CN107984465B - Bionic robot with double-link joint based on winding motion mode - Google Patents
Bionic robot with double-link joint based on winding motion mode Download PDFInfo
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- CN107984465B CN107984465B CN201711212269.6A CN201711212269A CN107984465B CN 107984465 B CN107984465 B CN 107984465B CN 201711212269 A CN201711212269 A CN 201711212269A CN 107984465 B CN107984465 B CN 107984465B
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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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Abstract
The invention discloses a bionic robot with double-connecting-rod joints based on a meandering motion mode, and belongs to the field of bionic robots. The snake comprises a snake head, a front snake body, a rear snake body and a snake tail, and also comprises three groups of connecting rod joints A and three groups of connecting rod joints B; the three groups of connecting rod joints A and the three groups of connecting rod joints B are arranged in parallel; the head of the mechanical snake is connected with the front snake body in parallel by adopting a first group of connecting rod joints A and a first group of connecting rod joints B; the front snake body and the rear snake body are connected in parallel by adopting a second group of connecting rod joints A and a second group of connecting rod joints B; the back snake body is connected with the tail of the machine snake in parallel by adopting a third group of connecting rod joints A and a third group of connecting rod joints B. The bionic robot can meander and walk in an S-shaped curve under the synchronous and equidirectional driving of the two steering engines, so that the high snake-imitating property of the motion posture of the bionic robot is improved.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to a bionic robot with double-connecting-rod joints based on a winding motion mode.
Background
With the progress of industrialization, research in the field of special robots is receiving more and more attention from the scientific and industrial fields. Especially in the places which are not suitable for human work, such as radiation, severe toxicity, darkness or narrow pipelines, etc., the bionic robot which can meander like a biological snake has wide application prospect. The existing snake-shaped robot is only used as an ornamental machine, cannot simulate the winding motion of a biological snake, and can hardly help human to complete the work to be completed in practical application. Therefore, the bionic robot which is more consistent with the snake-like winding motion mode has certain value.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides a bionic robot which adopts a double-steering engine to drive three degrees of freedom, can advance in a winding manner and is provided with a connecting rod joint.
In order to solve the problems, the solution proposed by the invention is as follows: the utility model provides a bionic robot based on meander motion mode has two link joint, it includes machine snake head, preceding snake body, back snake body and machine snake tail, still includes three groups of link joint A and three groups of link joint B in addition, three groups of link joint A are first group link joint A, second group link joint A, third group link joint A respectively, three groups of link joint B are first group link joint A, second group link joint B and third group link joint B respectively.
The three groups of connecting rod joints A and the three groups of connecting rod joints B are arranged in parallel; the mechanical snake head and the front snake body are connected in parallel by adopting the first group of connecting rod joints A and the first group of connecting rod joints B; the front snake body and the rear snake body are connected in parallel by adopting the second group of connecting rod joints A and the second group of connecting rod joints B; the rear snake body and the tail of the machine snake are connected in parallel by adopting the third group of connecting rod joints A and the third group of connecting rod joints B.
The three groups of connecting rod joints A are completely the same in structure and respectively comprise a front hinge A, a rear hinge A, a driving connecting rod A connected with the front hinge A and the rear hinge A, a linear track A, a traction sliding block A capable of freely sliding along the linear track A and a driven connecting rod A connected with the rear hinge A and the traction sliding block A.
The three groups of connecting rod joints B have the same structure and respectively comprise a front hinge B, a rear hinge B, a driving connecting rod B connected with the front hinge B and the rear hinge B, a linear track B, a traction sliding block B capable of freely sliding along the linear track B and a driven connecting rod B connected with the rear hinge B and the traction sliding block B; the front hinges A of the first group of connecting rod joints A and the front hinges B of the first group of connecting rod joints B are rotatably arranged on the head of the snake robot, and the linear tracks A of the first group of connecting rod joints A and the linear tracks B of the first group of connecting rod joints B are fixedly arranged on the front snake body; the front hinges A of the second group of connecting rod joints A and the front hinges B of the second group of connecting rod joints B are rotatably arranged on the front snake body, and the linear tracks A of the second group of connecting rod joints A and the linear tracks B of the second group of connecting rod joints B are fixedly arranged on the rear snake body; the front hinge A of the third group of connecting rod joints A and the front hinge B of the third group of connecting rod joints B are rotatably arranged on the rear snake body, and the linear track A of the third group of connecting rod joints A and the linear track B of the third group of connecting rod joints B are fixedly arranged on the tail of the snake;
a first steering engine is arranged on the head of the mechanical snake, and a second steering engine is arranged on the tail of the mechanical snake; the first steering engine and the second steering engine rotate synchronously and in the same direction all the time.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the bionic robot with the double-connecting-rod joint based on the meandering motion mode has three motion degrees of freedom, and can meander and walk in an S-shaped curve under the synchronous and equidirectional driving of the two steering engines, so that the high snake-like performance of the motion posture of the bionic robot is improved.
(2) The bionic robot with the double-connecting-rod joint based on the meandering motion mode is provided with three motion joints, each joint is connected in parallel by adopting the double connecting rods, the sliding blocks and the tracks, so that the flexibility and the scalability of a snake body and the joints are improved, and the two motors drive three degrees of freedom, so that the energy consumption is saved.
Drawings
Fig. 1 is a schematic structural principle diagram of a bionic robot with double-link joints based on a serpentine motion mode.
In the figure, 1-machine snake head; 2-front snake body; 3-the snake body; 4-machine snake tail; 51-front hinge a; 52-active link a; 53-rear hinge a; 54-passive link a; 55-traction sliding block A; 56-straight track a; 61-front hinge B; 62-driving connecting rod B; 63-rear hinge B; 64-passive link B; 65-traction slide B; 66-straight track B; 7, a first steering engine; 8-second steering engine.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the bionic robot with double-link joints based on the meandering motion mode comprises a snake head 1, a snake body 2, a snake body 3 and a snake tail 4, and further comprises three groups of link joints a and three groups of link joints B, wherein the three groups of link joints a are respectively a first group of link joints a, a second group of link joints a and a third group of link joints a, and the three groups of link joints B are respectively a first group of link joints a, a second group of link joints B and a third group of link joints B.
Referring to fig. 1, three sets of link joints a and three sets of link joints B are installed in parallel; the mechanical snake head 1 and the front snake body 2 are connected in parallel by adopting a first group of connecting rod joints A and a first group of connecting rod joints B; the front snake body 2 and the rear snake body 3 are connected in parallel by adopting a second group of connecting rod joints A and a second group of connecting rod joints B; the rear snake body 3 and the tail 4 of the machine snake are connected in parallel by adopting a third group of connecting rod joints A and a third group of connecting rod joints B;
referring to fig. 1, the three sets of link joints a have the same structure, and each link joint a includes a front hinge a51, a rear hinge a53, a driving link a52 connecting the front hinge a51 and the rear hinge a53, a linear track a56, a traction slider a55 capable of freely sliding along the linear track a56, and a driven link a54 connecting the rear hinge a53 and the traction slider a 55;
referring to fig. 1, the three sets of link joints B have the same structure, and each link joint B includes a front hinge B61, a rear hinge B63, a driving link B62 connecting the front hinge B61 and the rear hinge B63, a linear track B66, a traction slider B65 capable of freely sliding along the linear track B66, and a driven link B64 connecting the rear hinge B63 and the traction slider B65; the front hinge A51 of the first group of connecting rod joints A and the front hinge B61 of the first group of connecting rod joints B are rotatably arranged on the snake head 1 of the machine, and the linear track A56 of the first group of connecting rod joints A and the linear track B66 of the first group of connecting rod joints B are fixedly arranged on the front snake body 2; the front hinge A51 of the second group of the connecting rod joint A and the front hinge B61 of the second group of the connecting rod joint B are both rotatably arranged on the front snake body 2, and the linear track A56 of the second group of the connecting rod joint A and the linear track B66 of the second group of the connecting rod joint B are both fixedly arranged on the rear snake body 3; the front hinge A51 of the third group of the connecting rod joint A and the front hinge B61 of the third group of the connecting rod joint B are both rotatably arranged on the rear snake body 3, and the linear track A56 of the third group of the connecting rod joint A and the linear track B66 of the third group of the connecting rod joint B are both fixedly arranged on the snake tail 4 of the machine.
Referring to fig. 1, a first steering engine 7 is arranged on the head of the machine snake, and a second steering engine 8 is arranged on the tail 4 of the machine snake; the first steering engine 7 and the second steering engine 8 rotate synchronously and in the same direction all the time.
The working principle is as follows: the first steering engine 7 rotates forwards to drive the snake head 1 of the machine to rotate upwards around the front snake body 2, so that the first group of connecting rod joints A and the first group of connecting rod joints B rotate in the same direction, the traction sliding block A55 retreats, and the traction sliding block B65 moves forwards of the front snake body 2; meanwhile, the second steering engine 8 also rotates in the positive direction to drive the rear snake body 3 to rotate downwards around the snake tail 4 of the machine, so that the third group of connecting rod joints A and the third group of connecting rod joints B rotate in the same direction, the traction sliding block A55 moves forwards, and the traction sliding block B65 moves backwards; the front snake body 2 and the rear snake body 3 rotate around the second group of connecting rod joints A and the second group of connecting rod joints B under the traction of the first steering engine 7 and the pushing of the second steering engine 8, so that the whole bionic robot is bent into an S shape; and then, the first steering engine 7 and the second steering engine 8 synchronously rotate in the opposite direction, and as the friction force perpendicular to the S-shaped curve is far greater than the friction force in the tangential direction of the S-shaped curve, the rear snake body 3 drives the machine snake tail 4 to advance under the action of ground friction force, and the front snake body 2 drives the machine snake head 1 to advance under the action of ground friction force, so that the snake motion is realized.
Claims (1)
1. The utility model provides a bionic robot that has double-link joint based on sinuous motion mode, includes machine snake head (1), preceding snake body (2), back snake body (3) and machine snake tail (4), still includes three groups of link joint A and three groups of link joint B in addition, three groups of link joint A are first group link joint A, second group link joint A, third group link joint A respectively, three groups of link joint B are first group link joint A, second group link joint B and third group link joint B respectively, its characterized in that:
the three groups of connecting rod joints A and the three groups of connecting rod joints B are arranged in parallel; the mechanical snake head (1) and the front snake body (2) are connected in parallel by adopting the first group of connecting rod joints A and the first group of connecting rod joints B; the front snake body (2) and the rear snake body (3) are connected in parallel by adopting the second group of connecting rod joints A and the second group of connecting rod joints B; the rear snake body (3) and the mechanical snake tail (4) are connected in parallel by adopting the third group of connecting rod joints A and the third group of connecting rod joints B;
the three groups of connecting rod joints A are completely the same in structure and respectively comprise a front hinge A (51), a rear hinge A (53), a driving connecting rod A (52) connected with the front hinge A (51) and the rear hinge A (53), a linear track A (56), a traction sliding block A (55) capable of freely sliding along the linear track A (56), and a driven connecting rod A (54) connected with the rear hinge A (53) and the traction sliding block A (55);
the three groups of connecting rod joints B are completely the same in structure and respectively comprise a front hinge B (61), a rear hinge B (63), a driving connecting rod B (62) connected with the front hinge B (61) and the rear hinge B (63), a linear track B (66), a traction sliding block B (65) capable of freely sliding along the linear track B (66), and a driven connecting rod B (64) connected with the rear hinge B (63) and the traction sliding block B (65);
the front hinge A (51) of the first group of connecting rod joints A and the front hinge B (61) of the first group of connecting rod joints B are rotatably arranged on the machine snake head (1), and the linear track A (56) of the first group of connecting rod joints A and the linear track B (66) of the first group of connecting rod joints B are fixedly arranged on the front snake body (2);
the front hinges A (51) of the second group of connecting rod joints A and the front hinges B (61) of the second group of connecting rod joints B are rotatably arranged on the front snake body (2), and the linear tracks A (56) of the second group of connecting rod joints A and the linear tracks B (66) of the second group of connecting rod joints B are fixedly arranged on the rear snake body (3);
the front hinge A (51) of the third group of connecting rod joints A and the front hinge B (61) of the third group of connecting rod joints B are rotatably arranged on the rear snake body (3), and the linear track A (56) of the third group of connecting rod joints A and the linear track B (66) of the third group of connecting rod joints B are fixedly arranged on the machine snake tail (4);
a first steering engine (7) is arranged on the snake head of the machine, and a second steering engine (8) is arranged on the snake tail (4) of the machine; the first steering engine (7) and the second steering engine (8) rotate synchronously and in the same direction all the time.
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| CN201711212269.6A CN107984465B (en) | 2017-11-28 | 2017-11-28 | Bionic robot with double-link joint based on winding motion mode |
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| CN201711212269.6A CN107984465B (en) | 2017-11-28 | 2017-11-28 | Bionic robot with double-link joint based on winding motion mode |
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| CN107984465A CN107984465A (en) | 2018-05-04 |
| CN107984465B true CN107984465B (en) | 2020-10-27 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262602B (en) * | 2018-09-29 | 2020-09-01 | 中国矿业大学 | Magnetofluid mechanical arm |
| CN109768499A (en) * | 2019-01-14 | 2019-05-17 | 南京电博机器人技术有限公司 | A kind of transmission line of electricity screen of trees cleaning snake-shaped robot device and snakelike method of climbing tree |
| CN112296990A (en) * | 2020-10-27 | 2021-02-02 | 浙江理工大学 | Bionic sea snake robot based on rope traction |
| CN113176737A (en) * | 2021-03-19 | 2021-07-27 | 东莞理工学院 | Simulation method, system, equipment and medium for meandering motion of bionic snake-shaped robot |
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