CN104163214A - Modular multi-joint flexible robot - Google Patents
Modular multi-joint flexible robot Download PDFInfo
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- CN104163214A CN104163214A CN201410419759.3A CN201410419759A CN104163214A CN 104163214 A CN104163214 A CN 104163214A CN 201410419759 A CN201410419759 A CN 201410419759A CN 104163214 A CN104163214 A CN 104163214A
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Abstract
The invention discloses a multi-joint flexible robot. A robot system comprises a head module 1, a head cabin section 2, a middle rotating module 3, a middle rotating module 4, a middle rotating module 5, a middle rotating module 6, a middle rotating module 7, a middle rotating module 8, a tail cabin section 9, a fixing ring 10, a fixing ring fixing screw 11, a large swinging bevel gear 12, a swing motor supporting seat fixing bolt 13, a swing motor supporting seat 14, a small swinging bevel gear 15, a swing motor 16, a middle rotating module casing 17, a rolling motor 18, a rolling motor fixing seat 19, a rolling motor fixing seat fixing bolt 20, a bearing 21, a rolling gear 22, a rolling gear ring 23, a rolling gear ring fixing ring 24, a bogie connecting shaft 25, an installing plate 26, batteries 27, a head camera 28, a light source 29 and a motion control circuit 30. An included angle formed by two rotating shafts included by each joint module of the robot is adjustable. The robot is good in joint flexibility and flexible and varied in motion.
Description
Technical field
The present invention relates to a kind of modularization Arm Flexible machine people, belong to Robotics field, be specially robot architecture's design.
Background technology
Current, Arm Flexible machine people's mode of motion is divided into two classes, two dimensional surface formula and three dimensional space formula.The principle that two dimensional surface formula Arm Flexible machine people's bending adopts is mainly: profile plane curve is by the realization that relatively rotates between multiple submodules.Two dimensional surface formula Arm Flexible machine people's subject matter is: such robot can only be at a specific flat in-plane moving, and application scenario is limited.The principle that three dimensional space formula Arm Flexible machine people's bending adopts is mainly: the rotary joint rotating shaft direct cross that front and back connect in turn, adjacent two S. A.s in front and back are orthogonal, and this structure is fixed.One of problem of this robot architecture's form is, in the time that robot planar moves, two turning cylinders that front and back connect in turn only have one can rotate, and have reduced maneuverability.Meanwhile, the rotation of another one S. A. will cause Arm Flexible machine person part unsettled, reduce and the contacting of ground, and make robot be difficult to steady stability, also be difficult to dynamic control.
Core bibliography: author={ A.Transeth, R.Leine, C.Glocker, and K.Pettersen}, thesis topic={ 3-D snake robot motion:Nonsmooth modeling, simulations, and experiments}, periodical title={ IEEE Transactions on Robotics}, time={ 2008}, volume={ 2}, the page number={ 361-376}, phase={ 24}.
Summary of the invention
The present invention proposes a kind of modularization Arm Flexible machine people, the S. A. having between former and later two modules of robot of this architectural feature is positioned at two parallel planes, and angle can be selected arbitrarily between 0 degree to 360 degree between two S. A. place space lines, realize this modularization Arm Flexible machine people's motion by the motion of coordinating head and the tail module and multiple middle rotating modules.
A kind of modularization Arm Flexible machine people, comprise head module, cabin section, rotating module in the middle of multiple, deck store section, mounting ring, mounting ring check screw, wave greatly bevel gear, swing motor supporting seat bolt of rear end plate, swing motor supporting seat, the little bevel gear that waves, swing motor, middle rotating module shell, rolling motor, rolling motor fixing seat, rolling motor fixing seat bolt of rear end plate, bearing, rolling gear, rolling gear ring, rolling gear ring set collar, bogie truck adapter shaft, adapter plate, battery, head photographic camera, light source, motion control circuit is (containing attitude sensor, motion controller and radio-frequency communication device),
The multiple middle rotating module that modularization Arm Flexible machine people is connected successively by multiple front and back, and first cabin section and deck store section formation.In any two middle rotating modules that are connected successively, middle rotating module shell near head end one side is screwed and is connected with mounting ring, between mounting ring and middle rotating module shell, there is a groove, for placing rolling gear ring and rolling gear ring set collar.Between rolling gear ring and rolling gear ring set collar, be fixedly connected with.Between rolling gear ring and rolling gear ring set collar and mounting ring and middle rotating module shell, only there is coaxial rotation, and there is no axial relative displacement.Between rolling gear ring and rolling gear, remain gear engagement states.Rolling gear is fixedly connected with rolling motor.Between rolling motor and rolling motor fixing seat, be fixedly connected with.Between rolling motor fixing seat and middle rotating module shell, be fixedly connected with by rolling motor fixing seat bolt of rear end plate.
Battery in cabin section, head photographic camera, light source, motion control circuit (containing attitude sensor, motion controller and radio-frequency communication device) is fixed on adapter plate, adapter plate is fixedly connected with head module, and the overall fixed-link that adapter plate and head module form is at a front end for cabin section;
Among two end faces of deck store section, near on the end face of robot head one side, exist and radially have two coaxial apertures, coaxial aperture fixed type bearing, bearing and bogie truck adapter shaft keep coaxial rotation, but there is no axial relatively moving.Waving greatly bevel gear is fixed on bogie truck adapter shaft, little wave bevel gear and wave greatly bevel gear remain gear engagement states, be fixed on swing motor mouth, swing motor is fixedly connected with swing motor supporting seat, and swing motor supporting seat is fixedly connected in deck store section.
The attitude of attitude sensor robot measurement, the swing motor of all robots of motion controller control and the rotation of rolling motor, make robot according to the work of user's setting means;
Battery is fixed on adapter plate, for robot provides power supply;
The invention has the advantages that:
(1) angle between adjacent two module S. A.s can regulate arbitrarily;
(2) can realize by increasing or reduce intermediate module quantity the adjusting of such Arm Flexible machine people length;
(3), while use in space pipeline, such robot can better approach path planning;
Brief description of the drawings
Fig. 1 is snake-shaped robot integral structure schematic diagram of the present invention;
Fig. 2 is that flexible robot of the present invention forms module;
Fig. 3 is that flexible machine head part of the present invention forms module;
Wherein: 1-head module, 2-cabin section, rotating module in the middle of 3-, rotating module in the middle of 4-, rotating module in the middle of 5-, rotating module in the middle of 6-, rotating module in the middle of 7-, rotating module in the middle of 8-, 9-deck store section, 10-mounting ring, 11-mounting ring check screw, 12-waves greatly bevel gear, 13-swing motor supporting seat bolt of rear end plate, 14-swing motor supporting seat, the little umbrella bevel gear that waves of 15-, 16-swing motor, rotating module shell in the middle of 17-, 18-rolling motor, 19-rolling motor fixing seat, 20-rolling motor fixing seat bolt of rear end plate, 21-bearing, 22-rolling gear, 23-rolling gear ring, 24-rolling gear ring set collar, 25-bogie truck adapter shaft, 26-adapter plate, 27-battery, 28-head photographic camera, 29-light source, 30-motion control circuit is (containing attitude sensor, motion controller and radio-frequency communication device).
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is a kind of modularization Arm Flexible machine people, as shown in Figure 1, comprise head module 1, cabin section 2, middle rotating module 3, middle rotating module 4, middle rotating module 5, middle rotating module 6, middle rotating module 7, middle rotating module 8, deck store section 9, mounting ring 10, mounting ring check screw 11, wave greatly bevel gear 12, swing motor supporting seat bolt of rear end plate 13, swing motor supporting seat 14, the little umbrella bevel gear 15 that waves, swing motor 16, middle rotating module shell 17, rolling motor 18, rolling motor fixing seat 19, rolling motor fixing seat bolt of rear end plate 20, bearing 21, rolling gear 22, rolling gear ring 23, rolling gear ring set collar 24, bogie truck adapter shaft 25, adapter plate 26, battery 27, head photographic camera 28, light source 29, motion control circuit 30 is (containing attitude sensor, motion controller and radio-frequency communication device).
The multiple middle rotating module 3-8 that modularization Arm Flexible machine people is connected successively by multiple front and back, and head module 1, a cabin section 2 and deck store section 9 form.In any two middle rotating modules that are connected successively, middle rotating module shell 17 near head end one side is fixedly connected with by screw 10 with mounting ring 9, between mounting ring 9 and middle rotating module shell 17, there is a groove, for placing rolling gear ring 22 and rolling gear ring set collar 24.Between rolling gear ring 22 and rolling gear ring set collar 24, be fixedly connected with.Between rolling gear ring 22 and rolling gear ring set collar 24 and mounting ring 9 and middle rotating module shell 17, only there is coaxial rotation, and there is no axial relative displacement.Between rolling gear ring 23 and rolling gear 22, remain gear engagement states.Rolling gear 22 is fixedly connected with rolling motor 18.Between rolling motor 18 and rolling motor fixing seat 19, be fixedly connected with.Between the shell of rolling motor fixing seat 19 and middle rotating module 3, middle rotating module 4, middle rotating module 5, middle rotating module 6, middle rotating module 7, middle rotating module 8, be fixedly connected with by rolling motor fixing seat bolt of rear end plate 20.
Battery 27 in cabin section 2, head photographic camera 28, light source 29, motion control circuit 30 (containing attitude sensor, motion controller and radio-frequency communication device) is fixed on adapter plate 26, adapter plate 26 is fixedly connected with head module 1, and the overall fixed-link that adapter plate 26 and head module 1 form is at a front end for cabin section 2; Radially there are two coaxial apertures in one side of deck store section 9 inflexibility robot tail ends, coaxial aperture fixed type bearing 21, and bearing 21 and bogie truck adapter shaft 25 keep coaxial rotation, but there is no axial relatively moving.Waving greatly bevel gear 12 is fixed on bogie truck adapter shaft 25, little wave bevel gear 15 and wave greatly bevel gear 12 remain gear engagement states, be fixed on swing motor 16 mouths, swing motor 16 is fixedly connected with swing motor supporting seat 14, and swing motor supporting seat 14 is fixedly connected in deck store section 9.
The attitude of attitude sensor 30 robot measurement, the swing motor 16 of motion controller control 30 all robots and the rotation of rolling motor 18, make robot set work according to user;
Battery 27 is fixed on adapter plate 26, for robot provides power supply;
Robot can carry out communication by the radio-frequency communication device in motion control circuit 30 and the external world, and for extraneous control, and robot is crossed radio-frequency communication device by the information exchange obtaining and sent to extraneous receiving device.
Described modularization Arm Flexible machine people, in the constant situation of holding structure form, by the parameter that restructures, realizes the adjustment row of angle between adjacent two joints of robot is adjusted.
Described head module 1 can be transparent material or trnaslucent materials, in order to realize head photographic camera 28 perception of environment to external world.
Described head 1 module, a cabin section 2, middle rotating module 3, middle rotating module 4, middle rotating module 5, middle rotating module 6, middle rotating module 7, middle rotating module 8, deck store section 9 can be by increasing clump weight, change position and the quality of clump weight, realize the adjusting of robot modules and robot entirety center of gravity.When shell processing is inhomogeneous while causing a module or robot entirety overbalance, realize balance by position and the quality of adjusting clump weight.
The scantling of structure of a cabin section 2 of described tubulose, middle rotating module 3, middle rotating module 4, middle rotating module 5, middle rotating module 6, middle rotating module 7, middle rotating module 8, deck store section 9, comprise overall diameter, interior diameter and length all can be adjusted, to meet the requirement of robot entire length and alerting ability.
A cabin section 2 of described tubulose, middle rotating module 3, middle rotating module 4, middle rotating module 5, middle rotating module 6, middle rotating module 7, middle rotating module 8, deck store section 9, in tube wall, can place load, comprising the battery that can increase robot motion's time, can be also the purposes such as the goods of robot transport.
Described wave greatly bevel gear 12 and the little modulus that waves umbrella bevel gear 15 can be selected according to the size of driving force between joint and energy.
Described swing motor supporting seat bolt of rear end plate 13 and rolling motor fixing seat bolt of rear end plate 20 can be selected according to the size of driving force between joint and energy.
In the middle of described swing motor 16 and rolling motor 18 are symmetrically arranged in, the center of gravity axis of symmetry both sides of rotating module 3, middle rotating module 4, middle rotating module 5, middle rotating module 6, middle rotating module 7, middle rotating module 8, too amesiality for preventing robot center of gravity.
Described swing motor 16 and rolling motor 18, battery 27, head photographic camera 28, light source 29 are by being distributed in the wire in head 1 module, a cabin section 2, middle rotating module 3, middle rotating module 4, middle rotating module 5, middle rotating module 6, middle rotating module 7, middle rotating module 8, deck store section 9, be connected with motion control circuit 30 (containing attitude sensor, motion controller, radio-frequency communication device), make system according to the mode of operation work of setting.
Described swing motor 16 and rolling motor 18 adopt direct current permanent magnet motor, DC brushless motor or stepping motor.
Described rolling gear 22 and the modulus of rolling gear ring 23 can be selected according to the size of driving force between joint and energy.
The diameter of described bogie truck adapter shaft 25 can be selected according to the size of driving force between joint and energy.
The quantity of described battery 27 is 1 or 2 or more, and the weight symmetric configuration of battery 27 and motion control circuit 30 (containing attitude sensor, motion controller and radio-frequency communication device) is on adapter plate 26.
Described light source 29 can be the light of visible light wave range and infrared band, realizes the irradiation to object.
Working process:
Robot works on power, coordinate to control motor (swing motor 16 and the rolling motor 18 of rotating module in the middle of all, rotating module in the middle of having 6 in accompanying drawing 1, thereby have 6 swing motors and 6 rolling motors) motion, cause producing relative rotational motion between each joint of flexible robot.Owing to there being friction between module and ground, by coordinating the motion in each joint, simulation snake class is in the motion on ground, just can produce advance, retreat, the motion such as side direction.
Simultaneously, because this robot has multiple rotatable joints, the rotation of controlling several joints realizes anterior, several joints built on stilts at middle part or rear portion, many groups joint of built on stilts produces relative rotational motion by adjusting between each joint, realizes winding and climbing sports to cylindric object.
The motion control arithmetic designing by user, the motor movement of reasonable coordination kinematic robot, will cause robot to move according to the mode of expection, such as along straight line or circle orbiting motion etc.
Claims (10)
1. a modularization Arm Flexible machine people, is characterized in that, comprises head module (1), cabin section (2), middle rotating module (3), middle rotating module (4), middle rotating module (5), middle rotating module (6), middle rotating module (7), middle rotating module (8), deck store section (9), mounting ring (10), mounting ring check screw (11), wave greatly bevel gear (12), swing motor supporting seat bolt of rear end plate (13), swing motor supporting seat (14), the little umbrella bevel gear (15) that waves, swing motor (16), middle rotating module shell (17), rolling motor (18), rolling motor fixing seat (19), rolling motor fixing seat bolt of rear end plate (20), bearing (21), rolling gear (22), rolling gear ring (23), rolling gear ring set collar (24), bogie truck adapter shaft (25), adapter plate (26), battery (27), head photographic camera (28), light source (29), motion control circuit (30), motion control circuit (30) comprises attitude sensor, motion controller and radio-frequency communication device,
Multiple middle rotating modules (3-8) that a kind of modularization Arm Flexible machine people is connected successively by multiple front and back, and head module (1), a cabin section (2) and deck store section (9) form.In any two middle rotating modules that are connected successively, middle rotating module shell (17) near head end one side is fixedly connected with by screw (10) with mounting ring (9), between mounting ring (9) and middle rotating module shell (17), there is a groove, for placing rolling gear ring (22) and rolling gear ring set collar (24).Between rolling gear ring (22) and rolling gear ring set collar (24), be fixedly connected with.Between rolling gear ring (22) and rolling gear ring set collar (24) and mounting ring (9) and middle rotating module shell (17), only there is coaxial rotation, and there is no axial relative displacement.Between rolling gear ring (23) and rolling gear (22), remain gear engagement states.Rolling gear (22) is fixedly connected with rolling motor (18).Between rolling motor (18) and rolling motor fixing seat (19), be fixedly connected with.Between the shell of rolling motor fixing seat (19) and middle rotating module (3), middle rotating module (4), middle rotating module (5), middle rotating module (6), middle rotating module (7), middle rotating module (8), be fixedly connected with by rolling motor fixing seat bolt of rear end plate (20);
Battery (27) in cabin section (2), head photographic camera (28), light source (29), motion control circuit (30) is fixed on adapter plate (26), adapter plate (26) is fixedly connected with head module (1), and the overall fixed-link that adapter plate (26) and head module (1) form is at a front end for cabin section (2); Radially there are two coaxial apertures in one side of deck store section (9) inflexibility robot tail end, coaxial aperture fixed type bearing (21), bearing (21) and bogie truck adapter shaft (25) keep coaxial rotation, but there is no axial relatively moving.Waving greatly bevel gear (12) is fixed on bogie truck adapter shaft (25), little wave bevel gear (15) and wave greatly bevel gear (12) remain gear engagement states, be fixed on swing motor (16) mouth, swing motor (16) is fixedly connected with swing motor supporting seat (14), and swing motor supporting seat (14) is fixedly connected in deck store section (9);
The attitude of attitude sensor (30) robot measurement, the swing motor (16) of all robots of motion controller control (30) and the rotation of rolling motor (18), make robot set work according to user;
It is upper that battery (27) is fixed on adapter plate (26), for robot provides power supply;
Robot can carry out communication by the radio-frequency communication device in motion control circuit (30) and the external world, and for extraneous control, and robot is crossed radio-frequency communication device by the information exchange obtaining and sent to extraneous receiving device.
2. a kind of spherical rolling robot according to claim 1, it is characterized in that, described modularization Arm Flexible machine people, in the constant situation of holding structure form, by the parameter that restructures, realize the adjustment row of angle between adjacent two joints of robot is adjusted.
3. a kind of spherical rolling robot according to claim 1, is characterized in that, described head module (1) can be transparent material or trnaslucent materials, in order to realize head photographic camera (28) perception of environment to external world.
4. a kind of spherical rolling robot according to claim 1, it is characterized in that, described head (1) module, a cabin section (2), middle rotating module (3), middle rotating module (4), middle rotating module (5), middle rotating module (6), middle rotating module (7), middle rotating module (8), deck store section (9) can be by increasing clump weight, change position and the quality of clump weight, realize the adjusting of robot modules and robot entirety center of gravity.When shell processing is inhomogeneous while causing a module or robot entirety overbalance, realize balance by position and the quality of adjusting clump weight.
5. a kind of spherical rolling robot according to claim 1, it is characterized in that, the scantling of structure of a cabin section (2) of described tubulose, middle rotating module (3), middle rotating module (4), middle rotating module (5), middle rotating module (6), middle rotating module (7), middle rotating module (8), deck store section (9), comprise overall diameter, interior diameter and length all can be adjusted, to meet the requirement of robot entire length and alerting ability.
6. a kind of spherical rolling robot according to claim 1, it is characterized in that, a cabin section (2) of described tubulose, middle rotating module (3), middle rotating module (4), middle rotating module (5), middle rotating module (6), middle rotating module (7), middle rotating module (8), deck store section (9), in tube wall, can place load, comprising the battery that can increase robot motion's time, can be also the purposes such as the goods of robot transport.
7. a kind of spherical rolling robot according to claim 1, it is characterized in that, described wave greatly bevel gear (12) and the little modulus that waves umbrella bevel gear (15) can be selected according to the size of driving force between joint and energy.
8. a kind of spherical rolling robot according to claim 1, it is characterized in that, described swing motor supporting seat bolt of rear end plate (13) and rolling motor fixing seat bolt of rear end plate (20) can be selected according to the size of driving force between joint and energy.
9. a kind of spherical rolling robot according to claim 1, it is characterized in that, in the middle of described swing motor (16) and rolling motor (18) are symmetrically arranged in, the center of gravity axis of symmetry both sides of rotating module (3), middle rotating module (4), middle rotating module (5), middle rotating module (6), middle rotating module (7), middle rotating module (8), too amesiality for preventing robot center of gravity.
10. a kind of spherical rolling robot according to claim 1, it is characterized in that, described swing motor (16) and rolling motor (18), battery (27), head photographic camera (28), light source (29) is by being distributed in head module (1), cabin section (2), middle rotating module (3), middle rotating module (4), middle rotating module (5), middle rotating module (6), middle rotating module (7), middle rotating module (8), wire in deck store section (9), be connected with motion control circuit (30), make system according to the mode of operation work of setting.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410419759.3A CN104163214A (en) | 2014-03-03 | 2014-08-22 | Modular multi-joint flexible robot |
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| CN201410073445 | 2014-03-03 | ||
| CN201410073445.2 | 2014-03-03 | ||
| CN201410419759.3A CN104163214A (en) | 2014-03-03 | 2014-08-22 | Modular multi-joint flexible robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476533A (en) * | 2014-11-27 | 2015-04-01 | 清华大学 | Master-slave control flexible continuum robot device and control method thereof |
| CN106272542A (en) * | 2016-09-22 | 2017-01-04 | 北京化工大学 | Imitative Serpentis search and rescue robot articulation mechanism |
| CN109515544A (en) * | 2018-12-12 | 2019-03-26 | 上海交通大学 | A kind of differential soft robot of multimode |
| CN110925571A (en) * | 2019-12-05 | 2020-03-27 | 浙江互灵科技有限公司 | Rotatable module composite set |
| CN114714323A (en) * | 2022-04-18 | 2022-07-08 | 中国矿业大学 | Wheeled module assembly suitable for reconfiguration modular robot |
-
2014
- 2014-08-22 CN CN201410419759.3A patent/CN104163214A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476533A (en) * | 2014-11-27 | 2015-04-01 | 清华大学 | Master-slave control flexible continuum robot device and control method thereof |
| CN106272542A (en) * | 2016-09-22 | 2017-01-04 | 北京化工大学 | Imitative Serpentis search and rescue robot articulation mechanism |
| CN109515544A (en) * | 2018-12-12 | 2019-03-26 | 上海交通大学 | A kind of differential soft robot of multimode |
| CN109515544B (en) * | 2018-12-12 | 2020-09-04 | 上海交通大学 | Multi-module differential software robot |
| CN110925571A (en) * | 2019-12-05 | 2020-03-27 | 浙江互灵科技有限公司 | Rotatable module composite set |
| CN110925571B (en) * | 2019-12-05 | 2021-02-09 | 浙江互灵科技有限公司 | Rotatable module composite set |
| CN114714323A (en) * | 2022-04-18 | 2022-07-08 | 中国矿业大学 | Wheeled module assembly suitable for reconfiguration modular robot |
| CN114714323B (en) * | 2022-04-18 | 2024-02-06 | 中国矿业大学 | Wheeled module assembly suitable for reconfiguration modularization robot |
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Application publication date: 20141126 |