CN107116543B - Modular reconfigurable snake-shaped robot - Google Patents
Modular reconfigurable snake-shaped robot Download PDFInfo
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- CN107116543B CN107116543B CN201710374258.1A CN201710374258A CN107116543B CN 107116543 B CN107116543 B CN 107116543B CN 201710374258 A CN201710374258 A CN 201710374258A CN 107116543 B CN107116543 B CN 107116543B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
A modular and reconfigurable snake-shaped robot relates to a snake-shaped robot. The invention solves the problems of reverse tooth clearance, small driving force, long control period, poor control precision and insufficiently compact structure of the existing snake-shaped robot. Reconfigurable snake robot comprises a series of modularization joints end to end, and two adjacent modularization joints are arranged at 90 intervals, realize electric connection through spring-contact pin mode, the rotation motion of single joint is realized to the mode that DC brushless motor drive harmonic speed reducer ware is adopted to modularization joint, has advantages such as structure modularization, configuration compactness, load capacity are strong, the snake robot can separate at adjacent joint under the operational environment of difference to reconfigurable is two or more snake robot, and the same reason can be become a snake robot by two or more snake robot reconfigurations. The invention is suitable for the fields of pipeline detection, disaster rescue, space planet surface detection and the like.
Description
Technical Field
The invention relates to a snake-shaped robot, in particular to a modularized and reconfigurable snake-shaped robot, and belongs to the technical field of robots.
Background
Compared with the traditional industrial robot, the snake-shaped robot has the crossing capability in a narrow space, the obstacle crossing capability in complex environments such as multiple obstacles and the like, the smart operation capability of super-redundant freedom degree and the reconfigurable capability in dangerous environments, so that the snake-shaped robot becomes a hot problem in the robot research field recently and receives more and more attention. The snake-shaped robot is generally used for pipeline detection, disaster relief, planetary surface detection of aerospace and the like.
The invention patent with application number ZL 02144565.6 discloses a modular snake-shaped robot with a variable structure, the invention patent with application number 201110183015.2 discloses a crawling speed measuring method of a snake-shaped robot with a P-P structure, the invention patent with application number 201410217818.9 discloses a body section unit of a multi-body section snake-shaped robot, the three inventions are all driven by a steering engine, and the three inventions have the advantages of compact structure, low price and the defects of reverse tooth gaps, no moment sensing and small driving force; the control period of the prior snake-shaped robot driven by the steering engine is about 20 milliseconds.
The invention patent with the application number of 201510161800.6 discloses a modularized two-degree-of-freedom spherical joint, a snake-shaped robot and a motion control method, the invention patent application with the application number of 201510936582.9 discloses a worm-drive active multi-wheel snake-shaped robot with a universal joint, the two snake-shaped robots adopt a worm gear drive mode or a gear drive mode and the like, although the driving moment is increased, the problems of incompact structure, reverse tooth gaps and the like still exist; the document Design and architecture of the Unified modulated wind Robot proposes the problem of speed reduction by using a direct current brush motor and a gear, the method can effectively improve the driving torque, but the direct current brush motor has the defects of large noise, low service life and the like caused by mechanical contact during commutation, and the gear reducer has large volume and reverse clearance; the invention patent with publication number CN 103991089A is provided with a ball bearing connection for sliding back and forth at the contact position of the front connecting arm and the connector body, which is not convenient for self-reconstruction of the robot; the invention patent with publication number CN 104972457 a realizes the pitch motion between the joints through gear transmission mechanisms such as straight gears and bevel gears, and the mode has large volume and insufficiently compact structure.
In conclusion, the conventional snake-shaped robot has the advantages of small driving force, reverse backlash, long control period, poor control precision and insufficiently compact structure.
Disclosure of Invention
The invention aims to solve the problems of reverse tooth gaps, small driving force, long control period, poor control precision and incompact structure of the conventional snake-shaped robot, and further provides a modularized and reconfigurable snake-shaped robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the modularized reconfigurable snake-shaped robot comprises a plurality of modularized joints which are connected end to end, wherein two adjacent modularized joints are arranged in a rotating mode by 90 degrees, the two adjacent modularized joints are connected and positioned through cylindrical pins and are orthogonally arranged, each modularized joint comprises a joint input part, a joint output part, a middle shaft joint, a motor assembly and a harmonic reducer, the joint input part and the joint output part are respectively arranged at two ends of the middle shaft joint, the motor assembly and the harmonic reducer are arranged in the middle shaft joint in parallel, the output end of the motor assembly is connected with the harmonic reducer, the motor assembly drives the harmonic reducer to rotate, and the harmonic reducer drives the joint output part to execute swinging motion with the middle shaft joint as an axis; spring contact pins are distributed on the motor driving plate 14 of the joint input part, and the electrical connection of the adjacent modular joints is realized by the contact of the spring contact pins on the motor driving plate 14 and the joint control plate 34 of the joint output part.
Further, the motor assembly comprises a motor shell 1, a motor stator 2, a motor rotor 3, a motor shaft 4 and a motor end cover 7, wherein the motor shell 1 is a cylindrical shell, the motor shell 1 is arranged inside the middle shaft joint, the motor shaft 4 is arranged inside the motor shell 1 and is connected with the motor end cover 7, the motor rotor 3 is sleeved on the motor shaft 4, the motor stator 2 is sleeved outside the motor rotor 3 and is fixedly arranged on the inner wall of the motor shell 1, and a spacer sleeve 37 is arranged between the motor shell 1 and the motor stator 2.
Further, the motor assembly further comprises a first deep groove ball bearing 5 and a gasket 6, the motor shaft 4 is installed in the motor shell 1 through the first deep groove ball bearing 5, and the gasket 6 is arranged between the motor end cover 7 and the first deep groove ball bearing 5.
Further, the joint input part comprises a torque sensor elastic body 8, an overload protection block 9, a joint input end cover 10, a joint input end first shell 11, a motor drive plate 14, a joint input end second shell 16 and two cylindrical pins 15, the joint input end first shell 11 and the joint input end second shell 16 are detachably connected to the joint input end cover 10, a first cavity is formed inside the joint input end first shell 11 and the joint input end second shell 16, the torque sensor elastic body 8, the overload protection block 9 and the motor drive plate 14 are arranged in the first inner cavity, the overload protection block 9 is arranged inside the torque sensor elastic body 8, one end of the torque sensor elastic body 8 is connected with the motor shell 1, the other end of the torque sensor elastic body 8 is connected with the joint input end cover 10, and two sides of the sensor elastic body 8 are respectively provided with a strain gauge 40.
Further, the joint input piece further comprises a joint input end nut 12 and a joint input end connecting piece 13, the joint input end connecting piece 13 is installed on the joint input end cover 10, and the joint input end nut 12 is in threaded connection with the joint input end connecting piece 13.
Further, the joint input end cover 10 is a circular cover body, two cylindrical pins 15 are arranged on the joint input end cover 10, the two cylindrical pins 15 are arranged along the axial direction of the joint input end cover 10, the bottom of each cylindrical pin 15 is fixedly connected to the joint input end cover 10, the top of each cylindrical pin 15 penetrates through the joint input end connecting piece 13, the projections of the central axes of the two cylindrical pins 15 on the joint input end cover 10 are respectively a point a and a point B, the radiuses of the point a and the point B on the joint input end cover 10 form a central angle of α, and the central angle of α is 90 °.
Further, the harmonic reducer includes a fixed case 17 for the rigid gear, a rigid gear 18, a wave generator 19, a flexible gear 20, a switching shaft 21 for the flexible gear, and an output end cover 22, the fixed case 17 for the rigid gear is disposed on one side of the motor housing 1 and communicated with the rigid gear and the wave generator 19, the rigid gear 18 and the wave generator 19 are both disposed in the fixed case 17 for the rigid gear, the wave generator 19 is sleeved on the motor shaft 4, the rigid gear 18 is sleeved outside the wave generator 19 and disposed in a gap therebetween, an outer end face of the rigid gear 18 is fixedly connected to the fixed case 17 for the rigid gear, one end of the flexible gear 20 is disposed in the gap between the rigid gear 18 and the wave generator 19, the other end of the flexible gear 20 is connected with the output end cover 22 through the switching shaft 21 for the flexible gear, the output end cover 22 is connected with the joint output component, and the output end.
Further, the joint output end position sensor comprises a magnetic ring 23 and a position sensor circuit board 28, the magnetic ring 23 is fixed with the rigid wheel through a stepped circular ring in the axial direction and the radial direction of the fixed shell 17, the position sensor circuit board 28 is fixed on the output end cover 22, and a gap is reserved between the magnetic ring 23 and the position sensor circuit board 28.
Further, the joint output piece comprises a joint output end shell 27, a connecting upright post 30, a first joint output end shell 31, a joint output end cover 32, a joint output end stud 33, a joint control board 34, a flexible PCB cable 35 and a second joint output end shell 36, the joint output end first shell 31 and the joint output end second shell 36 are detachably connected to the joint output end shell 27, and a second cavity is formed inside the three, the joint output end stud 33 is located on the outer end face of the joint output end cover 32 and is in threaded connection with the joint output end cover 32, the connecting upright column 30 is vertically arranged between the joint output end cover 32 and the output end cover 22, the joint control board 34 and the flexible PCB cable 35 are both arranged in the second cavity, one end of the flexible PCB cable 35 penetrates through the middle shaft joint to be connected with the motor drive board 14, and the other end of the flexible PCB cable 35 is connected with the joint control board 34.
Further, the middle shaft joint comprises a joint first wire protection cover 38 and a joint second wire protection cover 39, the joint first wire protection cover 38 and the joint second wire protection cover 39 are both arc-shaped cover bodies, the joint first wire protection cover 38 and the joint second wire protection cover 39 are horizontally arranged in parallel, two ends of the joint first wire protection cover 38 and two ends of the joint second wire protection cover 39 are fixedly connected with the motor shell 1, a cable passing opening is formed between the joint first wire protection cover 38 and the joint second wire protection cover 39, and the flexible PCB cable 35 is located between the joint first wire protection cover 38, the joint second wire protection cover 39, the motor shell 1 and the joint output end shell 27.
Compared with the prior art, the invention has the following beneficial effects:
the modularized reconfigurable snake-shaped robot has the advantages of reasonable and compact structural design and small occupied space, and has the advantages of large output torque, high precision, short control period and small reverse clearance through the mutual matching of the joint input part, the joint output part, the middle shaft joint, the motor assembly and the harmonic reducer, and the prototype test shows that the control period of the modularized reconfigurable snake-shaped robot can be shortened to be within 2 milliseconds;
secondly, the modularized reconfigurable snake-shaped robot adopts the reconfigurable idea to enable the snake-shaped robot to be separated at adjacent joints under different working environments, so that the snake-shaped robot can be reconfigured into two or more snake-shaped robots;
the head and the tail ends of two adjacent modular joints of the modular reconfigurable snake-shaped robot adopt cylindrical pins to facilitate the positioning of different modules during head-to-tail connection, the two cylindrical pins are distributed at intervals of 90 degrees to ensure the unique fixed positions of different modules during head-to-tail connection, and the locking function of different modules during head-to-tail connection is realized in a nut mode;
the head and the tail of two adjacent modular joints of the modular reconfigurable snake-shaped robot adopt a spring-contact pin mode so as to facilitate the electrical connection between the head and the tail of different modules, thereby improving the electrical connection convenience between different joint modules when the snake-shaped robot is reconfigured;
the torque sensor with the overload protection function is formed by the torque sensor elastic body and the overload protection block, so that the force detection device has force detection capability and is used for measuring the output torque of the snake-shaped robot joint, the torque sensing function of the robot is increased, the force control of the robot is facilitated, and the sensor can be prevented from being damaged by larger acting force; the invention forms the joint position output end sensor through the magnetic ring, the position sensor circuit board with the induction chip and the gap formed by the magnetic ring and the position sensor circuit board with the induction chip, the invention realizes the detection of the joint position based on the Hall effect between the magnetic ring and the induction chip, the sensor has compact structure and high precision, increases the position sensing capability of the robot, and is convenient for the position control of the robot;
sixth, the adjacent joints of the snake-shaped robot provided by the invention are positioned through the cylindrical pins, locked through the nuts and electrically connected through the spring-contact pin, so that the quick reconfigurable capability of the snake-shaped robot is improved, and the reliability of the snake-shaped robot is improved.
Drawings
FIG. 1 is a perspective view of the overall construction of the modular reconfigurable serpentine robot of the present invention;
FIG. 2 is a perspective view of a modular joint according to one embodiment of the present invention;
FIG. 3 is a schematic view in radial cross section of a modular joint in accordance with one embodiment of the present invention;
FIG. 4 is a schematic axial cross-sectional view of a modular joint in accordance with one embodiment of the present invention;
fig. 5 is a structural diagram of two cylindrical pins 15 arranged on the joint input end cover 10 in the fourth embodiment.
Detailed Description
The first embodiment is as follows: as shown in fig. 1 to 5, the modular reconfigurable snake robot of the present embodiment includes a plurality of modular joints connected end to end, two adjacent modular joints are arranged to rotate 90 °, two adjacent modular joints are positioned and orthogonally arranged by a cylindrical pin, the modular joints include a joint input part, a joint output part, an intermediate shaft joint, a motor assembly and a harmonic reducer, the two ends of the intermediate shaft joint are respectively provided with the joint input part and the joint output part, the motor assembly and the harmonic reducer are arranged in parallel inside the intermediate shaft joint, the output end of the motor assembly is connected with the harmonic reducer, the motor assembly drives the harmonic reducer to rotate, and the harmonic reducer drives the joint output part to execute a swing motion with the intermediate shaft joint as an axis; spring contact pins are distributed on the motor driving plate 14 of the joint input part, and the electrical connection of the adjacent modular joints is realized by the contact of the spring contact pins on the motor driving plate 14 and the joint control plate 34 of the joint output part.
The middle shaft joint is a cylindrical shaft joint, and the motor component is a direct-current brushless motor component.
The afterbody of two adjacent modularization joints passes through cylindric lock 15 location, the head of a modularization joint and the afterbody of two adjacent modularization joints pass through joint output terminal double-screw bolt 33 and joint input end nut 12 complex mode locking, the last spring contact needle that distributes of motor drive plate 14, the electric connection of adjacent modularization joint is through the spring contact needle and the contact realization of joint control panel 34 on the motor drive plate 14, can separate at adjacent joint under the operational environment of difference, thereby the restructural is two or more snake shape robots, and the same is said, can become a snake shape robot by two or more snake shape robots of restructuring.
The second embodiment is as follows: as shown in fig. 2, fig. 3 and fig. 4, the motor assembly of the present embodiment includes a motor housing 1, a motor stator 2, a motor rotor 3, a motor shaft 4 and a motor end cover 7, the motor housing 1 is a cylindrical housing, the motor housing 1 is disposed inside the middle shaft joint, the motor shaft 4 is disposed inside the motor housing 1 and connected to the motor end cover 7, the motor rotor 3 is sleeved on the motor shaft 4, the motor stator 2 is sleeved outside the motor rotor 3 and fixedly mounted on the inner wall of the motor housing 1, and a spacer 37 is disposed between the motor housing 1 and the motor stator 2.
This embodiment motor stator 2 is through gluing mode fixed connection on motor housing 1, and motor rotor 3 is also through gluing mode fixed connection on motor shaft 4, and motor shaft 4 and first deep groove ball bearing 5's inner circle closely cooperates, when 3 circular telegrams motor rotor, because the effect in motor stator 2 magnetic field makes motor rotor 3 realize rotary motion. Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: as shown in fig. 3, the motor assembly of the present embodiment further includes two first deep groove ball bearings 5 and a spacer 6, the motor shaft 4 is mounted in the motor housing 1 through the two first deep groove ball bearings 5, and the spacer 6 is disposed between the motor end cover 7 and the first deep groove ball bearings 5. So set up, the one end of motor shaft 4 is connected with motor housing 1 through a deep groove ball bearing 5, and the other end of motor shaft 4 is connected with motor end cover 7 through another deep groove ball bearing 5, and motor end cover 7 sets up on the inner wall of middle boss. Other components and connection relationships are the same as those in the second embodiment.
The fourth concrete implementation mode: as shown in fig. 3 and 4, the joint input member of the present embodiment includes a torque sensor elastic body 8, an overload protection block 9, a joint input end cover 10, a joint input end first housing 11, a motor drive plate 14, a joint input end second housing 16 and two cylindrical pins 15, the first shell 11 of joint input end and the second shell 16 of joint input end can be dismantled and connect on joint input end cover 10 and the inside of three is formed with first cavity, torque sensor elastomer 8, overload protection piece 9 and motor drive plate 14 set up at first inner chamber, overload protection piece 9 sets up in the inside of torque sensor elastomer 8, the one end of torque sensor elastomer 8 is connected with motor housing 1, the other end of torque sensor elastomer 8 is connected with joint input end cover 10, the both sides of sensor elastomer 8 respectively are provided with a foil gage 40.
In the present embodiment, the sensor elastic body 8 is vertically disposed, and one strain gauge 40 is attached to both sides of the sensor elastic body 8. The two strain gauges 40 constitute a half wheatstone bridge. The Wheatstone half-bridge is connected with the bridge circuit through a wire to achieve the compensation effect.
In the present embodiment, the overload protection block 9 is installed in the through hole of the torque sensor elastic body 8 by a screw, and a gap is left between the overload protection block 9 and the elastic beam of the torque sensor elastic body 8. When the joint atress exceeded the rated value, overload protection piece 9 and moment sensor elastomer 8's elastic beam took place the contact, and the effort passes through overload protection piece 9 and transmits this moment to guaranteed that moment sensor elastomer 8's elastic beam can not take place to damage because of the atress is too big, improved security and reliability.
In this embodiment, the joint input end connecting piece 13 provides a support position for the motor driving board 14, the joint input end first housing 11 and the joint input end second housing 16, and the motor driving board 14, the joint input end first housing 11 and the joint input end second housing 16 are all fixedly mounted on the joint input end connecting piece 13. Other components and connection relationships are the same as those in the first, second or third embodiment.
The fifth concrete implementation mode: as shown in fig. 3, the joint input member of the present embodiment further includes a joint input end nut 12 and a joint input end connector 13, where the joint input end connector 13 is a sleeve structure and screwed on the joint input end cap 10 by a threaded connection, and the joint input end nut 12 is screwed on the input end connector 13 by a threaded connection.
The locking function of different modules during head-tail connection is realized through a nut mode in the implementation mode. Other components and connection relationships are the same as those in the fourth embodiment.
Sixth embodiment, as shown in fig. 3, 4, and 5, the joint input end cap 10 of the present embodiment is a circular cap, two cylindrical pins 15 are disposed on the joint input end cap 10, both the two cylindrical pins 15 are disposed along the axial direction of the joint input end cap 10, the bottom of each cylindrical pin 15 is fixedly connected to the joint input end cap 10, the top of each cylindrical pin 15 passes through the joint input end connecting member 13, projections of central axes of the two cylindrical pins 15 on the joint input end cap 10 are points a and B, a central angle formed by the radii of the points a and B on the joint input end cap 10 is α, and the central angle α is 90 °.
In this embodiment, the joint input end connector 13 and the joint input end cap 10 are both circular caps and are coaxially disposed. The projection of the two cylindrical pins 15 onto the joint input connection 13 also forms a central angle of 90 °. The position setting of two cylindric locks 15 can ensure effective and relatively stable mechanical connection between two adjacent joints, and the two is 90 interval distribution can guarantee the only fixed position when a plurality of joints end to end connect. Other components and connection relationships are the same as those in the first, second, third or fifth embodiment.
The seventh embodiment: as shown in fig. 3 and 4, the harmonic reducer of the present embodiment includes a rigid gear fixing case 17, a rigid gear 18, a wave generator 19, a flexible gear 20, a flexible gear coupling shaft 21, and an output end cover 22, where the rigid gear fixing case 17 is disposed on one side of the motor housing 1 and is communicated with the rigid gear fixing case and the flexible gear fixing case, the rigid gear 18 and the wave generator 19 are both disposed in the rigid gear fixing case 17, the wave generator 19 is sleeved on the motor shaft 4, the rigid gear 18 is sleeved outside the wave generator 19 and is disposed in a gap therebetween, an outer end surface of the rigid gear 18 is fixedly connected to the rigid gear fixing case 17, one end of the flexible gear 20 is disposed in the gap between the rigid gear 18 and the wave generator 19, the other end of the flexible gear 20 is connected to the output end cover 22 through the flexible gear coupling shaft 21, the output end cover 22 is connected to the joint output member, and the output end cover 22.
In this embodiment, the wave generator 19 is sleeved on one end of the motor shaft 4 far away from the motor end cover 7. Other components and connection relations are the same as those of the sixth embodiment.
The specific implementation mode is eight: as shown in fig. 3, the joint output end position sensor of the present embodiment includes a magnetic ring 23 and a position sensor circuit board 28, the magnetic ring 23 is fixed to the rigid wheel by the fixing shell 17 axially and radially through a stepped ring, the position sensor circuit board 28 is fixed to the output end cover 22, and a gap is left between the magnetic ring 23 and the position sensor circuit board 28.
The joint output end position sensor in the embodiment comprises a magnetic ring 23 and a position sensor circuit board 28, wherein the magnetic ring 23 is a stepped ring type disc body, a small outer hole of the stepped ring is used for realizing axial and radial fixing with the rigid wheel fixing shell 17, the magnetic ring 23 is connected with the rigid wheel fixing shell 17 in a glue bonding mode, a gap is reserved between the magnetic ring 23 and the position sensor circuit board 28, the position sensor circuit board 28 is provided with an induction chip, and the detection of the position of the joint output end can be realized by utilizing the Hall effect between the magnetic ring 23 and the induction chip. The other components and the connection relationship are the same as those of the first, second, third, fifth or seventh embodiment.
The specific implementation method nine: as shown in fig. 3, the joint output member of the present embodiment includes a joint output end housing 27, a connecting column 30, a first joint output end shell 31, a joint output end cover 32, a joint output end stud 33, a joint control board 34, a flexible PCB cable 35 and a second joint output end shell 36, wherein the first joint output end shell 31 and the second joint output end shell 36 are detachably connected to the joint output end housing 27, a second cavity is formed inside the first joint output end shell 27 and the second joint output end shell, the joint output end stud 33 is located on an outer end surface of the joint output end cover 32 and is in threaded connection with the joint output end cover 32, the connecting column 30 is vertically arranged between the joint output end cover 32 and the output end cover 22, the joint control board 34 and the flexible PCB cable 35 are both arranged in the second cavity, one end of the flexible PCB cable 35 passes through the middle shaft joint and is connected with, the other end of the flexible PCB cable 35 is connected to the joint control board 34.
In this embodiment, the joint output end housing 27 and the rigid wheel fixing shell 17 are connected through the lock nut 26 and the third deep groove ball bearing 24, the lock nut 26 and the third deep groove ball bearing 24 are sequentially sleeved outside the rigid wheel fixing shell 17, and the rigid wheel fixing shell 17 is connected with the joint output end housing 27 through the lock nut 26 and the third deep groove ball bearing 24. The third deep groove ball bearing 24 is a double bearing, the space ring 25 is arranged between the outer rings of the double bearings, and the outer end face of the space ring 25 is tightly attached to the joint output end shell 27. Other components and connection relationships are the same as those in the eighth embodiment.
The detailed implementation mode is ten: as shown in fig. 3, the middle shaft coupling of the present embodiment includes a joint first wire-protecting cover 38 and a joint second wire-protecting cover 39, both the joint first wire-protecting cover 38 and the joint second wire-protecting cover 39 are arc-shaped covers, the joint first wire-protecting cover 38 and the joint second wire-protecting cover 39 are horizontally arranged in parallel, both ends of the joint first wire-protecting cover 38 and the joint second wire-protecting cover 39 are fixedly connected with the motor housing 1, a cable passing port is provided between the joint first wire-protecting cover 38 and the joint second wire-protecting cover 39, and the flexible PCB cable 35 is located between the joint first wire-protecting cover 38, the joint second wire-protecting cover 39, the motor housing 1 and the joint output end housing 27.
The arrangement of the shape of the joint input member and the shape of the joint output member in this embodiment is to better match the intermediate shaft joint to realize the ± 90 ° swing motion of the intermediate shaft joint as the axis. Thereby enhancing the motion flexibility of the present invention. Other components and connection relations are the same as those of the first, second, third, fifth, seventh or ninth embodiment.
The working principle is as follows:
as shown in fig. 1, 2, 3, 4 and 5, the motor stator 2 is fixedly connected to the motor housing 1 by means of adhesive bonding, the motor rotor 3 is also fixedly connected to the motor shaft 4 by means of adhesive bonding, the motor shaft 4 is tightly fitted with the inner ring of the first deep groove ball bearing 5, and when the motor rotor 3 is energized, the motor rotor 3 is caused to rotate under the action of the magnetic field of the motor stator 2;
the harmonic reducer comprises a rigid wheel 18, a wave generator 19 and a flexible wheel 20, wherein the rigid wheel 18 is fixedly connected to a rigid wheel fixing shell 17 in a glue bonding mode, the rigid wheel fixing shell 17 is connected with a motor shell 1 through a screw, the wave generator 19 is fixed on a motor shaft 4 through a nut, and the flexible wheel 20 is connected with an output end cover 22 through a flexible wheel connecting shaft 21 through a screw;
the joint output end shell 27 is fixedly connected with the output end cover 22 in a screw connection mode, the joint output end shell 27 is matched with the outer ring of the third deep groove ball bearing 24, the rigid wheel fixing shell 17 is matched with the inner ring of the third deep groove ball bearing 24, and the rigid wheel fixing shell 17, the third deep groove ball bearing 24 and the joint output end shell 27 are fixedly connected into a whole through the locking nut 26 and the spacing ring 25;
when the motor rotor 3 rotates, the motor shaft 4 rotates, so that the wave generator 19 is driven to rotate, the rigid wheel 18 is fixed, the flexible wheel 20 serves as a driven wheel, the flexible wheel rotating connecting shaft 21, the output end cover 22 and the joint output end shell 27 synchronously move, so that the rotary motion of the joint is realized, and the limit motion range is +/-90 degrees.
Claims (7)
1. A modularized and reconfigurable snake-shaped robot comprises a plurality of modularized joints which are connected end to end, wherein two adjacent modularized joints are arranged in a 90-degree rotating mode and are positioned and orthogonally arranged through cylindrical pins, each modularized joint comprises a joint input part, a joint output part, a middle shaft joint, a motor assembly and a harmonic reducer, the joint input part and the joint output part are arranged at two ends of the middle shaft joint respectively, the motor assembly and the harmonic reducer are arranged in the middle shaft joint in parallel, the output end of the motor assembly is connected with the harmonic reducer, the motor assembly drives the harmonic reducer to rotate, and the harmonic reducer drives the joint output part to perform swinging motion with the middle shaft joint as an axis; spring contact pins are distributed on a motor driving plate (14) of the joint input part, and the electrical connection of adjacent modular joints is realized by the contact of the spring contact pins on the motor driving plate (14) and a joint control plate (34) of the joint output part;
the method is characterized in that: the joint input part comprises a torque sensor elastic body (8), an overload protection block (9), a joint input end cover (10), a joint input end first shell (11), a motor driving plate (14), a joint input end second shell (16) and two cylindrical pins (15), the joint input end first shell (11) and the joint input end second shell (16) are detachably connected to the joint input end cover (10), a first cavity is formed inside the joint input end first shell (10) and the joint input end second shell (16), the torque sensor elastic body (8), the overload protection block (9) and the motor driving plate (14) are arranged in the first inner cavity, the overload protection block (9) is arranged inside the torque sensor elastic body (8), one end of the torque sensor elastic body (8) is connected with the motor shell (1), the other end of the torque sensor elastic body (8) is connected with the joint input end cover (10), two sides of the sensor elastic body (8) are respectively provided with a strain gauge (40); the joint input piece also comprises a joint input end nut (12) and a joint input end connecting piece (13), the joint input end connecting piece (13) is arranged on the joint input end cover (10), and the joint input end nut (12) is in threaded connection with the joint input end connecting piece (13);
the joint output part comprises a joint output end shell (27), a connecting upright post (30), a first joint output end shell (31), a joint output end cover (32), a joint output end stud (33), a joint control plate (34), a flexible PCB cable (35) and a second joint output end shell (36), wherein the first joint output end shell (31) and the second joint output end shell (36) are detachably connected to the joint output end shell (27), a second cavity is formed inside the first joint output end shell and the second joint output end shell, the joint output end stud (33) is positioned on the outer end face of the joint output end cover (32) and is in threaded connection with the joint output end cover (32), the connecting upright post (30) is vertically arranged between the joint output end cover (32) and the output end cover (22), and the joint control plate (34) and the flexible PCB cable (35) are arranged in the second cavity, one end of a flexible PCB cable (35) penetrates through the middle shaft joint to be connected with the motor driving plate (14), and the other end of the flexible PCB cable (35) is connected with the joint control plate (34).
2. A modular reconfigurable serpentine robot as claimed in claim 1, wherein: motor element includes motor housing (1), motor stator (2), electric motor rotor (3), motor shaft (4) and motor end cover (7), motor housing (1) is cylindrical casing, motor housing (1) sets up the inside at the middle coupling, motor shaft (4) set up in the inside of motor housing (1) and its be connected with motor end cover (7), motor rotor (3) suit is on motor shaft (4), motor stator (2) suit electric motor rotor (3) are outer and its fixed mounting is on the inner wall of motor housing (1), be provided with spacer (37) between motor housing (1) and motor stator (2).
3. A modular reconfigurable serpentine robot as claimed in claim 2, wherein: the motor assembly further comprises two first deep groove ball bearings (5) and a gasket (6), the motor shaft (4) is installed in the motor shell (1) through the first deep groove ball bearings (5), and the gasket (6) is arranged between the motor end cover (7) and the first deep groove ball bearings (5).
4. A modular reconfigurable snake-shaped robot as claimed in claim 1, 2 or 3, characterized in that the joint input end cap (10) is a circular cap, two cylindrical pins (15) are arranged on the joint input end cap (10), the two cylindrical pins (15) are both arranged along the axial direction of the joint input end cap (10), the bottom of each cylindrical pin (15) is fixedly connected to the joint input end cap (10), the top of each cylindrical pin (15) passes through the joint input end connecting piece (13), the projections of the central axes of the two cylindrical pins (15) on the joint input end cap (10) are respectively point A and point B, the radii of the point A and the point B on the joint input end cap (10) form a central angle of α, and the central angle α is 90 °.
5. A modular reconfigurable serpentine robot as claimed in claim 4, wherein: the harmonic reducer comprises a rigid wheel fixing shell (17), a rigid wheel (18), a wave generator (19), a flexible wheel (20), a flexible wheel transfer shaft (21) and an output end cover (22), wherein the rigid wheel fixing shell (17) is arranged on one side of a motor shell (1) and communicated with the rigid wheel fixing shell and the flexible wheel fixing shell, the rigid wheel (18) and the wave generator (19) are both arranged in the rigid wheel fixing shell (17), the wave generator (19) is sleeved on a motor shaft (4), the rigid wheel (18) is sleeved outside the wave generator (19) and arranged in a gap, the outer end face of the rigid wheel (18) is fixedly connected onto the rigid wheel fixing shell (17), one end of the flexible wheel (20) is arranged in the gap between the rigid wheel (18) and the wave generator (19), the other end of the flexible wheel (20) is connected with the output end cover (22) through the flexible wheel transfer shaft (21), and the output end cover (22) is connected with a joint output part, the output end cover (22) is fixedly arranged on the inner wall of the joint end cover (29).
6. A modular reconfigurable serpentine robot as claimed in claim 1, 2, 3 or 5, wherein: the joint output end position sensor comprises a magnetic ring (23) and a position sensor circuit board (28), the magnetic ring (23) is axially and radially fixed with the rigid wheel by using the fixing shell (17) through a stepped circular ring, the position sensor circuit board (28) is fixed on the output end cover (22), and a gap is reserved between the magnetic ring (23) and the position sensor circuit board (28).
7. A modular reconfigurable serpentine robot as claimed in claim 1, 2, 3 or 5, wherein: the middle shaft joint comprises a joint first wire protection cover (38) and a joint second wire protection cover (39), the joint first wire protection cover (38) and the joint second wire protection cover (39) are arc-shaped cover bodies, the joint first wire protection cover (38) and the joint second wire protection cover (39) are horizontally arranged in parallel, two ends of the joint first wire protection cover (38) and the joint second wire protection cover (39) are fixedly connected with the motor shell (1), a cable passing opening is formed between the joint first wire protection cover (38) and the joint second wire protection cover (39), and the flexible PCB cable (35) is located between the joint first wire protection cover (38), the joint second wire protection cover (39), the motor shell (1) and the joint output end shell (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374258.1A CN107116543B (en) | 2017-05-24 | 2017-05-24 | Modular reconfigurable snake-shaped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374258.1A CN107116543B (en) | 2017-05-24 | 2017-05-24 | Modular reconfigurable snake-shaped robot |
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| CN107116543A CN107116543A (en) | 2017-09-01 |
| CN107116543B true CN107116543B (en) | 2020-05-26 |
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| CN201710374258.1A Active CN107116543B (en) | 2017-05-24 | 2017-05-24 | Modular reconfigurable snake-shaped robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108406744B (en) * | 2018-03-15 | 2021-07-30 | 东阳市天齐知识产权运营有限公司 | Robot mechanical arm capable of being connected end to end and convenient to assemble |
| CN110561402B (en) * | 2019-09-23 | 2020-10-23 | 西南石油大学 | Passive disconnect-type snake-like robot |
| TWI770509B (en) * | 2020-05-19 | 2022-07-11 | 黃瀚毅 | Multi-segment-rotation robotic arm |
| CN112357024A (en) * | 2020-11-05 | 2021-02-12 | 哈尔滨工程大学 | Deep sea resident type modularization underwater robot system |
| CN113183140B (en) * | 2021-06-03 | 2021-09-17 | 西南交通大学 | Bionic snake-shaped robot capable of being connected in gear shifting mode and control system |
| CN113303912B (en) * | 2021-06-17 | 2022-04-05 | 浙江大学 | Modular snake-shaped arm based on gear and rack transmission |
| CN114454195B (en) * | 2022-03-23 | 2024-09-03 | 河海大学 | Snake-shaped robot for rescue |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6871563B2 (en) * | 2001-02-26 | 2005-03-29 | Howie Choset | Orientation preserving angular swivel joint |
| CN1251841C (en) * | 2002-11-06 | 2006-04-19 | 中国科学院沈阳自动化研究所 | Modular snake shaped robot with varistructure |
| CN100410128C (en) * | 2006-09-28 | 2008-08-13 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| CA2788592A1 (en) * | 2010-02-05 | 2011-08-11 | Graham Ryland | Four degree of freedom (4-dof) single modular robot unit or joint |
| CN102570349B (en) * | 2011-12-30 | 2015-03-25 | 武汉大学 | Snake-shaped robot capable of climbing for overhead transmission cables |
| CN103203742B (en) * | 2013-04-24 | 2015-04-15 | 武汉大学 | Snakelike robot |
| CN104875199A (en) * | 2015-04-16 | 2015-09-02 | 长春工业大学 | Power pipeline route inspection robot |
| CN204935672U (en) * | 2015-09-11 | 2016-01-06 | 滨州学院 | A kind of snake-shaped robot joint and snake-shaped robot |
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