CN103612683B - A kind of crawler-type multi-joint snakelike robot - Google Patents
A kind of crawler-type multi-joint snakelike robot Download PDFInfo
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- CN103612683B CN103612683B CN201310652111.6A CN201310652111A CN103612683B CN 103612683 B CN103612683 B CN 103612683B CN 201310652111 A CN201310652111 A CN 201310652111A CN 103612683 B CN103612683 B CN 103612683B
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Abstract
The present invention is to provide a kind of crawler-type multi-joint snakelike robot.Comprise joint module, driver module and link block.Described joint module comprises three " V " shape side plates, by bearing, three wheel shafts are installed between two adjacent side plates and three " V " shape side plates are connected to form equilateral triangle distribution, every root wheel shaft fixedly mounts two Athey wheels, three wheel shafts are formed two row's Athey wheels, often arrange on Athey wheel and crawler belt is installed, a wheel shaft being positioned at end also fixedly mounts a joint sprocket wheel.Driver module is arranged on joint module inside, link block is between adjacent two joint modules, the connection grillage of a worm bracket of driver module and a part for link block connects the connection realized between two joint modules, chain gear between the drive sprocket of driver module and the joint sprocket wheel of joint module.Good stability of the present invention and ground adaptable, be applicable to the fields such as disaster relief, detection, fire-fighting, transport and space probation.
Description
Technical field
What the present invention relates to is a kind of robot, specifically a kind of crawler-type multi-joint snakelike robot.
Background technology
Snake-shaped robot has stronger ground adaptive capacity, good stability, structure have the features such as flexible, and can walk in the landform of various complexity, has powerful obstacle climbing ability.At present, also the different snake-shaped robot of a lot of structure has been worked out both at home and abroad, but existing snake-shaped robot majority just realizes two dimensional motion, be difficult to be adapted to three-dimensional working space, although application number is " a kind of snake-shaped robot with ground adaptive capacity " disclosed in the patent document of 03133909.3, and application number has certain three-dimensional motion ability for the design in " Modularized structure-changeable snake-shape robot " disclosed in the patent document of 02280911.2, but its single link block but only has two dimensional motion form, three-dimensional motion can not be realized simultaneously.And current snake-shaped robot also exists the shortcomings such as under power, significantly limit the practical application of snake-shaped robot.
Summary of the invention
The object of the present invention is to provide a kind of ground adaptive capacity and the strong crawler-type multi-joint snakelike robot of three dimensional space operational capability.
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, by bearing, three wheel shafts are installed between two adjacent side plates and three " V " shape side plates are connected to form equilateral triangle distribution, every root wheel shaft fixedly mounts two Athey wheels, three wheel shafts are formed two row's Athey wheels, often arrange on Athey wheel and crawler belt is installed, a wheel shaft being positioned at end also fixedly mounts 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 engages with driving big gear wheel, driving big gear wheel has a coaxial drive sprocket, described turbine, Drive pinion, big gear wheel and drive sprocket is driven to be arranged on described support frame, drive motor output shaft is connected with worm screw by coupler,
Described link block is made up of two parts that structure is identical, the structure of a part wherein is: steering wheel is arranged on by steering wheel frame and connects on grillage, steering wheel frame fixedly mounts 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 respectively by half gear wheel shaft and connect on grillage, steering wheel gear is arranged on the output shaft of steering wheel, steering wheel gear be connected big gear wheel and engage, two connect miniature gears respectively with two and half gears meshing, the two ends that two and half gear wheel shafts are relative with cross shaft connection connect, the two ends that cross shaft connection is relative are in addition connected with two and half gear wheel shafts of another part and are connected by two parts,
Driver module is arranged on joint module inside, link block is between adjacent two joint modules, the connection grillage of a worm bracket of driver module and a part for link block connects the connection realized between two joint modules, chain gear between the drive sprocket of driver module and the joint sprocket wheel of joint module.
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, three joint modules are at least comprised.
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 and is coupled together by multiple identical single-freedom joint module, each joint module has independently power-driven system, thus forms the snake-shaped robot that can carry out three-dimensional space motion.First, joint of robot module adopts cross section be made up of three identical faces to be the triangular prism structure design of equilateral triangle, there is track propulsion each side, improve 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, ensure 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, the two joint joints be connected can also be made to realize 360 degree of flexible rotatings, make robot have three-dimensional space motion ability, and gear mechanism section can be made to realize auto-lock function during steering wheel work, make robot entirety have certain rigidity.Be particularly useful for the fields such as disaster relief, detection, fire-fighting, transport and space probation.
Tool of the present invention has the following advantages:
1. the joint module of robot adopts the triangular prism structure design of three identical face compositions, when a side and earth surface, center of gravity projection can be stabilized on the face with earth surface, improve the stability of robot, and each side and earth surface can drive machines people advance, and improve 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 outputted to each side simultaneously, ensure that the propulsive effort that robot remains sufficient.
3. the link block gear structure design of robot, not only can implementation space two degrees of freedom rotate, the two joint joints be connected can also be made to realize 360 degree of flexible rotatings, robot is made to have three-dimensional space motion ability, and gear parts can be made to realize auto-lock function by servos control, make robot entirety keep certain rigidity.
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 overall three-dimensional modeling schematic diagram of robot.
Fig. 9 a-Fig. 9 i: robot advance, retrogressing, handling maneuver process schematic.
Figure 10 a-Figure 10 f: robot crosses 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.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail.
Robot of the present invention is mainly made up 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 57, 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 searching axle 76, connect gear wheel shaft 68, connect gear wheel shaft 81 and half gear wheel shaft 63, half gear wheel shaft 75.
This invention takes following technical scheme: in the present invention, robot adopts 3 joint joint modules, concrete joint module quantity can increase according to actual service condition, often save joint module structure composition identical, often save joint module inside and independently driver module is installed, be connected by link block in the middle of two joint joint modules.Below the structure composition of joint module I, driver module I and link block I is described in detail:
Composition graphs 1, Fig. 2, is described in detail 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 being 120 degree by angle forms, side plate I1 and side plate II5 is arranged on wheel shaft I3 respectively 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 is arranged on the two ends of wheel shaft II7, wheel shaft VI25, wheel shaft VII27 respectively 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, and crawler belt V24 is arranged on Athey wheel IV8, Athey wheel XVII and Athey wheel XIII.Side plate III9 and side plate I1 is arranged on the two ends of wheel shaft III11, wheel shaft IV15, wheel shaft V17 respectively 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, 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 each drive sprocket of joint sprocket wheel I18, joint sprocket wheel II, joint sprocket wheel III and internal drive module respectively, internal drive module is by chain drive each joint sprocket rotation, therefore, each Athey wheel on wheel shaft V17, the wheel shaft VII27 at sprocket wheel place, each joint, wheel shaft IX is main drive wheel, got final product all crawler belts runnings on each face of driving joint module by the above-mentioned relation driver module that is connected, thus realize the movement of joint module.
Composition graphs 3, Fig. 4, Fig. 5, is described in detail 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 forms.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 is fixedly mounted on the two ends of driving gear wheel carrier I57, driving gear wheel carrier II58, driving gear wheel carrier III60 respectively, 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, worm bracket tapped bore I61 is left at worm bracket I61, the connection grillage I54 of link block leaves and connects grillage tapped bore I62, one has three pairs of holes, and be connected by the connection grillage I62 of binding bolt by worm bracket II56 and link block, by this connection, driver module I and link block I is fixedly installed togather.The output shaft of drive motor I53 and one end of worm screw I40 are connected by coupler I59, and the two ends of worm screw I40 are arranged on worm bracket I51 and worm bracket II56 respectively by bearing, and worm screw I40 engages with turbine I34, turbine II41, turbine III48 respectively simultaneously.Turbine I34 and Drive pinion II39 is arranged on gear shaft III38 jointly, the two ends of gear shaft III38 are fixedly mounted on driving gear wheel carrier II58, driving gear wheel carrier III60 by bearing respectively, Drive pinion II39 engages with driving big gear wheel I36, drive big gear wheel I36 and drive sprocket I35 to be jointly arranged on gear shaft II37, the two ends of gear shaft II37 are fixedly mounted on driving gear wheel carrier II58 and driving gear wheel carrier III60 by bearing respectively; Turbine II41 and Drive pinion III45 is arranged on gear shaft V46 jointly, the two ends of gear shaft V46 are fixedly mounted on driving gear wheel carrier I57, driving gear wheel carrier III60 by bearing respectively, Drive pinion III45 engages with driving big gear wheel II43, drive big gear wheel II43 and drive sprocket II42 to be jointly arranged on gear shaft IV44, the two ends of gear shaft IV44 are fixedly mounted on driving gear wheel carrier I57 and driving gear wheel carrier III60 by bearing respectively; Turbine III48 and Drive pinion I33 is arranged on gear shaft VI47 jointly, the two ends of gear shaft VI47 are fixedly mounted on driving gear wheel carrier I57, driving gear wheel carrier II58 by bearing respectively, Drive pinion I33 engages with driving big gear wheel III50, drive big gear wheel III50 and drive sprocket III49 to be jointly arranged on gear shaft I32, the two ends of gear shaft I32 are fixedly mounted on driving gear wheel carrier I57 and driving gear wheel carrier II58 respectively by bearing.Chain I, chain II, chain III are arranged on each joint sprocket wheel of drive sprocket I35, drive sprocket II42, drive sprocket III49 and joint module respectively, drive motor I47 works, by the above-mentioned relation that is connected, each drive sprocket can be driven to rotate, thus the power-conversion of drive motor I47 is the propulsive effort of crawler belt on each side of joint module the most at last.
Composition graphs 5, Fig. 6, Fig. 7, is described in detail 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, connect gear wheel shaft I68, connect gear 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 made up of the gear mechanism that two parts are identical, is described in detail below to a part of gear mechanism wherein.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 and engage, connect big gear wheel I67, connecting miniature gears I65 and being connected miniature gears II72 is fixedly mounted on connection gear wheel shaft I68, the two ends connecting gear wheel shaft I68 are arranged on connection bracket I66 and connection bracket II73 by bearing respectively, connection bracket I66 and connection bracket II73 are fixedly mounted on and are connected on grillage I54, connect miniature gears I65 and be connected miniature gears II72 and engage 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 the relative two ends of cross shaft connection I76 respectively with one end of half gear wheel shaft II75, the other end of two and half gear wheel shafts is arranged on connection bracket I66 and connection bracket II73 respectively by bearing.Half gear wheel shaft III is fixedly mounted on cross shaft connection I76 two ends relative in addition respectively with one end of half gear wheel shaft IV, the other end of two and half gear wheel shafts is arranged on connection bracket III77 and connection bracket IV by bearing respectively, another part gear mechanism of link block I is identical with said structure, by cross shaft connection I76, two parts gear mechanism identical for structure is connected into space crosswise like this, and respectively by servos control, can the flexible rotating of two parts gear mechanism, and corresponding gear mechanism section can be kept to realize auto-lock function when steering wheel I71 and steering wheel II79 works.Finally, three legs of connection grillage I54 are fixedly mounted on respectively the top of three side plates of joint module I88 one end by binding bolt, three legs connecting grillage II83 are fixedly mounted on the top of three side plates of joint module II89 one end respectively by bolt, by link block I, joint module I88 and joint module II89 is linked together like this, and realized the multi-aspect flexible rotating of joint module I88 and joint module II89 by link block I, thus robot is made to have ability at three-dimensional space motion.
Composition graphs 8, is described in detail to robot integral structure.In the present invention, robot entirety is saved joint module formed by joint module I88, joint module II89, joint module III90 tri-, 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 provide propulsive effort to joint module I88, it is inner that driver module II is fixedly mounted on joint module II89, and provide propulsive effort to joint module II89, it is inner that driver module III is fixedly mounted on joint module III90, and provide propulsive effort to joint module III90, driver module works the action such as advance, retrogressing that can realize robot simultaneously, joint module I88 with joint module III90 because 26S Proteasome Structure and Function is the same, so head when can advance 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, thus the conversion of the spatial attitude of control, realize the three-dimensional space motion of robot.And when steering wheel I71 and steering wheel III works simultaneously, the gear mechanism section that steering wheel I71 and steering wheel III can be made to control keeps self-locking state in rotation direction, thus make robot overall in this side up maintaining rigidness state.In like manner, when steering wheel II65 and steering wheel IV works simultaneously, also can realize robot maintaining rigidness state in the corresponding direction.
Below in conjunction with Fig. 9, Figure 10, Figure 11, Figure 12, specific embodiment of the invention process is described.
Composition graphs 9, is described in detail to the situation of robot in realization advance, retrogressing, handling maneuver process.First, the while that the synchronized in the same way running of drive motor I53, drive motor II, drive motor III can being distinguished, driving joint module I 88, joint module II89, joint module III90 advance, thus realize robot forward motion.Secondly, the while that drive motor I53, drive motor II, the synchronized antiport of drive motor III can distinguishing, driving joint module I 88, joint module II89, joint module III90 retreat, thus realize robot backward movement.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.All drive motor continuation are synchronized to work in the same way thus drives all joint modules to move on according to the direction after rotation, and robot entirety realizes handling maneuver.When joint module III90 realizes turning to completely, steering wheel II task driven link block I turning clockwise, thus driving joint module I 88 turning clockwise, steering wheel IV task driven link block II carries out turning clockwise simultaneously, thus driving joint module ii 89 turning clockwise, all drive motor continue all joint modules of synchronized task driven in the same way and move on according to the direction after rotation, when joint module I88, joint module II89 and joint module III90 linearly time, steering wheel II and steering wheel IV stops operating, and so far robot realizes handling maneuver completely.
In conjunction with Figure 10, course of action when crossing gully 91 to robot in traveling process is described in detail.First, all drive motor task driven robots advance, and when running into gully 91, the corresponding gear mechanism section of steering wheel III task driven keeps self-locking state, make joint module III90 robot entirety when crossing gully 91 keep attitude constant.Secondly, after the other end earth surface in joint module III90 and gully 91, steering wheel I71 and the steering wheel III simultaneously corresponding gear mechanism section of task driven keeps self-locking state, makes joint module II89 keep attitude constant, and makes robot entirety keep a kind of rigid state to move forward.Again, all drive motor task driven robots move on, after joint module II89 crosses gully 91, steering wheel III quits work, steering wheel I71 continues maintenance work and also drives corresponding gear mechanism section to keep self-locking state, makes joint module I88 keep attitude constant when crossing gully 91, until joint module I88 fully passes over gully 91 and after contacting completely with ground, steering wheel I71 quits work, and all drive motor task driven robots move on.So far, robot completes whole action maintenance advance of crossing gully 91.
In conjunction with Figure 11, the course of action of robot in traveling process during speeling stairway 92 is described in detail.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, thus 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, thus 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 drives.Again, along with robot upwards speeling stairway 92, steering wheel III starts to drive link block II to rotate until joint module II89 contacts with stair 92 completely, along with robot upwards speeling stairway 92, 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 with stair 92 and drive machines people upwards speeling stairway completely.Finally, after robot arrives stair 92 top, 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 and joint module II89 contact completely with stair 92 top ground 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 and joint module III90 are point-blank and contact completely with stair 92 top ground.Finally, robot has realized speeling stairway 92 and has moved on.
In conjunction with Figure 12, the course of action carrying out obstacle detouring when running into obstacle 93 to robot in traveling process is described in detail.First, all drive motor synchronized task driven in the same way robot advances, when running into obstacle 93, steering wheel II79 and steering wheel IV works simultaneously, link block I and link block II is driven to turn left to suitable angle respectively, thus driving joint module ii I90 and joint module II89 turns left, robot entirety is moved to the left.Secondly, when on the left of robot moves to obstacle 93 during correct position, steering wheel II79 and steering wheel IV works again simultaneously, drive link block I and link block II turning clockwise respectively until shutdown module I 88, joint module II89 and joint module III90 linearly time quit work.Finally, all drive motor synchronized task driven in the same way robot moves on, and final robot is fully passed over obstacle by the mode of the obstacle 93 that detours and moved on.
Claims (3)
1. a crawler-type multi-joint snakelike robot, comprises joint module, driver module and link block, it is characterized in that:
Described joint module comprises three " V " shape side plates, by bearing, three wheel shafts are installed between two adjacent side plates and three " V " shape side plates are connected to form equilateral triangle distribution, every root wheel shaft fixedly mounts two Athey wheels, three wheel shafts are formed two row's Athey wheels, often arrange on Athey wheel and crawler belt is installed, one in three wheel shafts between every two adjacent side plates wheel shaft being positioned at end also fixedly mounts 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 engages with driving big gear wheel, driving big gear wheel has a coaxial drive sprocket, described turbine, Drive pinion, big gear wheel and drive sprocket is driven to be arranged on described support frame, drive motor output shaft is connected with worm screw by coupler,
Described link block is made up of two parts that structure is identical, the structure of a part wherein is: steering wheel is arranged on by steering wheel frame and connects on grillage, steering wheel frame fixedly mounts 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 respectively by half gear wheel shaft and connect on grillage, steering wheel gear is arranged on the output shaft of steering wheel, steering wheel gear be connected big gear wheel and engage, two connect miniature gears respectively with two and half gears meshing, the two ends that two and half gear wheel shafts are relative with cross shaft connection connect, the two ends that cross shaft connection is relative are in addition connected with two and half gear wheel shafts of another part and are connected by two parts,
Driver module is arranged on joint module inside, link block is between adjacent two joint modules, the connection grillage of a worm bracket of driver module and a part for link block connects the connection realized between two joint modules, chain gear between the drive sprocket of driver module and the joint sprocket wheel of joint module.
2. a kind of crawler-type multi-joint snakelike robot according to claim 1, is characterized in that: the triangle aluminium alloy plate processing and fabricating that described " V " shape side plate is 120 degree by angle forms.
3. a kind of crawler-type multi-joint snakelike robot according to claim 1 and 2, is characterized in that: at least comprise three joint modules.
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| CN201310652111.6A CN103612683B (en) | 2013-12-05 | 2013-12-05 | A kind of crawler-type multi-joint snakelike robot |
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| CN201310652111.6A CN103612683B (en) | 2013-12-05 | 2013-12-05 | A kind of crawler-type multi-joint snakelike robot |
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| CN109703641A (en) * | 2018-11-27 | 2019-05-03 | 青岛理工大学 | A kind of new type power mechanism of caterpillar type robot |
| CN111376227B (en) * | 2018-12-29 | 2023-08-22 | 中国科学院沈阳自动化研究所 | Pipe gallery inspection robot moving mechanism |
| CN110154785A (en) * | 2019-06-24 | 2019-08-23 | 郑州工业应用技术学院 | A kind of caterpillar belt type snake-like robot and its control method |
| CN112975926B (en) * | 2021-03-19 | 2023-07-21 | 韶关市融德创新有限公司 | Serpentine robot |
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| US6512345B2 (en) * | 2001-03-30 | 2003-01-28 | The Regents Of The University Of Michigan | Apparatus for obstacle traversion |
| US20090025988A1 (en) * | 2007-07-10 | 2009-01-29 | Jacobsen Stephen C | Serpentine Robotic Crawler Having A Continuous Track |
| EP2170683A2 (en) * | 2007-07-10 | 2010-04-07 | Raytheon Sarcos, LLC | Modular robotic crawler |
| CN103112514B (en) * | 2013-03-11 | 2015-12-09 | 北京理工大学 | A kind of snake robot closed coat actuating device |
| CN103273979B (en) * | 2013-06-20 | 2014-04-30 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN103419854B (en) * | 2013-07-25 | 2015-10-28 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
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