CN103612683A - Crawler-type multi-joint snakelike robot - Google Patents
Crawler-type multi-joint snakelike robot Download PDFInfo
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Abstract
The invention provides a crawler-type multi-joint snakelike robot which comprises joint modules, drive modules and connecting modules. Each joint module comprises three 'V'-shaped side plates, wherein three wheel axles are installed between every two adjacent 'V'-shaped side plates through bearings so that the three 'V'-shaped side plates can be connected to form equilateral triangle distribution; two crawler wheels are fixedly installed on each wheel axle, so that two rows of crawler wheels are formed on the three wheel axles; a crawler belt is installed on each row of crawler wheels, and a joint chain wheel is also fixedly installed on the wheel axle located on the end portion. The drive modules are installed inside the joint modules. Each connecting module is located between every two adjacent joint modules. A worm bracket of each drive module is connected with a part of a connecting plate frame of the corresponding connecting module so that the two adjacent joint modules can be connected. A drive chain wheel of each drive module and the joint chain wheel of the corresponding joint module are in chain transmission. The crawler-type multi-joint snakelike robot is good in stability, strong in ground adaptive capacity, and applicable to disaster relief, detection, firefighting, transportation, space exploration and other fields.
Description
Technical field
What the present invention relates to is a kind of robot, specifically a kind of crawler type multiple joint snake-shaped robot.
Background technology
Snake-shaped robot has stronger ground adaptive capacity, good stability, structure and has the features such as flexible, and can in the landform of various complexity, walk, and has powerful obstacle climbing ability.At present, also worked out the snake-shaped robot that a lot of structures are different both at home and abroad, but existing snake-shaped robot majority is just realized two dimensional motion, be difficult to be adapted to three-dimensional working space, although disclosed < < snake-shaped robot > > with ground adaptive capacity in the patent document that application number is 03133909.3, and in the application number patent document that is 02280911.2, the design in disclosed < < Modularized structure-changeable snake-shape robot > > has certain three-dimensional motion ability, but its single link block but only has two dimensional motion form, can not realize three-dimensional motion simultaneously.And current snake-shaped robot also exists the shortcomings such as under power, greatly limited the practical application of snake-shaped robot.
Summary of the invention
The object of the present invention is to provide the crawler type multiple joint snake-shaped robot that a kind of ground adaptive capacity and three dimensional space operational capability are strong.
The object of the present invention is achieved like this:
Comprise joint module, driver module and link block;
Described joint module comprises three " V " shape side plates, between two adjacent side plates, by bearing, three wheel shafts are installed three " V " shape side plates are connected to form to equilateral triangle distribution, on every wheel shaft, fixedly mount two Athey wheels, on three wheel shafts, form two row's Athey wheels, on every row's Athey wheel, crawler belt is installed, on the wheel shaft that is positioned at end, is also fixedly mounted a joint sprocket wheel;
Described driver module comprises drive motor, two worm brackets, three driving gear wheel carriers, two worm brackets are separately fixed at the support frame of the two ends formation equilateral triangle distribution of three driving gear wheel carriers, worm screw is installed between two worm brackets, three turbines and worm mesh, each turbine has a coaxial Drive pinion, Drive pinion meshes with driving big gear wheel, drive big gear wheel to have a coaxial drive sprocket, described turbine, Drive pinion, drive big gear wheel and drive sprocket to be arranged on described support frame, drive motor output shaft is connected with worm screw by coupler,
Described link block is comprised of the identical two parts of structure, the structure of a part wherein is: steering wheel is arranged on and is connected on grillage by steering wheel frame, on steering wheel frame, fixedly mount two and connect grillage, connection big gear wheel and two connection miniature gearss are coaxially arranged on two and connect between grillages, two and half gears are arranged on two by half gear wheel shaft respectively and connect on grillage, steering wheel gear is arranged on the output shaft of steering wheel, steering wheel gear be connected big gear wheel engagement, two connect miniature gears and mesh with two and half gears respectively, the two ends that two and half gear wheel shafts are relative with cross shaft connection connect, cross shaft connection is connected two parts is connected with two and half gear wheel shafts of another part in relative two ends in addition,
Driver module is arranged on joint module inside, link block is between two adjacent joint modules, a worm bracket of driver module is realized two connections between joint module, chain gear between the joint sprocket wheel of the drive sprocket of driver module and joint module with the grillage connection that is connected of a part for link block.
The present invention can also comprise:
1, the triangle aluminium alloy plate processing and fabricating that described " V " shape side plate is 120 degree by angle forms.
2, at least comprise three joint modules.
In order to improve ground adaptive capacity and the three dimensional space operational capability of snake-shaped robot, the present invention adopts multiple degree of freedom to be rotatably connected module a plurality of identical single-freedom joint modules is coupled together, each joint module has independently power-driven system, thereby forms the snake-shaped robot that can carry out three-dimensional space motion.First, the triangular prism structure that the cross section that the employing of joint of robot module is comprised of three identical faces is equilateral triangle designs, there is track propulsion each side, improved stability and the ground adaptive capacity of robot, and the quantity in joint can increase according to actual needs.Secondly, driver module adopts the worm structure design altogether of many turbines, and each face dynamic output simultaneously of joint module, has guaranteed that robot has sufficient propulsive effort.Again, connect joint and adopt gear structure design, and adopt servo driving, not only can implementation space two degrees of freedom rotate, can also make the two joint joints that are connected realize 360 degree flexible rotatings, make robot there is three-dimensional space motion ability, and steering wheel work time can make gear mechanism partly realize auto-lock function, make robot integral body there is certain rigidity.Be particularly useful for the fields such as disaster relief, detection, fire-fighting, transportation and space probation.
Tool of the present invention has the following advantages:
1. the joint module of robot adopts the triangular prism structure design that three identical faces form, when a side contacts with ground, center of gravity projection can be stabilized on the face contacting with ground, improved the stability of robot, and each side contacts with ground and can drive machines people advance, and has improved the ground adaptive capacity of robot.
2. the driver module of robot adopts the worm structure design altogether of many turbines, motor power can be outputed to each side simultaneously, has guaranteed that robot remains sufficient propulsive effort.
3. the link block gear structure of robot design, not only can implementation space two degrees of freedom rotate, can also make the two joint joints that are connected realize 360 degree flexible rotatings, make robot there is three-dimensional space motion ability, and by steering wheel, control and can make gear parts realize auto-lock function, make the certain rigidity of the whole maintenance of robot.
Accompanying drawing explanation
Fig. 1 a-Fig. 1 b: joint module cross-sectional plane complete section schematic diagram and side complete section schematic diagram.
Fig. 2: joint module three-dimensional modeling schematic diagram.
Fig. 3: driver module drive connection complete section schematic diagram.
Fig. 4: driver module inner structure three-dimensional modeling schematic diagram.
Fig. 5: driver module mounting structure three-dimensional modeling schematic diagram
Fig. 6: link block drive connection complete section schematic diagram.
Fig. 7: link block three-dimensional modeling schematic diagram.
Fig. 8: the whole three-dimensional modeling schematic diagram of robot.
Fig. 9 a-Fig. 9 i: robot advances, retreats, handling maneuver process schematic diagram.
Figure 10 a-Figure 10 f: robot is crossed gully course of action schematic diagram.
Figure 11 a-Figure 11 i: robot speeling stairway course of action schematic diagram.
Figure 12 a-Figure 12 e: course of action schematic diagram when robot runs into obstacle.
The specific embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail.
Robot of the present invention is mainly to consist of joint module, driver module and link block.Wherein, joint module mainly comprises: side plate 1, side plate 5, side plate 9, wheel shaft 3, wheel shaft 7, wheel shaft 11, wheel shaft 15, wheel shaft 17, wheel shaft 25, wheel shaft 27, Athey wheel 2, Athey wheel 4, Athey wheel 6, Athey wheel 8, Athey wheel 10, Athey wheel 12, Athey wheel 14, Athey wheel 16, Athey wheel 19, Athey wheel 20, Athey wheel 26, Athey wheel 28, Athey wheel, crawler belt 13, crawler belt 21, crawler belt 22, crawler belt 23, crawler belt 24, crawler belt 31 and joint sprocket wheel 18, driver module mainly comprises: drive sprocket 35, drive sprocket 42, drive sprocket 49, chain, worm screw 40, turbine 34, turbine 41, turbine 48, driving big gear wheel 36, driving big gear wheel 43, driving big gear wheel 50, Drive pinion 33, Drive pinion 39, Drive pinion 45, worm bracket 51, worm bracket 56, driving gear wheel carrier 5, driving gear wheel carrier 58, driving gear wheel carrier 60, drive motor 53 and drive motor frame 52, link block mainly comprises: steering wheel 71, steering wheel 79, steering wheel frame 55, steering wheel frame 80, steering wheel gear 69, steering wheel gear 82, connect grillage 54, connect grillage 83, connection bracket 66, connection bracket 73, connection bracket 77, connect big gear wheel 67, connect big gear wheel 84, connect miniature gears 65, connect miniature gears 72, connect miniature gears 78, connect miniature gears 85, half gear 64, half gear 74, half gear 86, half gear 87, cross center shaft 76, connection teeth wheel shaft 68, connection teeth wheel shaft 81 and half gear wheel shaft 63, half gear wheel shaft 75.
The present invention has taked following technical scheme: in the present invention, robot adopts 3 joint joint modules, concrete joint module quantity can increase according to actual service condition, every joint joint module structure forms identical, independently driver module is installed in every joint joint module inside, in the middle of two joint joint modules, by link block, is connected.Below the structure of joint module I, driver module I and link block I is formed and is described in detail:
In conjunction with Fig. 1, Fig. 2, is elaborated to joint module I structure.Joint module I88 is by side plate I1, side plate II5, side plate III9, Athey wheel I2, Athey wheel II4, Athey wheel III6, Athey wheel IV8, Athey wheel V10, Athey wheel VI12, Athey wheel VII14, Athey wheel VIII16, Athey wheel IX19, Athey wheel X20, Athey wheel XI26, Athey wheel XII28, Athey wheel XIII29, Athey wheel XIV30, Athey wheel XV, Athey wheel XVI, Athey wheel XVII, Athey wheel XVIII, joint sprocket wheel I18, joint sprocket wheel II, joint sprocket wheel III, wheel shaft I3, wheel shaft II7, wheel shaft III11, wheel shaft IV15, wheel shaft V17, wheel shaft VI25, wheel shaft VII27, wheel shaft VIII, wheel shaft IX, crawler belt I13, crawler belt II21, crawler belt III22, crawler belt IV23, crawler belt V24, crawler belt VI31 forms.All side plates are that the triangle aluminium alloy plate processing and fabricating that is 120 degree by angle forms, side plate I1 and side plate II5 are arranged on respectively wheel shaft I3 by bearing, wheel shaft VIII, the two ends of wheel shaft IX, Athey wheel I2, Athey wheel II4 is fixedly mounted on wheel shaft I3 by tightening screw, Athey wheel XIV30, Athey wheel XV is arranged on wheel shaft VIII by bearing, Athey wheel XIII29, Athey wheel XVI, joint sprocket wheel II is fixedly mounted on wheel shaft IX by tightening screw, crawler belt III22 is arranged on Athey wheel II4, on Athey wheel XV and Athey wheel XVI, crawler belt VI31 is arranged on Athey wheel I2, on Athey wheel XIV30 and Athey wheel XIII29.Side plate II5 and side plate III9 are arranged on respectively the two ends of wheel shaft II7, wheel shaft VI25, wheel shaft VII27 by bearing, Athey wheel III6, Athey wheel V10 are fixedly mounted on wheel shaft II7 by tightening screw, Athey wheel XI26, Athey wheel XVII are arranged on wheel shaft VI25 by bearing, Athey wheel XII28, Athey wheel XVIII, joint sprocket wheel III are fixedly mounted on wheel shaft VII27 by tightening screw, crawler belt IV23 is arranged on Athey wheel III6, Athey wheel XI26 and Athey wheel XII28 is upper, and crawler belt V24 is arranged on Athey wheel IV8, Athey wheel XVII and Athey wheel XIII.Side plate III9 and side plate I1 are arranged on respectively the two ends of wheel shaft III11, wheel shaft IV15, wheel shaft V17 by bearing, Athey wheel V10, Athey wheel VI12 are fixedly mounted on wheel shaft III11 by tightening screw, Athey wheel VII14, Athey wheel X20 are arranged on wheel shaft IV15 by bearing, Athey wheel VIII16, Athey wheel IX19, joint sprocket wheel I18 are fixedly mounted on wheel shaft V17 by tightening screw, crawler belt I13 is arranged on Athey wheel VI12, Athey wheel XIV30 and Athey wheel XIV29 is upper, and crawler belt II21 is arranged on Athey wheel V10, Athey wheel X20 and Athey wheel IX19.Three chains of internal drive module are arranged on respectively on each drive sprocket of joint sprocket wheel I18, joint sprocket wheel II, joint sprocket wheel III and internal drive module, internal drive module is by each joint sprocket rotation of chain drive, therefore, each Athey wheel on the wheel shaft V17 at each sprocket wheel place, joint, wheel shaft VII27, wheel shaft IX is main drive wheel, by above-mentioned being connected, be related to that all crawler belts that driver module gets final product on each face of driving joint module turn round, thereby realize the movement of joint module.
In conjunction with Fig. 3, Fig. 4, Fig. 5, is elaborated to driver module I structure.Driver module I is by drive motor I, 53, drive motor frame I52, worm bracket I51, worm bracket II56, worm screw I40, turbine I34, turbine II41, turbine III48, drive big gear wheel I36, drive big gear wheel II43, drive big gear wheel III50, Drive pinion I33, Drive pinion II39, Drive pinion III45, gear shaft I32, gear shaft II37, gear shaft III38, gear shaft IV44, gear shaft V46, driving gear wheel carrier I57, driving gear wheel carrier II58, driving gear wheel carrier III60, drive sprocket I35, drive sprocket II42, drive sprocket III49, chain I, chain II, chain III and coupler I59 form.Drive motor I53 is fixedly mounted on drive motor frame I52, drive motor frame I52 is fixedly connected with worm bracket I51, worm bracket I51 and worm bracket II56 are fixedly mounted on respectively the two ends of driving gear wheel carrier I57, driving gear wheel carrier II58, driving gear wheel carrier III60, and inner each gear is arranged on each driving gear wheel carrier by gear wheel shaft; Worm bracket II56 is fixedly connected with the steering wheel frame I55 of link block, at worm bracket I61, leave worm bracket tapped bore I61, on the connection grillage I54 of link block, leave and connect grillage tapped bore I62, one has three pairs of holes, and by binding bolt, worm bracket II56 is connected with the grillage I62 that is connected of link block, by this connection, driver module I and link block I are fixedly installed togather.One end of the output shaft of drive motor I53 and worm screw I40 is connected by coupler I59, and the two ends of worm screw I40 by bearing, are arranged on worm bracket I51 respectively and worm bracket II56 is upper, and worm screw I40 meshes with turbine I34, turbine II41, turbine III48 respectively simultaneously.Turbine I34 and Drive pinion II39 are arranged on gear shaft III38 jointly, the two ends of gear shaft III38 are fixedly mounted on respectively on driving gear wheel carrier II58, driving gear wheel carrier III60 by bearing, Drive pinion II39 meshes with driving big gear wheel I36, drive big gear wheel I36 and drive sprocket I35 to be jointly arranged on gear shaft II37 upper, the two ends of gear shaft II37 are fixedly mounted on respectively on driving gear wheel carrier II58 and driving gear wheel carrier III60 by bearing; Turbine II41 and Drive pinion III45 are arranged on gear shaft V46 jointly, the two ends of gear shaft V46 are fixedly mounted on respectively on driving gear wheel carrier I57, driving gear wheel carrier III60 by bearing, Drive pinion III45 meshes with driving big gear wheel II43, drive big gear wheel II43 and drive sprocket II42 to be jointly arranged on gear shaft IV44 upper, the two ends of gear shaft IV44 are fixedly mounted on respectively on driving gear wheel carrier I57 and driving gear wheel carrier III60 by bearing; Turbine III48 and Drive pinion I33 are arranged on gear shaft VI47 jointly, the two ends of gear shaft VI47 are fixedly mounted on respectively on driving gear wheel carrier I57, driving gear wheel carrier II58 by bearing, Drive pinion I33 meshes with driving big gear wheel III50, drive big gear wheel III50 and drive sprocket III49 to be jointly arranged on gear shaft I32 upper, the two ends of gear shaft I32 are fixedly mounted on respectively on driving gear wheel carrier I57 and driving gear wheel carrier II58 by bearing.Chain I, chain II, chain III are arranged on respectively on each joint sprocket wheel of drive sprocket I35, drive sprocket II42, drive sprocket III49 and joint module, drive motor I47 work, by the above-mentioned relation that is connected, can drive each drive sprocket to rotate, thereby the power-conversion of drive motor I47 is the propulsive effort of crawler belt on each side of joint module the most at last.
In conjunction with Fig. 5, Fig. 6, Fig. 7, is elaborated to link block I structure.Link block I is by steering wheel I71, steering wheel II79, steering wheel frame I55, steering wheel frame II80, connect grillage I54, connect grillage II83, steering wheel gear I69, steering wheel gear II82, connect big gear wheel I67, connect big gear wheel II84, connect miniature gears I65, connect miniature gears II72, connect miniature gears III78, connect miniature gears IV85, connection teeth wheel shaft I68, connection teeth wheel shaft II81, half gear I64, half gear II74, half gear III86, half gear IV87, connection bracket I66, connection bracket II73, connection bracket III77, connection bracket IV, cross shaft connection I76, half gear wheel shaft I63, half gear wheel shaft II75, half gear wheel shaft III, half gear wheel shaft IV forms.Link block I is comprised of the identical gear mechanism of two parts, below a part of gear mechanism is wherein elaborated.Steering wheel I71 is fixedly mounted on steering wheel frame I55, steering wheel frame I55 is fixedly mounted on and connects on grillage I54, steering wheel gear I69 is arranged on the output shaft of steering wheel I71, steering wheel gear I69 be connected big gear wheel I67 engagement, connect big gear wheel I67, connect miniature gears I65 and be connected miniature gears II72 and be fixedly mounted on connection teeth wheel shaft I68, the two ends of connection teeth wheel shaft I68 are arranged on respectively on connection bracket I66 and connection bracket II73 by bearing, connection bracket I66 is fixedly mounted on and is connected on grillage I54 with connection bracket II73, connect miniature gears I65 and be connected miniature gears II72 and mesh with half gear I64 and half gear II74 respectively, half gear I64 is arranged on half gear wheel shaft I63, half gear II74 is arranged on half gear wheel shaft II75, half gear wheel shaft I63 is fixedly mounted on respectively with one end of half gear wheel shaft II75 the two ends that cross shaft connection I76 is relative, the other end of two and half gear wheel shafts is arranged on respectively on connection bracket I66 and connection bracket II73 by bearing.Half gear wheel shaft III is fixedly mounted on respectively with one end of half gear wheel shaft IV the two ends that cross shaft connection I76 is other relative, the other end of two and half gear wheel shafts is arranged on respectively on connection bracket III77 and connection bracket IV by bearing, another part gear mechanism of link block I is identical with said structure, by cross shaft connection I76, the identical two parts gear mechanism of structure is connected into space crosswise like this, and by steering wheel, control respectively, flexible rotating that can two parts gear mechanism, and can keep corresponding gear mechanism partly to realize auto-lock function when steering wheel I71 and steering wheel II79 work.Finally, three legs that connect grillage I54 are fixedly mounted on respectively to the top of three side plates of joint module I88 one end by binding bolt, three legs that connect grillage II83 are fixedly mounted on respectively the top of three side plates of joint module II89 one end by bolt, by link block I, joint module I88 and joint module II89 are linked together like this, and by link block I, realize the multi-aspect flexible rotating of joint module I88 and joint module II89, thereby make robot there is the ability at three-dimensional space motion.
In conjunction with Fig. 8, robot integral structure is elaborated.In the present invention, robot integral body is comprised of joint module I88, joint module II89, joint module III90 tri-joint joint modules, and the quantity of joint module can increase according to actual user demand.Joint module I88 is connected by link block I with in the middle of joint module II89, and joint module II89 is connected by link block II with joint module III90.It is inner that driver module I is fixedly mounted on joint module I88, and propulsive effort is provided to joint module I88, it is inner that driver module II is fixedly mounted on joint module II89, and propulsive effort is provided to joint module II89, it is inner that driver module III is fixedly mounted on joint module III90, and propulsive effort is provided to joint module III90, driver module is worked simultaneously and can be realized the actions such as advancing, retreat of robot, joint module I88 with joint module III90 because 26S Proteasome Structure and Function is the same, so the head in the time of can advancing as robot.Steering wheel I71 and steering wheel II79 control joint module I88 and joint module II89 velocity of rotation and direction, steering wheel III and steering wheel IV control joint module II89 and joint module III90 velocity of rotation and direction, thereby the spatial attitude of control converts, realize the three-dimensional space motion of robot.And when steering wheel I71 and steering wheel III work, can make the gear mechanism part that steering wheel I71 and steering wheel III control in rotation direction, keep self-locking state simultaneously, thereby make robot integral body keep rigid state this side up.In like manner, when steering wheel II65 and steering wheel IV work simultaneously, also can realize robot and in respective direction, keep rigid state.
Below in conjunction with Fig. 9, Figure 10, Figure 11, Figure 12, illustrates specific embodiment of the invention process.
In conjunction with Fig. 9, to robot in realization, advance, retreat, the situation of handling maneuver process is elaborated.First, while driving joint module I 88, joint module II89, joint module III90 advance, thereby realize robot forward motion respectively for drive motor I53, drive motor II, the synchronized in the same way running of drive motor III.Secondly, while driving joint module I 88, joint module II89, joint module III90 retreat, thereby realize robot backward movement respectively for drive motor I53, drive motor II, the synchronized antiport of drive motor III.Again, steering wheel IV task driven link block II turns left, thus driving joint module ii I90 carry out left-handed turning to, then steering wheel II task driven link block I turns left, thus driving joint module ii 89 turns left.Thereby all drive motor continue synchronized work in the same way drives all joint modules to move on according to the direction after rotating, and robot integral body realizes handling maneuver.When joint module, III90 completely realizes and turning to, steering wheel II task driven link block I turning clockwise, thereby driving joint module I 88 turning clockwises, steering wheel IV task driven link block II carries out turning clockwise simultaneously, thereby driving joint module ii 89 turning clockwises, all drive motor continue all joint modules of synchronized task driven in the same way and move on according to the direction after rotating, when joint module I88, joint module II89 and joint module III90 are linearly time, steering wheel II and steering wheel IV stop operating, and so far robot is realized handling maneuver completely.
In conjunction with Figure 10, course of action when robot is crossed to gully 91 in traveling process is elaborated.First, all drive motor task driven robots advance, and when running into gully 91, the corresponding gear mechanism of steering wheel III task driven partly keeps self-locking state, make the whole attitude that keeps of joint module III90 robot when crossing gully 91 constant.Secondly, after joint module III90 contacts with the other end ground in gully 91, steering wheel I71 and steering wheel the III simultaneously corresponding gear mechanism of task driven partly keep self-locking state, make joint module II89 keep attitude constant, and a kind of rigid state of the whole maintenance of robot is moved forward.Again, all drive motor task driven robots move on, at joint module II89, cross behind gully 91, steering wheel III quits work, steering wheel I71 continues maintenance work and also drives corresponding gear mechanism partly to keep self-locking state, makes joint module I88 when crossing gully 91, keep attitude constant, until joint module I88 crosses after 91Bing Yu ground, gully contacts completely completely, steering wheel I71 quits work, and all drive motor task driven robots move on.So far, robot completes whole actions the maintenance of crossing gully 91 and advances.
In conjunction with Figure 11, robot course of action during speeling stairway 92 in traveling process is elaborated.First, all drive motor task driven robots advance, and when running into stair 92, steering wheel III task driven link block II upwards turns to suitable angle, thereby driving joint module ii I90 upwards rotates.Secondly, robot moves on, when joint module III90 touches stair 92, steering wheel I71 task driven link block I upwards turns to suitable angle, thereby driving joint module ii 89 upwards rotates, joint module III90 contacts with stair completely, and now joint module II89 is unsettled, and robot starts speeling stairway 92 under joint module I88 and joint module III90 driving.Again, along with the robot speeling stairway 92 that makes progress, steering wheel III starts to drive link block II to rotate until joint module II89 contacts with stair 92 completely, along with the robot speeling stairway 92 that makes progress, joint module I88 contacts with stair 92, now, steering wheel I71 also starts to drive link block I to rotate until joint module I88 contacts with stair 92 completely.Joint module I88, joint module II89, joint module III90 contact also the drive machines people speeling stairway that makes progress completely with stair 92.Finally, at robot, arrive behind stair 92 tops, steering wheel III task driven link block II rotates until joint module III90 contacts with stair 92 top ground, robot moves on, steering wheel I71 task driven link block I rotates until joint module II89 contacts with stair 92 top ground, simultaneously steering wheel III task driven link block II upwards rotates until joint module III96 contacts with stair 92 top ground completely with joint module II89 and linearly, steering wheel I71 task driven link block I upwards rotates until joint module I88 leaves stair 92 and contacts completely with stair 92 top ground subsequently, now, joint module I88, joint module II89 point-blank and with stair 92 top ground contacts completely with joint module III90.Finally, robot has been realized speeling stairway 92 and has been moved on.
In conjunction with Figure 12, the course of action that carries out obstacle detouring when robot is run into obstacle 93 in traveling process is elaborated.First, the synchronized task driven in the same way of all drive motor robot advances, when running into obstacle 93, steering wheel II79 and steering wheel IV work simultaneously, drive respectively link block I and link block II to turn left to suitable angle, thereby driving joint module ii I90 and joint module II89 turn left, robot integral body is moved to the left.Secondly, when robot moves to obstacle 93 left side correct position, steering wheel II79 and steering wheel IV work again simultaneously, drive respectively link block I and link block II turning clockwise until shutdown module I 88, joint module II89 and joint module III90 quit work linearly time.Finally, the synchronized task driven in the same way of all drive motor robot moves on, and final robot is cleared the jumps completely and moved on by the mode of the obstacle 93 that detours.
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Cited By (11)
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| CN104589368A (en) * | 2014-12-16 | 2015-05-06 | 北京邮电大学 | Soft touch joint based on joint cross structure |
| CN104723356A (en) * | 2015-03-26 | 2015-06-24 | 中国人民解放军装备学院 | Soft contact joint based on motion and static blocks |
| CN107283410A (en) * | 2017-05-24 | 2017-10-24 | 中国矿业大学 | A kind of snakelike inspection robot mechanism of elevator cage guide based on magnetic wheel driven automatic scan |
| CN107336774A (en) * | 2017-06-13 | 2017-11-10 | 昆明理工大学 | A kind of balance car base apparatus |
| CN108248707A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Modularized robot suitable for narrow space |
| CN108248708A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Isomorphic modular robot crawler-type moving mechanism |
| CN109703641A (en) * | 2018-11-27 | 2019-05-03 | 青岛理工大学 | Novel power mechanism of crawler-type robot |
| CN110154785A (en) * | 2019-06-24 | 2019-08-23 | 郑州工业应用技术学院 | A crawler snake robot and its control method |
| CN111376227A (en) * | 2018-12-29 | 2020-07-07 | 中国科学院沈阳自动化研究所 | Piping lane patrols and examines robot moving mechanism |
| CN111870441A (en) * | 2020-09-07 | 2020-11-03 | 安徽省瑞步智能装备有限公司 | A front suspension crawler stair climbing booster |
| CN112975926A (en) * | 2021-03-19 | 2021-06-18 | 韶关市融德创新有限公司 | Snake-shaped robot |
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| CN104589368A (en) * | 2014-12-16 | 2015-05-06 | 北京邮电大学 | Soft touch joint based on joint cross structure |
| CN104723356A (en) * | 2015-03-26 | 2015-06-24 | 中国人民解放军装备学院 | Soft contact joint based on motion and static blocks |
| CN108248707A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Modularized robot suitable for narrow space |
| CN108248708A (en) * | 2016-12-28 | 2018-07-06 | 深圳供电局有限公司 | Isomorphic modular robot crawler-type moving mechanism |
| CN107283410A (en) * | 2017-05-24 | 2017-10-24 | 中国矿业大学 | A kind of snakelike inspection robot mechanism of elevator cage guide based on magnetic wheel driven automatic scan |
| CN107336774B (en) * | 2017-06-13 | 2023-04-07 | 昆明理工大学 | Balance vehicle chassis device |
| CN107336774A (en) * | 2017-06-13 | 2017-11-10 | 昆明理工大学 | A kind of balance car base apparatus |
| CN109703641A (en) * | 2018-11-27 | 2019-05-03 | 青岛理工大学 | Novel power mechanism of crawler-type robot |
| CN111376227A (en) * | 2018-12-29 | 2020-07-07 | 中国科学院沈阳自动化研究所 | Piping lane patrols and examines robot moving mechanism |
| CN111376227B (en) * | 2018-12-29 | 2023-08-22 | 中国科学院沈阳自动化研究所 | A moving mechanism of a pipeline inspection robot |
| CN110154785A (en) * | 2019-06-24 | 2019-08-23 | 郑州工业应用技术学院 | A crawler snake robot and its control method |
| CN111870441A (en) * | 2020-09-07 | 2020-11-03 | 安徽省瑞步智能装备有限公司 | A front suspension crawler stair climbing booster |
| CN112975926A (en) * | 2021-03-19 | 2021-06-18 | 韶关市融德创新有限公司 | Snake-shaped robot |
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