CN104691649A - Attitude control method for snake-like robot on rough pavement - Google Patents
Attitude control method for snake-like robot on rough pavement Download PDFInfo
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- CN104691649A CN104691649A CN201510005967.3A CN201510005967A CN104691649A CN 104691649 A CN104691649 A CN 104691649A CN 201510005967 A CN201510005967 A CN 201510005967A CN 104691649 A CN104691649 A CN 104691649A
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- steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to an attitude control method for a snake-like robot on a rough pavement. 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 for the snake-like robot on the rough pavement comprises the following steps: the universal joints keep a broken line sate under control of actuators (4), the angles of the broken lines are determined by roughness of the ground, so that the spiral teeth of the two spiral casings (1) are contacted with the ground, the spiral casings (1) are driven by gear motors to rotate, and the spiral teeth of the two spiral casings (1) only have one forward resultant force. The robot can go forwards stably in a snake-like manner in a rough environment.
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 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.Have certain limitation to the adaptation of some complex-terrains, efficiency is low, and consumed power is larger.
Summary of the invention
The object of the invention is based on the new a kind of snake-shaped robot flexibly, efficiently can advanced in various complex environment proposed, provide its attitude control method on roughness pavement, snake-shaped robot before comparing, can reduce power consumption, more stably advance.Technical scheme of the present invention is as follows:
A kind of roughness pavement attitude control method of snake-shaped robot, 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), 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 it is as follows at the attitude control method of roughness pavement:
Omnidirectional joint keeps broken line form under the control of steering wheel (4), the angle of broken line is depending on the unfairness 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 hand of rotation is 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.
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 unfairness environment.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 ahead power, 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, screw propulsion principle is used snake-shaped robot by the present invention, allows to snakelike stable advance in unfairness environment, has extremely strong crossing ability, and consume less energy.
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.
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 unfairness 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 surface 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 inner 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.
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 roughness pavement attitude control method of a snake-shaped robot, 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), 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 it is as follows at the attitude control method of roughness pavement:
Omnidirectional joint keeps broken line form under the control of steering wheel (4), the angle of broken line is depending on the unfairness 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 hand of rotation is 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 |
|---|---|---|---|
| CN201510005967.3A CN104691649A (en) | 2015-01-06 | 2015-01-06 | Attitude control method for snake-like robot on rough pavement |
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| CN201510005967.3A CN104691649A (en) | 2015-01-06 | 2015-01-06 | Attitude control method for snake-like robot on rough pavement |
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| CN104691649A true CN104691649A (en) | 2015-06-10 |
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| CN201510005967.3A Pending CN104691649A (en) | 2015-01-06 | 2015-01-06 | Attitude control method for snake-like robot on rough pavement |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420368A (en) * | 2018-05-10 | 2018-08-21 | 西京学院 | A kind of full landform clean robot |
| CN110000778A (en) * | 2019-03-24 | 2019-07-12 | 北京化工大学 | A kind of imitative snake robot control method |
| CN110154009A (en) * | 2019-06-14 | 2019-08-23 | 李忠吉 | A kind of bionic snake-shaped robot |
| CN111633639A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Three-dimensional omnidirectional control device based on multi-steering-engine connection |
| CN114407072A (en) * | 2022-01-14 | 2022-04-29 | 山东新一代信息产业技术研究院有限公司 | Flexible joint structure of S-shaped arm |
| CN115180046A (en) * | 2022-09-14 | 2022-10-14 | 浙大城市学院 | Four-screw propulsion cylinder all-terrain walking robot |
| US11517187B2 (en) * | 2017-04-13 | 2022-12-06 | The Regents Of The University Of California | System and method for endoscope locomotion and shaping |
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| CN101784435A (en) * | 2007-07-10 | 2010-07-21 | 雷神萨科斯公司 | modular robotic crawler |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN104002888A (en) * | 2014-05-30 | 2014-08-27 | 东北大学 | Quadrilateral mechanism based snakelike robot |
| KR20140111162A (en) * | 2013-03-08 | 2014-09-18 | 호야로봇 (주) | Multi joint robot to drive rough terrain |
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2015
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20060261771A1 (en) * | 2003-06-17 | 2006-11-23 | Science Applications International Corporation | Toroidal propulsion and steering system |
| CN101784435A (en) * | 2007-07-10 | 2010-07-21 | 雷神萨科斯公司 | modular robotic crawler |
| US20100116081A1 (en) * | 2008-11-11 | 2010-05-13 | Intuitive Surgical, Inc. | Robotic linkage |
| KR20140111162A (en) * | 2013-03-08 | 2014-09-18 | 호야로봇 (주) | Multi joint robot to drive rough terrain |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11517187B2 (en) * | 2017-04-13 | 2022-12-06 | The Regents Of The University Of California | System and method for endoscope locomotion and shaping |
| CN108420368A (en) * | 2018-05-10 | 2018-08-21 | 西京学院 | A kind of full landform clean robot |
| CN110000778A (en) * | 2019-03-24 | 2019-07-12 | 北京化工大学 | A kind of imitative snake robot control method |
| CN110000778B (en) * | 2019-03-24 | 2020-12-11 | 北京化工大学 | Snake-like robot control method |
| CN110154009A (en) * | 2019-06-14 | 2019-08-23 | 李忠吉 | A kind of bionic snake-shaped robot |
| CN111633639A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Three-dimensional omnidirectional control device based on multi-steering-engine connection |
| CN114407072A (en) * | 2022-01-14 | 2022-04-29 | 山东新一代信息产业技术研究院有限公司 | Flexible joint structure of S-shaped arm |
| CN115180046A (en) * | 2022-09-14 | 2022-10-14 | 浙大城市学院 | Four-screw propulsion cylinder all-terrain walking robot |
| CN115180046B (en) * | 2022-09-14 | 2022-11-25 | 浙大城市学院 | Four-screw propulsion cylinder all-terrain walking robot |
| US11685041B1 (en) | 2022-09-14 | 2023-06-27 | Hangzhou City University | Robot having four screw propeller barrels and walking on all terrain |
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Application publication date: 20150610 |