CN103991089A - Body segment unit for multi-body-segment S-shaped robot - Google Patents
Body segment unit for multi-body-segment S-shaped robot Download PDFInfo
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- CN103991089A CN103991089A CN201410217818.9A CN201410217818A CN103991089A CN 103991089 A CN103991089 A CN 103991089A CN 201410217818 A CN201410217818 A CN 201410217818A CN 103991089 A CN103991089 A CN 103991089A
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Abstract
The invention relates to a body segment unit for a multi-body-segment S-shaped robot and belongs to the field of robots, in particular to a design method for body segments of multi-joint S-shaped robots. Two steering engines are arranged in a power module (2) of a body segment, output shafts of the two steering engines are perpendicular, and a power supply (4) supplies power for the steering engines. A connector (1) comprises a circular connector body and two groups of connection arms arranged on the two sides of the connector body respectively, and the connector (1) is connected with one output shaft of the power module (2) through a connection arm group. A free connection arm group of a rear body segment is connected with the other output shaft of the power module of the body segment, so that the purpose is achieved. The body segment unit has the advantages of being simple, convenient, easy to operate, low in cost and convenient to maintain during assembly of the S-shaped robot.
Description
Technical field
The invention belongs to robot field, particularly a kind of body segment method for designing of multi-joint snake-shaped robot.
Background technology
Snake-shaped robot is a kind of emerging specialized robot, and it is structurally many body segments repetitive structure of a kind of similar snake, has body segment many, the feature of free degree high redundancy.From the distribution of nature snake, ocean, desert, etc. extreme landform have distribution, it can adapt to shape variously, has the adaptable feature of landform, this is helpful to improving locomitivity of robot.
That Xian Electronics Science and Technology University's application number is that 201310240421.7 patent of invention discloses is a kind of " can the multifunctional water of closed-loop control in snake-shaped robot ", its snake-shaped robot comprises snakehead, snake body, ophiruid, snake body is made up of multiple body segments, the free degree of each body segment control both direction, each body segment is made up of two trifles again, and each trifle is respectively controlled one degree of freedom.Because two trifles of a body segment of this snake-shaped robot are respectively controlled one degree of freedom, cause its single body segment long, the robot radius of gyration is excessive, moves dumb.
The patent of invention that Shenyang automation research institute of Chinese Academy of Sciences application number is 20071015828.2 discloses " the amphibious snake-shaped robot joint module in a kind of water route ", its snake-shaped robot joint module comprises: steering wheel, connecting plate, torsion plate, differential drives structure, integral installation in the enclosure, by the 3rd bevel gear of synchronous and differential drive of two bevel gears, realize two motions in free degree direction, this structure has been used multiple bevel gears, and processed complex, cost are high, installation accuracy requires strict.
Summary of the invention
The object of the invention is to improve for the deficiency of background technology the body segment unit that has designed a kind of many body segments snake-shaped robot, reach easy in snake-shaped robot assembling process, easy to operate, cost is low, be convenient to the object of maintenance.
Technical scheme of the present invention is in power plant module (2), to be provided with two steering wheels, and the output shaft of two steering wheels is mutually vertical, is steering wheel power supply by power supply (4); Connector (1) comprises annular connector body and is arranged at respectively two groups of linking arms of connector body both sides, and connector (1) is connected with an output shaft of power plant module (2) by one group of linking arm group; Another output shaft is connected with the vacant linking arm group of a rear body segment, realizes thus goal of the invention.Thereby the body segment unit of a kind of many body segments snake-shaped robot of the present invention comprises: power plant module, connector, circuit board and power supply, it is characterized in that power plant module inside contains major and minor two steering wheels, and its output shaft is mutually vertical; Connector comprises connector body, front linking arm group and rear linking arm group, wherein connector body is circulus, forward and backward linking arm group is arranged at respectively connector body both sides, every group comprises two linking arms, a pair of rear linking arm is arranged at respectively the connector body left and right sides, a pair of front linking arm is arranged at respectively the upper and lower both sides of connector body, and the front linking arm and the connector body contact position that are arranged at below are provided with the ball bearing sliding for front and back; The rear linking arm group of connector is connected with the secondary steering wheel of power plant module, and power supply is major and minor steering wheel power supply by circuit board.
Power plant module comprises major and minor steering wheel, major and minor installing plate, and L bracket, wherein main rudder machine is arranged on main installing plate, and its output shaft is vertical with main installing plate; Secondary steering wheel is arranged on secondary installing plate, and its output shaft is vertical with secondary installing plate; Major and minor installing plate is fixed together and forms L shaped structure, then with the fixing circulus that forms of L bracket.
Main rudder machine is moved to its output shaft with secondary steering wheel output shaft and is positioned at same plane to secondary steering wheel one side in main installing plate outside by gear.
Circuit board comprises power circuit and control circuit, and supply voltage is divided into 5V and 3.3V two-way by power circuit, and 5V is major and minor steering wheel power supply, and 3.3V is control circuit power supply, open and close and the corner of the major and minor steering wheel of control circuit control.
The body segment unit of a kind of many body segments snake-shaped robot of the present invention by being provided with two steering wheels in power plant module, and the output shaft of two steering wheels is mutually vertical, is steering wheel power supply by power supply; Connector comprises annular connector body, is arranged at respectively two groups of linking arms of connector body both sides, and connector is connected with an output shaft of power plant module by one group of linking arm group; The vacant linking arm group of a rear body segment is connected with another output shaft of power plant module of this body segment, thus have easy in snake-shaped robot assembling process, easy to operate, cost is low, be convenient to maintenance effect.
Figure of description
Fig. 1 is the body segment cellular construction figure of a kind of many body segments snake-shaped robot of the present invention;
Fig. 2 is power plant module explosive view schematic diagram of the present invention;
Fig. 3 is connector structure chart of the present invention;
Fig. 4 is the adjacent body segment connection diagram of the present invention.
In figure: 1. connector, linking arm group after 1-1,1-2. connector body, 1-3. ball bearing, linking arm group before 1-4., 2. power plant module, the secondary steering wheel of 2-1., the secondary installing plate of 2-2., the secondary steering wheel of 2-3., 2-4. main rudder machine, the main installing plate of 2-5., 2-6. main rudder dish, 3. circuit board, 4. power supply.
Detailed description of the invention
The body segment unit of a kind of many body segments snake-shaped robot of the present invention comprises: power plant module, connector, circuit board and power supply, it is characterized in that power plant module comprises major and minor steering wheel, the MG995 that adopts brightness to contain, 13kg, major and minor installing plate, material is aluminium alloy, and thickness is 2.5mm, L bracket, material is aluminium alloy, thickness is 2.5mm, and wherein main rudder machine is arranged on main installing plate, and its output shaft is vertical with main installing plate; Secondary steering wheel is arranged on secondary installing plate, and its output shaft is vertical with secondary installing plate; Major and minor installing plate is fixed together and forms L shaped structure, then with the fixing circulus that forms of L bracket, main rudder machine by gear in main installing plate outside by its output shaft to secondary steering wheel one side translation one segment distance.Connector comprises connector body, front linking arm group and rear linking arm group, wherein connector body, material is aluminium alloy, be highly 10mm, thickness is 2.5mm, the length of side is the fillet square tubular structure of 86mm, before, rear linking arm group is arranged at respectively connector body both sides, every group comprises two linking arms, a pair of rear linking arm is arranged at respectively the connector body left and right sides, a pair of front linking arm is arranged at respectively the upper and lower both sides of connector body, it is that the ball bearing of MR83ZZ reduces the frictional force in parallel body segment direction that front linking arm and the connector body contact position that is arranged at below is provided with model, the material of all linking arms is aluminium alloy, long 68mm, wide 30mm, thickness is 2.5mm, distance of center circle connector body 56mm with steering wheel connecting hole, with the connection brachium 68mm of ball bearing, wide by 30, thickness is 2.5mm, after connector, linking arm group is connected with the secondary steering wheel of power plant module, power supply is major and minor steering wheel power supply by circuit board, circuit board comprises power circuit and control circuit, supply voltage is divided into 5V and 3.3V two-way by power circuit, 5V is major and minor steering wheel power supply, 3.3V is control circuit power supply, open and close and the corner of the major and minor steering wheel of control circuit control.
Claims (4)
1. a body segment unit for the snake-shaped robot of body segment more than, comprising: power plant module, connector, circuit board and power supply, it is characterized in that power plant module inside contains major and minor two steering wheels, and its output shaft is mutually vertical; Connector comprises connector body, front linking arm group and rear linking arm group, wherein connector body is circulus, forward and backward linking arm group is arranged at respectively connector body both sides, every group comprises two linking arms, a pair of rear linking arm is arranged at respectively the connector body left and right sides, a pair of front linking arm is arranged at respectively the upper and lower both sides of connector body, and the front linking arm and the connector body contact position that are arranged at below are provided with the ball bearing sliding for front and back; After connector, linking arm group is connected with the secondary steering wheel of power plant module, and power supply is major and minor steering wheel power supply by circuit board.
2. the body segment unit of a kind of many body segments snake-shaped robot as claimed in claim 1, is characterized in that power plant module comprises: major and minor steering wheel, and major and minor installing plate, L bracket, wherein main rudder machine is arranged on main installing plate, and its output shaft is vertical with main installing plate; Secondary steering wheel is arranged on secondary installing plate, and its output shaft is vertical with secondary installing plate; Major and minor installing plate is fixed together and forms L shaped structure, then with the fixing circulus that forms of L bracket.
3. the body segment unit of a kind of many body segments snake-shaped robot as claimed in claim 1, is characterized in that main rudder machine is moved to its output shaft with secondary steering wheel output shaft and is positioned at same plane to secondary steering wheel one side in main installing plate outside by gear.
4. the body segment unit of a kind of many body segments snake-shaped robot as claimed in claim 1, it is characterized in that circuit board comprises power circuit and control circuit, supply voltage is divided into 5V and 3.3V two-way by power circuit, 5V is major and minor steering wheel power supply, 3.3V is control circuit power supply, open and close and the corner of the major and minor steering wheel of control circuit control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410217818.9A CN103991089A (en) | 2014-05-22 | 2014-05-22 | Body segment unit for multi-body-segment S-shaped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410217818.9A CN103991089A (en) | 2014-05-22 | 2014-05-22 | Body segment unit for multi-body-segment S-shaped robot |
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| CN103991089A true CN103991089A (en) | 2014-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410217818.9A Pending CN103991089A (en) | 2014-05-22 | 2014-05-22 | Body segment unit for multi-body-segment S-shaped robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440897A (en) * | 2014-11-19 | 2015-03-25 | 东北大学 | Scale-controllable type snakelike robot |
| CN105479453A (en) * | 2015-12-16 | 2016-04-13 | 嘉兴布鲁艾诺机器人有限公司 | Novel mechanical arm |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| CN107139176A (en) * | 2017-06-29 | 2017-09-08 | 西安科技大学 | A kind of snake-shaped robot Pose Control system and method |
| CN108748124A (en) * | 2018-05-28 | 2018-11-06 | 中国科学院自动化研究所 | Snake-shaped robot |
| CN112045668A (en) * | 2020-08-10 | 2020-12-08 | 重庆良机续造科技有限公司 | Steering wheel and robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440897A (en) * | 2014-11-19 | 2015-03-25 | 东北大学 | Scale-controllable type snakelike robot |
| CN104440897B (en) * | 2014-11-19 | 2016-01-20 | 东北大学 | A kind of scale controllable type snake-shaped robot |
| CN105479453A (en) * | 2015-12-16 | 2016-04-13 | 嘉兴布鲁艾诺机器人有限公司 | Novel mechanical arm |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| CN107139176A (en) * | 2017-06-29 | 2017-09-08 | 西安科技大学 | A kind of snake-shaped robot Pose Control system and method |
| CN108748124A (en) * | 2018-05-28 | 2018-11-06 | 中国科学院自动化研究所 | Snake-shaped robot |
| CN112045668A (en) * | 2020-08-10 | 2020-12-08 | 重庆良机续造科技有限公司 | Steering wheel and robot |
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Application publication date: 20140820 |