The invention belongs to the technical field of biomimetic robots, and particularly discloses a magnetically-driven worm-like crawling robot based on gravity center regulation and control, which comprises a wriggling mechanism and a cargo carrying bin, and the cargo carrying bin is connected with the wriggling mechanism; the wriggling mechanism comprises a telescopic bag body, a liquid storage bag body and at least two power-saving magnet structures; the electromagnet structure comprises a connecting pipe, a coil frame, a shell and a coil, the connecting pipe is an iron connecting pipe, and every two adjacent connecting pipes are coaxially connected through a telescopic bag body; the shell and the coil rack form a closed space, the connecting pipe is located in the coil rack and is coaxial with the coil rack, and the coil is wound on the coil rack; the head end and the tail end of the wriggling mechanism are both connected with the liquid storage bag bodies, the liquid storage bag bodies communicate with the connecting pipe, and magnetorheological gel is contained in the liquid storage bag bodies. According to the worm-imitating robot, the problem that an existing worm-imitating robot moves forwards and backwards can be effectively solved, and the carrying capacity of the robot is greatly improved due to the fact that the number of creeping joints can be freely increased and the cargo carrying cabin moves relatively independently.
本发明属于仿生机器人技术领域,具体公开了一种基于重心调控的磁驱动仿蠕虫爬行机器人,包括蠕动机构和载货仓,载货仓与蠕动机构连接;蠕动机构包括伸缩囊体、储液囊体和至少两节电磁铁结构;电磁铁结构包括连接管、线圈架、外壳和线圈,连接管为铁质连接管,且相邻两节连接管之间通过伸缩囊体同轴连接;外壳与线圈架形成封闭的空间,连接管位于所述线圈架内且与线圈架同轴设置,线圈缠绕在线圈架上;蠕动机构的首端和尾端均连接有所述储液囊体,且储液囊体与连接管连通,储液囊体内装有磁流变胶。本发明能够有效的解决当前仿蠕虫机器人存在的前行后溜问题,且可自由增加的蠕动关节数量和运动相对独立的载货舱使机器人搭载能力有了较大提升。
Magnetically-driven worm-imitating crawling robot based on gravity center regulation and control
一种基于重心调控的磁驱动仿蠕虫爬行机器人
2023-10-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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