CN103009379A - Scalable wheel type snake-shaped robot - Google Patents
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- CN103009379A CN103009379A CN2012105649048A CN201210564904A CN103009379A CN 103009379 A CN103009379 A CN 103009379A CN 2012105649048 A CN2012105649048 A CN 2012105649048A CN 201210564904 A CN201210564904 A CN 201210564904A CN 103009379 A CN103009379 A CN 103009379A
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Abstract
The invention discloses a scalable wheel type snake-shaped robot. The snake-shaped robot consists of a head part, a tail part, body parts and knuckle parts, and can move bi-directionally, wherein the head part and the tail parts have the same structure, a mounting hole is arranged, and corresponding sensors are arranged as required; the body parts can realize gravity induction type independent scalability of wheels by adopting an electromagnetic eight-direction independent scalable wheel structure, the body part close to the head part and the tail part is provided with a driving wheel for providing driving, and other body parts are provided with driven wheels; and the knuckle parts can realize the horizontal and pitching deflection of adjacent modules by adopting a cross-shaped gear structure, and the creeping and peristalsis of the whole snake-shaped body can be realized by reasonably regulating the deflection angles of all knuckles. The wheel type movement and creeping and peristalsis form can be independent from each other and can also be combined, and the adaptability and the traveling speed of the snake-shaped robot can be effectively promoted under complex terrain conditions.
Description
Technical field
The present invention relates to a kind of snake-shaped robot mechanism, but particularly relate to a kind of wheeled motion and wriggle, snake-shaped robot that traditional serpentine locomotion form such as wriggling both can combine also self-movement.
Background technology
Snake-shaped robot has the following advantages: structure is unique, control flexibly, strong, the strong adaptability of dependable performance, extensibility etc.Snake-shaped robot is owing to its born multi-joint, multiple degrees of freedom, and many redundant degree of freedom can have multi-motion modes, thereby have catered to the demand in some markets.Present existing snake-shaped robot mechanism, all being aimed at snakelike conventional motion form designs, along with the progress of bionics techniques and the height refinement of structural design, some advanced snake-shaped robots can meet or exceed some locomitivities of nature snake in the world, but compare with wheeled motion, the tradition serpentine locomotion has limited the movement velocity of snake body to a certain extent, and therefore the service ability under the complex-terrain environment also is restricted.In the existing invention, the design of snake-shaped robot all is wheel to be fixed on the external edge of snake assist the conventional motion such as wriggling of snake-shaped robot, the ACM-R5 amphibious robot of picture Tokyo Institute of Technology, the designed patent No. of Chinese Academy of Sciences's Shenyang automation research is 200820231889.4 Amphibious snake-like robot, the patent No. of the student of Central South University design is that a kind of Multifunctional snake-shaped robot of 200920313939.8 all is the fast pulley design, perhaps be installed on the airfoil structure of snake surface, perhaps be directly installed on the surface, although this design can promote the snake body in the sinuous speed that waits in the motion, but can not increase the motor pattern of snake-shaped robot, just played the booster action of traditional serpentine locomotion form and can the smoothness of snake-shaped robot have been exerted an influence, be unfavorable for by particular surroundings such as pipelines.
Summary of the invention
The present invention is directed to characteristics and the deficiency of current snake-shaped robot forms of motion, under the prerequisite that does not affect its motion such as general type such as grade of wriggling, utilize expanding pulley mechanism to keep the snake body smooth, increased independent wheeled motor function, wheeled motion, traditional serpentine locomotion and three kinds of forms of motion of wheeled auxiliary serpentine locomotion have been realized, further improve and strengthened the adaptive capacity of snake-shaped robot under the complex-terrain environment, minimizing is to the unnecessary wearing and tearing of robot shells or skin, prolong its service life, promote the speed of service under the complex-terrain.
The objective of the invention is to be achieved through the following technical solutions:
A kind of scalable wheel type snake-like robot, this robot adopts the modularized design mode, formed by head-tail (1), trunk (2), joint portion (3), wherein, head-tail (1) adopts identical structural design, is designed with respectively illuminating lamp installing hole (5) and minisize pick-up head installing hole (6); Trunk (2) is comprised of trunk shell (7), inner expanding pulley mechanism (11), terminal pad (9) and gravity sensitive device (10), wherein be uniform-distribution with eight same wheel holes (4) on the trunk shell (7), corresponding eight wheels of inner expanding pulley mechanism (11) respectively, inner expanding pulley mechanism (11) comprises pedestal and eight Electromagnetic Drive expanding pulley devices in the equally distributed independent control of base-plates surface; The inner space of inner expanding pulley mechanism (11) pedestal can be installed control panel, battery and be carried out wiring between the link; Joint portion (3) reverses steering wheel (12 and 18), first and second pinion (13 and 17), first and second semi-circle gear (14 and 16), rotary cross frame (15), U-shaped support (19) formation by first and second; Reversing steering wheel (12 and 18) by first and second provides power to drive first and second pinion (13 and 17), gives first and second semi-circle gear (14 and 16) by the gear engagement with transmission of power; First and second reverses steering wheel (12 and 18) and is fixed together with U-shaped support (19), U-shaped support (19) is fixedly connected with trunk (2), first and second semi-circle gear (14 and 16) is fixed together with rotary cross frame (15), can relatively rotate between rotary cross frame (15) and the U-shaped support (19), can realize the two degrees of freedom twisting of joint part; Head-tail (1), trunk (2) and joint portion (3) connect by terminal pad (9), and are fixed by corresponding connector.
Further, adjacent trunk (2) is equipped with the flexible protective cover, in the wheel hole (4) of trunk (2) the soft cover of silica gel is installed.
Further, described head-tail (1) is tapered, and trunk (2) is cylinder type, and joint portion (3) is the Symmetric Orthogonal structure.
Further, described gravity sensitive device (10) is fixed on the terminal pad (9), and with one heart, is connected with the U-shaped support (19) of joint portion (3).
Further, eight of described inner expanding pulley mechanism (11) equally distributed take turns with eight of trunk shell (7) wheel positions, hole (4) corresponding one by one.
Further, first reverses steering wheel (12) and second reverses steering wheel (18) and is installed in respectively on two orthogonal U-shaped supports (19), and the output axis is mutually vertical.
Further, two semi-circle gears (14 and 16) at right angle setting on the rotary cross frame (15) of described joint portion (3), the first pinion (13) is installed in first and reverses on the steering wheel (12), and the second pinion (17) is installed in second and reverses on the steering wheel (18), and axis is mutually vertical.The first semi-circle gear (14) is parallel with the axis of the first pinion (13), and the second semi-circle gear (16) is parallel with the axis of the second pinion (17).
Head-tail of the present invention designs according to identical 26S Proteasome Structure and Function, be mainly used in the installation of sensing communicator and the collection of environmental information, trunk and joint portion then carry out modular design, can freely select according to actual conditions the number of modules of needs, joint portion relies on the motion that steering wheel and gear structure can be realized two frees degree, trunk then disposes the independent telescope wheel mechanism, and wherein the driving wheel design is on the close trunk link of head-tail, and other links all arrange follower.
On the whole the motor function of expanding pulley replenishing and auxiliary design the as snake-shaped robot conventional motion mode, utilize special frame for movement to realize the stretching motion of wheel, utilize induction installation to realize distinguishing of real-time gravity direction, realize snake-shaped robot bottom the stretching of the corresponding wheel of direction institute of contacting to earth according to the corresponding relation of inductor and expanding pulley.Each expanding pulley is adopted independent upper electric control, regardless of the robot location, can guarantee normally to advance not needing to reverse under the prerequisite of health.In the conventional motion of snake-shaped robot, expanding pulley can be used as and adapts to the auxiliary of different terrain; The snake body can keep quick sliding state when moving with expanding pulley separately, and in addition, except the snake body can dispose the skin, expanding pulley can also be changed different materials according to topographic features, improves its adaptability.
The present invention has carried out probing boldly and innovating on the forms of motion to traditional snake-shaped robot, has the following advantages:
1, the smooth shape that had both kept the snake surface has realized again the variation of motion, and wheeled motion can independently be controlled, and can combine with traditional serpentine locomotion modes such as wriggling, wriggle, stretch again, and change flexibly;
2, ingenious, unique mechanical-stretching wheel construction has taken into full account the segmentation of snake body whole body angle, need not to distinguish the positive side of snake body, and eight to servo-actuated;
3, the flexible design of electromagnetic type, gravity sensing are distinguished, independent corresponding two-wheel balanced type is flexible;
4, adopt that silica gel is soft takes turns the port lid design, prevent environment to the pollution of snake body inside, the replaceable different kinds of tyre of wheel adapts to different landform;
5, easy cross design of gears, double freedom realize flexibly, and be simple in structure, easy for installation, realizes easily.
Description of drawings
Fig. 1 is appearance integral structural representation of the present invention;
Fig. 2 is the snake body structure schematic diagram after the present invention removes head-tail and wrap for joints;
Fig. 3 is the integral installation structural representation of trunk;
Fig. 4 is shell and the inner telescoping mechanism assembling position schematic diagram of torso portion;
Fig. 5 is the overall structure schematic diagram of joint portion;
Wherein 1 is head-tail, and 2 is trunk, and 3 is joint portion, and 4 are trunk shell wheel hole, 5 is the illuminating lamp installing hole, and 6 is the minisize pick-up head installing hole, and 7 is the trunk shell, and 8 is expanding pulley, 9 is terminal pad, 10 Force sensors of attaching most importance to, and 11 is inner expanding pulley mechanism, 12 is first to reverse steering wheel, and 13 is the first pinion, and 14 is the first semi-circle gear, 15 is the rotary cross frame, and 16 is the second semi-circle gear, 17 is the second pinion, and 18 is second to reverse steering wheel, and 19 is U-shaped support.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1 and Figure 2, the present invention is comprised of head-tail 1, trunk 2 and joint portion 3, and wherein head is mainly used to install the sensing device of being responsible for environment information acquisition, such as camera, ultrasonic radar, laser range finder etc.; Trunk is mainly installed expanding pulley mechanism and corresponding controller, battery etc., realizes wheeled motion and the power supply control of snake body; Joint part outside is coated with protective jacket, has two frees degree, mainly realizes the wriggling of snake body, the conventional motion such as wriggle, and the combination of joint and wheel then can realize wheeled auxiliary wriggling and traditional serpentine locomotions such as wriggling.
Shown in Fig. 3-5, trunk mainly is comprised of trunk shell 7, inner expanding pulley mechanism 11, terminal pad 9, gravity sensitive device 10.For trunk shell 7, in the surface uniform of housing eight the expanding pulley holes 4 that distributing.Expanding pulley hole 4 is equipped with the silica gel port lid, guarantees to prevent when expanding pulley frees in and out that snake body interior arrangement is contaminated.The housing two ends are respectively equipped with connecting screw hole, by terminal pad 9 inner telescoping mechanism 11 and trunk shell 7 and sensing device 10 are coupled together.Wherein 11 is the expanding pulley telescoping mechanism, and its technology realizes relying on powering on of electromagnetic mechanism and cuts off the power supply, and the effect by electromagnetic force utilizes lever principle to realize stretching out of expanding pulley 8 and retracts.
Among Fig. 3 10 is the sensing device structural representation, among the present invention sensing device joint face profile is arranged to octagon, inside arranges groove, place gravitation ball, sensor installation, utilize Action of Gravity Field that the sensor process information of the effect relevant position of bead is controlled corresponding electromagnetic circuit and power on and cut off the power supply, realize the stretching out and the control of retracting of wheel of gravity direction.In the present invention's design, two wheel relative positions of its corresponding gravity direction induction action are positioned on two adjacent angles just, and the relative angle of such two wheels remains on 90 degree, the balance of snake body and stable in the time of can guaranteeing to advance.No matter which side of snake body lands, and when the needs wheel stretched out, each trunk always had the wheel of two correspondences to stretch out, and guarantees the impact that the motion of snake body is not overturn.
Fig. 4 has showed the scheme of installation of trunk shell and inner expanding pulley mechanism, and the two length is identical, symmetrical configuration, and the wheel hole is corresponding one by one, carries out the position by terminal pad and fixes, and telescoping mechanism inside cylindrical space can be used to install controller, battery and connecting line.
Fig. 5 has showed the structural representation of joint portion.Joint portion mainly by U-shaped support 19, first and second reverse steering wheel 12 and 18, rotary cross frame 15, gear drive (comprise first and second pinion 13,17 and first and second semi-circle gear 14,16) form.Four end faces of rotary cross frame 15 can and U-shaped support 19 between relatively rotate, and two rotation directions are mutually vertical, during the steering wheel independent role of both direction, realize that respectively horizontal deflection and pitching reverse, two steering wheels are done the time spent simultaneously, and what the anglec of rotation of control both direction can the implementation space different angles reverses.
The present invention is except head-tail project organization uniqueness, and the structure of other trunk and joint portion is all corresponding identical.
The present invention has realized the combination of multi-motion form on snake-shaped robot, and traditional snakelike wriggling can independently be controlled separately with vermicular movement form and wheeled motion, can enable separately also respectively and can enable simultaneously.Its operation principle separately is:
The first motion mode: tradition is wriggled or wriggling.When all same positions reverse steering wheel 17 according to corresponding angular turn the time, can drive corresponding gear train motion, so that reversing of the snake body joint of same free degree horizontal direction according to the relative set of positive negative angle, can realize the wriggling movement of snake body; When all positions of robot reverse steering wheel 12 according to corresponding angular turn the time, can drive the motion of corresponding gear train, so that reversing of the snake body joint of same free degree vertical direction according to the relative set of positive negative angle, can realize the wriggling of snake body.
The second motion mode: wheeled motion.Joint position restores and the joint motions function disconnects, keep thus the snake body linearly, enable wheeled motor function, corresponding expanding pulley can stretch out, rely on the motion of trunk driving wheel to drive the driven pulley motion, the installation site of driving wheel is identical with driven pulley, different is with the installation that combines of motor and wheel, drive motors adopts outer rotor twin shaft direct current generator, expanding pulley and outer rotor are fixed together, stator and telescopic shaft are fixed together, and the motion by electric machine rotation drive wheel finally realizes the wheeled motion of straight line of snake body.
The third motion mode: wheeled auxiliary wriggling or wriggling.Enable wheeled motor function and joint motions function, but driving wheel does not provide power, rely on reversing of joint and realize wheeled wriggling or wriggling, promote the gait of march under the complex-terrain environment.
The present invention is when structural design, head-tail profile, trunk structure, joint portion structure have mainly been designed, snake-shaped robot among the overall structure figure is comprised of two equal modules of head-tail, five equal modules of trunk, six equal modules of joint portion, and overall dimension is Ф 100mm
1500mm, wherein head-tail is of a size of Ф 100mm
81mm, trunk are of a size of Ф 100mm
138mm, joint portion is of a size of 108mm
90mm
90mm, but the steering wheel of joint portion is selected the continuous rotation steering wheel.
It should be noted that at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (7)
1. scalable wheel type snake-like robot, it is characterized in that: this robot adopts the modularized design mode, formed by head-tail (1), trunk (2), joint portion (3), wherein, head-tail (1) adopts identical structural design, is designed with respectively illuminating lamp installing hole (5) and minisize pick-up head installing hole (6); Trunk (2) is comprised of trunk shell (7), inner expanding pulley mechanism (11), terminal pad (9) and gravity sensitive device (10), wherein be uniform-distribution with eight same wheel holes (4) on the trunk shell (7), corresponding eight wheels of inner expanding pulley mechanism (11) respectively, inner expanding pulley mechanism (11) comprises pedestal and eight Electromagnetic Drive expanding pulley devices in the equally distributed independent control of base-plates surface; The inner space of inner expanding pulley mechanism (11) pedestal can be installed control panel, battery and be carried out wiring between the link; Joint portion (3) is by reversing steering wheel (12 and 18), pinion (13 and 17), semi-circle gear (14 and 16), rotary cross frame (15), U-shaped support (19) formation; Provide power to drive pinion (13 and 17) by reversing steering wheel (12 and 18), mesh transmission of power to semi-circle gear (14 and 16) by gear; Reversing steering wheel (12 and 18) is fixed together with U-shaped support (19), U-shaped support (19) is fixedly connected with trunk (2), semi-circle gear (14 and 16) is fixed together with rotary cross frame (15), can relatively rotate between rotary cross frame (15) and the U-shaped support (19), can realize the two degrees of freedom twisting of joint part; Head-tail (1), trunk (2) and joint portion (3) connect by terminal pad (9), and are fixed by corresponding connector.
2. scalable wheel type snake-like robot according to claim 1, it is characterized in that: adjacent trunk (2) is equipped with the flexible protective cover, in the wheel hole (4) of trunk (2) the soft cover of silica gel is installed.
3. scalable wheel type snake-like robot according to claim 1 is characterized in that: described head-tail (1) is for tapered, and trunk (2) is cylinder type, and joint portion (3) is the Symmetric Orthogonal structure.
4. scalable wheel type snake-like robot according to claim 1, it is characterized in that: described gravity sensitive device (10) is fixed on the terminal pad (9), and with one heart, is connected with the U-shaped support (19) of joint portion (3).
5. scalable wheel type snake-like robot according to claim 1 is characterized in that: eight of described inner expanding pulley mechanism (11) are equally distributed take turns with eight wheel positions, hole (4) of trunk shell (7) corresponding one by one.
6. scalable wheel type snake-like robot according to claim 1 is characterized in that: first reverses steering wheel (12) and second reverses steering wheel (18) and is installed in respectively on two orthogonal U-shaped supports (19), and the output axis is mutually vertical.
7. scalable wheel type snake-like robot according to claim 1, it is characterized in that: two semi-circle gears (the 14 and 16) at right angle setting on the rotary cross frame (15) of described joint portion (3), the first pinion (13) is installed in first and reverses on the steering wheel (12), the second pinion (17) is installed in second and reverses on the steering wheel (18), and axis is mutually vertical, the first semi-circle gear (14) is parallel with the axis of the first pinion (13), and the second semi-circle gear (16) is parallel with the axis of the second pinion (17).
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