Multi-angle limiting bionic metamorphic mobile robot

Abstract

The utility model relates to the technical field of metamorphic robot, specifically disclose a multi -angle spacing's bionic metamorphic mobile robot, including support frame, its side surface fixedly connected with drive motor, the support frame is recessed type design, and the support frame inner wall is provided with transmission screw rod, both ends outer surfaces of transmission screw rod all install adjusting slide block. This multi -angle spacing's bionic metamorphic mobile robot, through transmission screw rod both ends reverse thread design, drive motor drives screw rod rotation, adjusting slide block synchronous reverse movement, through the linkage action of first linkage link and second linkage link, make spacing clamping plate realize open -and -close action, can adjust the clamping range according to object shape or environmental angle, the spring connection between support slide and support frame makes it elastic sliding when contacting object, drive the self -adaptation of the fitting baffle to adhere to irregular surface, cooperate hydraulic push rod and adjust two support frame spacing, realize multidirectional, multi -angle flexible spacing.

Description

Technical Field

[0001] This utility model relates to the field of variable-cell robot technology, specifically a biomimetic variable-cell mobile robot with multi-angle limiting. Background Technology

[0002] Bionic cellular mobile robots are a new type of robot that combines cellular mechanisms with bionic technology. They can change their structure and shape according to different environments and task requirements, and imitate the movement and functions of various animals to achieve multi-functionality and versatility. The cellular mechanism is one of the core technologies of bionic cellular mobile robots. It can cause certain components to merge, separate, reorganize, or undergo geometrical changes in an instant, thereby changing the number of effective components or degrees of freedom of the mechanism and producing new configurations. By studying and imitating the morphology, structure, and movement of organisms, robot parts and movement patterns with similar biological characteristics can be designed. The pneumatic soft gripper that imitates the tentacles of an octopus can sense the size and shape of objects through pneumatic adsorption and pressure sensors to achieve the function of grasping different objects.

[0003] With the continuous improvement of robot technology, the application of bionic robots is becoming more and more widespread. Among them, the application of bionic tree climbing robots is increasingly used in tree pruning, disease prevention and control, pest control, fruit harvesting, and field detection and monitoring. In existing technology, such as the quadruped climbing robot disclosed in publication number "CN102815348B", the robot uses its own weight to lock itself. However, in actual use, the robot achieves self-locking by tilting, which makes it difficult to maintain overall stability and affects subsequent work and inspection. Utility Model Content

[0004] The purpose of this invention is to provide a biomimetic variable-cell mobile robot with multi-angle limiting, in order to solve the problem mentioned in the background art that, in actual use, the robot achieves self-locking by tilting, which makes it difficult to maintain overall stability and affects subsequent work and inspection.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multi-angle limited biomimetic cellular mobile robot, comprising a support frame, a drive motor fixedly connected to its side surface, the support frame having a concave design, and a transmission screw provided on the inner wall of the support frame, with adjusting sliders installed on the outer surfaces of both ends of the transmission screw, a first linkage rod provided on the lower surface of the adjusting slider, and a second linkage rod installed on the lower surfaces of both ends of the support frame, one end of the second linkage rod being fixedly connected to a limiting clamp, two support sliders being installed through the surface of the support frame, one end of the support slider being fixedly connected to a fitting baffle, a hydraulic push rod being fixedly connected between the two support frames, and an inflation anti-slip mechanism being provided inside the support frame, which drives the first magnet to correspond with the second magnet in the air guide slot through the support slider, so that the second magnet is repelled and drives the linkage piston column to slide, so that air is filled into the anti-slip airbag from the inflation hose.

[0006] Preferably, the support frame and the transmission screw are rotatably connected, the output end of the drive motor passes through the surface of the support frame, and the output end of the drive motor is fixedly connected to the rotating shaft of the transmission screw.

[0007] By adopting the above technical solution, the motor and the transmission screw are directly connected, reducing intermediate transmission components, simplifying the mechanical structure, reducing energy loss, and at the same time reducing the overall size, thus improving the robot's portability and space utilization.

[0008] Preferably, the threads on the outer surfaces of the two ends of the transmission screw are in opposite directions, the transmission screw and the adjusting slider are threadedly connected, and the adjusting slider and the support frame are slidably connected.

[0009] Using the above technical solution, the reverse threads at both ends cause the adjusting slider to move synchronously in opposite directions when the screw rotates, achieving symmetrical movement, ensuring that the movements of the structures on both sides of the robot are consistent, and improving motion balance and stability.

[0010] Preferably, the first linkage rod is rotatably connected to the adjusting slider, the first linkage rod is rotatably connected to the second linkage rod, the second linkage rod is rotatably connected to the support frame, the support slider is slidably connected to the support frame, and a spring connects the support slider and the support frame.

[0011] By adopting the above technical solution, the adjusting slider drives the second linkage rod to rotate through the first linkage rod, so that the limiting clamping plate can open and close, forming a linkage transmission mechanism. This mechanism can convert the rotational motion of the screw into the linear motion of the clamping plate, adapting to the limiting requirements of different angles.

[0012] Preferably, the inflatable anti-slip mechanism includes a first magnet, which is fixedly connected to the side surface of the support slider. An air guide slot is provided inside the support frame, and a linkage piston column is provided on the inner wall of the air guide slot. A second magnet is fixedly connected to the end of the linkage piston column facing the first magnet. An inflation hose is connected between the side surface of the support frame and the limiting clamp, and an anti-slip airbag is fixedly connected to the inner surface of the limiting clamp.

[0013] By adopting the above technical solution, the principle of like poles repulsion of magnets is used to move the slider, which drives the first magnet to move closer to the second magnet. The magnetic force pushes the linkage piston column to slide, so that the inflation action can be achieved without direct mechanical contact, avoiding mechanical wear and improving the life and reliability of the mechanism.

[0014] Preferably, the magnetic poles at the opposite ends of the first magnet and the second magnet are the same, the gas guide slot and the linkage piston column are slidably connected, and a spring is connected between the gas guide slot and the linkage piston column.

[0015] Using the above technical solution, the repulsive force of like magnetic poles ensures that the linkage piston column can slide reliably when the support slider moves, thus achieving inflation. When the support slider is reset, the spring pull causes the piston column to automatically retract, expelling the gas in the airbag, which facilitates the robot to break free from the limit state and achieves reversibility of the action.

[0016] Preferably, the air guide groove is connected to the inflation hose, the inflation hose is connected to the cavity of the anti-slip airbag, and the surface of the anti-slip airbag is provided with strip-shaped anti-slip protrusions.

[0017] Using the above technical solution, gas is directly injected into the airbag through the air guide slot and the inflation hose. The path is simple, the inflation efficiency is high, and the anti-slip support can be quickly established.

[0018] Compared with the prior art, the beneficial effects of this utility model are: this multi-angle limiting biomimetic variable-cell mobile robot:

[0019] 1. Through the reverse thread design at both ends of the transmission screw, when the drive motor drives the screw to rotate, the adjusting slider moves synchronously in the opposite direction. Through the linkage of the first and second linkage rods, the limiting clamping plate can open and close. The clamping range can be adjusted according to the shape of the object or the angle of the environment. The spring connection between the supporting slider and the supporting frame allows it to slide elastically when in contact with the object, which drives the fitting baffle to adaptively fit the irregular surface. With the help of the hydraulic push rod to adjust the distance between the two supporting frames, flexible limiting in multiple directions and angles can be achieved. This solves the problem of insufficient stability caused by traditional robots that only rely on tilting self-locking. It is especially suitable for complex scenarios such as climbing and grasping.

[0020] 2. When the support slider moves, the first magnet on the side surface approaches the second magnet in the air guide slot. The repulsive force of the like magnetic poles pushes the linkage piston column to slide, and the air in the air guide slot is filled into the anti-slip airbag through the air inflating hose. After the airbag expands, it fits tightly against the object surface through the strip-shaped anti-slip protrusions. It can automatically inflate and prevent slipping without mechanical contact, avoiding the wear problem of traditional mechanical clamping. The spring between the air guide slot and the piston column can automatically vent the airbag when the support slider is reset, achieving quick release. This mechanism has both anti-slip reliability and movement flexibility, improving the robot's working stability on smooth or inclined surfaces.

[0021] 3. The drive motor directly drives the transmission screw, reducing intermediate transmission components and forming a compact and efficient power transmission chain. This reduces energy loss and shrinks the size. The rotating connection design of the two linkage rods makes the mechanical movement more flexible, while the elastic connection between the support slider and the limit clamp can buffer external impacts and avoid rigid collisions that could damage the structure. The magnetic drive and spring reset mechanism of the inflatable anti-slip mechanism further reduce mechanical wear and extend the life of the device. This achieves the integrated functions of limiting, anti-slip, and self-adaptation, significantly improving the environmental adaptability and operational efficiency of the biomimetic cellular robot. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the connection between the support frame and the hydraulic push rod of this utility model;

[0023] Figure 2 This is a three-dimensional structural diagram of the connection between the support frame and the support slider of this utility model;

[0024] Figure 3 This is a three-dimensional structural diagram of the connection between the second linkage rod and the limiting clamping plate of this utility model;

[0025] Figure 4 This is a three-dimensional structural diagram of the connection between the supporting slider and the fitting baffle of this utility model;

[0026] Figure 5 This is a three-dimensional structural diagram of the connection between the transmission screw and the adjusting slider of this utility model;

[0027] Figure 6 This is a three-dimensional structural diagram of the connection between the linkage piston column and the second magnet of this utility model.

[0028] In the diagram: 1. Support frame; 2. Drive motor; 3. Transmission screw; 4. Adjusting slider; 5. First linkage rod; 6. Second linkage rod; 7. Limiting clamp; 8. Support slider; 9. Fitting baffle; 10. First magnet; 11. Air guide slot; 12. Linkage piston column; 13. Second magnet; 14. Inflation hose; 15. Anti-slip airbag; 16. Hydraulic push rod. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figure 1-6 This utility model provides a technical solution: a biomimetic variable-cell mobile robot with multi-angle limiting, including a support frame 1, a drive motor 2, a transmission screw 3, an adjusting slider 4, a first linkage rod 5, a second linkage rod 6, a limiting clamp 7, a support slider 8, a fitting baffle 9, a first magnet 10, an air guide slot 11, a linkage piston column 12, a second magnet 13, an inflation hose 14, an anti-slip airbag 15, and a hydraulic push rod 16. The support frame 1 has a drive motor 2 fixedly connected to its side surface. The support frame 1 has a concave design, and the inner wall of the support frame 1 is provided with a transmission screw 3. Both ends of the transmission screw 3 have outer surfaces that are An adjusting slider 4 is installed. The support frame 1 and the transmission screw 3 are rotatably connected. The output end of the drive motor 2 passes through the surface of the support frame 1 and is fixedly connected to the rotating shaft of the transmission screw 3. After the drive motor 2 is started, the output end drives the transmission screw 3 to rotate. Since the threads at both ends of the transmission screw 3 are opposite, when it rotates, it pushes the adjusting sliders 4 on both sides to slide synchronously in opposite directions along the inner wall of the support frame 1. The adjusting slider 4 pulls the second linkage rod 6 to rotate through the first linkage rod 5, which in turn drives the limiting clamp 7 to swing inward or outward, thereby clamping or releasing the target object and completing the multi-angle limiting action.

[0031] The lower surface of the adjusting slider 4 is provided with a first linkage rod 5, and the lower surfaces of both ends of the support frame 1 are equipped with second linkage rods 6. One end of the second linkage rod 6 is fixedly connected to a limit clamp 7. Two support sliders 8 are installed through the surface of the support frame 1. One end of the support slider 8 is fixedly connected to a contact baffle 9. The outer surfaces of the two ends of the transmission screw 3 have opposite thread directions. The transmission screw 3 and the adjusting slider 4 are threadedly connected. The adjusting slider 4 and the support frame 1 are slidably connected. The first linkage rod 5 and the adjusting slider 4 are rotatably connected. The first linkage rod 5 and the second linkage rod 6 are rotatably connected. The second linkage rod 6 and the support frame 1 are rotatably connected. The support slider 8 and the support frame 1 are slidably connected. A spring is connected between the support slider 8 and the support frame 1. When the robot contacts the target object, the support slider 8 is squeezed by the object surface and slides along the surface of the support frame 1, causing the end contact baffle 9 to elastically contact the object surface. The spring between the support slider 8 and the support frame 1 provides a buffer force, allowing the support slider 8 to move within a certain range to adapt to curved or irregular surfaces, enhance contact stability, and avoid damage to the mechanism from rigid collisions.

[0032] A hydraulic push rod 16 is fixedly connected between two support frames 1. The inflatable anti-slip mechanism includes a first magnet 10, which is fixedly connected to the side surface of the support slider 8. An air guide slot 11 is opened inside the support frame 1. A linkage piston column 12 is provided on the inner wall of the air guide slot 11. A second magnet 13 is fixedly connected to the end of the linkage piston column 12 facing the first magnet 10. An inflation hose 14 is connected between the side surface of the support frame 1 and the limiting clamp 7. An anti-slip airbag 15 is fixedly connected to the inner surface of the limiting clamp 7. When the support slider 8 slides, the first magnet 10 fixed on the side surface approaches the second magnet 13 in the air guide slot 11 inside the support frame 1. Since the two magnets face each other and have the same magnetic pole, the repulsive force pushes the linkage piston column 12 to slide in the air guide slot 11. The sliding linkage piston column 12 compresses the air in the air guide slot 11. The gas is filled into the anti-slip airbag 15 through the inflation hose 14, causing it to expand and tightly adhere to the object through the surface strip-shaped anti-slip protrusions, increasing the friction and achieving anti-slip fixation.

[0033] The support frame 1 is internally equipped with an inflatable anti-slip mechanism. This mechanism, via a support slider 8, aligns the first magnet 10 with the second magnet 13 in the air-guiding slot 11. This repulsion of the second magnet 13 causes the linkage piston 12 to slide, facilitating airflow from the inflation hose 14 into the anti-slip airbag 15. The opposing ends of the first magnet 10 and the second magnet 13 have the same magnetic poles. The air-guiding slot 11 and the linkage piston 12 form a sliding connection, and a spring connects them. The air-guiding slot 11 is connected to the inflation hose 14, which in turn is connected to the cavity of the anti-slip airbag 15. The surface of the airbag 15 is provided with strip-shaped anti-slip protrusions. The hydraulic push rod 16 can adjust the distance between the two support frames 1, which facilitates lifting and moving on the surface of the target object and expands the applicability of the device. When the drive motor 2 reverses or the external force is removed, the transmission screw 3 drives the adjusting slider 4 to reset, the limit clamp 7 is released under the action of the linkage rod, the support slider 8 is reset under the spring tension, the first magnet 10 moves away from the second magnet 13, the linkage piston column 12 retracts under the action of the spring, and the gas in the anti-slip airbag 15 is discharged through the inflation hose 14 and the air guide slot 11, completing the overall reset of the mechanism and preparing for the next action.

[0034] Working principle: When using this multi-angle limiting bionic variable cell mobile robot, the drive motor 2 drives the transmission screw 3 to rotate. Because the threads at both ends of the screw are opposite, the adjusting slider 4 slides synchronously in the opposite direction. The limiting clamp 7 is opened and closed through the first linkage rod 5 and the second linkage rod 6 to achieve the limiting. When the supporting slider 8 is squeezed, it drives the contact baffle 9 to elastically contact the object. Its spring buffers the impact. When the supporting slider 8 slides, the first magnet 10 repels the second magnet 13 in the air guide slot 11, pushing the linkage piston column 12 to slide. Air is filled into the anti-slip airbag 15 through the air inflating hose 14 to expand and prevent slipping. The hydraulic push rod 16 can adjust the spacing of the supporting frame 1 to climb or descend, which increases the overall practicality.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A biomimetic variable-cell mobile robot with multi-angle limiting, comprising a support frame (1), wherein a drive motor (2) is fixedly connected to its side surface, the support frame (1) having a concave design, and a transmission screw (3) is provided on the inner wall of the support frame (1), characterized in that: Adjustable sliders (4) are installed on the outer surfaces of both ends of the transmission screw (3). A first linkage rod (5) is provided on the lower surface of the adjustable slider (4). A second linkage rod (6) is installed on the lower surfaces of both ends of the support frame (1). A limit clamp (7) is fixedly connected to one end of the second linkage rod (6). Two support sliders (8) are installed through the surface of the support frame (1). A fitting baffle (9) is fixedly connected to one end of the support slider (8). A hydraulic push rod (16) is fixedly connected between the two support frames (1). An inflation anti-slip mechanism is provided inside the support frame (1). It drives the first magnet (10) to correspond with the second magnet (13) in the air guide slot (11) through the support slider (8), so that the second magnet (13) is repelled and drives the linkage piston column (12) to slide, so that air can be filled into the anti-slip airbag (15) from the inflation hose (14).

2. The biomimetic variable-cell mobile robot with multi-angle limiting according to claim 1, characterized in that: The support frame (1) and the transmission screw (3) are rotatably connected. The output end of the drive motor (2) passes through the surface of the support frame (1) and the output end of the drive motor (2) is fixedly connected to the shaft of the transmission screw (3).

3. The biomimetic variable-cell mobile robot with multi-angle limiting according to claim 1, characterized in that: The threads on the outer surfaces of the two ends of the transmission screw (3) are opposite in direction. The transmission screw (3) and the adjusting slider (4) are connected by threads. The adjusting slider (4) and the support frame (1) are connected by sliding threads.

4. The biomimetic variable-cell mobile robot with multi-angle limiting according to claim 1, characterized in that: The first linkage rod (5) is rotatably connected to the adjusting slider (4), the first linkage rod (5) is rotatably connected to the second linkage rod (6), the second linkage rod (6) is rotatably connected to the support frame (1), the support slider (8) is slidably connected to the support frame (1), and a spring is connected between the support slider (8) and the support frame (1).

5. The biomimetic variable-cell mobile robot with multi-angle limiting according to claim 1, characterized in that: The inflatable anti-slip mechanism includes a first magnet (10), which is fixedly connected to the side surface of the support slider (8). The support frame (1) has an air guide slot (11) inside. The inner wall of the air guide slot (11) is provided with a linkage piston column (12). The end of the linkage piston column (12) facing the first magnet (10) is fixedly connected to a second magnet (13). An inflatable hose (14) is connected between the side surface of the support frame (1) and the limiting clamp (7). An anti-slip airbag (15) is fixedly connected to the inner surface of the limiting clamp (7).

6. The biomimetic variable-cell mobile robot with multi-angle limiting according to claim 5, characterized in that: The first magnet (10) and the second magnet (13) have the same magnetic poles at opposite ends. The air guide slot (11) and the linkage piston column (12) are connected in a sliding connection, and a spring is connected between the air guide slot (11) and the linkage piston column (12).

7. A biomimetic variable-cell mobile robot with multi-angle limiting according to claim 5, characterized in that: The air guide slot (11) is connected to the inflation hose (14), the inflation hose (14) is connected to the cavity of the anti-slip airbag (15), and the surface of the anti-slip airbag (15) is provided with strip-shaped anti-slip protrusions.

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