CN103273978B - Six-direction embedded independent telescopic wheel leg body module of snake-like robot - Google Patents
Six-direction embedded independent telescopic wheel leg body module of snake-like robot Download PDFInfo
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- CN103273978B CN103273978B CN201310244912.9A CN201310244912A CN103273978B CN 103273978 B CN103273978 B CN 103273978B CN 201310244912 A CN201310244912 A CN 201310244912A CN 103273978 B CN103273978 B CN 103273978B
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Abstract
The invention discloses a six-direction embedded independent telescopic wheel leg body module of a snake-like robot. The module comprises an inner groove shell, a base, a steering engine, a screw rod, a wheel rod and a driven wheel, six groove chambers are uniformly distributed on the periphery of the base, and a wheel leg composite mechanism is mounted inside each groove chamber. When the snake-like robot moves, different movement patterns in different terrain environments are selected from non-expansion to single-leg expansion and multi-leg expansion by independent control of a built-in sensor or control of an upper computer, and controllable telescopic body deformation in the complicated terrain environments can be realized. The snake-like robot built by the body module can realize sliding, crawl and two-dimensional deformation based on basic bionic movement such as winding, wriggling and rolling, and the running speed and terrain adaptability of the snake-like robot can be effectively improved.
Description
Technical field
The present invention relates to robot research and engineering field, particularly a kind of multi-locomotion mode can split snake-shaped robot six to embedded independent telescope formula wheel leg trunk module.
Background technology
Snake-shaped robot has the following advantages: rational in infrastructure, control flexibly, dependable performance, extensibility are strong, strong adaptability etc.Snake-shaped robot is due to its born multi-joint, multiple degree 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, mostly being directed to snakelike conventional motion form designs, along with the progress of bionics techniques and the height refinement of structure design, some advanced snake-shaped robots can meet or exceed some locomitivities of realm of nature snake in the world, but compared with wheeled motion, tradition serpentine locomotion has limited the kinematic velocity of snake body to a certain extent, and compared with the mode of creeping, the service requirement under serpentine locomotion complex-terrain environment is also inferior a lot.Especially be directed to the wider disaster of present stage snake-shaped robot application and search and rescue field, because reasons such as material, structure, size and designs, the locomitivity of snake-shaped robot is very restricted, and has a strong impact on its search and rescue ability.In the prior art, the design of snake-shaped robot is wheel to be fixed on to the external edge of snake assist the conventional motion such as wriggling of snake-shaped robot substantially, 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 tight pulley design.Before this related invention people of the present invention once applied for a kind of scalable wheel type snake-like robot with and the patent of invention of electromagnetic type expanding pulley mechanism, number of patent application is respectively 201210564904.8 and 201210552679.6, described two patent applications are mainly from the flexible angle of electromagnetism, conventional motion form to be broken through, and are mainly to make relevant design from the flexible angle of electromagnetism.The present invention bends and stretches from joint with the angle of servo driving the mode of motion of snake-shaped robot is expanded and extended.
Summary of the invention
The object of the invention is the deficiency for current snake-shaped robot mode of motion, propose that a kind of multi-locomotion mode can split snake-shaped robot six to embedded independent telescope formula wheel leg trunk module, the realization fusion of multi-motion modes such as wriggle, wriggle, overturn, slide, creep, to effectively promoting its running velocity, strengthen its landform adaptive capacity, expand its Applicable scope, reduce the unnecessary wearing and tearing to robot shells or skin simultaneously, extend its service life.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
Snake-shaped robot six of the present invention comprises interior pot shell, pedestal, steering wheel, swing arm, wheel bar and follower to embedded independent telescope formula wheel leg trunk module.Interior pot shell and pedestal are cylindrical cavity, wherein interior pot shell is nested pot shell, on its circumference, be evenly distributed with six base steering wheel position-limited troughs and six follower accommodating grooves, base steering wheel spacing hole and follower reception hole on corresponding pedestal, play effect spacing to base steering wheel and follower storage, and can prevent that pedestal inner chamber is subject to external environment dust pollution, and on it, there are pedestal connecting bore and joint portion connecting bore simultaneously, be connected with pedestal and joint portion reaction plate respectively, on pedestal excircle, be uniform-distribution with the mounting groove of six independent telescope wheel leg composite structures, the inner You Ji steering wheel spacing hole of groove and swing arm connecting panel embedded slot, all there is threaded connection hole pedestal both sides, one side is connected with interior pot shell and relies on corresponding screw to play the effect of fastening base steering wheel, and opposite side can connect joint portion reaction plate or split mechanism, the integral installation of independent telescope wheel leg composite structure is in the groove inside of pedestal, while receiving completely, only have the part of follower to expose pedestal circumference and play auxiliomotor effect, reduce the wearing and tearing to pedestal simultaneously, independent telescope wheel leg composite structure comprises base steering wheel, joint steering wheel, swing arm, wheel bar one, wheel bar two and and follower, they are each other by tooth coordination, screw, hole is nested, the modes such as locating dowel pin link together, by the rotation of steering wheel, form the compound limb shape structure of wheel leg, play change mode of motion, the function of dilatation, wherein base steering wheel is arranged in the spacing hole of pedestal and carries out fastening location by the attaching screw of pedestal and interior pot shell, swing arm provides power by base steering wheel, swing arm opposite side has the installation locating plate of joint steering wheel, rely on clamping and fixing screw to be fixed to one another, wheel bar one side and joint steering wheel fix, opposite side is installed follower.
Further, interior pot shell and pedestal are cylindrical cavity structure, concentrically with respect to one another, can closely cooperate, rely on pedestal to connect fastener hole and be fixedly connected with by connecting tightening screw, on interior pot shell circumference, six base steering wheel position-limited troughs of well-distributed and six follower accommodating grooves are corresponding one by one with base steering wheel and the follower installed in six grooves of pedestal respectively.
When further, base steering wheel is spacing by pedestal spacing hole, by interior pot shell, be fixed with the tightening screw that is connected of pedestal.
Further, on pedestal one side internal chamber wall, be uniform-distribution with three split connecting bores, hole is triangular in shape, is beneficial to screw-in and the back-out of point body rod, can match with corresponding split mechanism;
Further, swing arm is Π shape structure, and opening one side is connected with the S. A. tooth of base steering wheel on one side, and the coordination axle in another side and pedestal circumferential groove is smoothly connected, and opening one side is not utilized steering wheel locating plate and connecting bore fixing joint steering wheel.
Further, wheel bar one, two is L shaped mechanism, wheel L shaped one side of bar one is coordinated with joint steering wheel and is connected by tooth, another side entangles follower wheel shaft one end by tubular construction and with the fixing wheel shaft of locating dowel pin, wheel L shaped one side of bar two adds the axle of joining by spacing hole and joint steering wheel and is smoothly connected, and another side also relies on locating dowel pin to fix the follower wheel shaft other end by tubular construction.
Further, the swing arm in independent telescope wheel leg composite structure can be realized 90 degree rotations, and wheel leg joint can be realized 180 degree rotations, and after entirety stretches, radial dimension can reach 1.5 times of susceptor diameter.
The present invention carries out Expanding design on the whole on the basis of snake-shaped robot conventional motion mode, the way of utilizing trunk main base to slot will be taken turns leg composite structure and be settled wherein, utilize double steering engine to realize wheel leg fore and aft motion, by rational control, can realize the actions such as storage completely, local stretching, extension, full extension, can realize single-wheel leg and stretch, take turns more the distortion such as leg stretching, extension simultaneously, can realize the conversion of multi-motion mode and select, effectively promote landform comformability and the kinematic velocity of snake-shaped robot.
Advantage of the present invention and innovation are embodied in: 1, independent telescope wheel leg composite structure is embedded in pedestal, does not affect on the whole the snakelike smooth profile of snake-shaped robot when receiving completely; 2, six is flexible to multi-faceted design wheel leg, independent control, and can stretch separately also can simultaneous retractable, and angular range changes greatly, can realize many legs and creep, and greatly strengthens its landform adaptive capacity;
3, when receiving completely, follower is designed to slightly exceed pedestal circumference, can assist serpentine locomotion, reduces the wearing and tearing to housing;
4, unique base steering wheel positioning groove and the design of follower accommodating groove, realize well the coordination of processing and location, and designed the connection of attaching screw and fastening double action.
Accompanying drawing explanation
Fig. 1 is trunk module whole schematic diagram;
Fig. 2 is the each parts forward direction of trunk module schematic diagram;
Fig. 3 is the backward schematic diagram of the each parts of trunk module of removing interior pot shell and an independent telescope formula wheel leg;
Fig. 4 is that trunk single-wheel shank divides stretching, extension schematic diagram;
Fig. 5 is the single independent telescope formula wheel of trunk leg schematic diagram;
Fig. 6 is inside groove shell structure schematic diagram.
Wherein: 1 interior pot shell, 2 pedestals, 3 independent telescope wheel leg composite structures, 4 base steering wheels, 5 followers, 6 swing arms, 7 take turns bar one, 8 joint steering wheel, 9 fixing screws, 10 take turns bar two, 11 connects tightening screw, 12 joint connecting screw holes, 13 connecting panel fixed orifices, 14 split connecting bores, 15 pedestals connect fastener hole, 16 base steering wheel spacing holes, 17 follower reception holes, 18 swing arm connecting panel embedded slots, 19 base steering wheel position-limited troughs, 20 follower accommodating grooves, 21 interior pot shell connecting bores.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1,2,3, 4, a kind of snake-shaped robot six is to embedded independent telescope formula wheel leg trunk module, and entirety is the compound embedded type structure of wheel leg, comprises interior pot shell 1, pedestal 2 and independent telescope wheel leg composite structure 3.Interior pot shell 1 and pedestal 2 are cylindrical cavity structure, concentrically with respect to one another, can closely cooperate and rely on tapped bore correspondence to be fixedly connected with by screw.On pedestal 2 excircles, be uniform-distribution with the mounting groove of six independent telescope wheel leg composite structures 3, the inner You Ji steering wheel spacing hole 16 of groove and swing arm connecting panel embedded slot 18, be fixed with the tightening screw 11 that is connected of pedestal 2 by interior pot shell 1 when base steering wheel 4 is spacing by base steering wheel spacing hole 16.Pedestal 2 both sides have respectively connecting panel fixed orifice 13 to be connected fastener hole 15 with pedestal, one side is connected with interior pot shell 1 and can connects joint portion, opposite side can connect joint portion reaction plate or split mechanism, on the pedestal 2 one side internal chamber walls corresponding with split mechanism, is uniform-distribution with three split connecting bores 14.Wherein Fig. 3 has provided the trunk modular unit figure that removes an independent telescope wheel leg composite structure 3 and interior pot shell 1, therefrom can see base steering wheel spacing hole 16 and follower reception hole 17 in base seat groove, also has in addition very shallow swing arm connecting panel embedded slot 18.
As shown in Figure 5, independent telescope wheel leg composite structure 3 comprises again base steering wheel 4 and joint steering wheel 8, swing arm 6, wheel bar 1 and wheel bar 2 10 and follower 5, and base steering wheel 4 is arranged in the base steering wheel spacing hole 16 of pedestal 2.Swing arm 6 is Π shape structure, opening one side is connected with the S. A. tooth of base steering wheel 4 on one side, coordination axle in another side and pedestal 2 grooves is smoothly connected, opening one side is not utilized steering wheel locating plate and connecting bore fixing joint steering wheel 8, wheel bar one side and joint steering wheel 8 fix, and opposite side is installed follower 5.Swing arm 6 in independent telescope wheel leg composite structure 3 can be realized 90 degree rotations, and wheel leg joint can be realized 180 degree rotations, and after entirety stretches, radial dimension can reach 1.5 times of pedestal 2 diameters.
As shown in Figure 6, interior pot shell 1 is nested pot shell, base steering wheel spacing hole 16 and follower reception hole 17 on corresponding pedestal 2, play effect spacing to base steering wheel 4 and that follower 5 is received, and can prevent that pedestal 2 inner chambers are subject to external environment dust pollution, on it, there are joint connecting screw hole 12 and interior pot shell connecting bore 21 simultaneously, are connected with joint portion and pedestal 2 respectively.
Multi-locomotion mode provided by the invention can split snake-shaped robot six to embedded independent telescope formula wheel leg trunk module, there is structure uniqueness, control feature easily, design size is Ф 90mm*100mm herein, steering wheel is selected the upper steering wheel that can be partial to small size high pulling torque for miniaturization and lightness consideration, this sentences Futala3153MG steering wheel is the design that prototype is carried out, and practical application will fully reduce weight to reduce depending on unduly steering wheel moment from case material.Snake-shaped robot is in motion process, oneself by built-in sensors controls or PC control, realize the selection of different motion pattern under different terrain environment, never stretch that flexible arrive more legs flexible to single leg, can realize controllable extensible body under complex-terrain environment and be out of shape.The snake-shaped robot of this trunk module construction can guarantee to realize on the basis of the basic bionic motion such as sinuous, wriggling, rolling and slide, creeps and two-dimentional deformability, can effectively improve running velocity and the landform adaptive capacity of snake-shaped robot.
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. snake-shaped robot six, to an embedded independent telescope formula wheel leg trunk module, is characterized in that: entirety is the embedded type structure of wheel leg, comprises interior pot shell (1), pedestal (2) and independent telescope wheel leg composite structure (3), described interior pot shell (1) is nested pot shell, on its circumference, be evenly distributed with respectively six base steering wheel position-limited troughs (19) and six follower accommodating grooves (20), base steering wheel spacing hole (16) and follower reception hole (17) on corresponding pedestal (2), on it, there is pedestal to connect fastener hole (15) and joint connecting screw hole (12) simultaneously, be connected with pedestal (2) and joint portion respectively, on pedestal (2) excircle, be uniform-distribution with the mounting groove of six independent telescope wheel leg composite structures (3), the inner You Ji steering wheel spacing hole of mounting groove (16) and swing arm connecting panel embedded slot (18), there are respectively joint connecting screw hole (12) and connecting panel fixed orifice (13) in pedestal (2) both sides, one side is connected with interior pot shell (1), opposite side can connect joint portion reaction plate or split mechanism, on pedestal (2) the one side internal chamber walls corresponding with split mechanism, is uniform-distribution with three split connecting bores, independent telescope wheel leg composite structure (3) comprises again base steering wheel (4) and joint steering wheel (8), swing arm (6), wheel bar one (7) and wheel bar two (10) and follower (5), base steering wheel (4) is arranged in the base steering wheel spacing hole (16) of pedestal (2), swing arm (6) provides power by base steering wheel (4), swing arm (6) opposite side has the installation locating plate of joint steering wheel (8), rely on clamping and fixing screw (9) to be fixed to one another, wheel bar one (7) and wheel bar two (10) one sides and joint steering wheel (8) interfix, opposite side is installed follower (5).
2. snake-shaped robot six according to claim 1 is to embedded independent telescope formula wheel leg trunk module, it is characterized in that: described interior pot shell (1) and pedestal (2) are cylindrical cavity structure, concentrically with respect to one another, rely on pedestal to connect fastener hole (15) and be fixedly connected with by connecting tightening screw (11), on interior pot shell (1) circumference, be uniformly distributed six base steering wheel position-limited troughs (19) and six follower accommodating grooves (20), corresponding one by one with base steering wheel (4) and the follower (5) installed in (2) six grooves of pedestal respectively.
3. snake-shaped robot six according to claim 1, to embedded independent telescope formula wheel leg trunk module, is characterized in that: when base steering wheel (4) is spacing by base steering wheel spacing hole (16), by interior pot shell (1), be fixed with the tightening screw (11) that is connected of pedestal (2).
4. snake-shaped robot six according to claim 1 is to embedded independent telescope formula wheel leg trunk module, it is characterized in that: on pedestal (2) one side internal chamber walls, be uniformly distributed three split connecting bores (14), hole is triangular in shape, be beneficial to screw-in and the back-out of point body rod, can match with corresponding split mechanism.
5. snake-shaped robot six according to claim 1 is to embedded independent telescope formula wheel leg trunk module, it is characterized in that: described swing arm (6) is Π shape structure, opening one side is connected with the S. A. tooth of base steering wheel (4) on one side, coordination axle in another side and pedestal (2) groove is smoothly connected, and opening one side is not utilized steering wheel locating plate and connecting bore fixing joint steering wheel (8).
6. snake-shaped robot six according to claim 1 is to embedded independent telescope formula wheel leg trunk module, it is characterized in that: described take turns bar one (7) and wheel bar two (10) be L shaped mechanism, wheel bar one (7) L shaped one side is coordinated with joint steering wheel (8) and is connected by tooth, another side entangles follower (5) wheel shaft one end by tubular construction and with the fixing wheel shaft of locating dowel pin, wheel bar two (10) L shaped one side add the axle of joining by spacing hole and joint steering wheel (8) and are smoothly connected, and another side also relies on locating dowel pin to fix follower (5) the wheel shaft other end by tubular construction.
7. snake-shaped robot six according to claim 1 is to embedded independent telescope formula wheel leg trunk module, it is characterized in that: the swing arm (6) in independent telescope wheel leg composite structure (3) can be realized 90 degree rotations, and wheel leg joint can be realized 180 degree rotations, the rear radial dimension of entirety stretching, extension can reach 1.5 times of pedestal (2) diameter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310244912.9A CN103273978B (en) | 2013-06-20 | 2013-06-20 | Six-direction embedded independent telescopic wheel leg body module of snake-like robot |
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| CN201310244912.9A CN103273978B (en) | 2013-06-20 | 2013-06-20 | Six-direction embedded independent telescopic wheel leg body module of snake-like robot |
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| CN103273978B true CN103273978B (en) | 2014-04-23 |
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| CN105905179A (en) * | 2016-06-06 | 2016-08-31 | 厦门市星云睿自动化科技有限公司 | Spherical spider robot based on single chip computer |
| CN107139180B (en) * | 2017-05-27 | 2020-05-22 | 芜湖星途机器人科技有限公司 | Automatic robot trunk of standing |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746237A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Amphibious snake-like robot |
| KR101014346B1 (en) * | 2010-08-11 | 2011-02-15 | (주)엔티렉스 | Snake shape robot |
| CN102528805A (en) * | 2012-02-23 | 2012-07-04 | 西华大学 | Multifunctional serpentiform robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2440344C (en) * | 2001-03-07 | 2007-06-26 | Carnegie Mellon University | Gas main robotic inspection system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746237A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Amphibious snake-like robot |
| KR101014346B1 (en) * | 2010-08-11 | 2011-02-15 | (주)엔티렉스 | Snake shape robot |
| CN102528805A (en) * | 2012-02-23 | 2012-07-04 | 西华大学 | Multifunctional serpentiform robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
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Inventor after: Xing Jishou Inventor after: Li Yanwen Inventor after: Su Zhong Inventor after: Liu Fuchao Inventor after: Fu Guodong Inventor before: Li Yanwen Inventor before: Su Zhong Inventor before: Liu Fuchao Inventor before: Fu Guodong |
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Free format text: CORRECT: INVENTOR; FROM: LI YANWEN SU ZHONG LIU FUCHAO FU GUODONG TO: XING JISHOU LI YANWEN SU ZHONG LIU FUCHAO FU GUODONG |
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