CN103009379B - Scalable wheel type snake-shaped robot - Google Patents

Scalable wheel type snake-shaped robot Download PDF

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Publication number
CN103009379B
CN103009379B CN201210564904.8A CN201210564904A CN103009379B CN 103009379 B CN103009379 B CN 103009379B CN 201210564904 A CN201210564904 A CN 201210564904A CN 103009379 B CN103009379 B CN 103009379B
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snake
joint
trunk
wheel
robot
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CN103009379A (en
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苏中
李彦文
刘福朝
李擎
蒋工
张承燕
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Beijing Information Science and Technology University
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Beijing Information Science and Technology University
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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

Scalable wheel type snake-like robot
Technical field
The present invention relates to a kind of snake-shaped robot mechanism, particularly relate to a kind of wheeled motion and wriggle, traditional serpentine locomotion form such as wriggling both can combine also can self-movement snake-shaped robot.
Background technology
Snake-shaped robot has the following advantages: structure is unique, control flexibly, dependable performance, extensibility are strong, strong adaptability etc.Snake-shaped robot is due to its born multi-joint, multiple degrees of freedom, and many redundant degree of freedom, can have multi-motion modes, thereby has catered to the demand in some markets.Current 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, tradition serpentine locomotion has limited the movement velocity of snake body to a certain extent, and therefore the service ability under complex-terrain environment is also restricted.In existing invention, the design of snake-shaped robot is all wheel to be fixed on to 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 Amphibious snake-like robot that the designed patent No. of Chinese Academy of Sciences's Shenyang automation research is 200820231889.4, a kind of Multifunctional snake-shaped robot that the patent No. of the student of Central South University design is 200920313939.8 is all fast pulley design, or be arranged on the airfoil structure of snake surface, or be directly installed on surface, although this design can promote snake body in the sinuous speed waiting in motion, but can not increase the motor pattern of snake-shaped robot, just played the booster action of traditional serpentine locomotion form and can exert an influence to the smoothness of snake-shaped robot, be unfavorable for by particular surroundings such as pipelines.
Summary of the invention
The present invention is directed to feature and the deficiency of current snake-shaped robot forms of motion, do not affecting under the prerequisite of its motion such as general type such as grade of wriggling, utilize expanding pulley mechanism to keep 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 complex-terrain environment, the unnecessary wearing and tearing of minimizing to robot shells or skin, extend its service life, promote the speed of service under complex-terrain.
The object of the invention is to be achieved through the following technical solutions:
A kind of scalable wheel type snake-like robot, this robot adopts modularized design mode, by head-tail (1), trunk (2), joint portion (3), formed, 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 on trunk shell (7), be uniform-distribution with eight same wheel holes (4), corresponding eight wheels of inner expanding pulley mechanism (11) respectively, inner expanding pulley mechanism (11) comprises pedestal and eight at the equally distributed independent Electromagnetic Drive expanding pulley devices of controlling of base-plates surface; The inner space of inner expanding pulley mechanism (11) pedestal can be installed control panel, battery and carry out the wiring between 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; By first and second, reversing steering wheel (12 and 18) provides power to drive first and second pinion (13 and 17), by gear, meshes transmission of power to first and second semi-circle gear (14 and 16); 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), between rotary cross frame (15) and U-shaped support (19), can relatively rotate, 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 provided with 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 Symmetric Orthogonal structure.
Further, it is upper that described gravity sensitive device (10) is fixed on terminal pad (9), and with one heart, be 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) is arranged on respectively two orthogonal U-shaped supports (19) above with the second torsion steering wheel (18), and 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), it is upper that the first pinion (13) is arranged on the first torsion steering wheel (12), and it is upper that the second pinion (17) is arranged on the second torsion 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 carry out modular design, can freely select the number of modules needing according to actual conditions, joint portion relies on the motion that steering wheel and gear structure can be realized two frees degree, trunk configures independent telescope wheel mechanism, and wherein driving wheel design is in the close trunk link of head-tail, and other links all arrange follower.
Supplementing and auxiliary design using the motor function of expanding pulley as snake-shaped robot conventional motion mode on the whole, utilize special frame for movement to realize the stretching motion of wheel, utilize induction installation to realize distinguishing of real-time gravity direction, according to the corresponding relation of inductor and expanding pulley, realize snake-shaped robot bottom the stretching of the corresponding wheel of direction institute of contacting to earth.Each expanding pulley is adopted to independent upper electric control, regardless of 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; While moving with expanding pulley separately, snake body can keep quick sliding state, and in addition, except snake body can configure 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 forms of motion to traditional snake-shaped robot, has the following advantages:
1, the smooth shape that had both kept 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, and without distinguishing the positive side of snake body, eight to servo-actuated;
3, the flexible design of electromagnetic type, gravity sensing is distinguished, independent corresponding two-wheel balanced type is flexible;
4, adopt that silica gel is soft takes turns port lid design, prevent the pollution of environment to snake body inside, the replaceable different kinds of tyre of wheel, adapts to different landform;
5, easy cross design of gears, double freedom is realized flexibly, simple in structure, easy for installation, easily realizes.
Accompanying drawing explanation
Fig. 1 is appearance integral structural representation of the present invention;
Fig. 2 is that the present invention removes the snake body structure schematic diagram after 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 is trunk shell wheel hole, 5 is illuminating lamp installing hole, and 6 is minisize pick-up head installing hole, and 7 is 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 the first torsion steering wheel, and 13 is the first pinion, and 14 is the first semi-circle gear, 15 is rotary cross frame, and 16 is the second semi-circle gear, 17 is the second pinion, and 18 is the second torsion steering wheel, and 19 is U-shaped support.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
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 can realize wheeled auxiliary wriggling and traditional serpentine locomotion such as wriggling.
As in Figure 3-5, trunk is mainly 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 provided with silica gel port lid, guarantees to prevent that snake body interior arrangement is contaminated when expanding pulley frees in and out.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 expanding pulley telescoping mechanism, and its technology realizes and relies on powering on and power-off of electromagnetic mechanism, and the effect by electromagnetic force utilizes lever principle realize stretching out of expanding pulley 8 and retract.
In Fig. 3 10 is sensing device structural representation, in 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 to control corresponding electromagnetic circuit to the sensor process information of the effect relevant position of bead and power on and power-off, 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 needs wheel stretches out, each trunk always has two corresponding wheels to stretch out, and guarantees the impact that the motion of snake body is not overturn.
Fig. 4 has shown the scheme of installation of trunk shell and inner expanding pulley mechanism, and the two length is identical, symmetrical configuration, and wheel hole is corresponding one by one, carries out position fix by terminal pad, and telescoping mechanism inside cylindrical space can be used to install controller, battery and connecting line.
Fig. 5 has shown the structural representation of joint portion.Joint portion is mainly comprised of U-shaped support 19, first and second torsion steering wheel 12 and 18, rotary cross frame 15, gear drive (comprising first and second pinion 13,17 and first and second semi-circle gear 14,16).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, realizing respectively horizontal deflection and pitching reverses, two steering wheels are done the used time simultaneously, control the torsion that the anglec of rotation of both direction can implementation space different angles.
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 and can enable simultaneously respectively.Its operation principle is separately:
The first motion mode: tradition is wriggled or wriggled.When the torsion steering wheel 18 of all same positions is during according to corresponding angular turn, can drive corresponding gear train motion, make the torsion in 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 the torsion steering wheel 12 of all positions of robot is during according to corresponding angular turn, can drive corresponding gear train motion, make the torsion in 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 joint motions function disconnects, keep thus snake body linearly, enable wheeled motor function, corresponding expanding pulley can stretch out, rely on the motion of trunk driving wheel to drive driven pulley motion, the installation site of driving wheel is identical with driven pulley, different is by 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 drive the motion of wheel by electric machine rotation, finally realize 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, the torsion that relies on joint realizes wheeled wriggling or wriggling, promotes the gait of march under 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 in 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 is of a size of Ф 100mm 138mm, joint portion is of a size of 108mm 90mm 90mm, the steering wheel of joint portion is selected can continuous rotation steering wheel.
Finally it should be noted that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.

Claims (7)

1. a scalable wheel type snake-like robot, it is characterized in that: this robot adopts modularized design mode, by head-tail (1), trunk (2), joint portion (3), formed, 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 on trunk shell (7), be uniform-distribution with eight same wheel holes (4), corresponding eight wheels of inner expanding pulley mechanism (11) respectively, inner expanding pulley mechanism (11) comprises pedestal and eight at the equally distributed independent Electromagnetic Drive expanding pulley devices of controlling of base-plates surface; The inner space of inner expanding pulley mechanism (11) pedestal can be installed control panel, battery and carry out the wiring between 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; By reversing steering wheel (12 and 18), provide power to drive pinion (13 and 17), by gear, mesh transmission of power to semi-circle gear (14 and 16); 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), between rotary cross frame (15) and U-shaped support (19), can relatively rotate, 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;
Described snake-shaped robot can be realized wriggling movement, vermicular movement, wheeled motion individually or simultaneously: when the torsion steering wheel (18 or 12) of all same positions is during according to corresponding angular turn, can drive corresponding gear train motion, make the torsion in the snake body joint of same free degree horizontal direction or free degree vertical direction, according to the relative set of positive negative angle, can realize wriggling or vermicular movement of snake body; Restore joint portion (3) position and joint motions function disconnects, and keeps thus snake body linearly, enables wheeled motor function, and corresponding expanding pulley (8) can stretch out, and drives the motion of wheel by electric machine rotation, finally realizes the wheeled motion of straight line of snake body.
2. scalable wheel type snake-like robot according to claim 1, is characterized in that: adjacent trunk (2) is provided with 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 Symmetric Orthogonal structure.
4. scalable wheel type snake-like robot according to claim 1, is characterized in that: it is upper that described gravity sensitive device (10) is fixed on terminal pad (9) with one heart, and be 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) is arranged on respectively two orthogonal U-shaped supports (19) above with the second torsion steering wheel (18), and 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 arranged on the first torsion steering wheel (12), the second pinion (17) is arranged on the second torsion steering wheel (18), and the first pinion (13) is mutually vertical with the axis of the second pinion (17), the first semi-circle gear (14) is parallel with the axis of the first pinion (13), the second semi-circle gear (16) is parallel with the axis of the second pinion (17).
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