CN103056876B - Variable rigidity parallel joint snake-shaped robot mechanism - Google Patents
Variable rigidity parallel joint snake-shaped robot mechanism Download PDFInfo
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- CN103056876B CN103056876B CN201310016188.4A CN201310016188A CN103056876B CN 103056876 B CN103056876 B CN 103056876B CN 201310016188 A CN201310016188 A CN 201310016188A CN 103056876 B CN103056876 B CN 103056876B
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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 variation rigidity joint snake-shaped robot mechanism in parallel, this mechanism contributes to snake-shaped robot and performs scouting search and rescue task.
Technical background
Snake-shaped robot is a kind of typical bio-robot, can the moving without limb of natural imitation circle snake class biology, overcome the shortcoming that the walking manner landform adaptability such as Conventional drum, crawler type, leg formula are single, show huge application prospect in disaster search and rescue, military surveillance field.But the limitation of the articulation mechanism of snake-shaped robot, driving mechanism and synkinesia mechanism performance is used for the search and rescue of actual disaster to snake-shaped robot and military surveillance brings difficulty.
Current snake-shaped robot many employings rigidity joint, the ACM-R5 snake-shaped robot of such as Tokyo polytechnical university development adopts two servomotors to drive the deflection of universal joint joint by gear reduction.Rigidity joint accurately can export pose, but lacks landform adaptivity, and is subject to easily damaging when external moment is impacted.Some scholars develop the flexible joint mechanism be made up of rubber bar, spring or air bag, and such as German GMD-Snake snake-shaped robot moving cell adopts rubber bar to do joint, realize joint deflection by rope driving.Flexible joint can improve snake-shaped robot traction, is subject to external impacts not fragile, but due to body shortage rigidity, lateral deviation easily occurs after lifting some moving cells, topples, and makes troubles to scouting detection.In driving mechanism, the each free degree of most snake-shaped robot mechanisms is driven through gear reduction by a motor, need to adopt multiple stage gear reduction for obtaining enough output torques, driving mechanism is complicated, a driver can be caused to leave unused when adjacent two axles only have during an axle motion, make whole mechanism drive efficiency not high.The synkinesia mechanism that current snake-shaped robot adopts mainly contains follower, crawler belt, orthogonal driving wheel, fin etc.Such as Chinese University of Science and Technology for National Defence adopts follower to reduce wriggling movement frictional resistance in the snake-shaped robot that calendar year 2001 develops; 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 in gap, possess stronger locomitivity; 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 the linear motion capability that robot is certain.But these synkinesia mechanisms are easily blocked by foreign material and lost efficacy in the actual environment being full of silt, weeds.Patent CN101746237A is the amphibious snake-shaped robot of Shenyang Institute of Automation development, and appearance contributes to increasing underwater propulsion power and keeping attitude stabilization with fin, but reduces its ability of walking between complex barrier thing.
For making snake-shaped robot play a role in various field early, needing starts with from mechanics innovation explores knuckle mechanism, driving mechanism and synkinesia mechanism, the novel snake-shaped robot that development landform strong adaptability, mobility strong, task are widely applicable.
Summary of the invention
The object of the invention is the many inherent shortcomings solving existing snake-shaped robot mechanism landform adaptability and task applicability, a kind of snake-shaped robot with variation rigidity joint in parallel and vibration isolation driving wheel is provided, improves rapidity when snake-shaped robot moves under multiple terrain environment and stability.
The present invention adopts following technological means to realize:
A kind of variation rigidity joint snake-shaped robot mechanism in parallel, in series by multiple moving cell 14; It is characterized in that: described moving cell 14 is with fixing U side chain 1, forward variation rigidity linear actuator 6, negative sense variation rigidity linear actuator 7 and parallel driving wheel 13 4 functional modules; Forward variation rigidity linear actuator 6, negative sense variation rigidity linear actuator 7 are connected with fixing U side chain 1 respectively by linkage, forward tie point 2 and negative sense tie point 3 are fixed on fixing U side chain 1, and forward tie point 2, negative sense tie point 3 form isosceles right triangle with fixing U side chain 1 near the end points line of forward tie point 2 and negative sense tie point 3; Forward variation rigidity linear actuator 6, negative sense variation rigidity linear actuator 7 and fixing U side chain 1 are fixed with the universal hinge of forward 8, the universal hinge 10 of the universal hinge of negative sense 9 and center respectively away from the end points of forward tie point 2 and negative sense tie point 3; When adjacent motion unit connects, the universal hinge of forward 8 of a moving cell, the universal hinge of negative sense 9 and the universal hinge in center 10 are 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 the axial continuous rotation of fixing U side chain 1 by external gear 29;
The shape of described spirality tire 19 is complete circle; Be fixed on container type wheel rim 18 surface by multiple strip flexible material helical form to make;
Described fixing U side chain 1 is affixed to central spinal column 35 is formed 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;
Described base end cap 33 is connected with central spinal column 35 with joint end cap vibration isolation circle 25 respectively by base end cap vibration isolation circle 23 with joint end cap 34, and is connected 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.
Aforesaid forward variation rigidity linear actuator 6 is identical with negative sense variation rigidity linear actuator 7 structure, adopts linear reciprocating mechanism that the rotary motion of motor 54 is become rectilinear motion.
Aforesaid forward variation rigidity linear actuator 6 and negative sense variation rigidity linear actuator 7 are made up of structural framing, linear reciprocating mechanism and variation rigidity driver three part.
Aforesaid structural framing is connected by actuator base 63 and optical axis 69 and forms.
Aforesaid linear reciprocating mechanism comprises motor 54, shaft coupling 62, screw rod 67 and nut 68; Motor 54 and actuator base 63 are connected, 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.
The sliding bottom 61 of aforesaid variation rigidity driver is fixed with two sliding bearings 70, slides along optical axis 69; Iron core 59 and sliding bottom 61 are connected, and nut positioning pipe 76 and iron core 59 are connected, and nut 68 and iron core 59 are connected, and coil 65 and iron core 59 are connected, and coil sealed tube 72 is connected with coil 65 and iron core 59; Bottom end cover 60 is fixed with one group of sealing device.
Aforesaid sealing device is made up of magnetic guiding loop 75, permanent-magnetic clamp 74, permanent-magnet sealing ring 73 and rubber seal 55, with iron core 59 for sealing, slidingly contacting; Yoke 66 two ends are fixed with bottom end cover 60 and drive link 57 respectively, there is gap between yoke 66 and iron core 59, coil sealed tube 72; Another group sealing device is fixed with inside drive link 57.
The space that another group sealing device aforesaid and drive link 57, iron core 59 and yoke 66 surround is upper magnetorheological chamber 56; The space 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 lower magnetorheological chamber 77; Yoke 66, bottom end cover 60, drive link 57 and two groups of sealing devices form mover, and mover can do rectilinear motion along iron core 59 central shaft; In upper magnetorheological chamber 56 and lower magnetorheological chamber 77, have a back-moving spring 58 respectively, back-moving spring 58 two ends contact with magnetic guiding loop 75 and iron core 59 respectively.
Aforesaid iron core 59 inside structure is tubulose, and linear reciprocating mechanism is positioned at inside iron core 59.
Have through gas port near the intersection of aforesaid drive link 57 solid cylinder part and cylindrical parts, 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.The snake-shaped robot adopting variation rigidity Spatial Parallel joint to form possesses higher body when running on rugged ground flexible, makes it automatic adaptation to the ground and rises and falls, and contributes to improving friction-driven efficiency; Require that snake-shaped robot lifts a part of moving cell to expand investigative range when performing reconnaissance mission, now can overcome by increase body rigidity the unsteady attitude that environmental perturbation brings.
(2) maneuverability is strong.During the output action of Spatial Parallel joint, two variation rigidity linear actuators play driving effect simultaneously, again because less torque can be changed into comparatively high thrust by worm drive, make snake-shaped robot joint have powerful deflection torque and higher bearing capacity, multiple moving cell can be lifted, cross over comparatively high obstacle; Can switch between different motion pattern rapidly in snake-shaped robot motion process; When snake-shaped robot is advanced by parallel driving wheel driving, variation rigidity linear actuator and vibration isolation circle play damping vibration attenuation function, effectively reduce the adverse effect that vibration brings to robot body and motion control, improve cross-country controllable velocity.
(3) structural robustness is strong.Variation rigidity linear actuator adopts screw pair that the rotary motion that motor exports is converted into rectilinear motion, there is structure is simple, output torque is large, bearing capacity is large feature and auto-lock function, make in moving cell, have larger headspace can arrange control circuit, battery pack, parallel driving wheel driving mechanism; When snake-shaped robot need to maintain attitude constant time without the need to linear actuator electrical power; Snake-shaped robot is absorbed by two variation rigidity linear actuator dispersions by the impulsive force of sharing each joint during external impacts, not easily causes frame for movement to destroy, improves the robustness of robot architecture.
Accompanying drawing explanation
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 sectional view of Fig. 3;
Fig. 7 is variation rigidity linear actuator of the present invention and central spinal column position relationship top view;
Fig. 8 is the B-B sectional view of Fig. 7;
Fig. 9 is example schematic of the present invention.
Wherein, 1 is fixing U side chain, 2 is forward tie point, 3 is negative sense tie point, 4 is forward ball pivot, 5 is negative sense ball pivot, 6 is forward variation rigidity linear actuator, 7 is negative sense variation 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 base end cap, 12 is joint end cap, 13 is parallel driving wheel, 14 is moving cell, 18 is container type wheel rim, 19 is spirality tire, 20 is wheel rim fixing collar, 21 is base end cap locating ring, 22 is joint end cap locating ring, 23 is base end cap vibration isolation circle, 24 is base end cap centring ring, 25 is joint end cap vibration isolation circle, 26 is joint end cap centring ring, 27 is driver motor, 28 is internal gear, 29 is external gear, 30 is electric machine support, 31 is base bearing with end cover, 32 is joint bearing with end cover, 33 is example base end cap, 34 is example joint end cap, backbone centered by 35, 36 is articular link plate, 37 is control circuit board, 38 is battery module, 39 is circuit board fixing rack, 40 is base end cap bolt, 41 is battery pack location-plate, 42 is battery pack fixed cover, 43 is forward connecting bolt, 44 is negative sense connecting bolt, gimbal coupling centered by 45, 46 is joint end cap location-plate, 48 is example forward variation rigidity linear actuator, 49 is example negative sense variation rigidity linear actuator, 50 is forward oscillating bearing, 51 is negative sense oscillating bearing, 52 is positive gimbal coupling, 53 is negative gimbal coupling, 54 is motor, 55 is rubber seal, 56 is upper magnetorheological chamber, 57 is drive link, 58 is back-moving spring, 59 is iron core, 60 is bottom end cover, 61 is sliding bottom, 62 is shaft coupling, 63 is actuator base, 64 is bolt, 65 is coil, 66 is yoke, 67 is screw rod, 68 is nut, 69 is optical axis, 70 is sliding bearing, 72 is coil sealed tube, 73 is permanent-magnet sealing ring, 74 is permanent-magnetic clamp, 75 is magnetic guiding loop, 76 is nut positioning pipe, 77 is lower magnetorheological chamber, 78 is wrap for joints, 79 is head protection cover, 80 is tail part protection cover.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
Refer to shown in Fig. 1, variation rigidity provided by the invention joint snake-shaped robot mechanism in parallel is in series by multiple identical moving cell 14; Connected by two-freedom space parallel mechanism between adjacent motion unit 14; Be numbered from snake-shaped robot stem to afterbody to each moving cell, be numbered XII, XI, X, IX, VIII, VII, VI, V, IV, III, II, I respectively; Diagram motion state is U-shaped wheel type movement, XII, XI, X, IX and I, II, III, IV moving cell and ground place, and the variation rigidity linear actuator of these moving cells exports less rigidity, embodies damping vibration attenuation function; V, VI, VII, VIII moving cell is lifted away from ground.
See Fig. 2, moving cell structural scheme of mechanism.Wherein moving cell by fixing U side chain 1, forward variation rigidity linear actuator 6, negative sense variation rigidity linear actuator 7 form with parallel driving wheel 13 4 major part; Fixing U side chain 1 is positioned on moving cell axis; Forward tie point 2 and negative sense tie point 3 are fixed on fixing U side chain 1; Forward variation rigidity linear actuator 6 is connected with fixing U side chain 1 with negative sense ball pivot 5 respectively by forward ball pivot 4 with negative sense variation rigidity linear actuator 7; The universal hinge of forward 8, the universal hinge of negative sense 9 and the universal hinge in center 10 are connected with fixing U side chain one end with forward variation rigidity linear actuator 6, negative sense variation rigidity linear actuator 7 respectively; Set up fixed coordinate system O-XYZ using forward ball pivot 4 and negative sense ball pivot 5 line and fixing U side chain 1 intersection point O as initial point, Y-axis along fixing U side chain 1 axis direction, with center universal hinge 10 central point for initial point sets up moving coordinate system P-X
1y
1z
1, Y
1axle is along fixing U side chain 1 axis direction; The end points that forward tie point 2, negative sense tie point 3 and fixing U side chain 1 are positioned at fixed coordinate system O-XYZ side forms isosceles triangle; The universal hinge of forward 8, the universal hinge of negative sense 9 and center universal hinge 10 position line form isosceles triangle; Base end cap 11 is connected with fixing U side chain 1 by isolation mounting with joint end cap 12; Parallel driving wheel 13 is connected with joint end cap 12 with base end cap 11 by bearing; Parallel driving wheel 13 can around fixing U side chain 1 axis direction continuous rotary under moving cell internal drive drives.
Aforementioned positive variation rigidity linear actuator 6 is identical with negative sense variation rigidity linear actuator 7 structure, screw drive mode is adopted to be rectilinear motion by converting rotary motion, the feature of magnetic flow liquid or ER fluid viscosity-modifying under controlled magnetic field or electric field action is utilized to provide variation rigidity output characteristics, stream becomes in chamber has two springs for providing restoring force, and whole variation rigidity linear actuator has damping vibration attenuation function when Low rigidity exports.
By an example of the present invention, aforementioned fixing U side chain 1 is made up of central spinal column 35 and the articular link plate 36 be connected with it, forward connecting bolt 43, negative sense connecting bolt 44 and center gimbal coupling 45; Control circuit board 37 is fixed in central spinal column 35 by circuit board fixing rack 39; Battery module 38 is fixed in 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 made up of container type wheel rim 18, spirality tire 19, wheel rim fixing collar 20, internal gear 28, spirality tire 19 is manufactured by some strip flexible materials, oblique be bonded in container type wheel rim 18 surface, viewed from moving cell end face, the outer ledge of these spirality tires 19 forms complete circular contour, container type wheel rim 18 is connected with internal gear 28 and wheel rim fixing collar 20, and wheel rim fixing collar 20 and joint bearing with end cover 32 outer ring are connected, and container type wheel rim 18 and base bearing with end cover 31 outer ring are connected, said base end cap 11 is made up 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 ring is fixed on example base end cap 33, base end cap locating ring 21 is fixed on 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 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 are formed, wherein external gear 29 and driver motor 27 output shaft fixed connection, driver motor 27 is connected by electric machine support 30 and example joint end cap 34, joint bearing with end cover 32 inner ring and example joint end cap 34 are connected, joint end cap locating ring 22 and example joint end cap 34 are connected, joint end cap centring ring 26 and joint end cap locating ring 22 are connected, joint end cap vibration isolation circle 25 and example joint end cap 34 are connected, can around central spinal column 35 continuous rotary under the external gear 29 that parallel driving wheel 13 drives at driver motor 27 and internal gear 28 drive.
By an example of the present invention, said 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 and central spinal column 35 are connected, and base end cap bolt 40 and articular link plate 36 are connected.
By an example of the present invention, aforementioned positive variation rigidity linear actuator 6 and negative sense variation rigidity linear actuator 7 be corresponding instance forward variation rigidity linear actuator 48 and example negative sense variation rigidity linear actuator 49 respectively; Example forward variation rigidity linear actuator 48 is identical with example negative sense variation rigidity linear actuator 49 structure, is made up of structural framing, transmission mechanism and variation rigidity driver three part; Wherein structural framing is connected by actuator base 63 and optical axis 69 and forms; Motor 54 and actuator base 63 are connected, 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 by screw pair; Sliding bottom 61 is fixed with two sliding bearings 70, can slides along optical axis 69; Iron core 59 and sliding bottom 61 are connected, and nut positioning pipe 76 and iron core 59 are connected, and nut 68 and iron core 59 are connected, and coil 65 and iron core 59 are connected, and coil sealed tube 72 is connected with coil 65 and iron core 59; Bottom end cover 60 is fixed with one group of sealing device, this device is made up 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 bottom end cover 60 and drive link 57 respectively, are fixed with another group sealing device inside drive link 57; The space surrounded by drive link 57, iron core 59 and yoke 66 is upper magnetorheological chamber 56; The space 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 form mover, and mover can do rectilinear motion along iron core 59 central shaft; In upper magnetorheological chamber 56 and lower magnetorheological chamber 77, have a back-moving spring 58 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 Spatial Parallel joint; the outside of adjacent motion unit 14 junction is coated with the wrap for joints 78 of flexible film material making; on the example base end cap 33 that wrap for joints 78 is separately fixed at adjacent motion unit 14 and example joint end cap 34; the example joint end cap 34 of snake-shaped robot stem moving cell 14 is fixed with head protection cover 79, the example base end cap 33 of snake-shaped robot afterbody moving cell 14 is fixed with tail part protection cover 80.
See 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 surface of rigid, container type wheel rim 18 and wheel rim fixing collar 20 are connected, and forms can around the driving wheel of moving cell axis continuous rotation, play synkinesia effect, this driving wheel covers moving cell most surfaces simultaneously, plays the effect of protection internal mechanism; Forward tie point 2 and negative sense tie point 3 in corresponding structural scheme of mechanism distinguished by forward connecting bolt 43, the negative sense connecting bolt 44 of metal material; Negative sense connecting bolt 44, forward connecting bolt 43 are fixed on articular link plate 36, articular link plate 36 is fixed in the central spinal column 35 of metal material, and three center of circular hole point lines for fixing negative sense connecting bolt 44, forward connecting bolt 43 and central spinal column 35 on articular link plate 36 form isosceles right triangle; Center gimbal coupling 45 is fixed on central spinal column 35 one end, fixes U side chain 1 in corresponding structural scheme of mechanism.
See 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 ring and example joint end cap 34 are connected, and joint bearing with end cover 32 outer ring and wheel rim fixing collar 20 and internal gear 28 are connected; Base bearing with end cover 31 inner ring 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.
See Fig. 5, moving cell rim driving mechanism schematic diagram.Driver motor 27 is fixed on example joint end cap 34 by electric machine support 30, and external gear 29 is fixed on driver motor 27 output shaft, and external gear 29 engages with internal gear 28; External gear 29 rotarily drives internal gear 28 and rotates, and then drives the outer ring of the container type wheel rim 18, wheel rim fixing collar 20 and the joint bearing with end cover 32 that are connected mutually with internal gear 28 to rotate; Circuit board fixing rack 39 and joint end cap location-plate 46 are separately fixed in central spinal column 35; When adjacent motion unit connects, the positive gimbal coupling 52 of a rear moving cell, negative gimbal coupling 53 and center gimbal coupling 45 are connected mutually with the forward connecting bolt 43 of previous moving cell, negative sense connecting bolt 44 and central spinal column 35 respectively.
In example of the present invention, moving cell Spatial Parallel joint is around X
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; The internal gear of internal gear 28 to be moduluses be 1 number of teeth 104; The external gear of external gear 29 to be moduluses be 1 number of teeth 30.
See the A-A sectional view of Fig. 6, Fig. 3.Example joint end cap 34 and example base end cap 33 are fixed with joint end cap locating ring 22 and base end cap locating ring 21 respectively, and 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 base end cap locating ring 21; Joint end cap centring ring 26 is connected with joint end cap location-plate 46 with articular link plate 36 by screw respectively with the center hole of base end cap centring ring 24; Battery module 38 is fixed in 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 between parallel driving wheel mechanism and fixing U side chain 1, and flexible material can absorb a part of vibrational energy; Container type wheel rim 18 around axial-rotation and with ground produce drive frictional force time, 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 stoping the mechanism such as driver motor 27, example joint end cap 34 to reversely rotate.
See Fig. 7, variation rigidity linear actuator and central spinal column position relationship top view, negative gimbal coupling 53 is connected with the drive link of example negative sense variation rigidity linear actuator 49; Example negative sense variation rigidity linear actuator 49 is connected with central spinal column 35 by negative sense oscillating bearing 51; Positive gimbal coupling 52 is connected with the drive link of example forward variation rigidity linear actuator 48; Example forward variation rigidity linear actuator 48 is connected with central spinal column 35 by forward oscillating bearing 50.
Negative sense oscillating bearing 51 and forward oscillating bearing 50 are 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 HL-D123066 type.
See the B-B sectional view of Fig. 8, Fig. 7.Form primarily of structural framing, transmission mechanism and variation rigidity driver three part.Wherein structural framing is connected by actuator base 63 and optical axis 69 and forms; Transmission mechanism is made up of motor 54, shaft coupling 62, screw rod 67, nut 68, wherein motor 54 and actuator base 63 are connected, screw rod 67 is by shaft coupling 62 and motor 54 output shaft fixed connection, nut 68 is connected with screw rod 67 by screw pair, when screw rod 67 rotates under motor 54 drives, nut 68 can do rectilinear motion along rotating shaft; Sliding bottom 61 is fixed with two sliding bearings 70, can slides along optical axis 69; The iron core 59 that ferromagnetic material is made is connected with sliding bottom 61, and nut positioning pipe 76 and iron core 59 are connected, and nut 68 and iron core 59 are connected, and coil 65 and iron core 59 are connected, and the coil sealed tube 72 that macromolecular material is made is connected with coil 65 and iron core 59; The bottom end cover 60 of aluminum alloy material is fixed with magnetic guiding loop 75, permanent-magnetic clamp 74 and rubber seal 55 that ferromagnetic material is made, permanent-magnetic clamp 74 internal diameter 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 bottom end cover 60 and drive link 57 respectively, be fixed with another group magnetic guiding loop 75, permanent-magnetic clamp 74, permanent-magnet sealing ring 73 and rubber seal 55 inside the drive link 57 of aluminum alloy material, its function seals magnetorheological chamber; The space surrounded by drive link 57, iron core 59 and yoke 66 is upper magnetorheological chamber 56; The space 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 form mover, and mover can do rectilinear motion along iron core 59 central shaft; In upper magnetorheological chamber 56 and lower magnetorheological chamber 77, have a back-moving spring 58 respectively, back-moving spring 58 two ends contact with magnetic guiding loop 75 and iron core 59 respectively.
Motor 54 is 36BYGHM19044A type two-phase mixtures stepper motor; The pitch of nut 68 is 0.8mm, and nominal diameter is 5mm; Screw rod 67 pitch is 0.8mm, and nominal diameter is 5mm; Sliding bearing 70 is oil-less self-lubricating bearing, and model is SF1-0305.
Variation rigidity linear actuator is positioned at initial position when not being subject to External Force Acting, and it is identical with lower magnetorheological chamber 77 volume now to go up magnetorheological chamber 56, and the back-moving spring 58 being positioned at magnetorheological chamber 56 and lower magnetorheological chamber 77 is all in relaxed state; Need variation rigidity linear actuator export damping vibration attenuation characteristic time without the need to being energized to coil 65, magnetic flow liquid between coil sealed tube 72 and yoke 66 presents Newtonian fluid state, the magnetic flow liquid gone up in magnetorheological chamber 56 and lower magnetorheological chamber 77 can circulate mutually, can part energy be consumed when External Force Acting makes magnetic flow liquid flow through gap at a high speed, reduce vibratory impulse thus to the impact of snake-shaped robot articulation mechanism; Back-moving spring 58 parameter be distributed in two magnetorheological chambeies is identical, and it is identical to the restoring force size obtained during two lateral movements that mover departs from initial position; When needs variation rigidity linear actuator keeps rigidity, coil 65 is energized, iron core 59 and yoke 66 form magnetic circuit, magnetic flow liquid between iron core 59 and yoke 66 in gap changes sticky plastomer under extraneous magnetic fields, there is certain anti-shearing stress, hinder magnetic flow liquid in two magnetorheological chambeies mutually to flow, make drive link 57 export certain stiffness characteristics.
Just object of the present invention can be reached according to above scheme implementation.
Below only have expressed several embodiment of the present invention, it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made, or by a part of content of the present invention for other products, these all belong to protection scope of the present invention.
Claims (10)
1. a variation rigidity joint snake-shaped robot mechanism in parallel, in series by multiple moving cell (14); It is characterized in that: described moving cell (14) is with fixing U side chain (1), forward variation rigidity linear actuator (6), negative sense variation rigidity linear actuator (7) and parallel driving wheel (13) four functional modules; Forward variation rigidity linear actuator (6), negative sense variation rigidity linear actuator (7) are connected with fixing U side chain (1) respectively by linkage, forward tie point (2) and negative sense tie point (3) are fixed on fixing U side chain (1), and forward tie point (2), negative sense tie point (3) and fixing U side chain (1) form isosceles right triangle near the end points line of forward tie point (2) and negative sense tie point (3); Forward variation rigidity linear actuator (6), negative sense variation rigidity linear actuator (7) and fixing U side chain (1) are fixed with the universal hinge of forward (8), the universal hinge of negative sense (9) and center universal hinge (10) respectively away from the end points of forward tie point (2) and negative sense tie point (3); When adjacent motion unit connects, the universal hinge of forward (8) of a moving cell, the universal hinge of negative sense (9) and the universal hinge in center (10) are 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);
The shape of described spirality tire (19) is complete circle; Be fixed on container type wheel rim (18) surface by multiple strip flexible material helical form to make;
Described fixing U side chain (1) is affixed to central spinal column (35) is formed 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);
Described base end cap (33) is connected with central spinal column (35) with joint end cap vibration isolation circle (25) respectively by base end cap vibration isolation circle (23) with joint end cap (34), and is connected 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. variation rigidity according to claim 1 joint snake-shaped robot mechanism in parallel, it is characterized in that: described forward variation rigidity linear actuator (6) is identical with negative sense variation rigidity linear actuator (7) structure, adopt linear reciprocating mechanism that the rotary motion of motor (54) is become rectilinear motion.
3. variation rigidity according to claim 1 joint snake-shaped robot mechanism in parallel, is characterized in that: described forward variation rigidity linear actuator (6) and negative sense variation rigidity linear actuator (7) are made up of structural framing, linear reciprocating mechanism and variation rigidity driver three part.
4. variation rigidity according to claim 3 joint snake-shaped robot mechanism in parallel, is characterized in that: described structural framing is connected by actuator base (63) and optical axis (69) and forms.
5. variation rigidity according to claim 3 joint snake-shaped robot mechanism in parallel, is characterized in that: described linear reciprocating mechanism comprises motor (54), shaft coupling (62), screw rod (67) and nut (68); Motor (54) and actuator base (63) are connected, 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. variation rigidity according to claim 3 joint snake-shaped robot mechanism in parallel, it is characterized in that: the sliding bottom (61) of described variation rigidity driver is fixed with two sliding bearings (70), slide along optical axis (69); Iron core (59) and sliding bottom (61) are connected, nut positioning pipe (76) and iron core (59) are connected, nut (68) and iron core (59) are connected, coil (65) and iron core (59) are connected, and coil sealed tube (72) is connected with coil (65) and iron core (59); Bottom end cover (60) is fixed with one group of sealing device.
7. variation rigidity according to claim 6 joint snake-shaped robot mechanism in parallel, it is characterized in that: described sealing device is made up of magnetic guiding loop (75), permanent-magnetic clamp (74), permanent-magnet sealing ring (73) and rubber seal (55), with iron core (59) for sealing, slidingly contacting; Yoke (66) two ends are fixed with bottom end cover (60) and drive link (57) respectively, and yoke (66) and iron core (59), coil sealed tube exist gap between (72); Drive link (57) inner side is fixed with another group sealing device.
8. variation rigidity according to claim 7 joint snake-shaped robot mechanism in parallel, is characterized in that: the space that another described group sealing device and drive link (57), iron core (59) and yoke (66) surround is upper magnetorheological chamber (56); The space 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 lower magnetorheological chamber (77); Yoke (66), bottom end cover (60), drive link (57) and two groups of sealing devices form mover, and mover can do rectilinear motion along iron core (59) central shaft; In upper magnetorheological chamber (56) and lower magnetorheological chamber (77), have a back-moving spring (58) respectively, back-moving spring (58) two ends contact with magnetic guiding loop (75) and iron core (59) respectively.
9. variation rigidity according to claim 8 joint snake-shaped robot mechanism in parallel, is characterized in that: described iron core (59) inside structure is tubulose, and linear reciprocating mechanism is positioned at iron core (59) inner side.
10. variation rigidity according to claim 8 joint snake-shaped robot mechanism in parallel, it is characterized in that: have through gas port near described drive link (57) solid cylinder part and the intersection of cylindrical parts, the chamber that linear reciprocating mechanism, iron core (59) and drive link (57) are surrounded communicates with ambient atmosphere.
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