CN104691648A - Attitude control method of snake-like robot for advancing in hole - Google Patents
Attitude control method of snake-like robot for advancing in hole Download PDFInfo
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- CN104691648A CN104691648A CN201510005288.6A CN201510005288A CN104691648A CN 104691648 A CN104691648 A CN 104691648A CN 201510005288 A CN201510005288 A CN 201510005288A CN 104691648 A CN104691648 A CN 104691648A
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- steering wheel
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- shaped spiral
- snake
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Abstract
The invention relates to an attitude control method of a snake-like robot for advancing in a hole. 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 for advancing in the hole comprises the following steps: the universal joints keep a straight line sate under control of actuators (4), the spiral casings (1) are driven by gear motors to rotate, so that the left and right friction force between the spiral teeth of two adjacent spiral casings with different rotating directions of the spiral teeth and the contact surface is offset, and one forward resultant force is formed. The robot can go forwards in a snake-like manner in a narrow environment.
Description
Technical field
The invention belongs to field of special robots, be 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 mode of motion is limited to luffing, 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.There is certain limitation to the adaptation of some complex-terrains, such as, be difficult to advance in very narrow environment, there is efficiency low, the shortcoming that 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 the attitude control method that it advances in hole.Technical scheme of the present invention is as follows:
A kind of hole of snake-shaped robot is advanced attitude control method, described snake-shaped robot comprise (4) individual a group shaped spiral housing (1), on each shaped spiral housing (1), be provided with helical tooth, the helical tooth hand of rotation be positioned on two middle shaped spiral housings (1) is identical, and the helical tooth hand of rotation be positioned on the shaped spiral housing (1) of both sides is contrary with the helical tooth hand 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) and 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 S. A. 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) S. A. 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 adapter shaft (10); Quill shaft (9) is fixed with reducing motor (7), the external gear (6) driven by reducing motor (7) is meshed with the inner gear (8) be fixed on shaped spiral housing (1) inwall, and its attitude control method of advancing in hole is as follows:
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 hand of rotation different and the left and right friction 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.
Screw propulsion principle is used snake-shaped robot by the present invention, can through narrow space on the basis consuming less energy, hole of the present invention advance gesture stability mode the snake-shaped robot that is suitable for, utilize shaped spiral housing and complete arthrotropic fusion, rotary shell is connected alternately with omnidirectional structure, realizes snakelike advance in narrow environment; Compared with swinging snake-shaped robot with common yaw, pitch, combination, screw propulsion can advance in less hole.
Accompanying drawing explanation
Accompanying drawing 1 is relation explanation between structure, control, function.
Accompanying drawing 2 is snake-shaped robot integral 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 attaching parts 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-inner gear 8 9-quill shaft (cabling, support) 10-hollow adapter shaft 11-steering wheel support 12-
Detailed description of the invention
Fig. 1 intuitively illustrates structure, function, the 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 state of kinematic motion, make whole piece snake-shaped robot realize variform and mode of motion, 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 S. A. 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 S. A. 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 inner gear on shaped spiral housing 1, quill shaft 9 is fixedly mounted on hollow adapter shaft 10, and hollow adapter shaft 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.
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 inner gear 8 on shaped spiral housing 1, shaped spiral housing 1 is driven to rotate separately, make 3-helical tooth (left-handed) left-hand revolution, 5-helical tooth (dextrorotation) clickwise, by the friction force of helical tooth and contact surface, the power of the left and right that 3-helical tooth (left-handed) left-hand revolution and 5-helical tooth (dextrorotation) clickwise produce is offset, final two helical tooths only have one forward make a concerted effort, Here it is propulsive effort, it is made to advance forward.
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 surfaces also mutually vertical under the control of two steering wheels 4, the hand 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 inner 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.
Claims (1)
1. the hole of a snake-shaped robot is advanced attitude control method, described snake-shaped robot comprise (4) individual a group shaped spiral housing (1), on each shaped spiral housing (1), be provided with helical tooth, the helical tooth hand of rotation be positioned on two middle shaped spiral housings (1) is identical, and the helical tooth hand of rotation be positioned on the shaped spiral housing (1) of both sides is contrary with the helical tooth hand 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) and 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 S. A. 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) S. A. 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 adapter shaft (10); Quill shaft (9) is fixed with reducing motor (7), the external gear (6) driven by reducing motor (7) is meshed with the inner gear (8) be fixed on shaped spiral housing (1) inwall, and its attitude control method of advancing in hole is as follows:
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 hand of rotation different and the left and right friction 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510005288.6A CN104691648A (en) | 2015-01-06 | 2015-01-06 | Attitude control method of snake-like robot for advancing in hole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510005288.6A CN104691648A (en) | 2015-01-06 | 2015-01-06 | Attitude control method of snake-like robot for advancing in hole |
Publications (1)
| Publication Number | Publication Date |
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| CN104691648A true CN104691648A (en) | 2015-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510005288.6A Pending CN104691648A (en) | 2015-01-06 | 2015-01-06 | Attitude control method of snake-like robot for advancing in hole |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128974A (en) * | 2015-10-20 | 2015-12-09 | 中铁十九局集团第七工程有限公司 | Creeping type pipeline robot carrier system and working method thereof |
| CN109854958A (en) * | 2019-01-17 | 2019-06-07 | 温州市天马建筑装璜工程公司 | A kind of municipal sewer network monitoring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| WO2010126399A2 (en) * | 2009-04-30 | 2010-11-04 | Burdin Alexey Vadimovich | Vehicle and vehicle carrying and propelling element |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN103358305A (en) * | 2013-06-17 | 2013-10-23 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN203511816U (en) * | 2013-09-16 | 2014-04-02 | 华南理工大学 | Snakelike robot based on orthogonal joints |
| CN203726486U (en) * | 2014-03-13 | 2014-07-23 | 哈尔滨石油学院 | Snakelike detection robot |
| KR20140111162A (en) * | 2013-03-08 | 2014-09-18 | 호야로봇 (주) | Multi joint robot to drive rough terrain |
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2015
- 2015-01-06 CN CN201510005288.6A patent/CN104691648A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| WO2010126399A2 (en) * | 2009-04-30 | 2010-11-04 | Burdin Alexey Vadimovich | Vehicle and vehicle carrying and propelling element |
| KR20140111162A (en) * | 2013-03-08 | 2014-09-18 | 호야로봇 (주) | Multi joint robot to drive rough terrain |
| CN103358305A (en) * | 2013-06-17 | 2013-10-23 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN203511816U (en) * | 2013-09-16 | 2014-04-02 | 华南理工大学 | Snakelike robot based on orthogonal joints |
| CN203726486U (en) * | 2014-03-13 | 2014-07-23 | 哈尔滨石油学院 | Snakelike detection robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128974A (en) * | 2015-10-20 | 2015-12-09 | 中铁十九局集团第七工程有限公司 | Creeping type pipeline robot carrier system and working method thereof |
| CN109854958A (en) * | 2019-01-17 | 2019-06-07 | 温州市天马建筑装璜工程公司 | A kind of municipal sewer network monitoring system |
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