CN106272542B - Imitative snake search and rescue robot articulation mechanism - Google Patents

Imitative snake search and rescue robot articulation mechanism Download PDF

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Publication number
CN106272542B
CN106272542B CN201610844729.6A CN201610844729A CN106272542B CN 106272542 B CN106272542 B CN 106272542B CN 201610844729 A CN201610844729 A CN 201610844729A CN 106272542 B CN106272542 B CN 106272542B
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China
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omni
hooke
revolute
directional wheel
rescue robot
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CN106272542A (en
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曹政才
张东
李萌
肖清
赵利美
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Beijing University of Chemical Technology
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Beijing University of Chemical Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0275Universal joints, e.g. Hooke, Cardan, ball joints

Abstract

Imitative snake search and rescue robot articulation mechanism, including two omni-directional wheels, a joint in parallel group, wherein joint in parallel group includes fixed platform, moving platform, two UPS linear actuators, a PU linear actuator.There are four freedom degrees for this joint tool: flexible, pitching, yaw, omni-directional wheel surround imitative snake search and rescue robot joint central axes rotation.Fang She robot and the advantages of wheeled robot can be effectively combined by imitative snake search and rescue robot articulation mechanism, so that imitative snake search and rescue robot had both had the characteristics of imitative snake search and rescue robot multiple degrees of freedom of tradition, small in size, movement is flexible, strong environmental adaptability, the advantage fast but also with wheeled robot movement velocity, control is simple, greatly improve the locomitivity of imitative snake search and rescue robot, the expansion that gait is moved to imitate snake search and rescue robot lays the foundation, and can effectively improve imitative snake and search and rescue the flexibility and adaptability of snake-shaped robot in different environments.

Description

Imitative snake search and rescue robot articulation mechanism
Technical field
The present invention relates to robot research and engineering field, in particular to a kind of merge wheeled robot and snake-shaped robot Advantage can adapt to the imitative snake search and rescue robot articulation mechanism of complicated landform.
Technical background
In recent years, human economy and science and technology develop rapidly, and process of industrialization gradual perfection, production scale increasingly increases, with This simultaneously, chemicals explosion, mine collapse etc. production accidents occur frequency it is also higher and higher, cause huge casualties with Economic loss.The field rescue of first time is most important after calamity, however disaster field environment is complicated, and rescue personnel cannot be introduced into Disaster field brings huge challenge to rescue work.At the same time, unipolitics pattern is complicated, and break out local war can Energy property still remains, and the threat of terrorism is growing.In the Special Warfare Missions such as war, anti-terrorism, most fast slips into enemy Position carries out effective investigation and tends to capture information commanding elevation, seizes the initiative, and plays for the triumph that acquirement is fought heavy to closing The effect wanted.And special assignment mesorelief is complicated, to investigation tasks bring great risk and it is difficult to predict resistance.Therefore it grinds Studying carefully can replace the robot that the mankind execute disaster assistance, special assignment information is investigated to have huge realistic meaning.Biological snake Do not have leg but can the free movement in various landform, show superpower adaptive capacity to environment, the mankind are using biological snake as inspiration Imitative snake search and rescue robot is had developed, imitative snake search and rescue robot can be moved in various environment with the motion mode of mimic biology snake, And concealment is strong in motion process, these characteristics enable imitative snake search and rescue robot to patrol in military affairs investigation, disaster collection, pipeline The fields such as inspection show huge application potential.
The driving method of imitative snake search and rescue robot is broadly divided into in-wheel driving, crawler type driving and servo driving at present, and three Kind driving method respectively has advantage and disadvantage.In-wheel driving structure is simple, the smooth ground speed of travel is fast, however in rugged topography and faces Effect is driven to be unable to satisfy requirement when barrier;Crawler type drives geostatic pressure small, and landform is adaptable, can be smoothly Face, soft terrain movement, but its structure is complicated, quality is big, and mechanical wear is serious, driving speed and in-wheel driving gap compared with Greatly;Servo driving can be suitable for various landform, and be able to carry out diversified forms of motion extension, but control complicated, calculating Amount is big, cannot achieve flexible motion.
A imitative snake search and rescue robot joint that can satisfy human demand should have the fast of in-wheel driving robot Fast locomitivity, crawler type driving robot ground adaptability and servo driving robot multi-posture motion feature it is same When, realize modular mechanism design and motion control, however there has been no the imitative snakes for sufficiently meeting requirements above to search and rescue machine at present Person joint occurs.
Summary of the invention
In view of the above-mentioned problems, solving wheel at present the object of the present invention is to provide a kind of imitative snake search and rescue robot articulation mechanism The imitative snake search and rescue robot adaptive capacity to environment of formula is insufficient, crawler belt snake-shaped robot speed is slow, steering engine snake-shaped robot flexibility is poor The problems such as.Altogether multi-freedom parallel connection articulation mechanism and orthogonal active omnidirectional wheel, omni-directional wheel can integrally be made in joint For orthogonal driving wheel, the steamboat in omni-directional wheel again can be as the follower imitated on snake search and rescue robot body surface.Work as omni-directional wheel When rotating around module central axes, imitative snake search and rescue robot can be realized wheel type movement;When the linear actuator in parallel in joint When flexible, each small follower and ground face contact in omni-directional wheel generate anisotropy frictional force, so that imitative snake search and rescue robot It being capable of the various movement gaits of mimic biology snake.Snake search and rescue robot articulation mechanism is imitated in addition to can be realized wheeled robot and tradition Other than the movement gait of imitative snake search and rescue robot, it can be realized quickly climbing, obstacle detouring by a variety of improvement attitude description functions, make Snake search and rescue robot adaptive capacity to environment must be imitated significantly to be promoted, be suitably executed earthquake, mine disaster search and rescue, pipeline inspection patrol, battlefield feelings The tasks such as report investigation.
Joint group in parallel and omni-directional wheel other than being together in series by the present invention, also progress modularized design.Each module It is made of two omni-directional wheels and a joint in parallel group, combination is that centre is joint group in parallel, and both sides are omni-directional wheel, each Module assembles independent controller and driving device.Modularized design can guarantee rapidly to replace when part of module breaks down It changes, the quantity in joint can also be adjusted according to the demand of task.Independent controller and driver are equipped in each module, and Omni-directional wheel is assembled on joint both sides in parallel, so that each module independent can be used as a wheeled robot, and can complete straight Line movement, no-radius turning and the movement of non-zero semidiameter turn.
The present invention imitates snake search and rescue robot articulation mechanism, adopts the following technical solutions realization:
The imitative snake search and rescue robot articulation mechanism is gone here and there by the first omni-directional wheel I, joint group II in parallel and the second omni-directional wheel III Connection composition, the first omni-directional wheel I is identical with the structure of the second omni-directional wheel III, and two of the first omni-directional wheel I, the second omni-directional wheel III The concentric fixed installation of branch wheel, and rotate by a certain angle, guarantee that follower covers entire omni-directional wheel circumference, two omni-directional wheel connections The 13rd revolute R13 on axis 24 is connect with the fixed platform of joint group in parallel and movable platform respectively, the 13rd revolute Rotating electric machine is installed, the velocity of rotation by controlling rotating electric machine controls the first omni-directional wheel I and the second omni-directional wheel III on R13 Revolving speed.Joint group II in parallel is by fixed platform, first straight line driver IV, second straight line driver V, third linear actuator VI and moving platform composition.The first straight line driving P1 of three linear actuators, second straight line drive secondary P2, third linear drives pair Independent linear drive motor is installed on P3, by the control to three movement branched chain collapsing lengths, realizes joint in parallel group Flexible, pitching and yaw.
The fixed platform is by round end cap pedestal 1, movement branched chain sleeve 4, the first Hooke's hinge pedestal 2, the second Hooke's hinge Pedestal 3 forms, and movement branched chain sleeve 4, the first Hooke's hinge pedestal 2, the second Hooke's hinge pedestal 3 are solid with round end cap pedestal 1 respectively It is scheduled on together.
The moving platform is by round end cap pedestal 5, third Hooke's hinge pedestal 6, the 4th Hooke's hinge pedestal 7, the 5th Hooke Cut with scissors pedestal 8 form, third Hooke's hinge pedestal 6, the 4th Hooke's hinge pedestal 7, the 5th Hooke's hinge pedestal 8 respectively with round end cap pedestal 5 are fixed together.
The first straight line driver IV is identical UPS branch with second straight line driver VI, and linear actuator IV wraps Containing the first ball-type connecting shaft 9, the 4th ball-type connecting shaft 17, first straight line driving P1, the rotation of the first movement branched chain sleeve 17, first Hooke's hinge pedestal 12, the first revolute R1, the second revolute R2, the 5th revolute R9, the 6th revolute R6, the 11st revolute R11;The upper and lower end of first straight line kinematic pair P1 is separately connected the first movement branched chain sleeve 15, the 11st revolute R11, and first Second revolute pair R2 of 15 lower end of movement branched chain sleeve is connected with the 4th ball-type connecting shaft 17, and first straight line drives the upper end secondary P1 11st revolute pair R11 is connected with the first rotation Hooke's hinge pedestal 12, the 6th rotation of the first rotation 12 upper end of Hooke's hinge pedestal Secondary R6 is connected with the first ball-type connecting shaft 9.
The second straight line driver VI is UPS branch, and second straight line driver VI includes third ball-type connecting shaft 11, the Five ball-type connecting shafts 18, second straight line driving P2, the second movement branched chain sleeve 16, third rotation Hooke's hinge pedestal 14, third rotation Turn secondary R3, the 4th revolute R4, the 7th revolute R7, the 8th revolute R8, the 12nd revolute R12;Second straight line kinematic pair The upper and lower end of P2 is separately connected the second movement branched chain sleeve 16, the 12nd revolute R12,16 lower end of the second movement branched chain sleeve The 4th revolute pair R4 be connected with the 5th ball-type connecting shaft 18, second straight line drive the upper end secondary P2 the 12nd revolute pair R12 and Third rotates Hooke's hinge pedestal 14 and is connected, and the 8th revolute pair R8 of third rotation 14 upper end of Hooke's hinge pedestal is connect with third ball-type Axis 11 is connected.
The third linear actuator V is PU branch, and linear actuator V is straight comprising the second ball-type connecting shaft 10, third Line drives P3, the second rotation Hooke's hinge pedestal 13, the 9th revolute R9, the tenth revolute R10, the 13rd revolute R13;Third 13rd revolute pair R13 of the upper end linear drives secondary P3 is connected with the second rotation Hooke's hinge pedestal 13, the second rotation Hooke's hinge base Tenth revolute pair R10 of 13 upper ends of seat is connected with the second ball-type connecting shaft 10.
5th revolute R5 of IV upper end of first straight line driver and the fixed Hooke's hinge pedestal 8 of the third of movable platform connect It connects, the first revolute R1 of IV lower end of first straight line driver and the first fixed Hooke's hinge pedestal 2 of fixed platform connect.
7th revolute R7 of VI upper end of second straight line driver and the first fixed Hooke's hinge pedestal 6 of movable platform connect It connects, the third revolute R3 of VI lower end of second straight line driver and the second fixed Hooke's hinge pedestal 3 of fixed platform connect.Third 9th revolute R9 of V upper end of linear actuator and the second fixed Hooke's hinge pedestal 7 of movable platform connect.
The third linear motion secondary P3 of V lower end of third linear actuator and the first fixed branch chain bush 4 of fixed platform connect It connects.
The invention adopts the above technical scheme, which has the following advantages:
The each motion module of the present invention is made of one group of parallel connection joint and two omni-directional wheels, and there are four freely for each module Degree can be realized pitching, yaw, stretch and rotate around center axis, further promotes flexibility, increases activity space.Pass through control The collapsing length and omni-directional wheel velocity of rotation for making three movement branched chain linear actuators, realize the movement to imitative snake search and rescue robot Control, reduces operand, simplifies the control process of robot, convenient for the design and optimization of subsequent motion control algolithm.Entirely To wheel and the combination in joint in parallel, make Novel imitation snake search and rescue robot collect the advantage of wheeled robot and tradition Fang She robot in One, enhances its adaptive capacity to environment, enables the multitask work under competent complex environment.
Modular design can change the module number of Fang She robot according to the demand of different task, go out in robot Efficient detection and maintenance are carried out when existing failure, when executing intelligence reconnaissance work, can be decomposed into multiple modules and independently be scouted, Concealment is stronger, and it is bigger to obtain information content.
Detailed description of the invention
Fig. 1 is imitative snake search and rescue robot articulation mechanism schematic diagram of the invention;
Fig. 2 is omni-directional wheel schematic diagram of the invention;
Fig. 3 .1 is group schematic diagram in joint in parallel of the invention;
Fig. 3 .2 is fixed platform schematic diagram of the invention;
Fig. 3 .3 is moving platform schematic diagram of the invention;
Fig. 3 .4 is linear actuator schematic diagram of the invention;
Fig. 4 .1 is stretching motion schematic diagram of the invention;
Fig. 4 .2 is pitching movement schematic diagram of the invention;
Fig. 4 .3 is yawing rotation schematic diagram of the invention;
Fig. 5 is the imitative snake search and rescue robot schematic diagram using the imitative snake search and rescue robot articulation mechanism of the present invention;
In figure: I is upper omni-directional wheel, and II is joint group in parallel, and III is lower omni-directional wheel, IV is first straight line driver, V is Second straight line driver, VI are third linear actuator, and 1 is fixed platform round end cap pedestal, and 2 be the first fixed Hooke's hinge base Seat, 3 are the second fixed Hooke's hinge pedestal, and 4 be fixed movement branched chain sleeve, and 5 be moving platform nose circle pedestal, and 6 be the fixed tiger of third Gram hinge pedestal, 7 be the 4th fixed Hooke's hinge pedestal, and 8 be the 5th fixed Hooke's hinge pedestal, and 9 be the first ball-type connecting shaft, and 10 be the Two ball-type connecting shafts, 11 be third ball-type connecting shaft, and 12 be the first rotation Hooke's hinge pedestal, and 13 be the second rotation Hooke's hinge base Seat, 14 rotate Hooke's hinge pedestal for third, and 15 be the first movement branched chain sleeve, and 16 be the second movement branched chain sleeve, and 17 be the 4th Ball-type connecting shaft, 18 be the 5th ball-type connecting shaft, and 19 be branch wheel driven wheel on omni-directional wheel, and 20 be branch wheel wheel shaft on omni-directional wheel, 21 It is branch wheel wheel shaft under omni-directional wheel for branch wheel driven wheel under omni-directional wheel, 22,23,24 be omni-directional wheel connecting shaft, and 25 be snakehead, and 26 be snake Tail, R1 are the first revolute pair, and R2 is the second revolute pair, and R3 is third revolute pair, and R4 is the 4th revolute pair, and R5 is the 5th rotation Pair, R6 are the 6th revolute pair, and R7 is the 7th revolute pair, and R8 is the 8th revolute pair, and R9 is the 9th revolute pair, and R10 is the tenth rotation Pair, R11 are the 11st revolute pair, and R12 is the 12nd revolute pair, and R13 is the 13rd revolute pair, and R14 is the 14th revolute pair, P1 Pair is driven for first straight line, P2 is that second straight line driving is secondary, and P3 is third linear drives pair.
Specific embodiment
The present invention will be further described for following figure combination attached drawing.
Referring to Fig. 1, imitative snake search and rescue robot articulation mechanism provided by the invention include upper omni-directional wheel I, joint group II in parallel, The connecting shaft 24 of lower omni-directional wheel III, the connecting shaft 23 of upper omni-directional wheel and lower omni-directional wheel is round with the moving platform of joint group in parallel respectively End cap base 5 is fixedly connected with fixed platform round end cap pedestal 1.
Referring to fig. 2, the omni-directional wheel I is made of two omni-directional wheel branch wheels and an omni-directional wheel connecting shaft 23, each omnidirectional Wheel branch wheel is made of an omni-directional wheel wheel shaft 20 and eight followers 19, the 14th revolute R14 and omnidirectional on follower 19 Wheel wheel axis connection.
Referring to Fig. 3 .1-3.4, (fixed platform nose circle pedestal 1, first is fixed comprising fixed platform for parallel connection joint group II Hooke's hinge pedestal 2, second fixes Hooke's hinge pedestal 3, fixed movement branched chain sleeve 4), first straight line driver IV, second straight line (the fixed Hooke's hinge pedestal the 6, the 4th of moving platform nose circle pedestal 5, third is solid for driver V, third linear actuator VI and moving platform Determine Hooke's hinge pedestal 7, the 5th fixed Hooke's hinge pedestal 8);The fixed Hooke of the fixed Hooke's hinge pedestal 2, second of the first of fixed platform Cut with scissors pedestal 3 respectively with the 5th ball in the 4th ball-type connecting shaft 17 and third linear actuator VI on first straight line driver IV Type connecting shaft 18 is connected by revolute R9, the movement branched chain sleeve 4 in fixed platform and the rotation of second on linear actuator Hooke's hinge pedestal 13 passes through linear motion secondary P3 connection.The fixed Hooke's hinge of the fixed Hooke's hinge pedestal the 6, the 4th of third on moving platform Pedestal 7, the 5th fixed Hooke's hinge pedestal 8 drive with the first ball-type connecting shaft 9, the second straight line on first straight line driver IV respectively The second ball-type connecting shaft 10 on dynamic device V, the third ball-type connecting shaft 11 on third linear actuator VI by revolute R5, R10, R7 connection.
Referring to Fig. 3 .2, the fixed platform is by the fixed Hooke's hinge pedestal 2 of fixed platform round end cap pedestal 1, first, the Two fixed Hooke's hinge pedestals 3 and fixed movement branched chain sleeve 4 form;The first fixed fixed Hooke's hinge base of Hooke's hinge pedestal 2, second Seat 3 and fixed movement branched chain sleeve 4 are fixed on fixed platform round end cap pedestal 1.
Referring to Fig. 3 .3, the moving platform is consolidated by moving platform round end cap pedestal 5, the fixed Hooke's hinge pedestal the 6, the 4th of third Determine the fixed Hooke's hinge pedestal 8 of Hooke's hinge pedestal the 7, the 5th to form;The fixed Hooke's hinge pedestal of the fixed Hooke's hinge pedestal the 6, the 4th of third 7, the 5th fixed Hooke's hinge pedestal 8 is fixed on moving platform round end cap pedestal 5.
Referring to Fig. 3 .4, the first straight line driver IV and second straight line driver VI are identical UPS branch, straight line Driver IV includes the first ball-type connecting shaft 9, the 4th ball-type connecting shaft 17, first straight line driving P1, the first movement branched chain sleeve 15, first rotation Hooke's hinge pedestal 12, the first revolute R1, the second revolute R2, the 5th revolute R9, the 6th revolute R6, 11st revolute R11;First straight line kinematic pair P1 upper and lower end is separately connected the rotation of the first movement branched chain sleeve the 15, the 11st The second revolute pair R2 of secondary R11,15 lower end of the first movement branched chain sleeve are connected with the 4th ball-type connecting shaft 17, first straight line driving 11st revolute pair R11 of the upper end secondary P1 is connected with the first rotation Hooke's hinge pedestal 12, the first rotation 12 upper end of Hooke's hinge pedestal The 6th revolute pair R6 be connected with the first ball-type connecting shaft 9.
The second straight line driver VI is UPS branch, and linear actuator VI includes third ball-type connecting shaft 11, the 5th ball Type connecting shaft 18, second straight line driving P2, the second movement branched chain sleeve 16, third rotate Hooke's hinge pedestal 14, third revolute R3, the 4th revolute R4, the 7th revolute R7, the 8th revolute R8, the 12nd revolute R12;On second straight line kinematic pair P2, Lower end is separately connected the second movement branched chain sleeve 16, the 12nd revolute R12, and the 4th turn of 16 lower end of the second movement branched chain sleeve Dynamic secondary R4 is connected with the 5th ball-type connecting shaft 18, and second straight line drives the 12nd revolute pair R12 of the upper end secondary P2 and third to rotate Hooke's hinge pedestal 14 is connected, and third rotates the 8th revolute pair R8 and 11 phase of third ball-type connecting shaft of 14 upper end of Hooke's hinge pedestal Even.
The third linear actuator V is PU branch, and linear actuator V is straight comprising the second ball-type connecting shaft 10, third Line drives P3, the second rotation Hooke's hinge pedestal 13, the 9th revolute R9, the tenth revolute R10, the 13rd revolute R13;Third 13rd revolute pair R13 of the upper end linear drives secondary P3 is connected with the second rotation Hooke's hinge pedestal 13, the second rotation Hooke's hinge base Tenth revolute pair R10 of 13 upper ends of seat is connected with the second ball-type connecting shaft 10.
Referring to 4.1-4.3, the group working principle in joint in parallel of the imitative snake search and rescue robot articulation mechanism are as follows:
.1 referring to fig. 4, left figure are joint in parallel group original state;Middle graph is first straight line driver IV, second straight line When driver V, third linear actuator VI extend 20mm simultaneously, joint group in parallel carries out stretching motion;Right figure is first straight line When driver IV, second straight line driver V, third linear actuator VI shrink 20mm simultaneously, joint group in parallel carries out contraction fortune It is dynamic.
.2 referring to fig. 4, left figure are joint in parallel group original state;Middle graph is first straight line driver IV, third straight line Driver VI extends 20mm simultaneously, and when V length of second straight line driver remains unchanged, joint group in parallel carries out movement of bowing;Right figure 20mm is shunk simultaneously for first straight line driver IV, third linear actuator VI, V length of second straight line driver remains unchanged When, joint group in parallel carries out facing upward movement.
.3 referring to fig. 4, left figure are joint in parallel group original state;Middle graph is first straight line driver IV, second straight line V length of driver remains unchanged, and when third linear actuator VI extends 20mm, joint group in parallel carries out left drift campaign;Right figure It is remained unchanged for second straight line driver V, VI length of third linear actuator, when first straight line driver IV extends 20mm, and Join joint group and carries out right yawing rotation.
Referring to fig. 4, each imitative snake search and rescue robot articulation mechanism forms imitative snake search and rescue robot by joining end to end, first A imitative snake search and rescue robot articulation mechanism outer end connects snakehead 25, the last one imitative snake search and rescue robot articulation mechanism outer end connection Ophiruid 26.

Claims (7)

1. imitative snake search and rescue robot articulation mechanism, it is characterised in that: imitate snake search and rescue robot articulation mechanism by the first omni-directional wheel (I), joint group (II) in parallel and the second omni-directional wheel (III) are composed in series, the knot of the first omni-directional wheel (I) and the second omni-directional wheel (III) Structure is identical, two concentric fixed installations of branch wheel of the first omni-directional wheel (I), the second omni-directional wheel (III), and rotates certain angle Degree guarantees that follower covers entire omni-directional wheel circumference, and the 13rd revolute (R13) on two omni-directional wheel connecting shafts (24) is respectively It is connect with the fixed platform of joint group in parallel and movable platform, rotating electric machine is installed in the 13rd revolute (R13), passes through control The revolving speed of velocity of rotation control the first omni-directional wheel (I) and the second omni-directional wheel III of rotating electric machine processed;Joint group (II) in parallel is by solid Fixed platform, first straight line driver (IV), second straight line driver (V), third linear actuator (VI) and moving platform composition; The first straight line driving (P1) of three linear actuators, second straight line drive secondary (P2), install in third linear drives secondary (P3) There is independent linear drive motor, by the control to three movement branched chain collapsing lengths, realizes that joint group in parallel is flexible, pitching And yaw.
2. imitative snake search and rescue robot articulation mechanism according to claim 1, it is characterised in that: the fixed platform is by circle End cap base (1), movement branched chain sleeve (4), the first Hooke's hinge pedestal (2), the second Hooke's hinge pedestal (3) composition, movement branched chain Sleeve (4), the first Hooke's hinge pedestal (2), the second Hooke's hinge pedestal (3) are fixed together with round end cap pedestal 1 respectively.
3. imitative snake search and rescue robot articulation mechanism according to claim 1, it is characterised in that: the moving platform is by circle End cap base (5), third Hooke's hinge pedestal (6), the 4th Hooke's hinge pedestal (7), the 5th Hooke's hinge pedestal (8) composition, third tiger Gram hinge pedestal (6), the 4th Hooke's hinge pedestal (7), the 5th Hooke's hinge pedestal (8) are fixed on one with round end cap pedestal (5) respectively It rises.
4. imitative snake search and rescue robot articulation mechanism according to claim 1, it is characterised in that: first straight line driver IV, Third linear actuator VI is identical UPS branch, and first straight line driver IV includes the first ball-type connecting shaft (9), the 4th ball Type connecting shaft (17), first straight line driving (P1), the first movement branched chain sleeve (15), the first rotation Hooke's hinge pedestal (12), the One revolute (R1), the second revolute (R2), the 5th revolute (R9), the 6th revolute (R6), the 11st revolute (R11); First straight line kinematic pair (P1) upper and lower end is separately connected the first movement branched chain sleeve (15), the 11st revolute (R11), and first Second revolute pair (R2) of movement branched chain sleeve (15) lower end is connected with the 4th ball-type connecting shaft (17), and first straight line driving is secondary (P1) the 11st revolute pair (R11) of upper end is connected with the first rotation Hooke's hinge pedestal (12), the first rotation Hooke's hinge pedestal (12) the 6th revolute pair (R6) of upper end is connected with the first ball-type connecting shaft (9).
5. imitative snake search and rescue robot articulation mechanism according to claim 1, it is characterised in that: second straight line driver V is PU branch, linear actuator V include the second ball-type connecting shaft (10), third linear drives (P3), the second rotation Hooke's hinge pedestal (13), the 9th revolute (R9), the tenth revolute (R10), the 13rd revolute (R13);The secondary upper end (P3) of third linear drives The 13rd revolute pair (R13) be connected with the second rotation Hooke's hinge pedestal (13), second rotates Hooke's hinge pedestal (13) upper end Tenth revolute pair (R10) is connected with the second ball-type connecting shaft (10).
6. imitative snake search and rescue robot articulation mechanism according to claim 1, it is characterised in that: the omni-directional wheel first (I) It is made of two omni-directional wheel branch wheels and an omni-directional wheel connecting shaft (23), each omni-directional wheel branch wheel is by an omni-directional wheel wheel shaft (20) It is formed with eight followers (19), the 14th revolute (R14) and omni-directional wheel wheel axis connection on follower (19).
7. imitative snake search and rescue robot articulation mechanism according to claim 1, it is characterised in that: each imitative She Soujiujiqirenguan Section mechanism forms imitative snake search and rescue robot by joining end to end, and connects snake first imitative snake search and rescue robot articulation mechanism outer end Head (25), the last one imitative snake search and rescue robot articulation mechanism outer end connection ophiruid (26).
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