CN102079093A - Novel flexible body feeding method - Google Patents
Novel flexible body feeding method Download PDFInfo
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- CN102079093A CN102079093A CN 201010606803 CN201010606803A CN102079093A CN 102079093 A CN102079093 A CN 102079093A CN 201010606803 CN201010606803 CN 201010606803 CN 201010606803 A CN201010606803 A CN 201010606803A CN 102079093 A CN102079093 A CN 102079093A
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- flexible body
- head
- afterbody
- draws
- propulsive
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Abstract
The invention relates to a novel flexible body feeding method. A device used in the method comprises a head drawing mechanism and a tail pushing mechanism which are matched with each other and a feeding task is performed in a front-drawing and back-pushing mode. By the method, the feeding effect of a flexible body in a narrow space can be effectively improved; and the method is easy to operate and is suitable for ruin search and rescue, pipeline detection and the like.
Description
Technical field
The present invention relates to a kind of novel flexible body feeding method, be mainly used in fields such as ruins search and rescue and slit detection.
Technical background
Duo Fa earthquake disaster and building collapse incident make increasing researcher begin to pay close attention to the search operations of this type of accident in recent years.And from recent years repeatedly the heavy casualties data of earthquake domesticly still lack the rescue measure tackle the urgent disaster of this class efficiently as can be seen.Based on this kind present situation, researcher's further investigation is the rescue tool and the means of correspondence with it, thereby have facilitated the birth of various rescue robots.
What the present invention is based on is a kind of " robot for searching and rescuing in earthquake ", promptly a kind of robot system of using, can moving in the slit, ruins and survey towards earthquake disaster.The similar conventional endoscope that puts in ruins of the main executing agency of this robot, some drive units, information collecting device and auxiliary deliverance apparatus are installed on its flexible body, and the position that makes it can detect survivor in the ruins under operating personnel's controlling also can be implemented auxiliary rescue immediately.
Through simulation and field experiment repeatedly, a great problem of finding this robot system research is the problem of sending to of flexible body.Because the narrow and small and circumstance complication in space in the ruins, so general employing is to adopt appropriate device with flexible body " propelling " ruins outside ruins.But because the flexibility of body, the distance that can advance is quite limited, thereby has limited the range of application of robot largely.Solved by the invention is exactly the problem of sending to of flexible body, adopts at " propulsive mechanism " of body afterbody with in the mode that " drawing in mechanism " of body head combines, and utilize " pulling in front and others push behind " to cooperatively interact, thereby the long distance that realizes flexible body is sent to.
Summary of the invention
The objective of the invention is to, in slit, send a difficult problem to, a kind of novel flexible body feeding method is provided, realize that in " pulling in front and others push behind " mode the long distance of flexible body is sent at flexible body.
For achieving the above object, design of the present invention is: at first based on the certain rigid that flexible body possessed, adopted the propulsive mechanism that places the body afterbody, advanced body to advance; Secondly transmit the poor effect of pressure and transmit fine this mechanical characteristic of effect of pulling force based on the flexible body back that bends, adopted the mechanism that draws in that places the body head.In uniting under the driving of these two devices, realize to obtain to send to preferably effect to the sending to of " pulling in front and others push behind " formula of flexible body.
On the structure, this device is divided into two parts: " afterbody propulsive mechanism " and " head draws in mechanism ".
The afterbody propulsive mechanism is: have one to be involuted by two halves, have the cuboid pedestal of cylindrical hole on the involutory surface, the wherein center line of cylindrical hole and flexible body dead in line, on half pedestal of a left side direct current high torque motor is installed, an active of fixed installation spur gear on the output shaft of this direct current generator, this is spur gear and a transmission spur gear engagement initiatively, this transmission spur gear and a left side half pedestal travelling gear and the coaxial installation of synchronous pulley, a left side half pedestal travelling gear is meshed with the right side half pedestal travelling gear on second half pedestal, a coaxial installation of synchronous pulley on right half pedestal travelling gear and right half pedestal, two synchronous pulleys are all separately by a synchronous cog belt and two the synchronous pulley constant speed transmission in addition that lays respectively on the two halves pedestal about this, flexible body is installed between the synchronous cog belt, and maintains normal pressure between both sides cog belt and flexible body; On right half pedestal pretightning force is installed and adjusts knob, the knob centre bore is concentric affixed with an axle, and this through hole that passes on right half pedestal is connected with left half base thread; Two synchronous cog belt inboards on two matrixes all are equipped with an eccentric wheel, this eccentric wheel is a synchronous pulley, its outer and cog belt engagement, preceding half period concentric connection of axle of its center and an eccentric shaft, the second half section axle of this eccentric shaft and mounting hole flange concentric, but there is certain distance in this axle center with preceding half section axle axle center that belt wheel is installed, and the mating holes matched in clearance on eccentric shaft second half section and the pedestal can be by the distance between rotary flange angle adjustment belt wheel and the synchronous cog belt; Connect by two straight pins between two pedestals, the upper and lower surface of two pedestals all is equipped with upper cover plate and lower cover.During work, earlier flexible body is installed in the through hole between two matrixes, between two cog belts, makes cog belt tightly suppress flexible body, then the two halves pedestal is merged, and tighten the pretension knob by the distance of adjusting between eccentric wheel and the cog belt; Starter motor, motor will rotatablely move by two pairs of travelling gears and be transferred on a pair of synchronous pulley on two pedestals, in another motion that drives synchronous cog belt under to the cooperation of belt wheel, last synchronous cog belt drives advancing of flexible body by the rubbing surface with flexible body to synchronous pulley for this.
Head draws in mechanism can be divided into drive part and leg part.Adopt between two parts and flexibly connect (as thin steel chain etc.), so that flexible body is turned.Drive part is: having one, to become two ends by two semi-involutions be that platform bullet, interlude are the pedestal of cylinder, this pedestal has centre bore and flexible body cunning to join, all fluted difference is respectively installed following mechanism on involutory each semicylinder of the interlude cylinder of pedestal: a miniature high torque direct current generator is fixedly mounted on the pedestal by the motor bearing, drive bevel gear of fixed installation on the output shaft of this direct current generator, this drive bevel gear and a drive bevel gear engagement, this drive bevel gear drives the coaxial installation of rubber friction wheel with one; The driving rubber friction wheel clamping friction of two symmetric arrangement on two semicolumn bodies promotes described flexible body.During work, starter motor, the motor shaft rotation will be moved through gear train and moment is delivered on the friction pulley, and then drives the body motion by the frictional force between friction pulley and flexible body.Four modules make body radial force balance around the axle axial distribution.And pedestal is symmetry into two, is convenient to install and unloading.Holder part is: become matrix behind preceding matrix of quadrangular body and by two semi-involutions, should before matrix and back matrix centre bore is arranged and is driven the flexible body cunning and joins, before the rear end of the front end of matrix and back matrix fixedly connected circumferential uniform four front support leg seats and four rear leg seats respectively, four front support leg seats and four rear leg seats are hinged with the front end of four front support legs and the rear end of four rear legs respectively, and the rear end of four front support legs is hinged with the front end of four rear legs respectively.Each hinged part all is equipped with torsion spring, and according to the initial position needs of support, the torsion spring that is contained in above three hinge positions is respectively 90 °, 180 °, 90 °.Under the moment loading of torsion spring, the function that leg has automatic gathering to reset.An extension bar is installed on each fore-stock simultaneously, puts forth effort fulcrum so that when flexible body retreats, find at device.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of novel flexible body feeding method, it is characterized in that adopting a head to draw in mechanism and an afterbody propulsive mechanism is installed on the same flexible body, utilize afterbody propulsive mechanism and head to draw in " pulling in front and others push behind " mode that mechanism combines, realize that the length of flexible body is sent to apart from discontinuous; The concrete operations step is as follows:
Head draws in mechanism and originally is releasing orientation, make flexible body can pass through this mechanism smoothly, and this mechanism can not move with body;
Utilize the afterbody propulsive mechanism that flexible body is advanced into the dead point state then, after this stop the driving of afterbody propulsive mechanism;
Install head subsequently and draw in mechanism, start make its along flexible body to the body head movement;
Oppositely retreat immediately after arriving head, after its leg is run into barrier, open automatically along body;
This leg is flared to the extreme position occiput and draws in mechanism and obtain stable support point and also stop setback automatically, and flexible body draws at head under the driving of mechanism and moves on subsequently;
The operator starts the afterbody propulsive mechanism once more after knowing that body moves on, after this flexible body draws at head under the acting in conjunction of mechanism and afterbody propulsive mechanism and moves on;
Flexible body stops the driving of two mechanisms after advancing to and running into next dead point;
Start head then separately and draw in mechanism, make it advance to head along body;
Repeat above step then
To step
Process can realize by phased manner that the long distance of flexible body is sent to.
The present invention compared with prior art, have following outstanding substantive distinguishing features and remarkable advantage: the present invention has taken all factors into consideration the rigidity and the flexibility of flexible body, adopt " afterbody propulsive mechanism " to utilize the limited rigidity of body to realize sending to, and adopt " head draws in mechanism " to remedy body is sent to effect under propulsive force deficiency at flexibility; " pulling in front and others push behind " formula that the present invention proposes is sent mode to, the flexible body that possesses certain rigidity is had send effect preferably to.
Description of drawings
Fig. 1 is a feeding system structural principle block diagram of the present invention;
Fig. 2 adjacently among the present invention starts the workflow diagram that head between the afterbody propulsive mechanism draws in mechanism for twice;
Fig. 3 is a feeding system structural representation of the present invention.
The specific embodiment
A preferred embodiment of the present invention accompanying drawings is as follows: structure is referring to Fig. 3, this novel flexible body feeding method adopts two mechanisms: " head draws in mechanism (2) " and " afterbody propulsive mechanism (4) ", the operation principle of this two mechanism is referring to Fig. 1, and workflow is referring to Fig. 2.
This method concrete operations step is as follows:
The reverse drive head draws in mechanism (2), and it is moved to body head (1) along flexible body (3);
Claims (1)
1. novel flexible body feeding method, it is characterized in that, adopt a head to draw in mechanism (2) and an afterbody propulsive mechanism (4) is installed on the same flexible body (3), utilize afterbody propulsive mechanism (4) and head to draw in " pulling in front and others push behind " mode that mechanism (2) combines, realize that the length of flexible body (3) is sent to apart from discontinuous; Operating procedure is:
A. earlier head is drawn in mechanism (2) and afterbody propulsive mechanism (4) is installed on the flexible body (3), wherein head draws in mechanism (2) and becomes loose fit with flexible body (3), make flexible body (3) draw in mechanism (2) by this head smoothly, and this head draws in mechanism and can not move with flexible body (3), and become tight fit between afterbody propulsive mechanism (4) and the flexible body (3), make this afterbody propulsive mechanism (4) utilize frictional force drives flexible body (3) to advance and retreat;
B. start afterbody propulsive mechanism (4) then separately flexible body (3) is advanced into the dead point state, after this stop the driving of afterbody propulsive mechanism (4);
C. tighten head subsequently and draw in mechanism (2) and make itself and flexible body (3) tight fit, start and make this head draw in mechanism (2) to move to flexible body (3) head (1) along flexible body (3);
D. oppositely retreat immediately after arriving head (1), open automatically after the leg (7) that draws in mechanism (2) to head is run into barrier (6) along flexible body (3);
E. this leg (6) is flared to the extreme position occiput and draws in mechanism (2) and obtain stable support point and also stop setback automatically, and flexible body (3) draws at head under the driving of mechanism (2) and moves on subsequently;
F. the operator starts afterbody propulsive mechanism (4) once more after knowing that flexible body (3) moves on, and after this flexible body (3) draws at head under the acting in conjunction of mechanism (2) and afterbody propulsive mechanism (4) and becomes " pulling in front and others push behind " formula to move on;
G. after flexible body (3) advances to and runs into next dead point, stop the driving that head draws in mechanism (2) and afterbody propulsive mechanism (4);
H. start head then separately and draw in mechanism (2), make it advance to head (1) along flexible body (3);
Repeat above step then
To step
, discontinuous is realized the long apart from sending to of flexible body (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010606803 CN102079093A (en) | 2010-12-27 | 2010-12-27 | Novel flexible body feeding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010606803 CN102079093A (en) | 2010-12-27 | 2010-12-27 | Novel flexible body feeding method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102079093A true CN102079093A (en) | 2011-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010606803 Pending CN102079093A (en) | 2010-12-27 | 2010-12-27 | Novel flexible body feeding method |
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| Country | Link |
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| CN (1) | CN102079093A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108662104A (en) * | 2018-07-20 | 2018-10-16 | 陈刚 | One kind is pushed the ball transmission device |
| CN110561419A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | arm-shaped line constraint flexible robot track planning method and device |
| CN114603578A (en) * | 2022-04-13 | 2022-06-10 | 江西理工大学 | Soft continuum robot for searching and rescuing in ruins |
Citations (4)
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|---|---|---|---|---|
| US5143505A (en) * | 1991-02-26 | 1992-09-01 | Rutgers University | Actuator system for providing force feedback to a dextrous master glove |
| JPH06262549A (en) * | 1993-03-04 | 1994-09-20 | Daum Gmbh | Manipulator for surgery |
| CN1215317A (en) * | 1996-03-01 | 1999-04-28 | 梅塔根公司 | Flexible cutting tool and methods for its use |
| CN201455991U (en) * | 2009-06-25 | 2010-05-12 | 上海市杨浦区控江二村小学 | Earthquake search and rescue robot |
-
2010
- 2010-12-27 CN CN 201010606803 patent/CN102079093A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5143505A (en) * | 1991-02-26 | 1992-09-01 | Rutgers University | Actuator system for providing force feedback to a dextrous master glove |
| JPH06262549A (en) * | 1993-03-04 | 1994-09-20 | Daum Gmbh | Manipulator for surgery |
| CN1215317A (en) * | 1996-03-01 | 1999-04-28 | 梅塔根公司 | Flexible cutting tool and methods for its use |
| CN201455991U (en) * | 2009-06-25 | 2010-05-12 | 上海市杨浦区控江二村小学 | Earthquake search and rescue robot |
Non-Patent Citations (1)
| Title |
|---|
| 《机电工程》 20101130 徐草，等 废墟狭缝搜救机器人自动送进系统研究 第27卷, 第11期 2 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108662104A (en) * | 2018-07-20 | 2018-10-16 | 陈刚 | One kind is pushed the ball transmission device |
| CN110561419A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | arm-shaped line constraint flexible robot track planning method and device |
| CN114603578A (en) * | 2022-04-13 | 2022-06-10 | 江西理工大学 | Soft continuum robot for searching and rescuing in ruins |
| CN114603578B (en) * | 2022-04-13 | 2023-08-04 | 江西理工大学 | Ruins search and rescue-oriented vitamin soft continuum robot |
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Application publication date: 20110601 |