CN107813304A - A kind of bionical snake-shaped robot multi-freedom joint module - Google Patents
A kind of bionical snake-shaped robot multi-freedom joint module Download PDFInfo
- Publication number
- CN107813304A CN107813304A CN201711174097.8A CN201711174097A CN107813304A CN 107813304 A CN107813304 A CN 107813304A CN 201711174097 A CN201711174097 A CN 201711174097A CN 107813304 A CN107813304 A CN 107813304A
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- CN
- China
- Prior art keywords
- piggyback pod
- belt
- joint
- piggyback
- snake
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Classifications
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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
Abstract
The invention discloses a kind of bionical snake-shaped robot multi-freedom joint module, including two piggyback pods, bionic snake skin joint, elastic bar, a motor is mounted in two piggyback pods, one of motor level is put, another motor vertical display, it is connected between two piggyback pods by least three bionic snake skin joints to connect successively, and the both ends of elastic bar connect two piggyback pods respectively, resilient support is provided for two piggyback pods, the output shaft of each motor is each equipped with belt wheel, belt wheel is wrapped belt, belt both ends are connected on two belt ears of that relative piggyback pod.By the present invention in that the vertebra of snake is replaced with elastic bar, belt replaces muscle, bionic snake skin replaces snakeskin, it is snake-shaped robot multi-freedom joint module in a kind of bionical meaning, in addition, kneed bionic snake skin can provide enough frictional force for joint, make joint in flat overground locomotion, and be suitable for the terrain environment of complexity.
Description
Technical field
The present invention relates to the technical field of bio-robot, refers in particular to a kind of bionical snake-shaped robot multi-freedom joint
Module.
Background technology
Snake-shaped robot has the characteristics of big flexibility, strong adaptability, can be creeped in complex landform, and can climb
Barrier, hardly matched using the machine of wheel or leg as walking instrument.Snake-shaped robot is typically made up of multiple joints,
In current existing snake-shaped robot, bunchiness typically is connected by steering wheel, motor connection class cating nipple and with this, is relied on
The method realization that class motion is imitated in the rotation of each universal joint is creeped；Or there are wheel, crawler belt etc. outer by connecting external equipment
Some unpowered (dynamic) the universal joints realizations for putting drive device are creeped；The joint manufactured by the above method is not bionical meaning
Snake-shaped robot in justice.
The content of the invention
The shortcomings that it is an object of the invention to overcome prior art and deficiency, it is proposed that a kind of rationally reliable bionical snakelike
Robot multi-freedom joint module, it is in a kind of bionical meaning, possessed the mechanism of class movement mechanism.
To achieve the above object, technical scheme provided by the present invention is：A kind of bionical snake-shaped robot multiple degrees of freedom closes
Module is saved, includes the first piggyback pod and its first supporting motor, the second piggyback pod and its second supporting motor, bionical snake
Skin joint, elastic bar；First piggyback pod, the second piggyback pod nacelle in be provided with mounting bracket, first electricity
The standard of fuselage of machine is arranged in the first mounting bracket of the first piggyback pod, and its output shaft is equipped with first pulley, and described second
The fuselage of motor is vertically installed in the second mounting bracket of the second piggyback pod, and its output shaft is equipped with the second belt wheel；Described
It is connected between one piggyback pod, the second piggyback pod by least three bionic snake skin joints to connect successively, the bionic snake skin closes
The both sides of section are respectively provided with two the 3rd engaging lugs, and two the 3rd engaging lugs of the same side are used to connect corresponding piggyback pod or phase
Adjacent bionic snake skin joint；One end of the elastic bar is connected to the first mounting bracket of the first piggyback pod, and its other end connects
The second mounting bracket of the second piggyback pod is connected to, resilient support is provided for two piggyback pods；Is wrapped in the first pulley
One belt, the both ends of first belt are connected on two the second belt ears of the second piggyback pod, two second skins
It is 180 ° with the angle between ear, while the second engaging lug that two angles are 180 ° is installed on second piggyback pod, uses
In connection bionic snake skin joint, and the straight line where two second engaging lugs and the straight line where above-mentioned two the second belt ear
Can form right angle coordinate system；The second belt is wrapped on second belt wheel, the both ends of second belt are connected to
On two the first belt ears of one piggyback pod, the angle between this two the first belt ears is 180 °, while first power
The first engaging lug that two angles are 180 ° is installed, for connecting bionic snake skin joint, and two first engaging lugs on cabin
The straight line at place and the straight line energy form right angle coordinate system where above-mentioned two the first belt ear, while two first engaging lugs
The straight line at place is perpendicular to the straight line where the engaging lug of above-mentioned two second；Class, which is imitated, when module carries out left and right crawling exercises
When, the first motor of first piggyback pod can drive first pulley to involve the second piggyback pod by the first belt and act, so as to
Realize the rotation in joint；When module, which imitates class, carries out crawling exercises up and down, the second motor of second piggyback pod can band
Dynamic second belt wheel involves the first piggyback pod by the second belt and acted, so as to realize the rotation in joint.
Between first piggyback pod, the second piggyback pod and corresponding bionic snake skin joint, and adjacent bionic snake skin closes two-by-two
It is to be detachably connected by supporting screw and nut between section.
First piggyback pod, the second piggyback pod are annular nacelle.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, the vertebra of snake is replaced by using elastic bar, belt replaces muscle, and bionic snake skin replaces snakeskin, is a kind of imitative
The upper snake-shaped robot multi-freedom joint module of business justice.
2nd, kneed bionic snake skin can provide enough frictional force for joint, so that joint is in flat overground locomotion,
And thus the snake-shaped robot of joint composition can adapt to the terrain environment of complexity.
Brief description of the drawings
Fig. 1 is the stereogram of module of the present invention.
Fig. 2 is Fig. 1 half sectional view.
Fig. 3 is the side view of module of the present invention.
Fig. 4 is the top view of module of the present invention.
Fig. 5 is the stereogram in bionic snake skin joint.
Fig. 6 is the connection diagram in three bionic snake skin joints.
Embodiment
With reference to specific embodiment, the invention will be further described.
As shown in Figures 1 to 6, the bionical snake-shaped robot multi-freedom joint module that the present embodiment is provided, includes
First piggyback pod 1 and its first supporting motor 2, the second piggyback pod 3 and its second supporting motor 4, bionic snake skin joint 5,
Elastic bar 6；First piggyback pod 1, the nacelle of the second piggyback pod 2 are annular nacelle, are provided with mounting bracket in it,
The standard of fuselage of first motor 3 is arranged in the first mounting bracket 7 of the first piggyback pod 1, and its output shaft is equipped with first
Belt wheel 8, the fuselage of second motor 4 are vertically installed in the second mounting bracket 9 of the second piggyback pod 3, the assembling of its output shaft
There is the second belt wheel 10；Closed between first piggyback pod 1, the second piggyback pod 2 by least three bionic snake skins to connect successively
Section 5 is connected, and the both sides in the bionic snake skin joint 5 are respectively provided with two the 3rd engaging lugs 17, and two the 3rd companies of the same side
Lug 17 is used to connect corresponding piggyback pod or adjacent bionic snake skin joint；It is dynamic that one end of the elastic bar 6 is connected to first
First mounting bracket 7 in power cabin 1, its other end are connected to the second mounting bracket 9 of the second piggyback pod 3, are carried for two piggyback pods
For resilient support；The first belt 11 is wrapped in the first pulley 8, the both ends of first belt 11 are connected to second
On two the second belt ears 13 of piggyback pod 3, the angle between this two the second belt ears 13 is 180 °, while described second is dynamic
The second engaging lug 16 that two angles are 180 ° is installed, for connecting bionic snake skin joint 5, and this two second on power cabin 3
Straight line energy form right angle coordinate system of the straight line where with the second belt of above-mentioned two ear 13 where engaging lug 16；Second band
The second belt 12 is wrapped on wheel 10, the both ends of second belt 12 are connected to two the first skins of the first piggyback pod 1
On band ear 14, the angle between this two the first belt ears 14 is 180 °, while two folders are provided with first piggyback pod 1
Angle is 180 ° of the first engaging lug 15, for connecting bionic snake skin joint 5, and the straight line where two first engaging lugs 15 with
Straight line energy form right angle coordinate system where the first belt of above-mentioned two ear 14, at the same it is straight where two first engaging lugs 15
Line is perpendicular to the straight line where the second engaging lug of above-mentioned two 16；First piggyback pod 1, the second piggyback pod 2 with it is corresponding bionical
Between snakeskin joint 5, and two-by-two between adjacent bionic snake skin joint 5 carried out detachably by supporting screw 18 and nut 19
Connection, convenient dismounting are replaced.
When module, which imitates class, carries out left and right crawling exercises, the first motor 2 of first piggyback pod 1 can drive first
Belt wheel 8 involves the second piggyback pod 3 by the first belt 11 and acted, so as to realize the rotation in joint；Class is imitated when module to carry out
During upper and lower crawling exercises, the second motor 4 of second piggyback pod 3 can drive the second belt wheel 10 to involve by the second belt 12
One piggyback pod 1 acts, so as to realize the rotation in joint.
Embodiment described above is only the preferred embodiments of the invention, and the practical range of the present invention is not limited with this, therefore
The change that all shape, principles according to the present invention are made, it all should cover within the scope of the present invention.
Claims (3)
- A kind of 1. bionical snake-shaped robot multi-freedom joint module, it is characterised in that：Include the first piggyback pod (1) and its match somebody with somebody The first motor (2), the second piggyback pod (3) and its supporting the second motor (4), bionic snake skin joint (5), the elastic bar covered (6)；First piggyback pod (1), the second piggyback pod (2) nacelle in be provided with mounting bracket, first motor (3) Standard of fuselage is arranged in the first mounting bracket (7) of the first piggyback pod (1), and its output shaft is equipped with first pulley (8), described The fuselage of second motor (4) is vertically installed in the second mounting bracket (9) of the second piggyback pod (3), and its output shaft is equipped with Two belt wheels (10)；Pass through at least three bionic snake skins to connect successively between first piggyback pod (1), the second piggyback pod (2) Joint (5) is connected, and the both sides of the bionic snake skin joint (5) are respectively provided with two the 3rd engaging lugs (17), and the two of the same side Individual 3rd engaging lug (17) is used to connect corresponding piggyback pod or adjacent bionic snake skin joint；One end of the elastic bar (6) The first mounting bracket (7) of the first piggyback pod (1) is connected to, its other end is connected to the second installation branch of the second piggyback pod (3) Frame (9), resilient support is provided for two piggyback pods；The first belt (11), first skin are wrapped on the first pulley (8) The both ends of band (11) are connected on two the second belt ears (13) of the second piggyback pod (3), this two the second belt ears (13) angle between is 180 °, while the second engaging lug that two angles are 180 ° is provided with second piggyback pod (3) (16), for connecting bionic snake skin joint (5), and the straight line where two second engaging lugs (16) and the skin of above-mentioned two second With the straight line energy form right angle coordinate system where ear (13)；The second belt (12) is wrapped on second belt wheel (10), it is described The both ends of second belt (12) are connected on two the first belt ears (14) of the first piggyback pod (1), two first skins It is 180 ° with the angle between ear (14), while the first company that two angles are 180 ° is installed on first piggyback pod (1) Lug (15), for connecting bionic snake skin joint (5), and the straight line where two first engaging lugs (15) and above-mentioned two the Straight line energy form right angle coordinate system where one belt ear (14), while the straight line where two first engaging lugs (15) is vertical Straight line where the engaging lug of above-mentioned two second (16)；When module, which imitates class, carries out left and right crawling exercises, described first The first motor (2) of piggyback pod (1) can drive first pulley (8) to involve the second piggyback pod (3) by the first belt (11) and act, So as to realize the rotation in joint；When module, which imitates class, carries out crawling exercises up and down, the second electricity of second piggyback pod (3) Machine (4) can drive the second belt wheel (10) to involve the first piggyback pod (1) by the second belt (12) and act, so as to realize turning for joint It is dynamic.
- A kind of 2. bionical snake-shaped robot multi-freedom joint module according to claim 1, it is characterised in that：Described Between one piggyback pod (1), the second piggyback pod (2) and corresponding bionic snake skin joint (5), and adjacent bionic snake skin joint (5) two-by-two Between be to be detachably connected by supporting screw (18) and nut (19).
- A kind of 3. bionical snake-shaped robot multi-freedom joint module according to claim 1 or 2, it is characterised in that：Institute State the first piggyback pod (1), the second piggyback pod (2) is annular nacelle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174097.8A CN107813304A (en) | 2017-11-22 | 2017-11-22 | A kind of bionical snake-shaped robot multi-freedom joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711174097.8A CN107813304A (en) | 2017-11-22 | 2017-11-22 | A kind of bionical snake-shaped robot multi-freedom joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107813304A true CN107813304A (en) | 2018-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711174097.8A Pending CN107813304A (en) | 2017-11-22 | 2017-11-22 | A kind of bionical snake-shaped robot multi-freedom joint module |
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| CN (1) | CN107813304A (en) |
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| CN101444918A (en) * | 2008-12-26 | 2009-06-03 | 清华大学 | under-actuated bionic finger device with function of pre-bending grasping |
| CN103170985A (en) * | 2013-02-27 | 2013-06-26 | 北京航空航天大学 | Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot |
| CN103879469A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Snakelike search-and-rescue robot joint module |
| CN103878767A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Underwater snakelike robot |
| CN103878768A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Snakelike search-and-rescue robot |
| CN103878784A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Joint module of underwater snakelike robot |
| CN105364938A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Belt wheel type cooperative locking linkage self-adaptive robot finger device |
| CN105835083A (en) * | 2016-05-27 | 2016-08-10 | 清华大学 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
| CN106625639A (en) * | 2017-02-28 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Flexible arm linkage joint section |
-
2017
- 2017-11-22 CN CN201711174097.8A patent/CN107813304A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090099420A1 (en) * | 2007-10-11 | 2009-04-16 | Neoguide Systems, Inc. | System for managing bowden cables in articulating instruments |
| CN101444918A (en) * | 2008-12-26 | 2009-06-03 | 清华大学 | under-actuated bionic finger device with function of pre-bending grasping |
| CN103170985A (en) * | 2013-02-27 | 2013-06-26 | 北京航空航天大学 | Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot |
| CN103879469A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Snakelike search-and-rescue robot joint module |
| CN103878767A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Underwater snakelike robot |
| CN103878768A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Snakelike search-and-rescue robot |
| CN103878784A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Joint module of underwater snakelike robot |
| CN105364938A (en) * | 2015-12-01 | 2016-03-02 | 清华大学 | Belt wheel type cooperative locking linkage self-adaptive robot finger device |
| CN105835083A (en) * | 2016-05-27 | 2016-08-10 | 清华大学 | Flexible part parallel-clamping and coupling switchover self-adaptive robot finger device |
| CN106625639A (en) * | 2017-02-28 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Flexible arm linkage joint section |
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Application publication date: 20180320 |
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| RJ01 | Rejection of invention patent application after publication |