CN103692431B - A kind of micro walking robot and driving method thereof - Google Patents
A kind of micro walking robot and driving method thereof Download PDFInfo
- Publication number
- CN103692431B CN103692431B CN201310651256.4A CN201310651256A CN103692431B CN 103692431 B CN103692431 B CN 103692431B CN 201310651256 A CN201310651256 A CN 201310651256A CN 103692431 B CN103692431 B CN 103692431B
- Authority
- CN
- China
- Prior art keywords
- motor
- cilium
- rear end
- guide rail
- axis hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The invention discloses a kind of micro walking robot and driving method thereof, it comprises front end, rear end, guide rail, body and linear stepping motor.Front-end and back-end are box structure, are processed with two locating holes; Guide rail is elongate cylinder, makes body can along guide rail freely-movable for fixing front-end and back-end; Animal economy is box-shaped, is processed with guide-track groove and motor slot; Drive motors adopts miniature piezoelectric stepper motor.The present invention can independent ambulation and various different surface, effects on surface roughness, and hardness has extraordinary adaptive capacity; Adopt piezoelectricity driving stepper motor, there is very high power output and output speed; Structure is simple, can print processing by full automation 3d, with low cost.
Description
Technical field
The present invention relates to the continuous telecontrol equipment of a kind of single-degree-of-freedom based on linear electric motors, particularly relate to a kind of miniature looper type walking robot based on miniature piezoelectric linear electric motors.
Background technology
In recent years, microrobot is in disaster relief, and the field such as industrial detection and medical diagnosis has shown very outstanding application prospect.In the Design and manufacturing process of microrobot, most important part is exactly the selection of driving principle and driver part.On the one hand, traditional in-wheel driving robot cannot adapt to out-of-flatness, smooth or flexible working environment.The bionics Study of insect and worm provides many outstanding environmental suitability microrobot operation principles.Motion process " is upheld-shrink " to miniature imitative Earthworm Robot periodically by simulation earthworm, effectively can adapt to complicated topography and geomorphology, and provide objective power and speed to export.On the other hand, traditional electromagnetic machine can not meet the driving demand in microminiaturized situation completely, and usual moment is too little, and structure is too complicated, and rotating speed is too high.New intelligent miniature driver such as ion-exchange polymer metal material driver, marmen, piezoelectric actuator etc. are progressively applied in the driving of microrobot and go.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, a kind of micro walking robot and driving method thereof are provided, structure of the present invention is simple, processing and manufacturing is with low cost, be convenient to realization, rectilinear motion fast can be realized continuously in unusual narrow space, adapt to multiple different surface characteristic, and export larger load force.
The technical scheme that the present invention solves the employing of its technical problem is: a kind of new micro walking robot and driving method thereof, comprise front end, rear end, guide rail, body and linear stepping motor.Linear stepping motor is fixed in the motor slot of body, and linear stepping motor output shaft exports axial trough by body and to be formed with front end motor axial trough and rear end motor shaft groove and coordinate, the motion of straight limit stepper motor output shaft; Front-end and back-end are fixed together by two elongated guide rails; Guide rail is formed with body by body guide-track groove and coordinates, the direction of motion of constraint body; After the cilium of front end, rear end cilium is separately fixed at the bottom of front-end and back-end, plays anchor point effect in the motion process of microrobot.
The invention has the beneficial effects as follows: present invention employs lumbricoid cyclic drive scheme, is that robot continuous print infinitely forms motion by the short range reciprocating conversion of motion of miniature linear.Compared with other robot drive scheme, structure of the present invention is simple, is conducive to the reduction of batch machining and cost.Meanwhile, the drive scheme that the present invention adopts makes this robot effectively can adapt to multiple different topography and geomorphology, also can obtain higher power output and objective output speed by high performance linear electric motors.The technical advantage of this small scale robot, makes him can obtain good application prospect in the field of medical device in future.
Accompanying drawing explanation
Fig. 1 is structural principle schematic diagram of the present invention;
Fig. 2 is the structural representation of body of the present invention;
Fig. 3 is the structural representation of guide rail of the present invention;
Fig. 4 is the structural representation of motor of the present invention;
Fig. 5 is the structural representation of front end of the present invention;
Fig. 6 is the structural representation of rear end of the present invention;
Fig. 7 is the principle schematic based on earthworm locomotory mechanism of the present invention;
In figure: rear end 1, motor shaft 2, body 3, motor body 4, front end 5, guide rail 6, body guide-track groove 7, body motor slot 8, body motor axis hole 9, guide rail 10, front slideway hole 11, front end motor axis hole 12, rear end guide rail hole 13, rear end motor axis hole 14, rear end cilium 15, body cilium 16, front end cilium 17.
Detailed description of the invention
As shown in Figure 1, the present invention includes front end 5, rear end 1, body 3, guide rail 6 and motor body 4 and motor shaft 2.Wherein, motor body 4 is arranged in body motor slot 8, and motor shaft is formed with body motor axis hole 9, front end motor axis hole 12 and rear end motor axis hole 14 and coordinates; Guide rail 6 is formed with body guide-track groove 7, front slideway hole 11 and rear end guide rail hole 13 and coordinates; Front end cilium 17, rear end cilium 15 and body cilium 16 are arranged on corresponding front end 5 respectively, the bottom of rear end 1 and body 3.
As shown in Figure 2, described body 3 basic structure is square.Body 3 both sides are processed with body guide-track groove 7, for fixed guide 6; Its inside is processed with body motor slot 8 and body motor axis hole 9, for fixed electrical machinery body 4 and motor shaft 2.Body cilium 16 is cementing bottom body 3.
As shown in Figure 3, described guide rail 6 is elongated cylindrical bars.
As shown in Figure 4, described linear stepping motor comprises motor body 4 and motor shaft 2.
As shown in Figure 5, described front end 5 basic structure is square.One end of front end 5 is processed with two guide rail holes 11 and a motor axis hole 12, is respectively used to the unidirectional spacing of guide rail 6 and motor shaft 2; Front end cilium 17 is arranged on the bottom of front end 5.
As shown in Figure 6, described rear end 1 basic structure is square.One end of rear end 1 is processed with two guide rail holes 13 and motor axis hole 14 and is respectively used to the unidirectional spacing of guide rail 6 and motor shaft 2; Rear end cilium 15 is arranged on the bottom of rear end 1.
As shown in Figure 7, the microrobot of the present invention's design adopts the motion principle of class earthworm.During original state, miniature linear is in non-driven state (Fig. 7 (a)), front end cilium 17, and rear end cilium 15 and body cilium 16 are all in flexible non-stand-up state; Move along a direction when miniature linear starts, motor shaft 2 travels forward relative to motor body 4.Under the effect of this relative motion, body cilium 16 is in erectility, stop body 3 to move, and front end cilium 17 and rear end cilium 15 is all in flexible non-stand-up state, do not affect the motion of front end 5 and rear end 1.Like this, front end 5 and rear end 1 travel forward one end distance; When miniature linear changes rotation direction, move along contrary direction, motor shaft 2 moves backward relative to motor body 4.This relative motion impels front end cilium 17 and rear end cilium 15 to be in erectility, makes front end 5 and rear end 1 transfixion.On the contrary, body cilium 16 recovers flexible non-stand-up state, does not affect body 3 and moves.Like this, body 3 travels forward a segment distance.In this process, body 3, front end 5 and rear end equal 1 have travelled forward a segment distance.Finally, whole robot returns to original state.So move in circles, this robot can travel forward continuously.According to this motion principle, the present invention can realize continuous print rectilinear motion with conventional micro-step motor, and controllability is good, and output torque and output speed can meet the demand of a large amount of microrobot application.Meanwhile, the present invention possesses good expandability, by integrated more functional unit, can complete more task, realize more function.
Above-mentioned detailed description of the invention is used for explaining and principle of the present invention is described, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, the amendment make the present invention and change, all fall into protection scope of the present invention.
Claims (1)
1. a micro walking robot, is characterized in that: it comprises front end (5), body (3), rear end (1), motor body (4) and motor shaft (2); Wherein, motor body (4) is arranged in body motor slot (8), and motor shaft is formed with body motor axis hole (9), front end motor axis hole (12) and rear end motor axis hole (14) and coordinates; Guide rail (6) is formed with body guide-track groove (7), front slideway hole (11) and rear end guide rail hole (13) and coordinates; Front end cilium (17), rear end cilium (15) and body cilium (16) are arranged on corresponding front end (5) respectively, the bottom of rear end (1) and body (3); Described body (3) both sides are processed with body guide-track groove (7), for fixed guide (6); Its inside is processed with body motor slot (8) and body motor axis hole (9), for fixed electrical machinery body (4) and motor shaft (2); Body cilium (16) is cementing in body (3) bottom; Described front end (5) basic structure is square; One end of front end (5) is processed with two guide rail holes (11) and a motor axis hole (12), is respectively used to the unidirectional spacing of guide rail (6) and motor shaft (2); Front end cilium (17) is arranged on the bottom of front end (5); One end of described rear end (1) is processed with two guide rail holes (13) and motor axis hole (14) and is respectively used to the unidirectional spacing of guide rail (6) and motor shaft (2); Rear end cilium (15) is arranged on the bottom of rear end (1); During original state, motor body (4) is in non-driven state, front end cilium (17), and rear end cilium (15) and body cilium (16) are all in flexible non-stand-up state; Start when motor body (4) and move along a direction, motor shaft (2) travels forward relative to motor body (4), under the effect of this relative motion, body cilium (16) is in erectility, body (3) is stoped to move, and front end cilium (17) and rear end cilium (15) are all in flexible non-stand-up state, do not affect the motion of front end (5) and rear end (1), like this, front end (5) and rear end (1) travel forward a segment distance; When motor body (4) changes rotation direction, move along contrary direction, motor shaft (2) moves backward relative to motor body (4), this relative motion impels front end cilium (17) and rear end cilium (15) to be in erectility, makes front end (5) and rear end (1) transfixion; On the contrary, body cilium (16) recovers flexible non-stand-up state, does not affect body (3) motion; Like this, body (3) travels forward a segment distance; In this process, body (3), front end (5) and rear end (1) have all travelled forward a segment distance; Finally, whole robot returns to original state; So move in circles, this micro walking robot can travel forward continuously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310651256.4A CN103692431B (en) | 2013-12-09 | 2013-12-09 | A kind of micro walking robot and driving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310651256.4A CN103692431B (en) | 2013-12-09 | 2013-12-09 | A kind of micro walking robot and driving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103692431A CN103692431A (en) | 2014-04-02 |
| CN103692431B true CN103692431B (en) | 2016-03-02 |
Family
ID=50354179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310651256.4A Expired - Fee Related CN103692431B (en) | 2013-12-09 | 2013-12-09 | A kind of micro walking robot and driving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103692431B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5595565A (en) * | 1994-06-30 | 1997-01-21 | The Trustees Of Columbia University In The City Of New York | Self-propelled endoscope using pressure driven linear actuators |
| US6162171A (en) * | 1998-12-07 | 2000-12-19 | Wan Sing Ng | Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures |
| CN101743157A (en) * | 2007-04-13 | 2010-06-16 | 泰克尼恩研究和发展基金有限公司 | vibrating robotic crawler |
| KR20110066238A (en) * | 2009-11-17 | 2011-06-17 | 김한식 | A capsule robot propulsion is in vibration movement material utilization ciliary |
| CN102525378A (en) * | 2012-02-02 | 2012-07-04 | 重庆理工大学 | Micro-robot driven by ciliary vibration |
| CN102745275A (en) * | 2012-07-19 | 2012-10-24 | 魏小钢 | Walking robot and walking method thereof |
| CN103182188A (en) * | 2011-12-30 | 2013-07-03 | 创首公司 | Climbing robot driven through vibration |
-
2013
- 2013-12-09 CN CN201310651256.4A patent/CN103692431B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5595565A (en) * | 1994-06-30 | 1997-01-21 | The Trustees Of Columbia University In The City Of New York | Self-propelled endoscope using pressure driven linear actuators |
| US6162171A (en) * | 1998-12-07 | 2000-12-19 | Wan Sing Ng | Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures |
| CN101743157A (en) * | 2007-04-13 | 2010-06-16 | 泰克尼恩研究和发展基金有限公司 | vibrating robotic crawler |
| KR20110066238A (en) * | 2009-11-17 | 2011-06-17 | 김한식 | A capsule robot propulsion is in vibration movement material utilization ciliary |
| CN103182188A (en) * | 2011-12-30 | 2013-07-03 | 创首公司 | Climbing robot driven through vibration |
| CN102525378A (en) * | 2012-02-02 | 2012-07-04 | 重庆理工大学 | Micro-robot driven by ciliary vibration |
| CN102745275A (en) * | 2012-07-19 | 2012-10-24 | 魏小钢 | Walking robot and walking method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103692431A (en) | 2014-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104626196B (en) | A kind of variation rigidity flexible actuator | |
| CN103273498B (en) | Rigidity variable flexible mechanical arm | |
| CN202708464U (en) | Peristaltic type pipeline robot movement traction mechanism | |
| CN102825595B (en) | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism | |
| CN103501129B (en) | A kind of Bionic inchworm type piezoelectric rotary driver | |
| CN104229087A (en) | Hydroplaning robot imitating water strider | |
| CN203486548U (en) | Wafer raw material disc transversely-moving driving structure | |
| CN103692431B (en) | A kind of micro walking robot and driving method thereof | |
| CN202037603U (en) | Wheel suspension mobile and parallel manipulator mechanism | |
| CN203831160U (en) | Transmission device for numerical control rotary table | |
| CN209125823U (en) | A kind of joint of robot driving mechanism, robot lower limb and sufficient formula anthropomorphic robot | |
| CN204087810U (en) | The parallel institution that Hydrauservo System and piezoelectric ceramic actuator drive jointly | |
| CN202530257U (en) | Machine head transmission device for full-automation computer glove machine | |
| CN203534334U (en) | Intelligent air cooling island cleaning robot | |
| CN210166673U (en) | Electric driving device of rocker controller | |
| CN107598960A (en) | The bionic mechanical hand that the full free degree easily drives | |
| CN203993296U (en) | A kind of structure of forging a knife of vertical machining centre | |
| CN103618474B (en) | The straight line driving mechanism driven based on IPMC and linear actuator | |
| CN204295395U (en) | The two drive transmission device of single screw | |
| CN200995338Y (en) | High-speed tool-changing device of horizontal machining center | |
| CN103457438B (en) | A kind of iron core magnetic keeps the method for designing of parallel step actuator | |
| CN203510233U (en) | Mechanical arm for wheelchair | |
| CN206211753U (en) | Pressure rotation machine | |
| CN205992830U (en) | A kind of electric cylinder of new virtual reality experience equipment | |
| CN109921556A (en) | A kind of miniature linear actuator with position feedback |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20181209 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |