CN107127744A - A kind of snake-shaped robot with orthogonal joint structure - Google Patents
A kind of snake-shaped robot with orthogonal joint structure Download PDFInfo
- Publication number
- CN107127744A CN107127744A CN201710400760.5A CN201710400760A CN107127744A CN 107127744 A CN107127744 A CN 107127744A CN 201710400760 A CN201710400760 A CN 201710400760A CN 107127744 A CN107127744 A CN 107127744A
- Authority
- CN
- China
- Prior art keywords
- joint
- steering wheel
- snake
- longitudinal
- shaped robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Abstract
A kind of snake-shaped robot with orthogonal joint structure, including pass through a snakehead joint, multiple snake body joints and the ophiruid joint of multiple joint connectors successively head and the tail connection.The horizontal steering wheel and the vertical longitudinal steering wheel for rotating output for horizontally rotating output are equipped with each snake body joint.A kind of snake-shaped robot with orthogonal joint structure that the present invention is provided, each joint uses quadrature drive structure, can improve flexibility and the operability of snake-shaped robot, wriggling movement and peristaltic action can be carried out simultaneously.Snake body joint uses double steering engine quadrature drive structure, and compact, motion is flexible, improve complex environment by property and handling.Snake-shaped robot uses modularized design, can arbitrarily increase or decrease snake body module, expand the application of snake-shaped robot；Different joint assemblies are using parts such as identical steering wheel, joint connectors, and employing reduces maintenance difficulty.
Description
Technical field
The invention belongs to bio-robot technical field, it is related to a kind of snake-shaped robot, it is more particularly to a kind of to have just
Hand over the snake-shaped robot of articulation structure.
Background technology
Snake-shaped robot has the features such as being easy to camouflage, disguise by force, and complicated landform handling capacity is strong, can replace or portion
Divide and replace operating personnel to complete dangerous work, such as investigation, search and rescue, patrol, pipe detection and space exploration.However, existing
Snake-shaped robot generally have that structure design is unreasonable, non-uniform mass, build is heavy, underaction, and space is free
Degree not enough not high enough the defect of good, redundancy.
The content of the invention
It is an object of the invention to the defect for overcoming prior art, there is provided a kind of compact, simple for structure, operation letter
The single, snake-shaped robot with orthogonal joint structure that motion is flexible, spatial degrees of freedom is high.
To achieve the above object, present invention employs following technical scheme：
A kind of snake-shaped robot with orthogonal joint structure, including connected by multiple joint connectors 4 successively head and the tail
A snakehead joint 1, multiple snake body joints 2 and an ophiruid joint 3.Level is equipped with each snake body joint 2 to turn
The horizontal steering wheel 51 of dynamic output and the vertical longitudinal steering wheel 52 for rotating output；The joint connector 4 is the U-shaped knot that flat board is converted into
Structure, including level board 41 and positioned at the both sides of level board 41 and two longitudinal plates 42 vertical with level board 41；The longitudinal plate 42
Be fixedly connected with the output shaft 50 of longitudinal steering wheel 52 in front snake body joint 2 in two neighboring snake body joint 2, the level board 41 with
The output shaft 50 of horizontal steering wheel 51 in rear She Shen joints 2 is fixedly connected in two neighboring snake body joint 2.
Further, the snake body joint 2 includes being arranged on the horizontal stroke for being used for being connected on snake body support 21 with front adjacent segment
The longitudinal steering wheel 52 being connected to steering wheel 51, with rear adjacent segment, and the battery 6 for power supply and the circuit board for control
7；The battery 6 is electrically connected with circuit board 7, and the circuit board 7 is electrically connected with horizontal steering wheel 51 and longitudinal steering wheel 52.
Further, the snakehead joint 1 includes being arranged on vertical for what is be connected with rear adjacent segment on snakehead support 11
To steering wheel 52, the battery 6 for power supply and the circuit board 7 for control, and it is arranged on the snakehead lid of the front end of snakehead support 11
12；The battery 6 is electrically connected with circuit board 7, and the circuit board 7 is electrically connected with longitudinal steering wheel 52.
Further, the ophiruid joint 3 includes being arranged on the horizontal stroke for being used for being connected on ophiruid support 31 with front adjacent segment
To steering wheel 51, the battery 6 for power supply and the circuit board 7 for control, and it is arranged on the ophiruid lid of the rear end of ophiruid support 31
32；The battery 6 is electrically connected with circuit board 7, and the circuit board 7 is electrically connected with horizontal steering wheel 51.
Further, the joint connector 4 includes level board 41 and positioned at both sides of level board 41 and vertical with level board 41
Two longitudinal plates 42；The level board 41 is provided with the third through-hole 43 for being used for connecting horizontal steering wheel 51, the longitudinal plate 42
It is provided with the fourth hole 44 for being used for connecting longitudinal steering wheel 52；The horizontal steering wheel 51, the output shaft 50 of longitudinal steering wheel 52 pass through
Terminal pad 8, which is realized, to be realized and is connected with the third through-hole 43 of level board 41 and the fourth hole 44 of longitudinal plate 42.
Further, the horizontal steering wheel 51 and longitudinal direction steering wheel 52 are structure identical rectangular parallelepiped structure, the horizontal He of steering wheel 51
The forward and backward surface 53 of longitudinal steering wheel 52 is rectangle, and two relative sides 54 are equipped with output shaft 50.
A kind of snake-shaped robot with orthogonal joint structure that the present invention is provided, each joint uses quadrature drive knot
Structure, can improve flexibility and the operability of snake-shaped robot, and wriggling movement can be carried out simultaneously (i.e. horizontal plane S-shaped is moved)
With (i.e. vertical plane S-shaped is moved) action of wriggling.Snake body joint uses double steering engine quadrature drive structure, and compact, motion is flexible,
Improve complex environment by property and handling.Snake-shaped robot uses modularized design, can arbitrarily increase or decrease snake body
Module, has expanded the application of snake-shaped robot；Different joint assemblies use the parts such as identical steering wheel, joint connector,
Employing reduces maintenance difficulty.
Brief description of the drawings
Fig. 1 is the overall structure diagram of snake-shaped robot；
Fig. 2 is snake body joint overall structure diagram；
Fig. 3 is snake body joint front view；
Fig. 4 is snake body joint top view；
Fig. 5 is snake body joint right view；
Fig. 6 is snake body supporting structure schematic diagram；
Fig. 7 is joint connector structural representation；
Fig. 8 is steering wheel structural representation；
Fig. 9 is steering wheel terminal pad structural representation；
Figure 10 is battery structure schematic diagram；
Figure 11 is control plate structure schematic diagram；
Figure 12 is snakehead joint overall structure diagram；
Figure 13 is snakehead joint front view；
Figure 14 is snakehead joint top view；
Figure 15 is snakehead joint left view；
Figure 16 is snakehead supporting structure schematic diagram；
Figure 17 is snakehead lid structural representation；
Figure 18 is ophiruid joint overall structure diagram；
Figure 19 is ophiruid joint front view；
Figure 20 is ophiruid joint top view；
Figure 21 is ophiruid joint left view；
Figure 22 is ophiruid supporting structure schematic diagram；
Figure 23 is ophiruid lid structural representation；
Figure 24 is control system theory diagram；
Figure 25 is the electrical block diagram of master control system；
Figure 26 is the electrical block diagram from control system.
Embodiment
Below in conjunction with accompanying drawing 1 to 26, a kind of snake-shaped robot with orthogonal joint structure of the present invention is further illustrated
Embodiment.Special instruction be：" preceding " described in embodiment, " front " or the statement such as " rear ", " rear ", only represent to work as
Ophiruid when snake-shaped robot is linear state is not offered as the direction of snake-shaped robot advance to snakehead direction or opposite direction；
" snakehead " and " ophiruid " are only the title of component, be not offered as snake-shaped robot advance when " snakehead " must be forward.This hair
A kind of bright snake-shaped robot with orthogonal joint structure is not limited to the following description.
Embodiment 1：
The present embodiment provides a kind of embodiment with orthogonal joint structure snake-shaped robot.
As shown in figure 1, being a kind of snake-shaped robot with orthogonal joint structure, including pass through multiple joint connectors 4
Head and the tail are connected successively a snakehead joint 1, multiple snake body joints 2 and an ophiruid joint 3.The snakehead joint 1, She Shenguan
Section 2 and ophiruid joint 3 be approximate rectangular parallelepiped structure, the shape of longitudinal section of each joint along vertical snake body direction is basically identical,
Be square or rectangle so that ensure narrow space by property.It is preferred that, reduce rollover, section to keep stable
It is more than the rectangle of height for width.
As shown in Fig. 2 to 5, the He of horizontal steering wheel 51 for horizontally rotating output is provided with the snake body support 21 in snake body joint 2
The vertical longitudinal steering wheel 52 for rotating output.The outbound course of the longitudinal steering wheel 52 of the horizontal steering wheel 51 perpendicular quadrature in space.
It is preferred that, horizontal steering wheel 51 and longitudinal steering wheel 52 can use structure identical steering wheel 5, according to installation site and angle not
Together, horizontal steering wheel 51 and longitudinal steering wheel 52 are functionally divided into.As shown in figure 8, steering wheel 5 is rectangular parallelepiped structure, steering wheel 5
Forward and backward surface 53 is rectangle, and two relative sides 54 are equipped with output shaft 50.
As shown in fig. 7, the joint connector 4 is the U-shaped structure that is converted into of flat board, including level board 41 and positioned at level board
41 both sides and two longitudinal plates 42 vertical with level board 41.The longitudinal plate 42 and front snake in two neighboring snake body joint 2
The output shaft 50 of longitudinal steering wheel 52 in body joint 2 is fixedly connected, the level board 41 and rear snake body in two neighboring snake body joint 2
The output shaft 50 of horizontal steering wheel 51 in joint 2 is fixedly connected.It is preferred that, the level board 41, which is provided with, to be used to connect horizontal steering wheel 51
Third through-hole 43, the longitudinal plate 42, which is provided with, to be used to connect the fourth hole 44 of longitudinal steering wheel 52；The horizontal steering wheel 51,
The terminal pad 8 that the output shaft 50 of longitudinal steering wheel 52 passes through realizes the third through-hole 43 and the four-way of longitudinal plate 42 with level board 41
Realize and be connected in hole 44.The terminal pad screw hole for installing terminal pad 8 is additionally provided with the level board 41 and longitudinal plate 42
45, being connected for each part is realized by screw.By joint connector 4, in horizontal and vertical two sides between each joint
It two-way between -135 to 135 degree can freely rotate, so that having larger range of movement between each joint, improve upwards
The flexibility of snake-shaped robot.
As shown in figure 9, being the structural representation of terminal pad 8.The main function of terminal pad 8, is to realize steering wheel output shaft 50
Being connected between joint connector 4 and it is driven driving.
As shown in Figure 12 to 23, it is additionally provided with snakehead joint 1 on longitudinal steering wheel 52, ophiruid joint 3 and is additionally provided with longitudinal steering wheel,
Using with two kinds of steering wheel identical modes on snake body joint 2, be connected to the snake body being made up of snake body joint 2 front end and
End.
The present embodiment is had an advantage that：Each joint of snake-shaped robot uses quadrature drive structure, can improve snakelike
The flexibility of robot and operability, wriggling movement (i.e. horizontal plane S-shaped move) and wriggling (i.e. vertical plane can be carried out simultaneously
S-shaped is moved) action.Meanwhile, snake body joint uses double steering engine quadrature drive structure, and compact, motion is flexible, improves complexity
Environment passes through property and handling.And, snake-shaped robot uses modularized design, can arbitrarily increase or decrease snake body module,
The application of snake-shaped robot is expanded；Different joint assemblies are employed using parts such as identical steering wheel, joint connectors
Reduce maintenance difficulty.
Embodiment 2：
Snake-shaped robot according to embodiment 1, the present embodiment provides the further embodiment in the snake body joint.
As shown in Fig. 2 to 7, a kind of snake body joint of snake-shaped robot, including be arranged on snake body support 21 be used for it is preceding
The horizontal steering wheel 51 of square adjacent segment connection, the longitudinal steering wheel 52 being connected with rear adjacent segment, and the battery 6 for power supply
With the circuit board 7 for control.The battery 6 is electrically connected with circuit board 7, the circuit board 7 and horizontal steering wheel 51 and longitudinal rudder
Machine 52 is electrically connected.
As shown in fig. 6, the snake body support 21 is the cube frame structure that forward and backward side opens, middle position is provided with use
In the first warehouse 211 of the rectangular configuration for installing horizontal steering wheel 51, battery 6 and circuit board 7, position, which is provided with, rearward is used to install vertical
To the second warehouse 212 of the U-shaped structure of steering wheel 52；The snake body bottom plate 213 of the bottom of snake body support 21 is rectangular configuration, above
Provided with the second through hole 214 for installing the horizontal output shaft 50 of steering wheel 51；First warehouse 211 of the snake body support, the second storehouse
Multiple second screws for installing fixed lateral steering wheel 51, battery 6 and circuit board 7 are additionally provided with body 212, snake body bottom plate 213
Hole 215.It is preferred that, the shown snake body support 21 can be formed by metallic plate bending, can be also molded by 3D printing.
As shown in Fig. 2 to 5, horizontal steering wheel 51 and longitudinal steering wheel 52 are provided with snake body support 21.The horizontal steering wheel 51
It is fixed on by the way that screw is longitudinally mounted inside the first warehouse 211, an output shaft 50 of horizontal steering wheel 51 is direction straight up,
Can be along horizontal plane Double-directional rotary, another output shaft 50, which is accommodated, to be in the second through hole 214 of snake body bottom plate 213；It is described vertical
It is transversely mounted and is fixed in the second warehouse 212 by screw to steering wheel 52, the output shaft 50 of longitudinal steering wheel 52 is horizontally and vertically
, can be along perpendicular Double-directional rotary in snake body direction.The battery 6 is vertically installed at the first warehouse 211 close to horizontal steering wheel 51
In.The circuit board 7, which is arranged in the first warehouse 211, is located at the horizontal rear of steering wheel 51.
The present embodiment is had an advantage that：Each snake body joint 2 has two output shafts based on orthogonal direction simultaneously,
The motion driving of two frees degree can be not only completed simultaneously, with higher flexibility, while also further reducing snake body
The volume in joint, simple in construction, reliability is high, it is easy to maintenance and expansion.
Embodiment 3：
Snake-shaped robot according to embodiment 1, the present embodiment provides the further implementation of the snakehead articulation structure
Mode.
As shown in Figure 12 to 17, the snakehead joint of the snake-shaped robot include being arranged on be used on snakehead support 11 with it is rear
Longitudinal steering wheel 52 of square adjacent segment connection, the battery 6 for power supply and the circuit board 7 for control, and it is arranged on snakehead
The snakehead lid 12 of the front end of support 11.The battery 6 is electrically connected with circuit board 7, and the circuit board 7 is electrically connected with longitudinal steering wheel 52.
As shown in figure 16, the holder,head 11 is the cube frame structure that forward and backward side opens, and front portion, which is provided with, to be used to pacify
Packed battery 6 and circuit board 7 and connect snakehead lid 12 rectangular configuration the 3rd warehouse 111, rear portion be provided be used for longitudinal rudder is installed
4th warehouse 112 of the U-shaped structure of machine.The bottom of 3rd warehouse 111 and the 4th warehouse 112 is the rectangle knot of holder,head 11
The bottom plate 11 of structure is rectangular configuration.The front of 3rd warehouse 111 is additionally provided with the first baffle 114 of support fixing circuit board 7.Institute
State and be additionally provided with the 3rd warehouse 111, the 4th warehouse 112, head base plate 113 of holder,head for installing fixed longitudinal steering wheel
52nd, multiple first screw holes 116 of battery 6, circuit board 7 and snakehead lid, to realize being connected for each part.
As shown in Figure 18 to 21, the horizontal steering wheel 51 is transversely mounted by screw to be fixed in the 5th warehouse 311, laterally
The output shaft 50 of steering wheel 51, can be along perpendicular Double-directional rotary to be horizontally and perpendicularly to ophiruid direction.The battery 6 is arranged on the
In five warehouses 311.
As shown in figure 11, the circuit board 7 is rectangular configuration, and camera module and lighting module are provided with above, to realize
Illumination and the function of obtaining live video.Meanwhile, the first baffle 114 is used to aid in branch provided with consistent with camera position
The groove 115 of fixing camera is supportted, strengthens supporting the fixed of camera module.The snakehead lid 12 is provided with and shooting head mould
Block and the camera through hole 123 of lighting module position consistency and illumination through hole 124.
As shown in figure 17, the front portion of the snakehead lid 12 is arcuate stream line structure, and camera module and lighting module are located at
The middle position of snakehead lid 12, can obtain optimal video capture visual angle, while also improving the video matter in dark surrounds
Amount.
The present embodiment is had an advantage that：Longitudinal steering wheel 52 in the snakehead joint 1 can drive snakehead joint 1 upwards or to
Lower to rotate, the horizontal steering wheel 51 in adjacent snake body joint 2 can drive the rotation to the left or to the right of snakehead joint 1, so that snakehead
Possesses very high flexibility.By setting camera module and lighting module, it can in real time obtain and return live video.Snake
The streamline moulding that head joint possesses, improves snake-shaped robot in complicated landform by performance.
Embodiment 4：
Snake-shaped robot according to embodiment 1, the present embodiment provides the further implementation of the ophiruid articulation structure
Mode.
As shown in Figure 18 to 23, the ophiruid joint of the snake-shaped robot include being arranged on be used on ophiruid support 31 with it is preceding
The horizontal steering wheel 51 of square adjacent segment connection, the battery 6 for power supply and the circuit board 7 for control, and it is arranged on ophiruid
The ophiruid lid 32 of the rear end of support 31.The battery 6 is electrically connected with circuit board 7, and the circuit board 7 is electrically connected with horizontal steering wheel 51.
As shown in figure 22, the bracket at tail part 31 is the cube frame structure that forward and backward side opens, and centre, which is provided with, to be used to pacify
5th warehouse 311 of the horizontal steering wheel 51 of dress, battery 6 and the rectangular configuration for connecting ophiruid lid 32.The bottom of bracket at tail part 31
Ophiruid bottom plate 312 is provided with the fifth hole 313 for being used for installing the horizontal output shaft 50 of steering wheel 51.The 5th of the bracket at tail part 31
Warehouse 311, ophiruid bottom plate 312, which are provided with, to be used to install fixed lateral steering wheel 51, battery 6, and connects the multiple of ophiruid lid 31
3rd screw hole 215.
As shown in Figure 18 to 21, the horizontal steering wheel 51 is transversely mounted by screw to be fixed in the 5th warehouse 311, laterally
The output shaft 50 of steering wheel 51, can be along perpendicular Double-directional rotary to be horizontally and perpendicularly to ophiruid direction.The battery 6 is arranged on the
In five warehouses 311.
As shown in figure 11, the circuit board 7 is rectangular configuration.The circuit board 7 is arranged on inside ophiruid lid 31, circuit board
Laser range sensor, infrared heat source sensor, Temperature Humidity Sensor, atmospheric pressure intensity sensor and/or CO sensings are additionally provided with 7
The modules such as device, to realize external environment condition perceptional function.
As shown in Figure 18 and 23, two kinds of embodiments of the ophiruid lid 31 are given.After the ophiruid lid 31 is
Open rectangular configuration is held, the connection with bracket at tail part 31 is realized by screw.The front end of ophiruid lid 31 is provided with multiple with taking the photograph
As modules such as head module, laser ranging module, Temperature Humidity Sensor, baroceptor, thermal imaging sensor and/or CO sensors
Multiple 6th through holes 321 of matching.
The present embodiment is had an advantage that：The horizontal steering wheel 51 in the ophiruid joint 3 can drive ophiruid joint leftward or rightward
Rotate, longitudinal steering wheel 52 in adjacent snake body joint 2 can drive ophiruid joint 3 to rotate up or down, so that ophiruid has
For very high flexibility.By setting multiple sensors, the perception that snake-shaped robot possesses various field environment is set to obtain energy
Power.
Embodiment 5：
Snake-shaped robot and its joint assembly structure according to embodiment 1 to 4, the present embodiment provide a kind of with distribution
The embodiment of the snake-shaped robot of formula power supply architecture.
As shown in Fig. 1 to 23, a kind of snake-shaped robot with distributed electrical source structure, including one be sequentially connected from beginning to end
Individual snakehead joint 1, multiple snake body joints 2 and an ophiruid joint 3.On the snakehead joint 1, snake body joint 2 and ophiruid joint
Be each provided with for drive horizontal steering wheel 51 and/or longitudinal steering wheel 52 that snake-shaped robot acts, for other joint assemblies
Circuit board carries out radio communication and the circuit board 7 for controlling, driving steering wheel 5 to work, and for the circuit board 7 for this joint assembly
The battery 6 powered with steering wheel 5.
The present embodiment is had an advantage that：By setting only respectively on each snakehead joint, snake body joint and ophiruid joint
The vertical battery for being used to power and for controlling, voltage stabilizing, the circuit board 7 of driving, form distributed electric power-feeding structure, not only may be used
It is so that the weight of battery is evenly distributed on into whole snake bodies, rational in infrastructure, it is easy to drive control, it is to avoid electricity when independent current source is powered
Pond is difficult placement, the unbalanced problem of weight；And also improve the redundancy between each component of snake-shaped robot, when one or
When partial joint component faults fail, the allomeric function of snake-shaped robot is not influenceed.
Embodiment 6：
Snake-shaped robot and its articulation structure according to embodiment 1 to 5, the present embodiment provide the snake-shaped robot
The specific embodiment of control system.
As shown in figure 24, the control system of snake-shaped robot is mainly constituted by master control system, from control system and monitoring system.
The master control system includes camera module, laser ranging module, Temperature Humidity Sensor, baroceptor, thermal imaging sensor
With CO sensors.Wherein, camera module and thermal imaging sensor are presented in monitoring system with visual form, can be adopted in real time
Collect environmental information and human perception information.Belong to kinetic control system from control system, the autonomous exploration of master control system can be coordinated
Function, carries out the control and regulation of motion gait, and is communicated using ZigBee wireless transmission methods with master control, passes through PWM
Signal control steering wheel angle completes the motion of articulation mechanism.Monitoring system belongs to top level control system, is mainly responsible for snakelike machine
The overall control and monitoring of people, equipped with WiFi and bluetooth module, can carry out Image Real-time Transmission and many sensings with master control system
Device presentation of information.
In multiple joints of She Shen robots, the master control system only sets a set of, preferably may be mounted at snakehead pass
In section or ophiruid joint, naturally it is also possible to be arranged on as needed in snake body joint.It is described to be arranged on master control system from control system
Other each joints outside the joint of place." circuit board " described in embodiment, is master control system and the master from control system
Carrier is wanted, its physical form can be the combination of one piece of independent circuit board or polylith independent circuits plate, specifically can be with
According to the spatial form flexible design in place joint.The polytype sensor provided in embodiment, can according to using needs,
Flexibly it is arranged on different joints, or same type of sensor is set on multiple joints, to realize redundancy detection, carries
The reliability of high equipment work.
As shown in figure 25, it is the master control system electrical block diagram.Master control system it is main by core processor, it is wireless
Communication module, camera and various kinds of sensors composition.Master control system receives the control instruction of monitoring system by bluetooth module
With the parameter for obtaining each sensor, while monitoring system according to the instruction sent determine snake-shaped robot motion gait and will biography
Sensor parameter is shown on APP.Master control system is communicated using WiFi module with monitoring system, and camera can be collected in real time
Image information, system be camera lighting circuit is equipped with to obtain the image of high definition in dark conditions.
Specifically, master control borad be integrated with core processor STM32F103 and CO sensor, Temperature Humidity Sensor, atmospheric pressure intensity sensor,
Infrared heat source sensor and laser sensor, while using CC2530 telegons with carrying out Zigbee communication, profit from controller
Each sensor parameters is transmitted with CC2541 bluetooth modules.Electric power system is by can charge-discharge lithium battery module and voltage stabilizing mould
Block is constituted, and provides energy requirement for whole snake-shaped robot, and be distributed among each joint of snake-shaped robot.
As shown in figure 26, it is the electrical block diagram from control system.One released using ST Microelectronics
Money cost is low, pin is few, low-power consumption STM8s003f3p6 as from control system core processor, pushed away using Hitec companies
The high pulling torque steering wheel that the 6V gone out powers, using 7.4V, 250mAh lithium battery, it is ensured that snake-shaped robot can continuously work 1h with
On.From control system operation, master control system is by CC2530 telegons with wireless transmission method to from control system
Send instructions under CC2530 terminal nodes, and instruction is conveyed into core processor to drive with serial port by terminal node
Dynamic steering wheel completes corresponding gait operation.Power demands are moved and meet for the ease of snake-shaped robot, using 7.4V lithiums electricity
Pond power supply plan, it is to be powered from control plate to convert voltages into 3.3V by RT9193 voltage conversion chips, and by connecting one
7.4V voltages are reduced to 6V by diode, to ensure the reliability service of steering wheel.
The monitoring system is integrated on handheld terminal in APP forms, completes monitoring and the display function of collection information.
The control system of snake-shaped robot described in the present embodiment, can be driven using multi-motion control mode, bag
Include the motion gait control mode based on robot, the control based on Serpenoid control functions of Japanese professor's Hirose proposition
Mode processed, and the control mode based on CPG central pattern generator (cpg)s etc..
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (6)
1. a kind of snake-shaped robot with orthogonal joint structure, including pass through the one of multiple joint connectors successively head and the tail connection
Individual snakehead joint, multiple snake body joints and an ophiruid joint, it is characterised in that：Level is equipped with each snake body joint
Rotate the horizontal steering wheel and the vertical longitudinal steering wheel for rotating output of output；The joint connector is the U-shaped structure that flat board is converted into,
Including level board and positioned at level board both sides and two longitudinal plates vertical with level board；The longitudinal plate and two neighboring snake body
Longitudinal steering wheel output shaft in snake body joint is fixedly connected in front of joint, the level board and rear snake in two neighboring snake body joint
The horizontal steering wheel output shaft in body joint is fixedly connected.
2. the snake-shaped robot according to claim 1 with orthogonal joint structure, it is characterised in that：The snake body joint
It is used for the horizontal steering wheel being connected with front adjacent segment, the longitudinal direction being connected with rear adjacent segment including being arranged on snake body support
Steering wheel, and the battery for power supply and the circuit board for control；The battery is electrically connected with circuit board, the circuit board with
Horizontal steering wheel and longitudinal steering wheel electrical connection.
3. the snake-shaped robot according to claim 1 with orthogonal joint structure, it is characterised in that：The snakehead joint
Including being arranged on the longitudinal steering wheel for being used to be connected with rear adjacent segment on snakehead support, for the battery of power supply and for controlling
Circuit board, and be arranged on the snakehead lid of snakehead support front end；The battery is electrically connected with circuit board, and the circuit board is with indulging
Electrically connected to steering wheel.
4. the snake-shaped robot according to claim 1 with orthogonal joint structure, it is characterised in that：The ophiruid joint
Including being arranged on the horizontal steering wheel for being used to be connected with front adjacent segment on ophiruid support, for the battery of power supply and for controlling
Circuit board, and be arranged on the ophiruid lid of ophiruid back-end support；The battery is electrically connected with circuit board, the circuit board and horizontal stroke
Electrically connected to steering wheel.
5. the snake-shaped robot with orthogonal joint structure according to any claim in Claims 1-4, its feature
It is：The joint connector includes level board and positioned at level board both sides and two longitudinal plates vertical with level board；It is described
Level board is provided with the third through-hole for being used for connecting horizontal steering wheel, and the longitudinal plate, which is provided with, to be used to connect the 4th of longitudinal steering wheel
Through hole；The third through-hole and longitudinal plate that the horizontal steering wheel, the output shaft of longitudinal steering wheel pass through terminal pad realization and level board
Fourth hole is realized and is connected.
6. the snake-shaped robot with orthogonal joint structure according to any claim in Claims 1-4, its feature
It is：The horizontal steering wheel and the forward and backward table that longitudinal steering wheel is structure identical rectangular parallelepiped structure, horizontal steering wheel and longitudinal steering wheel
Face is rectangle, and two relative sides are equipped with output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710400760.5A CN107127744A (en) | 2017-05-31 | 2017-05-31 | A kind of snake-shaped robot with orthogonal joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710400760.5A CN107127744A (en) | 2017-05-31 | 2017-05-31 | A kind of snake-shaped robot with orthogonal joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107127744A true CN107127744A (en) | 2017-09-05 |
Family
ID=59734119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710400760.5A Pending CN107127744A (en) | 2017-05-31 | 2017-05-31 | A kind of snake-shaped robot with orthogonal joint structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107127744A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584482A (en) * | 2017-10-23 | 2018-01-16 | 南京理工大学 | A kind of snake-shaped robot |
| CN107756386A (en) * | 2017-10-31 | 2018-03-06 | 广西大学 | A kind of gear type reverses i-axis snake-shaped robot |
| CN107940166A (en) * | 2017-12-08 | 2018-04-20 | 西安理工大学 | Inner-walls of duct defect image with spiral pushing device obtains robot |
| CN108006368A (en) * | 2017-12-29 | 2018-05-08 | 南京工程学院 | Creeping motion type pipe robot |
| CN108705524A (en) * | 2018-08-07 | 2018-10-26 | 长沙紫宸科技开发有限公司 | A kind of bionical scorpion tail of multi-joint of the autonomous hydraulic pressure distributed power of band |
| CN109249380A (en) * | 2018-10-26 | 2019-01-22 | 天津大学 | A kind of snake-shaped robot with assist device |
| CN109774896A (en) * | 2019-01-31 | 2019-05-21 | 上海海洋大学 | Bionical sea snake for aquafarm monitoring |
| CN110293543A (en) * | 2019-07-15 | 2019-10-01 | 北京工业大学 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
| CN111113389A (en) * | 2019-12-17 | 2020-05-08 | 深圳供电局有限公司 | Snakelike robot that patrols and examines of cable pit |
| CN111169553A (en) * | 2020-01-14 | 2020-05-19 | 哈尔滨学院 | Bionic snake-shaped peristaltic robot |
| CN111633637A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Snake-shaped robot with vertical three-section structure |
| CN111993399A (en) * | 2020-08-13 | 2020-11-27 | 河南科技大学 | Snakelike robot monomer structure |
| CN112743544A (en) * | 2020-12-25 | 2021-05-04 | 华南理工大学 | Target positioning method, system and medium based on snake-shaped robot meandering gait |
| CN113492397A (en) * | 2021-06-07 | 2021-10-12 | 燕山大学 | Modular detachable wheel type snake-shaped robot |
| CN114932540A (en) * | 2022-06-08 | 2022-08-23 | 北京科技大学 | Orthogonal joint module for reconfigurable snake-shaped robot and snake-shaped robot thereof |
| CN115416010A (en) * | 2022-10-19 | 2022-12-02 | 哈尔滨工业大学 | Can realize not having interactive snakelike robot of wheeled and wheeled |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130037056A (en) * | 2011-10-05 | 2013-04-15 | 강릉원주대학교산학협력단 | Snake type reconnaissance exploration robot and operation method thereof |
| CN203266635U (en) * | 2013-05-27 | 2013-11-06 | 三峡大学 | Wheel-type S-shaped robot |
| CN103625573A (en) * | 2013-09-16 | 2014-03-12 | 华南理工大学 | Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot |
| CN203753267U (en) * | 2014-01-28 | 2014-08-06 | 防灾科技学院 | Distributed control intelligent robot snake |
| CN103991089A (en) * | 2014-05-22 | 2014-08-20 | 电子科技大学 | Body segment unit for multi-body-segment S-shaped robot |
-
2017
- 2017-05-31 CN CN201710400760.5A patent/CN107127744A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130037056A (en) * | 2011-10-05 | 2013-04-15 | 강릉원주대학교산학협력단 | Snake type reconnaissance exploration robot and operation method thereof |
| CN203266635U (en) * | 2013-05-27 | 2013-11-06 | 三峡大学 | Wheel-type S-shaped robot |
| CN103625573A (en) * | 2013-09-16 | 2014-03-12 | 华南理工大学 | Snake-like robot based on orthogonal joints and spiral climbing movement controlling method for snake-like robot |
| CN203753267U (en) * | 2014-01-28 | 2014-08-06 | 防灾科技学院 | Distributed control intelligent robot snake |
| CN103991089A (en) * | 2014-05-22 | 2014-08-20 | 电子科技大学 | Body segment unit for multi-body-segment S-shaped robot |
Non-Patent Citations (1)
| Title |
|---|
| 李列巴克等: "《蛇形机器人：建模、机电设计及控制》", 30 November 2015, 北京：国防工业出版社 * |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107584482A (en) * | 2017-10-23 | 2018-01-16 | 南京理工大学 | A kind of snake-shaped robot |
| CN107756386A (en) * | 2017-10-31 | 2018-03-06 | 广西大学 | A kind of gear type reverses i-axis snake-shaped robot |
| CN107940166A (en) * | 2017-12-08 | 2018-04-20 | 西安理工大学 | Inner-walls of duct defect image with spiral pushing device obtains robot |
| CN108006368B (en) * | 2017-12-29 | 2023-11-10 | 南京工程学院 | Peristaltic pipeline robot |
| CN108006368A (en) * | 2017-12-29 | 2018-05-08 | 南京工程学院 | Creeping motion type pipe robot |
| CN108705524A (en) * | 2018-08-07 | 2018-10-26 | 长沙紫宸科技开发有限公司 | A kind of bionical scorpion tail of multi-joint of the autonomous hydraulic pressure distributed power of band |
| CN109249380A (en) * | 2018-10-26 | 2019-01-22 | 天津大学 | A kind of snake-shaped robot with assist device |
| CN109774896A (en) * | 2019-01-31 | 2019-05-21 | 上海海洋大学 | Bionical sea snake for aquafarm monitoring |
| CN110293543A (en) * | 2019-07-15 | 2019-10-01 | 北京工业大学 | A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint |
| CN111113389A (en) * | 2019-12-17 | 2020-05-08 | 深圳供电局有限公司 | Snakelike robot that patrols and examines of cable pit |
| CN111169553A (en) * | 2020-01-14 | 2020-05-19 | 哈尔滨学院 | Bionic snake-shaped peristaltic robot |
| CN111633637A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Snake-shaped robot with vertical three-section structure |
| CN111993399A (en) * | 2020-08-13 | 2020-11-27 | 河南科技大学 | Snakelike robot monomer structure |
| CN112743544A (en) * | 2020-12-25 | 2021-05-04 | 华南理工大学 | Target positioning method, system and medium based on snake-shaped robot meandering gait |
| CN113492397A (en) * | 2021-06-07 | 2021-10-12 | 燕山大学 | Modular detachable wheel type snake-shaped robot |
| CN113492397B (en) * | 2021-06-07 | 2023-02-24 | 燕山大学 | Modular detachable wheel type snake-shaped robot |
| CN114932540A (en) * | 2022-06-08 | 2022-08-23 | 北京科技大学 | Orthogonal joint module for reconfigurable snake-shaped robot and snake-shaped robot thereof |
| CN114932540B (en) * | 2022-06-08 | 2023-02-03 | 北京科技大学 | Orthogonal joint module for reconfigurable snake-shaped robot and snake-shaped robot |
| CN115416010A (en) * | 2022-10-19 | 2022-12-02 | 哈尔滨工业大学 | Can realize not having interactive snakelike robot of wheeled and wheeled |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107127744A (en) | A kind of snake-shaped robot with orthogonal joint structure | |
| CN207120227U (en) | A kind of snake-shaped robot with distributed electrical source structure | |
| CN207120228U (en) | A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine | |
| CN103862457B (en) | Service robot with visual system | |
| CN205080433U (en) | Intelligent robot monitored control system of real -time long -range removal | |
| CN111390888A (en) | Double-drive type modular snake-shaped robot based on multi-sensor fusion and driving method | |
| CN106791644B (en) | Track movable type monitoring system and use method | |
| CN107168155A (en) | A kind of floater mobile monitoring node apparatus | |
| CN207423948U (en) | Intelligent multi-parameter water quality monitoring system | |
| CN206780438U (en) | A kind of snake body joint of snake-shaped robot | |
| CN205959065U (en) | Six sufficient robots of crawling that adapt to complicated topography | |
| CN107368017A (en) | A kind of intelligent monitoring control system based on industrial robot | |
| CN207120229U (en) | A kind of ophiruid joint of snake-shaped robot | |
| CN207120247U (en) | A kind of snakehead joint of snake-shaped robot | |
| CN205545702U (en) | Long -range movable monitoring operation device of 6 -degree of freedom | |
| CN202423330U (en) | High-efficiency intelligent modular combiner box device | |
| CN203331024U (en) | Modularization general wheeled mobile robot | |
| CN107634578A (en) | Energy feedback charging energy-saving run and emergency operating control system | |
| CN208112096U (en) | A kind of substation's intelligent patrol instrument | |
| CN204054037U (en) | A kind of service robot with vision system | |
| CN202737998U (en) | Monitoring camera | |
| CN206377634U (en) | A kind of POE control devices | |
| CN207953840U (en) | A kind of crusing robot | |
| CN209505791U (en) | A kind of mobile security production monitoring terminal | |
| CN209050733U (en) | Intelligent Mobile Robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170905 |