CN104690725A - Attitude control method of snake-like robot - Google Patents
Attitude control method of snake-like robot Download PDFInfo
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- CN104690725A CN104690725A CN201510006186.6A CN201510006186A CN104690725A CN 104690725 A CN104690725 A CN 104690725A CN 201510006186 A CN201510006186 A CN 201510006186A CN 104690725 A CN104690725 A CN 104690725A
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Abstract
The invention relates to an attitude control method of a snake-like robot. The snake-like robot comprises spiral casings (1) in groups of four, wherein spiral teeth are arranged on each spiral casing (1), the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle are the same, and the rotating directions of the spiral teeth of the two spiral casings (1) located on two sides are opposite to the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle; a universal joint is arranged between two adjacent spiral casings (1). The attitude control method of the snake-like robot is provided aiming at four attitudes including advancing in a hole, advancing on a rough pavement, advancing on a flat pavement and advancing on a column through winding. According to the attitude control method provided for the snake-like robot based on the screw propulsion principle, the snake-like robot can penetrate narrow space; the snake-like robot can change in different motion forms through control of motion of the joints and the spiral casings, so that one robot can move efficiently in different environments and has extremely high passing capacity.
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 all combined by orthogonal steering wheel substantially, and form a kind of snake-shaped robot of orthogonal universal structure, its forms of motion is limited to elevating movement, wriggling movement two kinds motion or two kinds of combinations of moving substantially, as namely patent CN201320573824.9 provides the snake-shaped robot of this type.Have certain limitation to the adaptation of some complicated landform, efficiency is low, and consumed power is larger.
Summary of the invention
The object of the invention is the above-mentioned deficiency overcoming prior art, based on the new a kind of snake-shaped robot flexibly, efficiently can advanced in various complex environment proposed, provide its attitude control method under circumstances.Technical scheme of the present invention is as follows:
A kind of attitude control method of snake-shaped robot, described snake-shaped robot comprises the shaped spiral housing (1) of 4 group, on each shaped spiral housing (1), is provided with helical tooth, the helical tooth direction of rotation be positioned on two middle shaped spiral housings (1) is identical, and the helical tooth direction of rotation be positioned on the shaped spiral housing (1) of both sides is contrary with the helical tooth direction of rotation be positioned on two middle shaped spiral housings (1);
Omnidirectional joint is provided with between two adjacent shaped spiral housings (1), each omnidirectional joint comprises 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) are fixedly connected with by mating holes 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 is engaged in described axis hole, steering wheel support (11) can rotate around U-shaped connecting rod, steering wheel (4) rotating shaft rotates, make U-shaped connecting rod (12) produce the relative motion rotated with steering wheel support (11), above structure forms an omnidirectional joint;
Each shaped spiral housing (1) inside is provided with quill shaft (9), and the end of quill shaft (9) is connected with steering wheel support (11) by hollow connecting axle (10); Quill shaft (9) is fixed with reducing motor (7), the external gear (6) driven by reducing motor (7) is meshed with the internal gear (8) be fixed on shaped spiral housing (1) inwall, and its attitude control method is as follows:
(1) the first attitude, in hole, omnidirectional joint keeps rectilinear configuration under the control of steering wheel (4), reducing motor drives shaped spiral housing (1) to rotate, the helical tooth of adjacent a pair shaped spiral housing making helical tooth direction of rotation different and the left and right frictional force of contact surface offset, helical tooth on two finally adjacent shaped spiral housings (1) only have one forward make a concerted effort, make it advance forward.
The second attitude, on roughness pavement, omnidirectional joint keeps broken line form under the control of steering wheel (4), the angle of broken line is depending on the out-of-flatness on ground, make the upper helical tooth of shaped spiral housing (1) and earth surface, reducing motor drives shaped spiral housing (1) to rotate, the helical tooth of adjacent a pair shaped spiral housing that helical tooth direction of rotation is different and the left and right frictional force of contact surface offset, helical tooth on two finally adjacent shaped spiral housings (1) only have one forward make a concerted effort, make it advance forward.
The third attitude, on smooth road surface, under the control of two steering wheels (4), make often pair of adjacent shaped spiral housing (1) being positioned at both sides, omnidirectional joint be positioned on different horizontal planes also mutually vertical, the direction of rotation being positioned at the helical tooth on parallel two shaped spiral housings (1) landed is identical, and other structure-steel framings are on these two shaped spiral housings; The external gear 6 be 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;
4th kind of attitude, on cylinder, omnidirectional joint to make between shaped spiral housing (1) at an angle under the control of steering wheel (4), thus make whole piece snake-shaped robot be wrapped on cylinder, reducing motor drives each shaped spiral housing (1) to rotate, the frictional force produced by rotation and the damaged surface of shaped spiral housing (1) and driving force, make it advance on cylinder.
Gesture stability mode of the present invention the snake-shaped robot that is suitable for, utilize shaped spiral housing and complete arthrotropic fusion, rotary shell be connected alternately with omnidirectional structure, realize snakelike advance in narrow, out-of-flatness environment; Flat road surface car shape advances at utmost speed; Muddy environment car shape spiral advances; Trees, cylinder are wound around climbs row; Varied appearance is with the function such as speeling stairway, crossing over blockage.Compared with swinging snake-shaped robot with common yaw, pitch, combination, screw propulsion can advance in less hole, and flat road surface is more efficient advances fast, and has the efficient function being wound around climbing, conforms wider.Rigid helical housing arranges helical tooth, be similar to screw, or utilize the structure of software spring, when relying on helical rotation, the component forward that helical tooth and ground projection act on produces thrust, the rotation direction of the helical tooth of each joint is not identical simultaneously, and arranges according to certain rules, and snake body original place can be avoided like this to spin.In a word, the snake-shaped robot that the present invention carries based on screw propulsion principle proposes attitude control method, can pass narrow space; Secondly by controlling the motion in joint and shaped spiral housing, making snake-shaped robot be changing into different motion morphologies, thus a kind of robot can be moved in different environments efficiently, have extremely strong by property, and consume less energy, lengthen working hours.
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 schemes.
Accompanying drawing 5 is that the flat road surface of snake-shaped robot of the present invention is advanced attitude schematic diagram.
In accompanying drawing: the orthogonal connector of 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 8 9-quill shaft (cabling, support) 10-hollow connecting axle 11-steering wheel support 12-
Detailed description of the invention
Fig. 1 intuitively illustrates structure, function, the control mode of the snake-shaped robot that the present invention adopts.Controller sends control signal, and control joint and shaped spiral housing enter different attitudes and motion state, make whole piece snake-shaped robot realize variform and motor pattern, thus move expeditiously in different environments.Fig. 1 lists and controls joint 4 kinds of attitudes that snake-shaped robot is produced, to adapt to 4 kinds of typical environment, additionally by the proper transformation of attitude and motion, realizes the greater functionality such as speeling stairway, obstacle detouring.
The critical component of whole piece snake-shaped robot is: steering wheel support 11 is installed with steering wheel 4, 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, the axle be fixed on bottom steering wheel support 11 is engaged 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 relative motion rotated, two U-shaped connecting rods 12 are fixedly connected with by mating holes in orthogonal mode, namely orthogonal manner is fixedly connected with, above structure forms an omnidirectional joint, reducing motor 7 is fixedly mounted on quill shaft 9, and the external gear 6 be arranged on reducing motor 7 engages 8 with the internal gear on shaped spiral housing 1, quill shaft 9 is fixedly mounted on hollow connecting axle 10, and hollow connecting axle 10 is fixedly connected with steering wheel support, 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 to shaped spiral housing 1 on the surface.; Shaped spiral housing is the multiple of 4, and shaped spiral housing is at least 4.
The first attitude, in hole, omnidirectional joint keeps rectilinear configuration under the control of steering wheel 4, the external gear 6 be arranged on the reducing motor 7 of quill shaft 9 engages with the internal gear 8 on shaped spiral housing 1, shaped spiral housing 1 is driven to rotate separately, 3-helical tooth (left-handed) is rotated counterclockwise, 5-helical tooth (dextrorotation) turns clockwise, by the frictional force of helical tooth and contact surface, the power that 3-helical tooth (left-handed) is rotated counterclockwise the left and right produced that to turn clockwise with 5-helical tooth (dextrorotation) is offset, final two helical tooths only have one forward make a concerted effort, driving force that Here it is, it is made to advance forward.
The second attitude, on roughness pavement, omnidirectional joint keeps broken line form under the control of steering wheel 4, the angle of broken line is depending on the out-of-flatness on ground, angular range is 90 degree to 180 degree, because omnidirectional joint is controlled by two steering wheels 4, therefore this angle is space three-dimensional form, there is the angle of horizontal plane and the angle of perpendicular, like this, make 3-helical tooth (left-handed) on shaped spiral housing 1 or 5-helical tooth (dextrorotation) and earth surface, the external gear 6 be arranged on the reducing motor 7 of 9-quill shaft engages with the internal gear 8 on shaped spiral housing 1, shaped spiral housing 1 is driven to rotate, making a concerted effort forward is produced by the rotation of shaped spiral housing 1, advance forward.
The third attitude: on smooth road surface, the attitude of snake-shaped robot of the present invention as shown in Figure 5, omnidirectional joint makes often pair of adjacent shaped spiral housing 1 being positioned at both sides, omnidirectional joint be positioned on different horizontal planes also mutually vertical 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 these two shaped spiral housings.The external gear 6 be 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, so just travels on smooth road surface with dolly is the same.
4th kind of attitude, on the cylinders such as trees, under the control of steering wheel 4, shaped spiral housing 1 is made at an angle by omnidirectional joint, whole piece snake-shaped robot is made to be wrapped on cylinder, the external gear 6 be arranged on the reducing motor 7 of 9-quill shaft engages with internal gear 8, drive shaped spiral housing 1 to rotate, the frictional force produced by rotation and the damaged surface of shaped spiral housing 1 produces driving force, and cylinder is advanced.
Claims (1)
1. the attitude control method of a snake-shaped robot, described snake-shaped robot comprises the shaped spiral housing (1) of 4 group, on each shaped spiral housing (1), is provided with helical tooth, the helical tooth direction of rotation be positioned on two middle shaped spiral housings (1) is identical, and the helical tooth direction of rotation be positioned on the shaped spiral housing (1) of both sides is contrary with the helical tooth direction of rotation be positioned on two middle shaped spiral housings (1);
Omnidirectional joint is provided with between two adjacent shaped spiral housings (1), each omnidirectional joint comprises 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) are fixedly connected with by mating holes 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 is engaged in described axis hole, steering wheel support (11) can rotate around U-shaped connecting rod, steering wheel (4) rotating shaft rotates, make U-shaped connecting rod (12) produce the relative motion rotated with steering wheel support (11), above structure forms an omnidirectional joint;
Each shaped spiral housing (1) inside is provided with quill shaft (9), and the end of quill shaft (9) is connected with steering wheel support (11) by hollow connecting axle (10); Quill shaft (9) is fixed with reducing motor (7), the external gear (6) driven by reducing motor (7) is meshed with the internal gear (8) be fixed on shaped spiral housing (1) inwall, and its attitude control method is as follows:
(1) the first attitude, in hole, omnidirectional joint keeps rectilinear configuration under the control of steering wheel (4), reducing motor drives shaped spiral housing (1) to rotate, the helical tooth of adjacent a pair shaped spiral housing making helical tooth direction of rotation different and the left and right frictional force of contact surface offset, helical tooth on two finally adjacent shaped spiral housings (1) only have one forward make a concerted effort, make it advance forward.
The second attitude, on roughness pavement, omnidirectional joint keeps broken line form under the control of steering wheel (4), the angle of broken line is depending on the out-of-flatness on ground, make the upper helical tooth of shaped spiral housing (1) and earth surface, reducing motor drives shaped spiral housing (1) to rotate, the helical tooth of adjacent a pair shaped spiral housing that helical tooth direction of rotation is different and the left and right frictional force of contact surface offset, helical tooth on two finally adjacent shaped spiral housings (1) only have one forward make a concerted effort, make it advance forward.
The third attitude, on smooth road surface, under the control of two steering wheels (4), make often pair of adjacent shaped spiral housing (1) being positioned at both sides, omnidirectional joint be positioned on different horizontal planes also mutually vertical, the direction of rotation being positioned at the helical tooth on parallel two shaped spiral housings (1) landed is identical, and other structure-steel framings are on these two shaped spiral housings; The external gear 6 be 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;
4th kind of attitude, on cylinder, omnidirectional joint to make between shaped spiral housing (1) at an angle under the control of steering wheel (4), thus make whole piece snake-shaped robot be wrapped on cylinder, reducing motor drives each shaped spiral housing (1) to rotate, the frictional force produced by rotation and the damaged surface of shaped spiral housing (1) and driving force, make it advance on cylinder.
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| CN201510006186.6A CN104690725B (en) | 2015-01-06 | 2015-01-06 | The attitude control method of snake-shaped robot |
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| CN201510006186.6A CN104690725B (en) | 2015-01-06 | 2015-01-06 | The attitude control method of snake-shaped robot |
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| CN104690725B CN104690725B (en) | 2016-04-27 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106891115A (en) * | 2017-04-06 | 2017-06-27 | 哈尔滨理工大学 | A kind of snakelike welding robot scheme of drive lacking |
| CN107053187A (en) * | 2016-11-27 | 2017-08-18 | 申俊 | A kind of warehouse deep layer storing exploring robot |
| CN108453713A (en) * | 2018-03-27 | 2018-08-28 | 哈尔滨理工大学 | The end effector designs of all-position automatic welding technology robot |
| CN109751048A (en) * | 2019-01-17 | 2019-05-14 | 北京理工大学 | A kind of snakelike bio-robot fracture-pore reservoir survey system and method |
| CN111150436A (en) * | 2020-02-15 | 2020-05-15 | 赵勇 | Screw propulsion type medical robot |
Families Citing this family (1)
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| CN106863316A (en) * | 2016-11-27 | 2017-06-20 | 胡妍 | Warehouse deep layer storing exploring robot |
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| CN107053187A (en) * | 2016-11-27 | 2017-08-18 | 申俊 | A kind of warehouse deep layer storing exploring robot |
| CN106891115A (en) * | 2017-04-06 | 2017-06-27 | 哈尔滨理工大学 | A kind of snakelike welding robot scheme of drive lacking |
| CN108453713A (en) * | 2018-03-27 | 2018-08-28 | 哈尔滨理工大学 | The end effector designs of all-position automatic welding technology robot |
| CN109751048A (en) * | 2019-01-17 | 2019-05-14 | 北京理工大学 | A kind of snakelike bio-robot fracture-pore reservoir survey system and method |
| CN111150436A (en) * | 2020-02-15 | 2020-05-15 | 赵勇 | Screw propulsion type medical robot |
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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. |