CN105033991B - The snake-shaped robot and its control method of unidirectional follower contact mechanism - Google Patents
The snake-shaped robot and its control method of unidirectional follower contact mechanism Download PDFInfo
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- CN105033991B CN105033991B CN201510301259.4A CN201510301259A CN105033991B CN 105033991 B CN105033991 B CN 105033991B CN 201510301259 A CN201510301259 A CN 201510301259A CN 105033991 B CN105033991 B CN 105033991B
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Abstract
The invention discloses the snake-shaped robot and its control method of a kind of unidirectional follower contact mechanism.Including snakelike joint module, described snakelike joint module includes portable plate, rotating shaft, connecting plate, controller；Described portable plate is U-shaped, and side wall, bottom wall, described connecting plate is also U-shaped to the wall relative with opening to two walls of one end open, and controller is arranged on the inside of connecting plate, and connecting plate is connected by rotating shaft with portable plate；One connecting plate of snakelike joint module is vertical with the portable plate of next snakelike joint module to be connected to form snakelike orthogonal joint module；Towards the snakelike joint module of horizontal direction, it is provided with unidirectional follower contact mechanism towards the side wall on ground for portable plate opening in wherein described snakelike orthogonal joint module.During the interaction on the domatic road of snake-shaped robot designed by the present invention and ground can remains stationary, enable snake-shaped robot domatic so that any attitude is static or the exploration task such as rotary head.
Description
Technical field
The invention belongs to electronic information technology, more particularly a kind of snake-shaped robot of unidirectional follower contact mechanism.
Background technology
Snake-shaped robot, is a kind of novel bionic robot for being capable of the motion of mimic biology snake.Because it can be as biological one
Snake-shaped robot sample realizes " without limb motion ", thus is referred to as " being most imbued with the robot of presence " by international robot industry.Day
This Tokyo University of Science and Technology developed first snake-shaped robot in the world in 1972, and its speed is up to 40 cels.And the U.S.
Snake-shaped robot research then represent the advanced level of the world today.In October, 2000, NASA is in Jia Lifu
Buddhist nun Asia equipment preparation center illustrates a kind of snake-shaped robot explored for the outer space, and it can be when some complicated landform be walked
As though walking upon flat ground, motion is very flexible, and with various functions such as detection, detectives.From bionic angle, with reference to robot power
The correlation theory with tribology etc. is learned, the class kinematics model of Behavior-based control control theory is established, answering for class biology
Miscellaneous forms of motion neutralizing is local, simple forms of motion.Using modularized design thinking, each joint can be easy into
Row dismounting.8 joints of snake robot are integrally formed a structure for High redundancy, it is easy to imitate the complicated fortune for realizing snake body
Dynamic form.For the frictional resistance in the motion for reducing snake robot, driven pulley is installed in snake robot both sides, realizes snake body
It is steady travelling, enhance flexibility and the mobility of snake-shaped robot.Using the master of lightweight wear-resistant plastic manufacturing snake-shaped robot
Structure is wanted, the weight of snake body has both been alleviated, the cost of processing is reduced again.
Snake-shaped robot conventional at present is contacted with ground by two-way follower mechanism, realization vertically and horizontally friction ratio
Difference, wriggling movement is carried out on ground, there is two shortcomings when wriggling movement is carried out：
1st, snake-shaped robot is to advance robot to advance by twisting body, but partial joint has what is slided and retreat
Phenomenon.
2nd, snake-shaped robot is when acclive ground carries out wriggling movement, it is impossible to be still in robot domatic
Complete given detection mission.
The content of the invention
1st, the purpose of the present invention.
In order to solve in the case where surface evenness is inadequate, snake-shaped robot domatic again cannot keep quiet to the present invention
Only fulfil assignment, and the snake-shaped robot of a kind of unidirectional follower contact mechanism for proposing.
2nd, the technical solution adopted in the present invention.
The snake-shaped robot of unidirectional follower contact mechanism, including snakelike joint module, described snakelike joint module bag
Include portable plate, rotating shaft, connecting plate, controller；Described portable plate be U-shaped, two walls of one end open side wall, with opening phase
To wall bottom wall, described connecting plate is also U-shaped, and controller is arranged on the inside of connecting plate, and connecting plate passes through rotating shaft and work
Dynamic plate is connected；One connecting plate of snakelike joint module is vertical with the portable plate of next snakelike joint module to be connected to form snakelike
Orthogonal joint module；Snakelike joint mould of the portable plate opening towards horizontal direction in wherein described snakelike orthogonal joint module
Block, it is provided with unidirectional follower contact mechanism towards the side wall on ground；Described unidirectional follower contact mechanism includes U-shaped rudder
Frame, one-way wheel, straight pin, bearing fixing pipe, steering wheel, screw, straight pin through the axle center of one-way wheel, fix by straight pin two ends
It is by two bearing fixing pipes that one-way wheel is spacing in the middle of steering wheel frame on steering wheel frame.
Described one-way wheel includes unilateral bearing and rubber ring, and rubber ring is fixed on above unilateral bearing.
Described straight pin is fixed on steering wheel frame by steering wheel disk.
Described steering wheel disk is screwed on steering wheel frame.
Side wall of the radius of described one-way wheel less than steering wheel frame.
Width of the width of described rubber ring more than or equal to unilateral bearing.
A kind of snake-shaped robot control method of unidirectional follower contact mechanism：
Step（1）, host computer identified input control instruction；
Step（2）, host computer control instruction is transferred to the communication module of slave computer by communication module；
Step（3）, slave computer input instructions into snake-shaped robot joint control；
Step（4）, snake-shaped robot joint control control snake-shaped robot joint acted.
Described communication module uses bluetooth communication.
3rd, beneficial effects of the present invention.
Being capable of remains stationary during the interaction of the domatic road of snake-shaped robot and ground designed by the present invention.On level land
When have with two-way follower as the characteristics of, vertically and horizontally friction ratio can be changed during motion, make snake-shaped robot realize smoothness
Wriggling movement.The one-way wheel can make snake-shaped robot realize climbing function by wriggling movement when domatic, and utilize
The characteristic of one-directional rotation, enables snake-shaped robot domatic so that any attitude is static or the exploration task such as rotary head.The present invention
Can 60 degree it is domatic carry out that straight line is static and rotary head detect operation, flexibility ratio is good, quiescent instants sliding distance be close to
0。
Brief description of the drawings
Fig. 1 is snakelike joint module structure chart of the invention.
Fig. 2 is snakelike orthogonal joint function structure chart of the invention.
Fig. 3 is the unidirectional follower contact mechanism front view of the present invention.
Fig. 4 is one-way wheel structure chart of the present invention.
Fig. 5 is the unidirectional follower contact mechanism side view of the present invention.
Fig. 6 is the unidirectional follower attached view of contact mechanism of the present invention.
Fig. 7 is snakelike orthogonal joint function structure chart of the present invention with unidirectional follower contact mechanism.
Fig. 8 is snake-shaped robot structure chart of the present invention.
Fig. 9 is present invention control snake-shaped robot method flow diagram.
Specific embodiment
In order that the auditor of Patent Office especially the public can be more clearly understood from technical spirit of the invention and having
Beneficial effect, applicant will elaborate by way of example below, but the description to embodiment is not to this hair
The limitation of bright scheme, any only formal rather than substantial equivalent transformation according to done by present inventive concept all should
It is considered as technical scheme category.
Embodiment
First, structure
The snake-shaped robot of unidirectional follower contact mechanism, including snakelike joint module, described snakelike joint module bag
Include portable plate（1）, rotating shaft（2）, connecting plate（3）, controller（4）；Described portable plate is U-shaped, two walls of one end open
Side wall, the wall relative with opening is bottom wall, described connecting plate（3）Also it is U-shaped, controller is arranged on connecting plate（3）Inside,
Connecting plate（3）By rotating shaft（2）With portable plate（1）It is connected；One connecting plate of snakelike joint module（3）With next snakelike pass
Save the portable plate of module（1）Vertical connection forms snakelike orthogonal joint module；It is living in wherein described snakelike orthogonal joint module
Dynamic plate（1）The snakelike joint module being open towards horizontal direction, it is provided with unidirectional follower contact machine towards the side wall on ground
Structure（5）.
One-way wheel contact mechanism needs following material：Unilateral bearing（A）（Internal diameter 8mm, external diameter 22mm, thickness 8mm）；Rubber
Circle（B）（Internal diameter 22mm, external diameter 35mm, thickness 8mm）；Steering wheel frame（51）, straight pin（53）, bearing fixing pipe（54）, steering wheel
（55）, screw（56）；Unidirectional follower contact mechanism（5）Including U-shaped steering wheel frame（51）, one-way wheel（52）, straight pin（53）, axle
Hold fixing pipe（54）, steering wheel（55）, screw（56）：Described one-way wheel includes unilateral bearing（A）And rubber ring（B）, rubber ring
（B）It is fixed on above unilateral bearing（A）；Straight pin（53）Through one-way wheel（52）Axle center, straight pin（53）By steering wheel disk
（55）It is fixed on steering wheel frame（51）On, by two bearing fixing pipes（54）One-way wheel is spacing in steering wheel frame（51）Centre, rudder
Machine disk（55）By screw（56）It is fixed on steering wheel frame（51）On.
2nd, unidirectional follower contact mechanism type snake-shaped robot system building and control（Under normal temperature）：
The first step, rubber ring is fixed on above unilateral bearing（Material requested：Rubber ring and each 1 of unilateral bearing）；
Second step, unilateral bearing is placed in the middle of straight pin, is then fixed with bearing fixing pipe（Material requested：Circle
Pin 1, bearing fixing pipe 2）；
3rd step, by two inner side steering wheel disks be respectively placed in straight pin both sides, be then installed on short U-shaped steering wheel frame
（Material requested：2, steering wheel disk, short 1, U-shaped steering wheel frame）；
4th step, two outside steering wheel disks are respectively arranged in short U-shaped steering wheel frame both sides, then will inside and outside two with screw
Individual steering wheel disk is tightened, and whole straight pin steadily is fixed on short U-shaped steering wheel frame（Material requested：2, steering wheel disk, screw 8
It is individual）；
5th step, simple joint is connected and composed by motor rack and steering wheel；
6th step, orthogonal connection simple joint constitute orthogonal tandem type snake-shaped robot joint；
7th step, connection orthogonal joint constitute snake-shaped robot body；
8th step, the horizontally selected joint base of snake-shaped robot is all connected a unidirectional follower contact mechanism；
9th step, servos control is got up by single-chip microcomputer；
Tenth step, the wireless telecommunications that upper and lower computer is realized using bluetooth；
11st step, realize climbing and the gait such as wriggling movement according to the climbing gait control robot of design.
3rd, the sinuous hill-climbing method of snake-shaped robot：
I is the joint number of snake-shaped robot in formula, and α is isolated value angle（rad）, kn is S-shaped song when snake-shaped robot is moved
Line number, N is total joint number of snake-shaped robot, and L is snake-shaped robot total length（mm）, π is pi, and s is motion speed
Rate.
Each orthogonal joint module of each snake-shaped robot, communication module is controlled to use Bluetooth communication mould using following steps
Block；：
Step（1）, host computer identified input control instruction；
Step（2）, host computer control instruction is transferred to the communication module of slave computer by communication module；
Step（3）, slave computer input instructions into snake-shaped robot joint control；
Step（4）, snake-shaped robot joint control control snake-shaped robot joint acted.
3rd, one-way wheel and bidirectional wheel experimental data compare：
It is shown experimentally that：The robot body domatic can carry out that straight line is static and rotary head detect operation at 60 degree.And
The snake-shaped robot of two-way follower contact mechanism can not realize such function；Straight line is carried out based on one-way wheel contact mechanism slope
Static and rotary head detect operation experiment, speed 0.11m/s, flexibility ratio is good, and quiescent instants sliding distance is 0.Connect based on bidirectional wheel
Structure slope of having a sudden inspiration carries out that straight line is static and the experiment of rotary head detect operation, and speed 0.156m/s, flexibility ratio is good, quiescent instants slide away from
From being 0.23m/s.
Claims (8)
1. a kind of snake-shaped robot of unidirectional follower contact mechanism, it is characterised in that：Including snakelike joint module, described snake
Shape joint module includes portable plate（1）, rotating shaft（2）, connecting plate（3）, controller（4）；Described portable plate is U-shaped, and one end is opened
, side wall, the wall relative with opening is bottom wall, described connecting plate for two walls of mouth（3）Also it is U-shaped, controller is arranged on connection
Plate（3）Inside, connecting plate（3）By rotating shaft（2）With portable plate（1）It is connected；One connecting plate of snakelike joint module（3）With
The portable plate of next snakelike joint module（1）Vertical connection forms snakelike orthogonal joint module；Wherein described is snakelike orthogonal
Portable plate in joint module（1）The snakelike joint module being open towards horizontal direction, it is provided with unidirectionally towards the side wall on ground
Follower contact mechanism（5）；Described unidirectional follower contact mechanism（5）Including U-shaped steering wheel frame（51）, one-way wheel（52）, circle
Pin（53）, bearing fixing pipe（54）, steering wheel（55）, screw（56）, straight pin（53）Through one-way wheel（52）Axle center, cylinder
Pin（53）Two ends are fixed on steering wheel frame, by two bearing fixing pipes（54）One-way wheel is spacing in steering wheel frame（51）It is middle.
2. the snake-shaped robot of the unidirectional follower contact mechanism according to claim 1, it is characterised in that：Described list
Include unilateral bearing to wheel（A）And rubber ring（B）, rubber ring（B）It is fixed on unilateral bearing（A）Above.
3. the snake-shaped robot of the unidirectional follower contact mechanism according to claim 1, it is characterised in that：Straight pin
（53）By steering wheel（55）It is fixed on steering wheel frame（51）On.
4. the snake-shaped robot of the unidirectional follower contact mechanism according to claim 3, it is characterised in that：Described rudder
Disk（55）By screw（56）It is fixed on steering wheel frame（51）On.
5. the snake-shaped robot of the unidirectional follower contact mechanism according to claim 2, it is characterised in that：Described list
Steering wheel frame is less than to the radius of wheel（51）Side wall.
6. the snake-shaped robot of the unidirectional follower contact mechanism according to claim 2, it is characterised in that：Described rubber
Width of the width of cushion rubber more than or equal to unilateral bearing.
7. a kind of snake-shaped robot control method of unidirectional follower contact mechanism according to claim 1, its feature exists
Each orthogonal joint module of each snake-shaped robot is controlled in following steps are used：
Step（1）, host computer identified input control instruction；
Step（2）, host computer control instruction is transferred to the communication module of slave computer by communication module；
Step（3）, slave computer input instructions into snake-shaped robot joint control；
Step（4）, snake-shaped robot joint control control snake-shaped robot joint acted.
8. the snake-shaped robot control method of the unidirectional follower contact mechanism according to claim 7, it is characterised in that：
Described communication module uses bluetooth communication.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106078802B (en) * | 2016-06-08 | 2018-03-27 | 哈尔滨工业大学 | For the module housing in the modularized self-reorganization mobile robot of single wheel drive |
| CN106002992B (en) * | 2016-06-08 | 2018-03-30 | 哈尔滨工业大学 | A kind of modularized self-reorganization mobile robot of single wheel drive |
| CN111844122A (en) * | 2019-04-30 | 2020-10-30 | 长春工业大学 | Snake-shaped robot snake body joint with three-way steering engine orthogonal connection structure |
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| CN1498730A (en) * | 2002-11-06 | 2004-05-26 | 中国科学院沈阳自动化研究所 | Modular snake shaped robot with varistructure |
| CN103007516A (en) * | 2012-12-28 | 2013-04-03 | 杨健飞 | Walking roller skating device |
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| CN201597033U (en) * | 2010-02-22 | 2010-10-06 | 侯宇 | Wheeled model snake-shaped robot mechanism |
| KR101014346B1 (en) * | 2010-08-11 | 2011-02-15 | (주)엔티렉스 | Snake shape robot |
| CN103737579B (en) * | 2014-01-27 | 2015-10-14 | 青岛海艺自动化技术有限公司 | There is the snake-shaped robot adapting to out-of-flatness ground ability |
| CN203726486U (en) * | 2014-03-13 | 2014-07-23 | 哈尔滨石油学院 | Snakelike detection robot |
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| CN1498730A (en) * | 2002-11-06 | 2004-05-26 | 中国科学院沈阳自动化研究所 | Modular snake shaped robot with varistructure |
| CN103007516A (en) * | 2012-12-28 | 2013-04-03 | 杨健飞 | Walking roller skating device |
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