CN103692431A - Miniature walking robot and driving method thereof - Google Patents
Miniature walking robot and driving method thereof Download PDFInfo
- Publication number
- CN103692431A CN103692431A CN201310651256.4A CN201310651256A CN103692431A CN 103692431 A CN103692431 A CN 103692431A CN 201310651256 A CN201310651256 A CN 201310651256A CN 103692431 A CN103692431 A CN 103692431A
- Authority
- CN
- China
- Prior art keywords
- rear end
- motor
- guide rail
- cilium
- walking robot
- 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.)
- Granted
Links
Images
Abstract
The invention discloses a miniature walking robot and a driving method thereof. The miniature walking robot comprises a front end, a rear end, a guide rail, a robot body and a linear stepping motor, wherein the front end and the rear end are of a square structure; two positioning holes are formed in the front end and the rear end; the guide rail is an elongated cylinder and is used for fixing the front end and the rear end to enable the robot body to freely move along the guide rail; the whole robot body is square; a guide rail groove and a motor groove are formed in the robot body; the driving motor is a miniature piezoelectric stepping motor. The miniature walking robot can independently walk on various surfaces and is quite adaptable to surface roughness and hardness; the miniature walking robot, driven by the piezoelectric stepping motor, has high output force and output speed, is simple in structure and low in cost, and can be used for full automatic three-dimensional printing processing.
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, relate in particular 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 fields such as industrial detection and medical diagnosis have shown very outstanding application prospect.In the Design and manufacturing process of microrobot, most important part is exactly the selection of drive principle and driver part.On the one hand, traditional wheeled driven machine people 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 periodically " is upheld-shrink " to miniature imitative Earthworm Robot by simulation earthworm, can effectively adapt to complicated topography and geomorphology, and objective power and speed output are provided.On the other hand, traditional electromagnetic machine can not meet the driving demand in microminiaturized situation completely, and moment is too little conventionally, and structure is too complicated, and rotating speed is too high.New intelligent miniature driver is such as ion-exchange polymer/metallic material driver, marmen, and piezoelectric actuators 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, the present invention is simple in structure, processing and manufacturing is with low cost, be convenient to realization, can very in narrow space, realize continuously rectilinear motion fast, adapt to multiple different surface characteristic, and the larger load force of output.
The technical scheme that the present invention solves its technical problem employing 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 is exported axial trough by body and formed and coordinate with front end motor axial trough and rear end motor shaft groove, 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 and coordinates with body by body guide-track groove, the direction of motion of constraint body; After front end cilium, 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: the present invention has adopted lumbricoid cyclic drive scheme, is the continuous unlimited formation campaign of robot by the short range reciprocating conversion of motion of miniature linear.Compare with other robot drive scheme, of the present invention simple in structure, be conducive to the reduction of batch machining and cost.Meanwhile, the drive scheme that the present invention adopts makes this robot can effectively 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 in following field of medical good application prospect.
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.
The specific embodiment
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 forms and coordinates with body motor axis hole 9, front end motor axis hole 12 and rear end motor axis hole 14; Guide rail 6 forms and coordinates with body guide-track groove 7,11He rear end, front slideway hole guide rail hole 13; Front end cilium 17, rear end cilium 15 and body cilium 16 are arranged on respectively corresponding front end 5, the bottom of rear end 1 and body 3.
As shown in Figure 2, described body 3 basic structures are square shape.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 bottoms.
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 structures are square shape.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 shape.One end of rear end 1 is processed with two guide rail holes 13 and a motor axis hole 14 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 non-erectility; When miniature linear starts, along a direction, move, motor shaft 2 travels forward with respect to motor body 4.Under the effect of this relative motion, body cilium 16, in erectility, stop body 3 to move, and front end cilium 17 and rear end cilium 15 is all in non-erectility, do not affect the motion of front end 5 and rear end 1.Like this, front end 5 and rear end 1 one end distance that travels forward; When miniature linear changes rotation direction, along contrary direction, move, motor shaft 2 moves backward with respect to motor body 4.This relative motion impels front end cilium 17 and rear end cilium 15 in erectility, makes front end 5 and rear end 1 transfixion.On the contrary, body cilium 16 recovers non-erectility, does not affect body 3 motions.Like this, body 3 segment distance that travels forward.In this process, body 3, front end 5 and rear end equal 1 segment distance that travelled forward.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 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, realizes more function.
The above-mentioned specific embodiment principle of the present invention that is used for explaining, rather than limit the invention, in the protection domain of spirit of the present invention and claim, the modification that the present invention is made and change, all fall into protection scope of the present invention.
Claims (4)
1. novel micro-walking robot and a driving method thereof, is characterized in that: it comprises front end (5), body (3), rear end (1), motor body (4) and motor shaft (2) etc.; Wherein, motor body (4) is arranged in body motor slot (8), and motor shaft forms and coordinates with body motor axis hole (9), front end motor axis hole (12) and rear end motor axis hole (14); Guide rail (6) forms and coordinates with body guide-track groove (7), front slideway hole (11) and rear end guide rail hole (13); Front end cilium (17), rear end cilium (15) and body cilium (16) are arranged on respectively corresponding front end (5), the bottom of rear end (1) and body (3).
2. a kind of novel micro-walking robot according to claim 1 and driving method thereof, is characterized in that: 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.
3. a kind of novel micro-walking robot according to claim 1 and driving method thereof, is characterized in that: described front end (5) basic structure is square shape; 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).
4. a kind of novel micro-walking robot according to claim 1 and driving method thereof, is characterized in that: the one end of described rear end (1) is processed with two guide rail holes (13) and a motor axis hole (14) 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).
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 true CN103692431A (en) | 2014-04-02 |
| CN103692431B 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 |
|---|---|
| CN103692431B (en) | 2016-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202708464U (en) | Peristaltic type pipeline robot movement traction mechanism | |
| CN206484587U (en) | A kind of Artificial grip module based on flexible shaft | |
| CN102556200B (en) | Four-feet walker | |
| CN103501129B (en) | A kind of Bionic inchworm type piezoelectric rotary driver | |
| CN204382271U (en) | Manipulator | |
| CN104229087A (en) | Hydroplaning robot imitating water strider | |
| CN104626196A (en) | Changeable rigidity flexibility actuator | |
| CN102647107A (en) | Big stroke micro nanoscale linear actuator based on parasitic motion principle | |
| CN105035199A (en) | Spherical robot capable of conducting foot type movement and working method of robot | |
| CN102922515A (en) | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling | |
| CN105465304A (en) | Reciprocating running speed and displacement amplifying mechanism and method | |
| CN107932482B (en) | Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement | |
| CN205044843U (en) | Can sufficient formula spherical robot of motion | |
| CN205310261U (en) | Two -degree -of -freedom 2 -PUS+U spherical surface parallel mechanism | |
| CN105291091B (en) | Three-translation one-rotation parallel robot with plane pair | |
| CN103692431A (en) | Miniature walking robot and driving method thereof | |
| CN102873681A (en) | Novel two-degree-of-freedom manipulator mechanism | |
| CN202037603U (en) | Wheel suspension mobile and parallel manipulator mechanism | |
| CN204087810U (en) | The parallel institution that Hydrauservo System and piezoelectric ceramic actuator drive jointly | |
| CN209125823U (en) | A kind of joint of robot driving mechanism, robot lower limb and sufficient formula anthropomorphic robot | |
| CN204054063U (en) | A kind of can the Delta structure parallel manipulator of precision three-dimensional movement | |
| CN203534334U (en) | Intelligent air cooling island cleaning robot | |
| CN206283428U (en) | A kind of Inchworm type precision straight line microdrive based on compliant mechanism | |
| Saito et al. | Study on silicon device of microrobot system for heterogeneous integration | |
| CN105922245B (en) | Worm type based on torque drive stretches moving device |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20181209 |