CN103056876A - Variable rigidity parallel joint snake-shaped robot mechanism - Google Patents
Variable rigidity parallel joint snake-shaped robot mechanism Download PDFInfo
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- CN103056876A CN103056876A CN2013100161884A CN201310016188A CN103056876A CN 103056876 A CN103056876 A CN 103056876A CN 2013100161884 A CN2013100161884 A CN 2013100161884A CN 201310016188 A CN201310016188 A CN 201310016188A CN 103056876 A CN103056876 A CN 103056876A
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Abstract
The invention relates to a variable rigidity parallel joint snake-shaped robot mechanism and belongs to the field of robots. A robot is formed by a plurality of action units in serial connection. Each action unit comprises a two freedom degree spatial parallel joint. The joint comprises a fixed U branch chain and two SPDU drive branch chains. Each drive branch chain comprises a variable rigidity linear driver. A rotary shaft and a drive gear parallel with the fixed U branch chain form contour of each action unit. The rotary shaft is connected with the fixed U branch chain through a vibration isolating device which can balance off reverse moment. Rigidity and damp of the drive branch chain is controllable and variable, so that terrain adaptability of the snake robot can be improved by increasing joint flexibility, posture accuracy and stability of the snake robot can be improved by increasing joint rigidity, and applicability of the snake robot is improved. Vibration generated during action of the robot is absorbed by the vibration isolating device and the drive branch chain, impact moment tolerance of the snake robot joint is improved, and accordingly motion speed and efficiency of the robot are increased.
Description
Technical field
The present invention relates to robot research and engineering field, specifically refer to a kind of change Stiffness joint snake-shaped robot mechanism, this mechanism helps snake-shaped robot to carry out scouting search and rescue task.
Technical background
Snake-shaped robot is a kind of typical bio-robot, can natural imitation circle snake class biology move without limb, overcome the single shortcomings of walking manner landform adaptability such as tradition is wheeled, crawler type, leg formula, show huge application prospect in disaster search and rescue, military surveillance field.Actual disaster is searched and rescued and military surveillance brings difficulty yet the limitation of the articulation mechanism of snake-shaped robot, driving mechanism and synkinesia mechanism performance is used for to snake-shaped robot.
Snake-shaped robot adopts the rigidity joint more at present, and for example the ACM-R5 snake-shaped robot of Tokyo polytechnical university development adopts two servomotors to drive universal joint joint deflection by gear reduction.Pose can be accurately exported in the rigidity joint, but lacks the landform adaptivity, and is subject to damaging easily when external moment is impacted.Some scholars develop the flexible joint mechanism that is made of rubber bar, spring or air bag, adopt rubber bar to do the joint such as German GMD-Snake snake-shaped robot moving cell, drive by rope and realize joint deflection.Flexible joint can improve the snake-shaped robot traction, and it is not fragile to be subject to external impacts, but because body lacks rigidity, lifts lateral deviation easily to occur behind some moving cells, topple, and gives to scout to survey and makes troubles.Aspect driving mechanism, each free degree of majority snake-shaped robot mechanism is driven through gear reduction by a motor, need to adopt multi-stage gear to slow down for obtaining enough output torques, driving mechanism is complicated, when only having an axle motion, adjacent two axles can cause a driver idle, so that the whole drive efficiency of mechanism is not high.The synkinesia mechanism of at present snake-shaped robot employing mainly contains follower, crawler belt, quadrature driving wheel, fin etc.For example Chinese University of Science and Technology for National Defence adopts follower to reduce wriggling movement frictional resistance in the snake-shaped robot of calendar year 2001 development; Patent CN100410128C is the more piece crawler type searching machine people of Harbin Institute of Technology's development, and its moving cell outside is coated with crawler belt, makes it to possess stronger locomitivity in the slit; Germany GMD-Snake2 moving cell is outer with a circle minor diameter driving wheel, and its rotating shaft and moving cell orthogonality of center shaft make robot possess certain linear motion capability.Yet these synkinesia mechanisms are blocked by foreign material easily in the actual environment that is full of silt, weeds and lost efficacy.Patent CN101746237A is the amphibious snake-shaped robot of Shenyang Institute of Automation development, and appearance helps to increase underwater propulsion power and keeps attitude stabilization with fin, but reduces the ability that it is walked between the complex barrier thing.
For snake-shaped robot is played a role in various fields early, need to start with from mechanism's innovation and explore knuckle mechanism, driving mechanism and synkinesia mechanism, development landform strong adaptability, mobility strong, the widely applicable novel snake-shaped robot of task.
Summary of the invention
The objective of the invention is to solve many inherent shortcomings of existing snake-shaped robot mechanism landform adaptability and task applicability, provide a kind of snake-shaped robot that becomes Stiffness joint and vibration isolation driving wheel that has, rapidity and stability when the raising snake-shaped robot moves under multiple terrain environment.
The present invention adopts following technological means to realize:
A kind of change Stiffness joint snake-shaped robot mechanism is made of a plurality of moving cell 14 series connection; It is characterized in that: described moving cell 14 is with fixedly U side chain 1, forward become rigidity linear actuator 6, negative sense becomes rigidity linear actuator 7 and 13 4 functional modules of parallel driving wheel; Forward becomes rigidity linear actuator 6, negative sense and becomes rigidity linear actuator 7 and be connected with fixing U side chain 1 by linkage respectively, forward tie point 2 and negative sense tie point 3 are fixed on fixedly on the U side chain 1, and forward tie point 2, negative sense tie point 3 and fixing U side chain 1 consist of isosceles right triangle near the end points line of forward tie point 2 and negative sense tie point 3; Forward become rigidity linear actuator 6, negative sense become rigidity linear actuator 7 and fixedly U side chain 1 be fixed with respectively the universal hinge 8 of forward, the universal hinge 10 of the universal hinge 9 of negative sense and center away from the end points of forward tie point 2 and negative sense tie point 3; When adjacent moving cell connected, the universal hinge 8 of the forward of a moving cell, the universal hinge 9 of negative sense and the universal hinge 10 in center were connected with fixing U side chain 1 with the forward tie point 2 of another moving cell, negative sense tie point 3 respectively;
Described parallel driving wheel 13 comprises: container type wheel rim 18, spirality tire 19, internal gear 28, wheel rim fixing collar 20; Be connected with joint end cap 34 with base end cap 33 respectively with joint bearing with end cover 32 by base bearing with end cover 31, driver motor 27 is connected mutually by electric machine support 30 and joint end cap 34, drives parallel driving wheel 13 around fixing U side chain 1 axial continuous rotation by external gear 29;
Described spirality tire 19 be shaped as complete circle; Being fixed in container type wheel rim 18 surfaces by a plurality of strip flexible material helical forms makes;
Described fixedly U side chain 1 is affixed to central spinal column 35 by articular link plate 36, circuit board fixing rack 39, base end cap bolt 40, battery pack location-plate 41, battery pack fixed cover 42, center gimbal coupling 45, joint end cap location-plate 46 and consists of;
Described base end cap 33 links to each other with central spinal column 35 with joint end cap vibration isolation circle 25 by base end cap vibration isolation circle 23 respectively with joint end cap 34, and links to each other with joint end cap location-plate 46 with base end cap bolt 40 with joint end cap centring ring 26 by base end cap centring ring 24.
It is identical with negative sense change rigidity linear actuator 7 structures that aforesaid forward becomes rigidity linear actuator 6, adopts linear reciprocating mechanism that rotatablely moving of motor 54 become rectilinear motion.
Aforesaid forward becomes rigidity linear actuator 6 and negative sense change rigidity linear actuator 7 is comprised of structural framing, linear reciprocating mechanism and change rigidity driver three parts.
Aforesaid structural framing is connected by actuator base 63 and optical axis 69 and consists of.
Aforesaid linear reciprocating mechanism comprises motor 54, shaft coupling 62, screw rod 67 and nut 68; Motor 54 is connected with actuator base 63, and screw rod 67 is by shaft coupling 62 and motor 54 output shaft fixed connections, and nut 68 is connected with screw rod 67.
Be fixed with two sliding bearings 70 on the sliding bottom 61 of aforesaid change rigidity driver, slide along optical axis 69; Iron core 59 is connected with sliding bottom 61, and nut positioning pipe 76 is connected with iron core 59, and nut 68 is connected with iron core 59, and coil 65 is connected with iron core 59, and coil sealed tube 72 is connected with coil 65 and iron core 59; Be fixed with one group of sealing device on the bottom end cover 60.
Aforesaid sealing device is comprised of magnetic guiding loop 75, permanent-magnetic clamp 74, permanent-magnet sealing ring 73 and rubber seal 55, is sealing, sliding-contact with iron core 59; Yoke 66 two ends are fixed with respectively bottom end cover 60 and drive link 57, have the gap between yoke 66 and iron core 59, the coil sealed tube 72; Drive link 57 inboards are fixed with another group sealing device.
The space that aforesaid another group sealing device and drive link 57, iron core 59 and yoke 66 surround is upper magnetorheological chamber 56; The space that is surrounded by bottom end cover 60, iron core 59, yoke 66 and sealing device is lower magnetorheological chamber 77, is full of magnetic flow liquid in upper magnetorheological chamber 56 and the lower magnetorheological chamber 77; Yoke 66, bottom end cover 60, drive link 57 and two groups of sealing devices consist of mover, and mover can be done rectilinear motion along iron core 59 central shafts; In upper magnetorheological chamber 56 and lower magnetorheological chamber 77 back-moving spring 58 is arranged respectively, back-moving spring 58 two ends contact with magnetic guiding loop 75 and iron core 59 respectively.
The gas port of perforation is arranged near the intersection of aforesaid drive link 57 solid cylinders part and pipe part, and the chamber that linear reciprocating mechanism, iron core 59 and drive link 57 are surrounded communicates with ambient atmosphere.
The present invention compared with prior art has following obvious advantage and beneficial effect:
(1) applied widely.It is flexible to possess higher body when adopting the snake-shaped robot that becomes rigidity Spatial Parallel joint formation to run on rugged ground, makes it automatic adaptation to the ground and rises and falls, and helps to improve friction-driven efficient; Require snake-shaped robot to lift a part of moving cell to enlarge investigative range when carrying out reconnaissance mission, can overcome unsteady attitude that environmental perturbation bring by increasing body rigidity this moment.
(2) maneuverability is strong.Two become the rigidity linear actuators and bring into play simultaneously the driving effect during Spatial Parallel joint output action, again owing to worm drive can change into less torque than high thrust, so that the snake-shaped robot joint has powerful deflection torque and higher bearing capacity, can lift a plurality of moving cells, cross over than high obstacle; Can between the different motion pattern, switch rapidly in the snake-shaped robot motion process; Snake-shaped robot drives when advancing by parallel driving wheel, becomes rigidity linear actuator and vibration isolation circle performance damping vibration attenuation function, effectively reduces vibration to the adverse effect that robot body and motion control bring, and improves cross-country controllable velocity.
(3) Structure Robust is strong.Becoming the rigidity linear actuator adopts screw pair that rotatablely moving of motor output is converted into rectilinear motion, have characteristics and auto-lock function simple in structure, that output torque is large, bearing capacity is large, so that there is larger headspace can arrange control circuit, battery pack, parallel driving wheel driving mechanism in the moving cell; Need to keep attitude when snake-shaped robot need not the linear actuator electrical power when constant; The impulsive force of sharing each joint when snake-shaped robot is subjected to external impacts is become the rigidity linear actuator by two disperses to absorb, and is difficult for causing frame for movement to destroy, and has improved robot architecture's robustness.
Description of drawings
Fig. 1 is mechanism of the present invention general illustration;
Fig. 2 is moving cell structural scheme of mechanism of the present invention;
Fig. 3 is moving cell top view of the present invention;
Fig. 4 is moving cell internal structure schematic diagram of the present invention;
Fig. 5 is moving cell rim driving mechanism schematic diagram of the present invention;
Fig. 6 is the A-A cutaway view of Fig. 3;
Fig. 7 is that the present invention becomes rigidity linear actuator and central spinal column position relationship top view;
Fig. 8 is the B-B cutaway view of Fig. 7;
Fig. 9 is example schematic of the present invention.
Wherein, 1 is fixing U side chain; 2 is the forward tie point; 3 is the negative sense tie point; 4 is the forward ball pivot; 5 is the negative sense ball pivot; 6 are forward change rigidity linear actuator; 7 are negative sense change rigidity linear actuator; 8 is the universal hinge of forward; 9 is the universal hinge of negative sense; universal hinge centered by 10; 11 is the base end cap, and 12 is the joint end cap, and 13 is parallel driving wheel; 14 is moving cell; 18 is the container type wheel rim, and 19 is the spirality tire, and 20 is the wheel rim fixing collar; 21 is base end cap locating ring; 22 is joint end cap locating ring, and 23 is base end cap vibration isolation circle, and 24 is base end cap centring ring; 25 is joint end cap vibration isolation circle; 26 is joint end cap centring ring, and 27 is driver motor, and 28 is internal gear; 29 is external gear; 30 is electric machine support, and 31 is the base bearing with end cover, and 32 is the joint bearing with end cover; 33 is example base end cap; 34 is example joint end cap, backbone centered by 35, and 36 is articular link plate; 37 is control circuit board; 38 is battery module, and 39 is circuit board fixing rack, and 40 is base end cap bolt; 41 is the battery pack location-plate; 42 is the battery pack fixed cover, and 43 is the forward connecting bolt, and 44 is the negative sense connecting bolt; gimbal coupling centered by 45; 46 is joint end cap location-plate, and 48 for the example forward becomes the rigidity linear actuator, and 49 are example negative sense change rigidity linear actuator; 50 is the forward oscillating bearing; 51 is the negative sense oscillating bearing, and 52 is positive gimbal coupling, and 53 are negative gimbal coupling; 54 is motor; 55 is rubber seal, and 56 is upper magnetorheological chamber, and 57 is drive link; 58 is back-moving spring; 59 is iron core, and 60 is bottom end cover, and 61 is sliding bottom; 62 is shaft coupling; 63 is actuator base, and 64 is bolt, and 65 is coil; 66 is yoke; 67 is screw rod, and 68 is nut, and 69 is optical axis; 70 is sliding bearing; 72 is the coil sealed tube, and 73 is the permanent-magnet sealing ring, and 74 is permanent-magnetic clamp; 75 is magnetic guiding loop; 76 is the nut positioning pipe, and 77 is lower magnetorheological chamber, and 78 is wrap for joints; 79 is the head protection cover, and 80 is the tail part protection cover.
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing.
See also shown in Figure 1ly, change Stiffness provided by the invention joint snake-shaped robot mechanism is made of 14 series connection of a plurality of identical moving cells; Connect by the two-freedom space parallel mechanism between the adjacent moving cell 14; Be numbered from the snake-shaped robot stem to afterbody to each moving cell, be numbered respectively XII, XI, X, IX, VIII, VII, VI, V, IV, III, II, I; The diagram motion state is U-shaped wheeled motion, XII, XI, X, IX and I, II, III, IV moving cell and joint, ground, and the less rigidity of change rigidity linear actuator output of these moving cells embodies the damping vibration attenuation function; V, VI, VII, VIII moving cell are lifted away from ground.
Referring to Fig. 2, the moving cell structural scheme of mechanism.Wherein moving cell is by fixedly U side chain 1, forward become rigidity linear actuator 6, negative sense becomes rigidity linear actuator 7 and forms with parallel driving wheel 13 4 major parts; Fixedly U side chain 1 is positioned on the moving cell axis; Forward tie point 2 and negative sense tie point 3 are fixed on fixedly on the U side chain 1; Forward becomes rigidity linear actuator 6 and negative sense and becomes rigidity linear actuator 7 and be connected with fixing U side chain 1 by forward ball pivot 4 and negative sense ball pivot 5 respectively; The universal hinge 8 of forward, the universal hinge 9 of negative sense and the universal hinge 10 in center become rigidity linear actuator 6, negative sense with forward respectively and become rigidity linear actuator 7 and link to each other with fixing U side chain one end; With forward ball pivot 4 and negative sense ball pivot 5 lines and fixedly U side chain 1 intersection point O set up fixed coordinate system O-XYZ as initial point, Y-axis is along fixing U side chain 1 axis direction, universal hinge 10 central points are set up moving coordinate system P-X as initial point take the center
1Y
1Z
1,, Y
1The axle edge is U side chain 1 axis direction fixedly; Forward tie point 2, negative sense tie point 3 and fixedly U side chain 1 end points that is positioned at fixed coordinate system O-XYZ one side consist of isosceles triangle; The universal hinge 10 position lines in the universal hinge 8 of forward, the universal hinge 9 of negative sense and center consist of isosceles triangle; Base end cap 11 and joint end cap 12 link to each other with fixing U side chain 1 by isolation mounting; Parallel driving wheel 13 links to each other with joint end cap 12 with base end cap 11 by bearing; Parallel driving wheel 13 can be around fixing U side chain 1 axis direction continuous rotary under the moving cell internal drive drives.
It is identical with negative sense change rigidity linear actuator 7 structures that aforementioned positive becomes rigidity linear actuator 6, adopt screw drive mode to rotatablely move and change rectilinear motion into, utilize the characteristics of magnetic flow liquid or ER fluid viscosity-modifying under controlled magnetic field or electric field action that change rigidity output characteristics is provided, have two springs to be used for providing restoring force in the rheology chamber, whole change rigidity linear actuator has the damping vibration attenuation function in the situation of low rigidity output.
By an example of the present invention, aforementioned fixedly U side chain 1 is made of central spinal column 35 and the articular link plate 36 that is connected with it, forward connecting bolt 43, negative sense connecting bolt 44 and center gimbal coupling 45; Control circuit board 37 is fixed on the central spinal column 35 by circuit board fixing rack 39; Battery module 38 is fixed on the central spinal column 35 by battery pack location-plate 41 and battery pack fixed cover 42.
By an example of the present invention, aforementioned parallel driving wheel 13 is comprised of container type wheel rim 18, spirality tire 19, wheel rim fixing collar 20, internal gear 28, spirality tire 19 is made by some strip flexible materials, the circular contour of the outer ledge complete of these spirality tires 19 is seen on oblique container type wheel rim 18 surfaces that are bonded in from the moving cell end face; Container type wheel rim 18 is connected with internal gear 28 and wheel rim fixing collar 20, and wheel rim fixing collar 20 is connected with joint bearing with end cover 32 outer rings, and container type wheel rim 18 is connected with base bearing with end cover 31 outer rings; Aforementioned base end cap 11 is comprised of example base end cap 33, base bearing with end cover 31, base end cap vibration isolation circle 23, base end cap centring ring 24 and base end cap locating ring 21, wherein base bearing with end cover 31 inner rings are fixed on the example base end cap 33, base end cap locating ring 21 is fixed on the example base end cap 33, and base end cap vibration isolation circle 23 and base end cap centring ring 24 are separately fixed on example base end cap 33 and the base end cap locating ring 21; Aforementioned joint end cap 12 is by example joint end cap 34, joint bearing with end cover 32, joint end cap centring ring 26, joint end cap vibration isolation circle 25, joint end cap locating ring 22, driver motor 27, electric machine support 30 and external gear 29 consist of, wherein external gear 29 and driver motor 27 output shaft fixed connections, driver motor 27 is connected by electric machine support 30 and example joint end cap 34, joint bearing with end cover 32 inner rings and example joint end cap 34 are connected, joint end cap locating ring 22 is connected with example joint end cap 34, joint end cap centring ring 26 is connected with joint end cap locating ring 22, and joint end cap vibration isolation circle 25 is connected with example joint end cap 34; Parallel driving wheel 13 can be around central spinal column 35 continuous rotaries under external gear 29 that driver motor 27 drives and internal gear 28 drive.
By an example of the present invention, aforementioned base end cap vibration isolation circle 23, base end cap centring ring 24 are connected with central spinal column 35 and base end cap bolt 40 respectively; Joint end cap vibration isolation circle 25, joint end cap centring ring 26 are connected with central spinal column 35 and joint end cap location-plate 46 respectively; Wherein joint end cap location-plate 46 is connected with central spinal column 35, and base end cap bolt 40 is connected with articular link plate 36.
By an example of the present invention, aforementioned positive becomes rigidity linear actuator 6 and negative sense becomes rigidity linear actuator 7 difference corresponding instance forwards change rigidity linear actuators 48 and the example negative sense becomes rigidity linear actuator 49; It is identical with example negative sense change rigidity linear actuator 49 structures that the example forward becomes rigidity linear actuator 48, is comprised of structural framing, transmission mechanism and change rigidity driver three parts; Wherein structural framing is connected by actuator base 63 and optical axis 69 and consists of; Motor 54 is connected with actuator base 63, and screw rod 67 is by shaft coupling 62 and motor 54 output shaft fixed connections, and nut 68 is connected with screw rod 67 by screw pair; Be fixed with two sliding bearings 70 on the sliding bottom 61, can slide along optical axis 69; Iron core 59 is connected with sliding bottom 61, and nut positioning pipe 76 is connected with iron core 59, and nut 68 is connected with iron core 59, and coil 65 is connected with iron core 59, and coil sealed tube 72 is connected with coil 65 and iron core 59; Be fixed with one group of sealing device on the bottom end cover 60, this device is comprised of magnetic guiding loop 75, permanent-magnetic clamp 74, permanent-magnet sealing ring 73 and rubber seal 55; Yoke 66 two ends are fixed with respectively bottom end cover 60 and drive link 57, and drive link 57 inboards are fixed with another group sealing device; The space that is surrounded by drive link 57, iron core 59 and yoke 66 is upper magnetorheological chamber 56; The space that is surrounded by bottom end cover 60, iron core 59 and yoke 66 is lower magnetorheological chamber 77; Yoke 66, bottom end cover 60, drive link 57 and two groups of sealing devices consist of mover, and mover can be done rectilinear motion along iron core 59 central shafts; In upper magnetorheological chamber 56 and lower magnetorheological chamber 77 back-moving spring 58 is arranged respectively, back-moving spring 58 two ends contact with magnetic guiding loop 75 and iron core 59 respectively.
By an example of the present invention; several moving cells 14 are composed in series snake-shaped robot by the Spatial Parallel joint; the outside of adjacent moving cell 14 junctions is coated with the wrap for joints 78 that flexible film material is made; wrap for joints 78 is separately fixed on the example base end cap 33 and example joint end cap 34 of adjacent moving cell 14; be fixed with head protection cover 79 on the example joint end cap 34 of snake-shaped robot stem moving cell 14, be fixed with tail part protection cover 80 on the example base end cap 33 of snake-shaped robot afterbody moving cell 14.
Referring to Fig. 3, moving cell top view of the present invention.The spirality tire 19 of flexible material is fixed on container type wheel rim 18 surfaces of rigid, container type wheel rim 18 is connected formation with wheel rim fixing collar 20 can be around the driving wheel of the axial continuous rotation of moving cell, play the synkinesia effect, this driving wheel covers the moving cell most surfaces simultaneously, plays the effect of protection internal mechanism; Forward tie point 2 and negative sense tie point 3 in the forward connecting bolt 43 of metal material, the corresponding structural scheme of mechanism of negative sense connecting bolt 44 difference; Negative sense connecting bolt 44, forward connecting bolt 43 are fixed on the articular link plate 36, articular link plate 36 is fixed on the central spinal column 35 of metal material, and being used for fixedly on the articular link plate 36, three center of circular hole point lines of negative sense connecting bolt 44, forward connecting bolt 43 and central spinal column 35 consist of isosceles right triangle; Center gimbal coupling 45 is fixed on central spinal column 35 1 ends, fixing U side chain 1 in the corresponding structural scheme of mechanism.
Referring to Fig. 4, moving cell internal structure schematic diagram.Example joint end cap 34 is connected with central spinal column 35 by the joint end cap vibration isolation circle 25 of flexible material; Joint bearing with end cover 32 inner rings and example joint end cap 34 are connected, and joint bearing with end cover 32 outer rings and wheel rim fixing collar 20 and internal gear 28 are connected; Base bearing with end cover 31 inner rings and example base end cap 33 are connected.
Joint bearing with end cover 32 and base bearing with end cover 31 are Ultrathin sealed deep groove ball bearings, and model is 61820ZZ.
Referring to Fig. 5, moving cell rim driving mechanism schematic diagram.Driver motor 27 is fixed on the example joint end cap 34 by electric machine support 30, and external gear 29 is fixed on driver motor 27 output shafts, external gear 29 and internal gear 28 engagements; External gear 29 rotarily drives internal gear 28 rotation, and then the outer ring of drive and internal gear 28 the container type wheel rim 18, wheel rim fixing collar 20 and the joint bearing with end cover 32 that are connected mutually rotates; Circuit board fixing rack 39 is separately fixed on the central spinal column 35 with joint end cap location-plate 46; When adjacent moving cell connected, the positive gimbal coupling 52 of a rear moving cell, negative gimbal coupling 53 and center gimbal coupling 45 were connected mutually with forward connecting bolt 43, negative sense connecting bolt 44 and the central spinal column 35 of previous moving cell respectively.
Moving cell Spatial Parallel joint is around X in the example of the present invention
1Axle (pitch axis) range of deflection angles is ± 55 °, around Z
1Axle (yaw axis) range of deflection angles is ± 60 °.The model of driver motor 27 is 42BYGH48134A, statical moment 52N.cm; Internal gear 28 is that modulus is the internal gear of 1 number of teeth 104; External gear 29 is that modulus is the external gear of 1 number of teeth 30.
Referring to Fig. 6, the A-A cutaway view of Fig. 3.Be fixed with respectively joint end cap locating ring 22 and base end cap locating ring 21 on example joint end cap 34 and example base end cap 33, the joint end cap centring ring 26 of flexible material and base end cap centring ring 24 are separately fixed on joint end cap locating ring 22 and the base end cap locating ring 21; The center hole of joint end cap centring ring 26 and base end cap centring ring 24 links to each other with joint end cap location-plate 46 with articular link plate 36 respectively by screw; Battery module 38 is fixed on the central spinal column 35 by battery pack fixed cover 42 and battery pack location-plate 41; Base end cap vibration isolation circle 23, base end cap centring ring 24, joint end cap vibration isolation circle 25 and joint end cap centring ring 26 are at parallel driving wheel mechanism and fixedly between the U side chain 1, and flexible material can absorb a part of vibrational energy; When container type wheel rim 18 produces driving frictional force around axial-rotation and with ground, can produce opposing torque to mechanisms such as driver motor 27, example joint end caps 34, base end cap centring ring 24 and joint end cap centring ring 26 have the effect of the reverse rotation such as the mechanism that stops driver motor 27, example joint end cap 34.
Referring to Fig. 7, become rigidity linear actuator and central spinal column position relationship top view, negative gimbal coupling 53 is connected with the drive link that the example negative sense becomes rigidity linear actuator 49; The example negative sense becomes rigidity linear actuator 49 and is connected with central spinal column 35 by negative sense oscillating bearing 51; Positive gimbal coupling 52 is connected with the drive link that the example forward becomes rigidity linear actuator 48; The example forward becomes rigidity linear actuator 48 and is connected with central spinal column 35 by forward oscillating bearing 50.
Negative sense oscillating bearing 51 and forward oscillating bearing 50 are the internal thread spherical plain bearing rod end, and model is SI6C; The model of positive gimbal coupling 52, negative gimbal coupling 53 and center gimbal coupling 45 is the HL-D123066 type.
Referring to Fig. 8, the B-B cutaway view of Fig. 7.Mainly formed by structural framing, transmission mechanism and change rigidity driver three parts.Wherein structural framing is connected by actuator base 63 and optical axis 69 and forms; Transmission mechanism is comprised of motor 54, shaft coupling 62, screw rod 67, nut 68, wherein motor 54 is connected with actuator base 63, screw rod 67 is by shaft coupling 62 and motor 54 output shaft fixed connections, nut 68 is connected with screw rod 67 by screw pair, when screw rod 67 rotated under motor 54 drives, nut 68 can be done rectilinear motion along rotating shaft; Be fixed with two sliding bearings 70 on the sliding bottom 61, can slide along optical axis 69; Iron core 59 and sliding bottom 61 that ferromagnetic material is made are connected, and nut positioning pipe 76 is connected with iron core 59, and nut 68 is connected with iron core 59, and coil 65 is connected with iron core 59, and the coil sealed tube 72 that macromolecular material is made is connected with coil 65 and iron core 59; Be fixed with magnetic guiding loop 75, permanent-magnetic clamp 74 and rubber seal 55 that ferromagnetic material is made on the bottom end cover 60 of aluminum alloy material, permanent-magnetic clamp 74 internal diameters one side is fixed with the permanent-magnet sealing ring 73 that macromolecular material is made; Yoke 66 two ends that ferromagnetic material is made are fixed with respectively bottom end cover 60 and drive link 57, drive link 57 inboards of aluminum alloy material are fixed with another group magnetic guiding loop 75, permanent-magnetic clamp 74, permanent-magnet sealing ring 73 and rubber seal 55, and its function is that magnetorheological chamber is sealed; The space that is surrounded by drive link 57, iron core 59 and yoke 66 is upper magnetorheological chamber 56; The space that is surrounded by bottom end cover 60, iron core 59 and yoke 66 is lower magnetorheological chamber 77; Yoke 66, bottom end cover 60, drive link 57 and two groups of magnetic guiding loops 75, permanent-magnetic clamp 74, permanent-magnet sealing ring 73 and rubber seal 55 consist of mover, and mover can be done rectilinear motion along iron core 59 central shafts; In upper magnetorheological chamber 56 and lower magnetorheological chamber 77 back-moving spring 58 is arranged respectively, back-moving spring 58 two ends contact with magnetic guiding loop 75 and iron core 59 respectively.
Change rigidity linear actuator is positioned at initial position when being subject to External Force Acting, and magnetorheological chamber 56 is identical with lower magnetorheological chamber 77 volumes on this moment, and the back-moving spring 58 that is positioned at magnetorheological chamber 56 and lower magnetorheological chamber 77 all is in relaxed state; Need not coil 65 energisings when needing to become rigidity linear actuator output damping vibration attenuation characteristic, magnetic flow liquid between coil sealed tube 72 and the yoke 66 presents the Newtonian fluid state, magnetic flow liquid in upper magnetorheological chamber 56 and the lower magnetorheological chamber 77 can circulate mutually, when External Force Acting makes the magnetic flow liquid high velocity stream cross the slit, can consume part energy, reduce thus vibratory impulse to the impact of snake-shaped robot articulation mechanism; It is identical to be distributed in two back-moving spring 58 parameters in the magnetorheological chamber, and the restoring force size that mover obtains when departing from initial position to two lateral movements is identical; When needs become rigidity linear actuator maintenance rigidity, coil 65 energisings, iron core 59 and yoke 66 consist of magnetic circuit, magnetic flow liquid between iron core 59 and yoke 66 in the slit changes sticking plastomer under extraneous magnetic fields, has certain anti-shearing stress, hinder in two magnetorheological chambeies magnetic flow liquid and mutually flow, make the certain stiffness characteristics of drive link 57 outputs.
Just can reach purpose of the present invention according to above scheme implementation.
Below only expressed several embodiment of the present invention, it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, or a part of content of the present invention is used for other products, these all belong to protection scope of the present invention.
Claims (10)
1. one kind becomes Stiffness joint snake-shaped robot mechanism, is made of a plurality of moving cells (14) series connection; It is characterized in that: described moving cell (14) is with fixedly U side chain (1), forward become rigidity linear actuator (6), negative sense becomes rigidity linear actuator (7) and (13) four functional modules of parallel driving wheel; Forward becomes rigidity linear actuator (6), negative sense and becomes rigidity linear actuator (7) and be connected with fixing U side chain (1) by linkage respectively, forward tie point (2) and negative sense tie point (3) are fixed on fixedly on the U side chain (1), and forward tie point (2), negative sense tie point (3) and fixing U side chain (1) are near the end points line formation isosceles right triangle of forward tie point (2) and negative sense tie point (3); Forward become rigidity linear actuator (6), negative sense become rigidity linear actuator (7) and fixedly U side chain (1) be fixed with respectively the universal hinge of forward (8), the universal hinge of the universal hinge of negative sense (9) and center (10) away from the end points of forward tie point (2) and negative sense tie point (3); When adjacent moving cell connected, the universal hinge of the forward of a moving cell (8), the universal hinge of negative sense (9) and the universal hinge in center (10) were connected with fixing U side chain (1) with the forward tie point (2) of another moving cell, negative sense tie point (3) respectively;
Described parallel driving wheel (13) comprising: container type wheel rim (18), spirality tire (19), internal gear (28), wheel rim fixing collar (20); Be connected with joint end cap (34) with base end cap (33) respectively with joint bearing with end cover (32) by base bearing with end cover (31), driver motor (27) is connected mutually by electric machine support (30) and joint end cap (34), drives parallel driving wheel (13) around the axial continuous rotation of fixing U side chain (1) by external gear (29);
Described spirality tire (19) be shaped as complete circle; Being fixed in container type wheel rim (18) surface by a plurality of strip flexible material helical forms makes;
Described fixedly U side chain (1) is affixed to central spinal column (35) by articular link plate (36), circuit board fixing rack (39), base end cap bolt (40), battery pack location-plate (41), battery pack fixed cover (42), center gimbal coupling (45), joint end cap location-plate (46) and consists of;
Described base end cap (33) links to each other with central spinal column (35) with joint end cap vibration isolation circle (25) by base end cap vibration isolation circle (23) respectively with joint end cap (34), and links to each other with joint end cap location-plate (46) with base end cap bolt (40) with joint end cap centring ring (26) by base end cap centring ring (24).
2. change Stiffness according to claim 1 joint snake-shaped robot mechanism, it is characterized in that: it is identical with negative sense change rigidity linear actuator (7) structure that described forward becomes rigidity linear actuator (6), adopts linear reciprocating mechanism that rotatablely moving of motor (54) become rectilinear motion.
3. change Stiffness according to claim 1 joint snake-shaped robot mechanism, it is characterized in that: described forward becomes rigidity linear actuator (6) and negative sense change rigidity linear actuator (7) is comprised of structural framing, linear reciprocating mechanism and change rigidity driver three parts.
4. change Stiffness according to claim 3 joint snake-shaped robot mechanism is characterized in that: described structural framing is by actuator base (63) and optical axis (69) formation that is connected.
5. change Stiffness according to claim 3 joint snake-shaped robot mechanism, it is characterized in that: described linear reciprocating mechanism comprises motor (54), shaft coupling (62), screw rod (67) and nut (68); Motor (54) is connected with actuator base (63), and screw rod (67) is by shaft coupling (62) and motor (54) output shaft fixed connection, and nut (68) is connected with screw rod (67).
6. change Stiffness according to claim 3 joint snake-shaped robot mechanism is characterized in that: be fixed with two sliding bearings (70) on the sliding bottom (61) of described change rigidity driver, slide along optical axis (69); Iron core (59) is connected with sliding bottom (61), nut positioning pipe (76) is connected with iron core (59), nut (68) is connected with iron core (59), and coil (65) is connected with iron core (59), and coil sealed tube (72) is connected with coil (65) and iron core (59); Be fixed with one group of sealing device on the bottom end cover (60).
7. change Stiffness according to claim 6 joint snake-shaped robot mechanism, it is characterized in that: described sealing device is comprised of magnetic guiding loop (75), permanent-magnetic clamp (74), permanent-magnet sealing ring (73) and rubber seal (55), is sealing, sliding-contact with iron core (59); Yoke (66) two ends are fixed with respectively bottom end cover (60) and drive link (57), and there are the gap in yoke (66) and iron core (59), coil sealed tube between (72); Drive link (57) inboard is fixed with another group sealing device.
8. change Stiffness according to claim 7 joint snake-shaped robot mechanism, it is characterized in that: the space that described another group sealing device and drive link (57), iron core (59) and yoke (66) surround is upper magnetorheological chamber (56); The space that is surrounded by bottom end cover (60), iron core (59), yoke (66) and sealing device is lower magnetorheological chamber (77), is full of magnetic flow liquid in upper magnetorheological chamber (56) and the lower magnetorheological chamber (77); Yoke (66), bottom end cover (60), drive link (57) and two groups of sealing devices consist of mover, and mover can be done rectilinear motion along iron core (59) central shaft; In upper magnetorheological chamber (56) and lower magnetorheological chamber (77) back-moving spring (58) is arranged respectively, back-moving spring (58) two ends contact with magnetic guiding loop (75) and iron core (59) respectively.
9. change Stiffness according to claim 8 joint snake-shaped robot mechanism, it is characterized in that: described iron core (59) inside structure is tubulose, linear reciprocating mechanism is positioned at iron core (59) inboard.
10. change Stiffness according to claim 8 joint snake-shaped robot mechanism, it is characterized in that: the gas port of perforation is arranged near the intersection of described drive link (57) solid cylinder part and pipe part, and the chamber that linear reciprocating mechanism, iron core (59) and drive link (57) are surrounded communicates with ambient atmosphere.
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| CN104669256A (en) * | 2015-01-06 | 2015-06-03 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Snake-shaped robot flat road travelling posture control method |
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