CN105773594B - Multi-modal combination of rigidity and flexibility snake-shaped robot device - Google Patents

Abstract

Multi-modal combination of rigidity and flexibility snake-shaped robot device, belong to robotic technology field, including multiple snake-shaped robot unit modules being together in series, two adjacent snake-shaped robot unit modules link together, and each snake-shaped robot unit module includes two skeletons, three motors, multiple transmission mechanisms, multiple axles, multiple wheels, more set belt wheel mechanisms and multiple followers for being provided with unilateral bearing etc..The device can be advanced with multiple modalities, can directly be moved similar to multi-section vehicles, and can, using quickly being moved to wall mode, can also quickly be moved, the ability of adaptation to the ground is strong in narrow and small landform on broad ground using snaked pattern；It is good with multiple frees degree, flexibility；Cross section is small, good by property；Simultaneously simple in construction, control is easy.

Description

Multimodal Rigid-Flexible Composite Snake Robot Device

technical field

The invention belongs to the technical field of robots, and in particular relates to the structural design of a multi-modal rigid-flexible composite snake-shaped robot device.

Background technique

Snake robot is a typical bionic robot, which has the characteristics of high redundancy, small cross-section, and modularization. It can adapt to rough, rugged, and complex terrains, and climb obstacles. It has other advantages in flexibility and functionality. The unique advantages that the kind of robot does not have.

Snake robots can be divided into two categories: passive joint active wheel type and active joint passive wheel type according to the source of moving power. Passive joints and active wheeled snake robots rely entirely on the wheels or crawlers on the side of the device to provide power for movement, and their joints can automatically adapt to changes in the environment and terrain. This kind of snake-shaped robot generally has a large cross-section and poor movement control, and is more common in pipeline robots. The active joint passive wheeled snake robot can move with a snake-like gait, that is, the snake robot relies on the friction characteristics of the side of the device and imitates the snake's gait to convert the twisting of the joints into the forward power of the robot. The motion characteristics of this kind of snake-like robot are close to those of snakes, and the flexibility is high, but it is difficult to move in narrow terrain because the snake-like gait cannot be used.

Snake robots should generally have good maneuverability and passability, which are their main advantages. Natural snakes can pass through various terrains such as flats, jungles, deserts, swamps, etc., depending on their movement modes, such as twisting the body to achieve snake-like movement, which can obtain higher movement speed , but when passing through a narrow hole, the snake cannot move in a serpentine shape, but mainly uses creeping to pass through. Therefore, a snake-like robot with multiple modes of travel will have better passability and maneuverability.

Contents of the invention

The purpose of the present invention is to propose a multi-mode rigid-flexible composite snake-like robot device in order to overcome the deficiencies of the prior art. The device can travel in multiple modes, not only can move directly like a multi-section vehicle, but also can move quickly in a narrow terrain by touching the wall, and can also move quickly in a serpentine mode on a wide ground, and has a strong ability to adapt to the terrain; With multiple degrees of freedom, good flexibility; small cross-section, good passability; simple structure, easy control.

The present invention adopts following technical scheme:

A multi-modal rigid-flexible composite snake-like robot device, comprising m snake-like robot unit modules connected in series, two adjacent snake-like robot unit modules are connected together, and the snake-like robot unit modules include a first skeleton , the second frame, the first motor, the second motor, the first transmission mechanism, the second transmission mechanism, the first shaft, the second shaft, n wheel shafts and n wheels, the first shaft is sleeved on the first In the frame, the second shaft is sleeved in the second frame, the first shaft is fixedly connected to the second shaft, the axis of the first shaft and the axis of the second shaft are perpendicular to each other, and the first motor is fixedly installed On the first frame, the second motor is fixedly installed on the second frame, the output shaft of the first motor is connected with the input end of the first transmission mechanism, and the output shaft of the second motor is connected with the second transmission mechanism The input end of the first transmission mechanism is connected to the first shaft, the output end of the second transmission mechanism is connected to the second shaft, and the wheel shaft is sleeved around the first frame, and each of the The above-mentioned wheels are respectively sleeved on the corresponding axles, the centerlines of all the axles are coplanar and the formed plane is set as the A plane, and all the axles are evenly distributed on the circumference of the A plane; there is a It is characterized in that: the snake robot unit module also includes a third motor, a third transmission mechanism, a main shaft, n driving wheels, n driving belts, n driven wheels and n one-way bearings; the first The output shafts of the three motors are connected to the input end of the third transmission mechanism, the output end of the third transmission mechanism is connected to the main shaft, the main shaft is sleeved in the first frame, and each of the driving wheels is respectively sleeved on the main shaft Each of the transmission belts is respectively connected to the corresponding driving wheel and the driven wheel, and each of the transmission belts, the corresponding driving wheel and the corresponding driven wheel constitute a pulley transmission relationship, and each of the driven wheels is respectively sleeved On the corresponding one-way bearing outer ring, the inner ring of each said one-way bearing is fixed on the corresponding wheel shaft, and the free rotation direction of the inner ring is consistent with the natural rotation direction of the wheel shaft when the snake robot advances; the snake The shaped robot unit module also includes a first torsion spring and a second torsion spring. The first torsion spring is sleeved on the first shaft, one end is fixedly connected to the first shaft, and the other end is fixedly connected to the first frame. Two torsion springs are sleeved on the second shaft, one end is affixed to the second shaft, and the other end is affixed to the second skeleton; the center line of the main shaft of the snake-shaped robot unit module is perpendicular to the A plane, and the center of the main shaft The line passes through the intersection of the centerline of the first axis and the centerline of the second axis, the centerline of the first axis is parallel to the A plane; the first skeleton of the i-th snake robot unit module is connected to the i+1th The second skeleton of the snake robot unit module is fixed together; wherein, n≥3 and n is a natural number, m≥6 and m is a natural number, i is 1, 2,...,m-1 and i is a natural number.

Compared with the prior art, the present invention has the following advantages and outstanding effects:

The device of the invention comprehensively realizes the multi-mode motion function by adopting a plurality of motors, an orthogonal double-degree-of-freedom joint shaft, a compound pulley transmission mechanism, a one-way bearing, a torsion spring, and the like. The device can travel in three modes and has a strong ability to adapt to the terrain. The three modes are: (1) Direct movement mode. The device can move directly on flat ground similar to a multi-section vehicle. Three motors can move, the first motor and the second motor are responsible for controlling the direction of movement; (2) serpentine movement, the device can simulate a snake-like rapid movement on a wide ground, at this time, coordinate control of multiple first motors or the second The second motor twists the joint, the third motor stops, and the wheel rotates freely and passively on the one-way bearing; (3) moving against the wall, the device can quickly pass through narrow terrain or pipelines. When passing through narrow areas or pipelines, The first motor and the second motor are controlled so that the wheels of two adjacent snake-shaped robot unit modules contact (resist) different sides of the wall or pipe wall, and the torsion spring is used to automatically adapt to the position of the wall or pipe wall. The device has multiple degrees of freedom and good flexibility; the cross section is small and the passability is good; at the same time, the structure is simple and the control is easy.

Description of drawings

Fig. 1 is a three-dimensional appearance view of an embodiment of a multimodal rigid-flexible composite snake robot device provided by the present invention.

Fig. 2 is an appearance diagram of a unit module in the embodiment shown in Fig. 1 .

Fig. 3 is a side view of a unit module in the embodiment shown in Fig. 1 when it is straightened.

Fig. 4 is a side view of the first shaft and the second shaft when a unit module is bent in the embodiment shown in Fig. 1 .

Fig. 5 is a partial cross-sectional view of the first shaft and the second shaft when a unit module is straightened in the embodiment shown in Fig. 1 .

Fig. 6 is a partial sectional view of the first shaft and the second shaft when a unit module is bent in the embodiment shown in Fig. 1 .

Fig. 7 is an internal structure diagram of the third shaft part of a unit module in the embodiment shown in Fig. 1 (the shell part is hidden).

Fig. 8 is a partial sectional view of the third shaft part of a unit module in the embodiment shown in Fig. 1 (with a set of wheels and transmission mechanism hidden).

Fig. 9 is a partial view of a unit module in the embodiment shown in Fig. 1, showing that all axles are evenly distributed on plane A.

Fig. 10 is an exploded view of a unit module in the embodiment shown in Fig. 1 .

Fig. 11 is a schematic diagram of direct movement of the embodiment shown in Fig. 1 .

Fig. 12 is a schematic diagram of the serpentine movement of the embodiment shown in Fig. 1 .

Fig. 13 is a schematic diagram of the embodiment shown in Fig. 1 moving against a wall.

In Figures 1 to 13:

1 - the first frame, 2 - the second frame, 3 - the first motor,

4-the second motor, 5-the first transmission mechanism, 6-the second transmission mechanism,

7 - first axis, 8 - second axis, 9 - wheel axle,

10-wheel, 11-the third motor, 12-the third transmission mechanism,

13-main shaft, 14-driving wheel, 15-transmission belt,

16-passive wheel, 17-one-way bearing, 18-first torsion spring,

19-the second torsion spring, 20-the head of the snake-like robot, 21-the tail of the snake-like robot,

22 - Slit.

detailed description

The specific structure, working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

A multi-modal rigid-flexible composite snake-like robot device provided by the present invention comprises m snake-like robot unit modules connected in series, two adjacent snake-like robot unit modules are connected together, and the snake-like robot unit modules Including a first skeleton, a second skeleton, a first motor, a second motor, a first transmission mechanism, a second transmission mechanism, a first shaft, a second shaft, n axles and n wheels, the first bushing It is arranged in the first frame, the second shaft is sleeved in the second frame, the first shaft is fixedly connected to the second shaft, the axis of the first shaft and the axis of the second shaft are perpendicular to each other, and the second shaft A motor is fixedly mounted on the first frame, the second motor is fixedly mounted on the second frame, the output shaft of the first motor is connected with the input end of the first transmission mechanism, the output shaft of the second motor is connected with the The input end of the second transmission mechanism is connected, the output end of the first transmission mechanism is connected with the first shaft, the output end of the second transmission mechanism is connected with the second shaft, and the wheel shaft is sleeved around the first frame , each of the wheels is respectively sleeved on the corresponding wheel axle, the centerlines of all the wheel axles are coplanar and the formed plane is set as the A plane, and all the wheel axles are evenly distributed on the circumference of the A plane; there is a center with all the wheel axles Lines are tangent to a circle; it is characterized in that: the snake robot unit module also includes a third motor, a third transmission mechanism, a main shaft, n driving wheels, n driving belts, n driven wheels and n one-way bearings The output shaft of the third motor is connected to the input end of the third transmission mechanism, the output end of the third transmission mechanism is connected to the main shaft, and the main shaft is sleeved in the first frame, and each of the driving wheels is respectively Sleeved on the main shaft, each of the drive belts is respectively connected to the corresponding driving wheel and the driven wheel, and each of the drive belts, the corresponding driving wheel and the corresponding driven wheel constitute a pulley transmission relationship, and each of the slaves The moving wheels are fixed on the corresponding outer rings of the one-way bearings respectively, and the inner rings of each one-way bearing are fixed on the corresponding axles, and the free rotation direction of the inner rings is consistent with the natural rotation direction of the axles when the snake-like robot moves forward. The snake-shaped robot unit module also includes a first torsion spring and a second torsion spring, the first torsion spring is sleeved on the first shaft, one end is fixedly connected to the first shaft, and the other end is fixedly connected to the first skeleton , the second torsion spring is sleeved on the second shaft, one end is affixed to the second shaft, and the other end is affixed to the second skeleton; the center line of the main shaft of the snake robot unit module is perpendicular to the A plane, And the centerline of the main shaft passes through the intersection of the centerline of the first axis and the centerline of the second axis, and the centerline of the first axis is parallel to the A plane; The second skeleton 2 of i+1 snake robot unit modules is fixed together; wherein, n≥3 and n is a natural number, m≥6 and m is a natural number, i is 1,2,...,m-1 and i is a natural number.

Get n=6, m=12, a kind of embodiment of the multimodal rigid-flexible composite type snake robot device provided by the present invention, as shown in Figure 1, comprises 12 snake robot unit modules connected in series, adjacent The two snake robot unit modules are connected together, and the snake robot unit module includes a first skeleton 1, a second skeleton 2, a first motor 3, a second motor 4, a first transmission mechanism 5, a second transmission mechanism 6. The first shaft 7, the second shaft 8, 6 wheel shafts 9 and 6 wheels 10, as shown in Figure 5, the first shaft 7 is sleeved in the first frame 1, and the second shaft 8 is sleeved in the second skeleton 2, the first shaft 7 is fixedly connected to the second shaft 8, the axis of the first shaft 7 and the axis of the second shaft 8 are perpendicular to each other, and the first motor 3 is fixedly installed on the second On a frame 1, the second motor 4 is fixedly mounted on the second frame 2, the output shaft of the first motor 3 is connected with the input end of the first transmission mechanism 5, and the output shaft of the second motor 4 is connected with the The input end of the second transmission mechanism 6 is connected, the output end of the first transmission mechanism 5 is connected with the first shaft 7, the output end of the second transmission mechanism 6 is connected with the second shaft 8, and the wheel shaft 9 is sleeved Around the first frame 1, each of the wheels 10 is respectively sleeved on the corresponding axle 9, the centerlines of all the axles 9 are coplanar and the formed plane is set as A plane (as shown in Figure 3), all The axles 9 are evenly distributed on the circumference of the plane A; there is a circle tangent to the centerlines of all the axles 9 (as shown in FIG. 9 ).

Described serpentine robot unit module also comprises the 3rd motor 11, the 3rd transmission mechanism 12, main shaft 13, 6 driving wheels 14, 6 transmission belts 15, 6 driven wheels 16 and 6 one-way bearings 17, as shown in Figure 8 As shown; the output shaft of the third motor 11 is connected to the input end of the third transmission mechanism 12, and the output end of the third transmission mechanism 12 is connected to the main shaft 13, and the main shaft 13 is sleeved in the first skeleton 1 Each driving wheel 14 is respectively sleeved on the main shaft 13, each driving belt 15 is respectively connected to the corresponding driving wheel 14 and the driven wheel 16, and each driving belt 15, the corresponding driving wheel 14 and the corresponding The three driven wheels 16 form a pulley transmission relationship, each of the driven wheels 16 is respectively sleeved on the outer ring of the corresponding one-way bearing 17, and the inner ring of each of the one-way bearings 17 is fixed on the corresponding wheel shaft 9 Above, the free rotation direction of the inner ring is consistent with the natural rotation direction of the wheel shaft 9 when the snake robot advances; the snake robot unit module also includes a first torsion spring 18 and a second torsion spring 19, and the first torsion spring 18 Sleeved on the first shaft 7, one end is fixedly connected to the first shaft 7, and the other end is fixedly connected to the first frame 1. The second torsion spring 19 is sleeved on the second shaft 8, and one end is connected to the second shaft 8. Affixed, the other end is affixed with the second skeleton 2; The center line of the main shaft 13 of the snake robot unit module is perpendicular to the A plane, and the center line of the main shaft 13 passes through the center line of the first shaft 7 and the second The intersection point of the center line of the axis 8, the center line of the first axis 7 is parallel to the A plane; the first skeleton 1 of the i-th snake-like robot unit module and the second skeleton of the i+1-th snake-like robot unit module 2 are fixed together and i is 1,2,...,11. Cooperate with the auxiliary control unit and power supply to form a complete snake robot.

Transmission belts can be realized in many ways, such as flat belts, V belts, and synchronous belts.

The working principle of the embodiment of the multi-modal rigid-flexible composite snake robot device will be described below with reference to the accompanying drawings.

(i) The working principle of the present embodiment directly moving on flat ground, as shown in Figure 11, is described as follows:

In this embodiment, the wheels around each module are in contact with the ground, and the third motor 11 drives the main shaft 13 to rotate through the output shaft, and the rotation of the main shaft 13 is transmitted to the one-way bearing 17 through the transmission chain formed by the driving wheel 14, the transmission belt 15, and the driven wheel 16. At this time, the rotation direction of the inner ring relative to the outer ring is the same as the locked rotation direction of the one-way bearing, and the rotation of the outer ring of the one-way bearing 17 is transmitted to the inner ring, driving the wheel shaft 9 and The wheel 10 sleeved on the axle 9 rotates. The rotation of the wheel 10 drives the snake robot to advance through friction with the ground.

The rotation of the first motor 3 drives the first skeleton 1 to rotate relative to the first shaft 7 through the transmission of the first transmission mechanism 5 , and the rotation of the second motor 4 drives the second skeleton 2 around the second shaft 8 through the transmission of the second transmission mechanism 6 Rotate, the next module fixedly connected with the second skeleton 2 will be driven to rotate around the first axis 7 and the second axis 8, so as to realize the change of the forward direction of the snake robot.

(ii) The operating principle of the serpentine movement of the present embodiment on the wide ground, as shown in Figure 12, is described as follows:

After the snake robot is formed in this embodiment, the torque of the first motor 3 is transmitted to the first shaft 7 through the transmission of the first transmission mechanism 5, and the torque of the second motor 4 is transmitted to the second shaft through the transmission of the second transmission mechanism 6. 8, driving the relative twist between the first skeleton 1 and the second skeleton 2, the overall twist of the snake-like robot is similar to that of a natural snake; the wheels 10 of each unit module of the snake-like robot are in contact with the ground. The third motor 11 stalls, so that the main shaft 13, the driving wheel 14, the transmission belt 15, the driven wheel 16 and the outer ring of the one-way bearing 17 all stall together with it. The rotation direction of the inner wheel shaft 9 and the inner ring of the one-way bearing 17 sleeved on the wheel shaft 9 relative to the outer ring is the same as the free rotation direction of the one-way bearing. The inner ring of the one-way bearing 17 and the wheel shaft 9 sleeved in the inner ring And the wheel 10 sleeved on the wheel shaft 9 can freely rotate around the corresponding wheel shaft. At this point the embodiment can advance on ground type natural snakes.

(iii) the moving against the wall of the present embodiment, its operating principle as shown in Figure 7, as shown in Figure 13, is described as follows:

When passing through narrow terrain or pipelines, the torque of the first motor 3 is transmitted to the first shaft 7 through the transmission of the first transmission mechanism 5, and the torque of the second motor 4 is transmitted to the second shaft 8 through the transmission of the second transmission mechanism 6 Above, drive the wheels 10 of two adjacent snake-like robot unit modules against different sides of the wall or pipe wall, and then stop the motor movement of the first axis and the second axis, which is guaranteed by the first torsion spring and the second torsion spring The automatic adaptation and fit of the wheel 10 to the position of the wall or the pipe wall.

Start the third motor 11, the third motor 11 drives the main shaft 13 to rotate through the output shaft, and the rotation of the main shaft 13 is transmitted to the outer ring of the one-way bearing 17 through the transmission chain formed by the driving wheel 14, the transmission belt 15 and the driven wheel 16. The rotation direction of the ring relative to the outer ring is the same as the locked rotation direction of the one-way bearing, and the rotation of the outer ring of the one-way bearing 17 is transmitted to the inner ring, driving the wheel shaft 9 socketed in the inner ring and the wheel socketed on the wheel shaft 9 10 spins. The rotation of the wheel 10 drives the advancement of the snake robot by friction with the ground. Enables travel in narrow areas or pipes.

The device of the invention comprehensively realizes the multi-mode motion function by adopting a plurality of motors, an orthogonal double-degree-of-freedom joint shaft, a compound pulley transmission mechanism, a one-way bearing, a torsion spring, and the like. The device can travel in three modes and has a strong ability to adapt to the terrain. The three modes are: (1) Direct movement mode. The device can move directly on flat ground similar to a multi-section vehicle. Three motors can move, the first motor and the second motor are responsible for controlling the direction of movement; (2) serpentine movement, the device can simulate a snake-like rapid movement on a wide ground, at this time, coordinate control of multiple first motors or the second The second motor twists the joint, the third motor stops, and the wheel rotates freely on the one-way bearing; (3) moving against the wall, the device can quickly pass through narrow terrain or pipelines, and when passing through narrow areas or pipelines, control The first motor and the second motor make the wheels of two adjacent snake-shaped robot unit modules contact (resist) different sides of the wall or pipe wall respectively, and use the torsion spring to realize automatic adaptation to the position of the wall or pipe wall. The device has multiple degrees of freedom and good flexibility; the cross section is small and the passability is good; at the same time, the structure is simple and the control is easy.

Claims (1)

1. a kind of multi-modal combination of rigidity and flexibility snake-shaped robot device, including the m snake-shaped robot unit modules being together in series, phase Two adjacent snake-shaped robot unit modules link together, and the snake-shaped robot unit module includes the first skeleton (1), the Two skeletons (2), the first motor (3), the second motor (4), the first transmission mechanism (5), the second transmission mechanism (6), first axle (7), Second axle (8), n wheel shaft (9) and n wheel (10), described first axle (7) are set in the first skeleton (1), and described Two axles (8) are set in the second skeleton (2), and the first axle (7) and the second axle (8) are affixed, the axis and second of first axle (7) The axis of axle (8) is mutually perpendicular to, and first motor (3) is fixedly mounted on the first skeleton (1), and second motor (4) is solid Dingan County is on the second skeleton (2), and the output shaft of first motor (3) is connected with the input of the first transmission mechanism (5), institute The output shaft for stating the second motor (4) is connected with the input of the second transmission mechanism (6), the output of first transmission mechanism (5) End is connected with first axle (7), and the output end of second transmission mechanism (6) is connected with the second axle (8), and the wheel shaft (9) is arranged Surrounding in the first skeleton (1), each wheel (10) is fixed on corresponding wheel shaft (9) respectively, in all wheel shafts (9) Heart line is coplanar and the plane that is formed is set to A planes, and all wheel shafts (9) are circularly and evenly distributed in A planes；In the presence of one with The tangent circle of the center lines of all wheel shafts (9)；It is characterized in that：The snake-shaped robot unit module also includes the 3rd motor (11), the 3rd transmission mechanism (12), main shaft (13), n driving wheel (14), n transmission belt (15), n follower (16) and n Unilateral bearing (17)；The output shaft of 3rd motor (11) is connected with the input of the 3rd transmission mechanism (12), and the described 3rd The output end of transmission mechanism (12) is connected with main shaft (13), and the main shaft (13) is set in the first skeleton (1), each master Driving wheel (14) is fixed on main shaft (13) respectively, every transmission belt (15) connect respectively corresponding to driving wheel (14) with it is driven Take turns (16), and every transmission belt (15), corresponding driving wheel (14) and corresponding driven pulley (16) three form belt wheel and passed Dynamic relation, each driven pulley (16) are fixed on corresponding unilateral bearing (17) outer ring respectively, each described one-way shaft The inner ring for holding (17) is fixed on corresponding wheel shaft (9), and inner ring rotates freely wheel shaft when direction is advanced with the snake-shaped robot (9) natural rotation direction is consistent；The snake-shaped robot unit module also includes the first torsion spring (18), the second torsion spring (19), institute The first torsion spring (18) to be stated to be set in first axle (7), one end and first axle (7) are affixed, and the other end and the first skeleton (1) are affixed, Second torsion spring (19) is set on the second axle (8), and one end and the second axle (8) are affixed, and the other end and the second skeleton (2) are solid Connect；The central axis of main shaft (13) described in the snake-shaped robot unit module is in A planes, and the center line of main shaft (13) is worn The intersection point of the center line of first axle (7) and the center line of the second axle (8) is crossed, the center line of the first axle (7) is put down with A planes OK；The first skeleton (1) of i-th of snake-shaped robot unit module and the second skeleton of i+1 snake-shaped robot unit module (2) it is fixed together；Wherein, n >=3 and n are natural number, and m >=6 and m are natural number, and i 1,2 ..., m-1 and i are natural number.