[0004] The technical scheme of the present application is a bionic peristaltic robot, comprising a driving motor, the driving motor is provided with a mounting plate, the two sides of the mounting plate are provided with rotatably connected connecting rods, and the two connecting rods are jointly provided with a track; the track comprises a plurality of sequentially connected connecting plates, the end portions of the two sides of the connecting plate are provided with connecting seats, the connecting seat of the innermost connecting plate is vertically rotatably connected with the end portion of the connecting rod, and the corresponding connecting seats of the adjacent connecting plates are vertically rotatably connected, the middle portion of the connecting plate is provided with a through hole, and the through holes of the connecting plates are communicated to form a driving channel; the output end of the driving motor is provided with a screw rod penetrating in the driving channel, and the end portion of the screw rod is provided with a drill bit matched therewith.

[0005] In the above-mentioned bionic peristaltic robot, the width of the inner connecting plate is greater than that of the outer connecting plate, the connecting plates are combined to form a trapezoidal surface, and the inner end width of the drill bit corresponds to the width of the outermost connecting plate.

[0006] In the above-mentioned bionic peristaltic robot, the connecting seat and the end portion of the connecting rod are provided with connecting holes, and the connecting pins are jointly arranged in the corresponding connecting holes.

[0007] In the above-mentioned bionic peristaltic robot, the connecting plate is made of nylon material.

[0008] In the above-mentioned bionic peristaltic robot, the screw rod is made of aluminum alloy material.

[0009] The screw rod comprises a base connected with the driving motor, the base is provided with a spiral part in the driving channel, and the end of the spiral part is provided with a driving seat connected with the drill bit.

[0010] Compared with the prior art, the present application has the following beneficial effects:

[0011] 1、The driving motor is provided with a mounting plate, both sides of the mounting plate are provided with rotatably connected connecting rods, and the two connecting rods are commonly provided with a track; the track comprises a plurality of sequentially connected connecting plates, the end portions on both sides of the connecting plates are provided with connecting seats, the connecting seat of the innermost connecting plate is vertically rotatably connected with the end portion of the connecting rod, the corresponding connecting seats of the adjacent connecting plates are vertically rotatably connected, the middle portions of the connecting plates are provided with through openings, and the through openings of the connecting plates are communicated to form a driving channel; the output end of the driving motor is provided with a screw rod penetrating in the driving channel, and the end portion of the screw rod is provided with a drill bit matched therewith; the driving motor is started, the adjacent connecting plates and the connecting plates and the connecting rods can rotate, the force generated by the rotation of the screw rod is transmitted to the connecting plates through the through openings, the connecting plates form up-down reciprocating motion, the connecting plates cooperatively realize wave-shaped motion with the movement of the screw rod, the friction with the ground is realized to realize peristaltic movement, the rotation of the screw rod synchronously drives the rotation of the drill bit in front, the rotation of the drill bit discharges the sand in front to the two sides to realize sand discharge and sand breaking, and the peristaltic movement is effectively matched, reverse movement is realized by reverse rotation of the driving motor; only a single motor can realize the orderly breaking and peristaltic movement, multiple driving mechanisms and connecting components are not needed, and the device has the characteristics of simple structure and reliable use.

[0012] 2、The width of the connecting plate on the inner side is greater than that of the connecting plate on the outer side, the connecting plates are combined to form a trapezoidal surface, the inner end width of the drill bit corresponds to the width of the connecting plate on the outermost side, the drill bit cooperates with the trapezoidal surface to form a triangular surface, the advancing resistance is reduced, sufficient sand discharge space is provided for the drill bit, and the device size is further reduced.

[0013] 3、The connecting plate is made of nylon material, has sufficient strength and rigidity, and can reduce the overall weight, the friction coefficient between the nylon and the bottom surface is large, the device is facilitated to advance, the screw rod is made of aluminum alloy material, has high strength, and further reduces the overall weight. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a structural schematic view of the present application;

[0015] Figure 2 is a structural schematic view of the track of the present application;

[0016] Figure 3 is a structural schematic view of the screw rod of the present application;

[0017] Figure 4 is a structural schematic view of the mounting plate of the present application.

[0018] Reference signs

[0019] 1, drive motor; 2, mounting plate; 3, connecting rod; 4, track; 5, connecting plate; 7, connecting seat; 8, through port; 9, drive channel; 10, screw rod; 11, drill bit; 12, connecting hole; 13, connecting pin; 15, base; 16, screw portion; 17, drive seat. DETAILED DESCRIPTION

[0020] The present application will be further described below in conjunction with the drawings and examples, but is not as a basis for limiting the present application.

[0021] Example: a bionic peristaltic robot, as shown in the accompanying Figure 1 and accompanying Figure 4 , comprising a drive motor 1, the drive motor is connected to a power source, the drive motor 1 is provided with a mounting plate 2, the drive motor is further provided with a protective shell, both sides of the mounting plate 2 are provided with a rotatingly connected connecting rod 3, the two connecting rods 3 are commonly provided with a track 4; as shown in the accompanying Figure 2 , the track 4 comprises a plurality of sequentially connected connecting plates 5, the end portions of both sides of the connecting plate 5 are provided with connecting seats 7, the connecting seat 7 of the innermost connecting plate 5 is vertically rotatably connected with the end portion of the connecting rod 3, the corresponding connecting seats 7 of adjacent connecting plates 5 are vertically rotatably connected, the middle portions of the connecting plates 5 are provided with through ports 8, the through ports 8 of each connecting plate 5 are connected to form a drive channel 9; the output end of the drive motor 1 is provided with a screw rod 10 which is arranged in the drive channel 9, the end portion of the screw rod 10 is provided with a drill bit 11 which is matched with the screw rod 10, the drill bit and the screw rod and the drive motor and the screw rod are connected by double-headed bolts, which is convenient for disassembly and assembly; the width of the inner connecting plate 5 is greater than the width of the outer connecting plate 5, the connecting plates 5 are combined to form a trapezoidal surface, the inner end width of the drill bit 11 corresponds to the width of the outermost connecting plate 5; the connecting seat 7 and the end portion of the connecting rod 3 are provided with connecting holes 12, the connecting pins 13 are commonly arranged in the corresponding connecting holes 12; the connecting plate 5 is made of nylon material; the screw rod 10 is made of aluminum alloy material; as shown in the accompanying Figure 3 , the screw rod 10 comprises a base 15 which is connected with the drive motor 1, the base 15 is provided with a screw portion 16 which is arranged in the drive channel 9, the end portion of the screw portion 16 is provided with a drive seat 17 which is connected with the drill bit 11.

[0022] Working principle: start the drive motor, because the adjacent connecting plate between and connecting plate and connecting rod between can rotate, so with the rotation of the screw rod, the force generated by the through port will be transmitted to the connecting plate, so that the connecting plate forms up and down reciprocating motion, each connecting plate with the screw rod movement to achieve wavy motion, and then make it with the ground friction force to achieve peristalsis forward, while the rotation of the screw rod will synchronous drive the forward drill bit rotation, the rotation of the drill bit will be forward to the sand to both sides, to achieve the sand and broken sand, effective cooperation peristalsis forward, drive motor reverse same reason to realize reverse motion.

Claims

1. A biomimetic peristaltic robotic machine comprising a drive motor (1), characterized in that: The driving motor (1) is provided with a mounting plate (2), both sides of the mounting plate (2) are provided with rotatably connected connecting rods (3), and the two connecting rods (3) are commonly provided with a track (4); the track (4) comprises a plurality of sequentially connected connecting plates (5), the end portions of both sides of the connecting plate (5) are provided with connecting seats (7), the connecting seat (7) of the innermost connecting plate (5) is vertically rotatably connected with the end portion of the connecting rod (3), the corresponding connecting seats (7) of adjacent connecting plates (5) are vertically rotatably connected, the middle portions of the connecting plates (5) are provided with through openings (8), the through openings (8) of the connecting plates (5) are communicated to form a driving channel (9); the output end of the driving motor (1) is provided with a screw rod (10) penetrating in the driving channel (9), the end portion of the screw rod (10) is provided with a drill bit (11) matched therewith; the width of the inner connecting plate (5) is greater than that of the outer connecting plate (5), the connecting plates (5) are combined to form a trapezoidal surface, and the inner end width of the drill bit (11) corresponds to the width of the outermost connecting plate (5).

2. The biomimetic peristaltic robotic device of claim 1, wherein: The connecting seat (7) and the end portion of the connecting rod (3) are provided with connecting holes (12), and the two corresponding connecting holes (12) are commonly provided with a connecting pin (13).

3. The biomimetic peristaltic robotic device of claim 1, wherein: The connecting plate (5) is made of nylon material.

4. The biomimetic peristaltic robotic device of claim 1, wherein: The screw rod (10) is made of aluminum alloy material.

5. The biomimetic peristaltic robotic device of claim 1, wherein: The screw rod (10) comprises a base (15) connected with the driving motor (1), the base (15) is provided with a spiral portion (16) located in the driving channel (9), and the end portion of the spiral portion (16) is provided with a driving seat (17) connected with the drill bit (11).

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