CN104669256B - The flat road surface traveling attitude control method of snake-shaped robot - Google Patents
The flat road surface traveling attitude control method of snake-shaped robot Download PDFInfo
- Publication number
- CN104669256B CN104669256B CN201510004500.7A CN201510004500A CN104669256B CN 104669256 B CN104669256 B CN 104669256B CN 201510004500 A CN201510004500 A CN 201510004500A CN 104669256 B CN104669256 B CN 104669256B
- Authority
- CN
- China
- Prior art keywords
- shaped
- shaped spiral
- steering wheel
- spiral housing
- snake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The present invention relates to the flat road surface traveling attitude control method of a kind of snake-shaped robot, described snake-shaped robot includes the shaped spiral housing (1) of 4 group, is provided with helical tooth on each shaped spiral housing (1), the centrally located helical tooth direction of rotation on two shaped spiral housings (1) is identical, and the helical tooth direction of rotation being positioned on the shaped spiral housing (1) of both sides is contrary with the helical tooth direction of rotation on centrally located two shaped spiral housings (1); It is provided with omnidirectional joint between two adjacent shaped spiral housings (1); Its flat road surface traveling attitude control method is: make the adjacent shaped spiral housing (1) being often pointed to both sides, omnidirectional joint be positioned on different horizontal planes and be mutually perpendicular under the control of two steering wheels (4), and the direction of rotation of the helical tooth being positioned on parallel two shaped spiral housings (1) landed is identical. The attitude control method of the present invention is easy to quickly easily shape, it is achieved advance at utmost speed in flat road surface car shape.
Description
Technical field
Patent of the present invention belongs to field of special robots, is specifically related to a kind of snake-shaped robot.
Background technology
Current existing snake-shaped robot is essentially all and is combined by orthogonal steering wheel, and form the snake-shaped robot of a kind of orthogonal universal structure, its forms of motion is basically limited to the combination of elevating movement, wriggling movement two kinds motion or two kinds of motions, namely the snake-shaped robot of this kind of type is provided such as patent CN201320573824.9, but it is low to there is efficiency, and consume the defect that power is bigger.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of prior art, based on the new a kind of snake-shaped robot proposed, it is proposed to it is quick easily shape, the gesture stability mode efficiently moved ahead in flat road surface. Snake-shaped robot before comparing and attitude control method, it is possible to reduce power consumption, adapt to the high efficiency traveling of ground grading. Technical scheme is as follows:
A kind of flat road surface traveling attitude control method of snake-shaped robot, described snake-shaped robot includes the shaped spiral housing (1) of 4 group, is provided with helical tooth on each shaped spiral housing (1), the centrally located helical tooth direction of rotation on two shaped spiral housings (1) is identical, and the helical tooth direction of rotation being positioned on the shaped spiral housing (1) of both sides is contrary with the helical tooth direction of rotation on centrally located two shaped spiral housings (1);
It is provided with omnidirectional joint between two adjacent shaped spiral housings (1), each omnidirectional joint includes two U-shaped connecting rods (12), two steering wheels (4), two steering wheel supports (11), two steering wheel dishes (2). Two U-shaped connecting rods (12) connect by mating holes is fixing in orthogonal mode; Steering wheel (4) is fixedly mounted on steering wheel support (11), and steering wheel dish (2) is fixedly mounted on the rotating shaft of steering wheel;One end of U-shaped connecting rod (12) is fixed with steering wheel dish (2), the other end is provided with an axis hole, the axle being fixed on steering wheel support (11) bottom coordinates in described axis hole, steering wheel support (11) can rotate around U-shaped connecting rod, steering wheel (4) rotating shaft rotates, U-shaped connecting rod (12) and steering wheel support (11) is made to produce the motion rotated against, one omnidirectional joint of above structure composition;
Each shaped spiral housing (1) is internally provided with quill shaft (9), and the end of quill shaft (9) connects axle (10) by hollow and is connected with steering wheel support (11); Be fixed with reducing motor (7) on quill shaft (9), reducing motor (7) external gear (6) driven is meshed with the internal gear (8) being fixed on shaped spiral housing (1) inwall;
The flat road surface traveling attitude control method of above-mentioned snake-shaped robot is as follows:
The adjacent shaped spiral housing (1) being often pointed to both sides, omnidirectional joint is made to be positioned on different horizontal planes and be mutually perpendicular under the control of two steering wheels (4), the direction of rotation of the helical tooth being positioned on parallel two shaped spiral housings (1) landed is identical, and other structure-steel framings are on the two shaped spiral housing; The external gear 6 being fixed on the reducing motor (7) of quill shaft (9) engages with the internal gear 8 on shaped spiral housing (1), parallel two shaped spiral housings (1) landed are driven to rotate, final two parallel shaped spiral housing (1) rolls forward landed, make whole snake-shaped robot advance on smooth road surface as dolly.
The attitude control method of the present invention utilizes shaped spiral housing and complete arthrotropic fusion, makes rotation housing be connected alternately with omnidirectional structure, it is simple to can quick easy shape, it is achieved advance at utmost speed in flat road surface car shape.
Accompanying drawing explanation
Accompanying drawing 1 is relation explanation between structure, control, function.
Accompanying drawing 2 is snake-shaped robot overall structure figure.
Accompanying drawing 3 is housing external and internal compositions figure.
Accompanying drawing 4 is omnidirectional's joint conceptual scheme.
Accompanying drawing 5 is the flat road surface traveling attitude schematic diagram of the snake-shaped robot of the present invention.
In accompanying drawing: 1-shaped spiral housing 2-steering wheel dish 3-helical tooth (left-handed) 4-steering wheel 5-helical tooth (dextrorotation) 6-external gear 7-reducing motor 8-internal gear 89-quill shaft (cabling, support) 10-hollow connects the axle 11-steering wheel orthogonal connector of support 12-
Detailed description of the invention
Fig. 1 intuitively illustrates the structure of snake-shaped robot, function, control mode. Controller sends control signal, controlling joint and enters different attitudes and kinestate with shaped spiral housing, making whole piece snake-shaped robot realize variform and motor pattern, thus moving expeditiously in different environments. Fig. 1 lists and controls 4 kinds of attitudes that joint makes snake-shaped robot produce, to adapt to 4 kinds of typical environment, additionally by the proper transformation of attitude and motion, it is achieved speeling stairway, obstacle detouring etc. are more multi-functional.
The critical component of whole piece snake-shaped robot is: be installed with steering wheel 4 on steering wheel support 11, one end of U-shaped connecting rod 12 is fixed with steering wheel dish 2, steering wheel dish 2 is fixed on the rotating shaft of steering wheel 4, the other end of U-shaped connecting rod 12 has an axis hole, it is fixed on the axle bottom steering wheel support 11 to coordinate in described axis hole, steering wheel support 11 can rotate around U-shaped connecting rod, steering wheel 4 rotating shaft rotates, U-shaped connecting rod 12 and steering wheel support 11 is made to produce the motion rotated against, two U-shaped connecting rods 12 connect by mating holes is fixing in orthogonal mode, namely orthogonal manner is fixing connects, one omnidirectional joint of above structure composition, reducing motor 7 is fixedly mounted on quill shaft 9, and the external gear 6 being arranged on reducing motor 7 engages 8 with the internal gear on shaped spiral housing 1,Quill shaft 9 is fixedly mounted on hollow and connects on axle 10, and hollow connection axle 10 is fixing with steering wheel support to be connected; Shaped spiral housing 1 frame is on quill shaft 9, and shaped spiral housing 1 can rotate around quill shaft 9, and helical tooth (left-handed) 3 and helical tooth (dextrorotation) 5 are attached on shaped spiral housing 1 surface. ; Shaped spiral housing is the multiple of 4, and shaped spiral housing is at least 4.
On smooth road surface, the attitude of the snake-shaped robot of the present invention is as shown in Figure 5, omnidirectional joint makes the adjacent shaped spiral housing 1 being often pointed to both sides, omnidirectional joint be positioned on different horizontal planes and be mutually perpendicular under the control of two steering wheels 4, the direction of rotation of the helical tooth on parallel two shaped spiral housings 1 landed is identical, and other structure-steel framings are on the two shaped spiral housing. The external gear 6 being fixed on the reducing motor 7 of quill shaft 9 engages with the internal gear 8 on shaped spiral housing 1, drives parallel two shaped spiral housings 1 landed to rotate, finally makes it advance forward, thus travel on smooth road surface with dolly is the same.
Claims (1)
1. the flat road surface traveling attitude control method of a snake-shaped robot, described snake-shaped robot includes the shaped spiral housing (1) of 4 group, is provided with helical tooth on each shaped spiral housing (1), the centrally located helical tooth direction of rotation on two shaped spiral housings (1) is identical, and the helical tooth direction of rotation being positioned on the shaped spiral housing (1) of both sides is contrary with the helical tooth direction of rotation on centrally located two shaped spiral housings (1);
It is provided with omnidirectional joint between two adjacent shaped spiral housings (1), each omnidirectional joint includes two U-shaped connecting rods (12), two steering wheels (4), two steering wheel supports (11), two steering wheel dishes (2); Two U-shaped connecting rods (12) connect by mating holes is fixing in orthogonal mode; Steering wheel (4) is fixedly mounted on steering wheel support (11), and steering wheel dish (2) is fixedly mounted on the rotating shaft of steering wheel; One end of U-shaped connecting rod (12) is fixed with steering wheel dish (2), the other end is provided with an axis hole, the axle being fixed on steering wheel support (11) bottom coordinates in described axis hole, steering wheel support (11) can rotate around U-shaped connecting rod, steering wheel (4) rotating shaft rotates, U-shaped connecting rod (12) and steering wheel support (11) is made to produce the motion rotated against, one omnidirectional joint of above structure composition;
Each shaped spiral housing (1) is internally provided with quill shaft (9), and the end of quill shaft (9) connects axle (10) by hollow and is connected with steering wheel support (11); Be fixed with reducing motor (7) on quill shaft (9), reducing motor (7) external gear (6) driven is meshed with the internal gear (8) being fixed on shaped spiral housing (1) inwall;
The flat road surface traveling attitude control method of above-mentioned snake-shaped robot is as follows: make the adjacent shaped spiral housing (1) being often pointed to both sides, omnidirectional joint be positioned on different horizontal planes and be mutually perpendicular under the control of two steering wheels (4), the direction of rotation of the helical tooth being positioned on parallel two shaped spiral housings (1) landed is identical, and other structure-steel framings are on the two shaped spiral housing; The external gear (6) being fixed on the reducing motor (7) of quill shaft (9) engages with the internal gear (8) on shaped spiral housing (1), parallel two shaped spiral housings (1) landed are driven to rotate, final two parallel shaped spiral housing (1) rolls forward landed, make whole snake-shaped robot advance on smooth road surface as dolly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510004500.7A CN104669256B (en) | 2015-01-06 | 2015-01-06 | The flat road surface traveling attitude control method of snake-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510004500.7A CN104669256B (en) | 2015-01-06 | 2015-01-06 | The flat road surface traveling attitude control method of snake-shaped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104669256A CN104669256A (en) | 2015-06-03 |
| CN104669256B true CN104669256B (en) | 2016-06-08 |
Family
ID=53305101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510004500.7A Active CN104669256B (en) | 2015-01-06 | 2015-01-06 | The flat road surface traveling attitude control method of snake-shaped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104669256B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078716A (en) * | 2016-06-17 | 2016-11-09 | 西北工业大学 | A kind of have the snake-shaped robot boring ground function |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1251841C (en) * | 2002-11-06 | 2006-04-19 | 中国科学院沈阳自动化研究所 | Modular snake shaped robot with varistructure |
| US7044245B2 (en) * | 2003-06-17 | 2006-05-16 | Science Applications International Corporation | Toroidal propulsion and steering system |
| CN103056876B (en) * | 2013-01-16 | 2015-03-04 | 北京化工大学 | Variable rigidity parallel joint snake-shaped robot mechanism |
| US20160107013A1 (en) * | 2013-05-13 | 2016-04-21 | Israel Aerospace Industries Ltd. | A robotic supply system |
| CN203779496U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Underwater snake-like robot |
| CN203765613U (en) * | 2014-04-10 | 2014-08-13 | 中国科学院沈阳自动化研究所 | Modularized reconfigurable snakelike robot |
| CN203875899U (en) * | 2014-05-22 | 2014-10-15 | 电子科技大学 | Segment unit of multi-segment snake robot |
-
2015
- 2015-01-06 CN CN201510004500.7A patent/CN104669256B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104669256A (en) | 2015-06-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104690725B (en) | The attitude control method of snake-shaped robot | |
| CN104691649A (en) | Attitude control method for snake-like robot on rough pavement | |
| CN104669255A (en) | Spiral propulsion variable form snake-shaped robot | |
| CN103332236B (en) | A kind of mobile device of robot | |
| CN204844167U (en) | Snakelike robot of screw propulsion | |
| CN202071916U (en) | Wheel type robot base mechanism | |
| CN102528805B (en) | Multifunctional serpentiform robot | |
| CN105539006A (en) | Obstacle crossing wheel with wheel and jaw switching function | |
| CN203480310U (en) | Closed-loop controlled automated guided vehicle driving device | |
| CN102346482A (en) | In-situ steering wheel type robot base mechanism | |
| CN103465779A (en) | Double-engine type omni-directional four-wheel drive traveling mechanism | |
| CN203875899U (en) | Segment unit of multi-segment snake robot | |
| CN103712035A (en) | Cage type pipeline aircraft | |
| CN102357879A (en) | Eight-degree-of-freedom series-parallel combined automatic welding robot | |
| CN104669256B (en) | The flat road surface traveling attitude control method of snake-shaped robot | |
| CN103991089A (en) | Body segment unit for multi-body-segment S-shaped robot | |
| CN210148093U (en) | Omnidirectional movement double-arm robot | |
| CN109367617A (en) | A kind of 4 wheel driven robot self-steering method based on extension Ackermam algorithm | |
| CN203652105U (en) | Four-axis aircraft | |
| CN204701690U (en) | Foot combines with wheel the mobile robot designed | |
| CN104691648A (en) | Attitude control method of snake-like robot for advancing in hole | |
| CN115042894B (en) | Motion control system and steering control method for four-wheel electric drive robot in dry farmland | |
| CN202241278U (en) | Series-parallel combined type automatic welding robot with eight degrees of freedom | |
| CN204715264U (en) | The universal brush of tunnel cleaning vehicle | |
| CN106891216A (en) | Six-freedom parallel type flash trimmer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 300457 no.4060, floor 4, No.10, Dongting Road, economic and Technological Development Zone, Binhai New Area, Tianjin Patentee after: Taihua Hongye (Tianjin) Intelligent Technology Co., Ltd Address before: 606-611 room 1, building 300457, science and technology development center, Dongting four street, economic and Technological Development Zone, Tianjin Binhai New Area Patentee before: Taihua Hongye (Tianjin) Robot Technology Research Institute Co., Ltd. |
|
| CP03 | Change of name, title or address |