CN109249380A - A kind of snake-shaped robot with assist device - Google Patents
A kind of snake-shaped robot with assist device Download PDFInfo
- Publication number
- CN109249380A CN109249380A CN201811257468.3A CN201811257468A CN109249380A CN 109249380 A CN109249380 A CN 109249380A CN 201811257468 A CN201811257468 A CN 201811257468A CN 109249380 A CN109249380 A CN 109249380A
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- CN
- China
- Prior art keywords
- module
- snake
- mcu controller
- joint
- shaped robot
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- 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.)
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The invention discloses a kind of snake-shaped robot with assist device, including be sequentially connected in series head module, several joint modules, tail module；The head module is fixedly connected with first joint module, can be connected with each other in relative rotation by rotation connection structure between each adjacent joint module and between the last one described joint module and the tail module；MCU controller is equipped with inside modules, the MCU controller of the head module sends control instruction to each joint module, the MCU controller of tail module after receiving control instruction；The tail module is provided with propeller, and the propeller is connected with the MCU controller of the tail module.The present invention snake-shaped robot can complete bionic movement, have advance tortuously ability on the basis of, increase propeller in tail portion, so that snake-shaped robot be can not have locomitivity in the case where wriggling movement, and movement velocity can be accelerated while nature bred turtle in snake-shaped robot.
Description
Technical field
The present invention relates to mechanical automation technology, in particular to a kind of snake-shaped robot with assist device.
Background technique
With the continuous development of science and technology, flexible robot of the snake-shaped robot as Novel moveable, with it with multistep
State locomitivity, and the characteristics of can adapt to environment complicated and changeable, become the research hotspot of robot field.Especially
Ground, snake-shaped robot be easy to pretend, concealment is high, close structure and it is highly integrated the features such as, scouting can be met, patrolled
Patrol equal military requirements.In addition to Military Application, snake-shaped robot also has wider civilian prospect, as earthquake and scene of fire are searched
Rescue, underground poison physical examination survey, pipe detection, nuclear power station radiation monitoring, bridge pier corrode check etc., personnel's inconvenience enter or be difficult into
The high-risk field entered replaces operator using the snake-shaped robot of low cost, properly completes appointment task.For
Underwater snake-shaped robot, passes through narrow space and the locomotivity when partial joint can not be swung is always a disaster
Topic, it is therefore desirable to which a kind of invention solves this problem.
Patent CN200810229974.1 discloses a kind of Amphibious snake-like robot, is made of multiple modules, each mould
Block is rotatably connected, and one in two adjacent blocks can swing with respect to another horizontal deflection and flexion-extension.The device
Although can be realized freely moving about in water, since individual module is relatively long, move about inflexible；The device can only
It moves about by body swing, can not normally move about behind narrow water or in which certain joint damages.
Patent CN201410102191.2 discloses a kind of underwater snake-shaped robot, is made of multiple modules, the module
Outer surface is coated with water-proof jacket, and each intermodule is fixedly connected, and module includes the ontology of multi-directionally deflection and is arranged in ontology
The interconnecting piece at both ends.Although the invention may be implemented the underwater of snake-shaped robot and freely move about, but can not use body
It is moved while grabbing object.
Summary of the invention
The purpose of the present invention is overcoming deficiency in the prior art, a kind of snake-shaped robot with assist device is provided,
Can complete bionic movement, have advance tortuously ability on the basis of, tail portion increase propeller so that snake-shaped robot is in nothing
Have locomitivity in the case where method wriggling movement, and movement velocity can be accelerated while nature bred turtle in snake-shaped robot.
The technical scheme adopted by the invention is that: a kind of snake-shaped robot with assist device, including what is be sequentially connected in series
Head module, several joint modules, tail module, the head module are fixedly connected with first joint module, respectively
Connected by rotation between a adjacent joint module and between the last one described joint module and the tail module
Binding structure can be connected with each other in relative rotation；Head MCU controller, each joint module are provided in the head module
It is inside provided with joint MCU controller, tail portion MCU controller is provided in the tail module, if the head MCU controller,
Dry joint MCU controller, tail portion MCU controller are sequentially connected in series, and the head MCU controller is after receiving control instruction
The control instruction is sent to each joint MCU controller and the tail portion MCU controller；The tail module is provided with
Propeller, the propeller are connected with the tail portion MCU controller, for snake-shaped robot can not wriggling movement the case where
Under have locomitivity, and movement velocity can be accelerated while nature bred turtle in snake-shaped robot.
Further, the joint module further includes shell, steering engine, battery；The battery respectively with the steering engine, joint
MCU controller is connected, and is the steering engine, the power supply of joint MCU controller；The joint MCU controller is connected with the steering engine
It connects, the steering engine is connected with the shaft of the rotation connection structure, and the joint MCU controller is receiving the head MCU
After the control instruction that controller is sent, control steering engine movement, shaft rotation described in the servo driving with drive with it is described
Next joint module of shaft connection or tail module rotation.
Wherein, the rotational angle range of the steering engine is ± 90 °.
Further, the tail module further includes shell, with horizontal member, and the shell includes upper cover plate and main casing, institute
It states and is fixedly connected on the interior bottom of the main casing with horizontal member.
Wherein, the main casing first half be cylindrical-shaped structure, it is latter half of be flat structure, the cylindrical-shaped structure and
By smooth arcuate structure transition between the flat structure, the arcuate structure makes snakelike with the flat structure
Contact of the robot tail portion when swinging with water is more efficient, to promote travelling speed.
Wherein, the bottom of the main casing is provided with intake chamber, rear portion is provided with water outlet, and the propeller is receiving fortune
After dynamic instruction, absorbs water from the intake chamber, sprayed through the water outlet.
Wherein, pass through screw connection between the upper cover plate and the main casing, be provided with charging hole on the upper cover plate.
Further, the rotation connection structure includes connector and shaft, one end of the connector and the shaft
It is fixedly connected, the other end is fixedly connected with next joint module or the tail module, and the shaft is fixedly connected on
The end of the joint module, and be connected with the steering engine of the joint module, shaft described in the servo driving simultaneously drives institute
Connector rotation is stated, to drive next joint module or the tail module to rotate.
Further, the propeller is using pump spray formula propeller.
The beneficial effects of the present invention are:
1. the invention enables the abilities that snake-shaped robot has aquatic bionic wriggling movement, due to its forms of motion and biology
Snake is similar, and motion noise is small, is difficult to be found to identify, therefore has very strong hidden camouflage ability, can apply in army
The scenes such as thing investigation.
2. the invention enables snake-shaped robots to have the ability moved in a variety of contexts.When snake-shaped robot is managed under water
When the narrow spaces operation such as road, can not wriggling movement, can be used pump spray formula propeller realize locomitivity.
Simultaneously when snake-shaped robot winds object using body, carries out the operation such as underwater salvage operation, the pump spray of tail portion
Formula propeller can provide motive force in the case where it loses wriggling movement ability.
3. the movement velocity that the present invention can promote snake-shaped robot.While snake-shaped robot wriggling movement, in tail
Portion increases thrust using pump spray formula propeller, to promote the movement velocity of snake-shaped robot.
Detailed description of the invention
Fig. 1 is overall structure side view of the present invention
Fig. 2 is overall structure top view of the present invention
Fig. 3 is tail portion main casing main view
Fig. 4-1 is tail portion main casing body-side view
Fig. 4-2 is the A-A cross-sectional view of Fig. 4-1
Fig. 5-1 is tail portion main casing top view
Fig. 5-2 is the B-B cross-sectional view of Fig. 5-1
Fig. 6 is tail portion upper cover plate main view
Fig. 7 is tail portion upper cover plate side view
Fig. 8 is tail portion upper cover plate top view
Fig. 9 is rotation connection structure side view
Attached drawing mark: 1- head module, 2- joint module, 3- tail module, 4- water outlet, 5- arcuate structure, 6- are flat
Shape structure, 7- cylindrical-shaped structure, 8- module connection installation via hole, the fixed bracket of 9-MCU control panel, the fixed via hole of 10- cover board,
11- cover board fixes via hole, 12- propeller erecting bed, 13- intake chamber, 14- shell installation via hole, 15- charging hole, 16- connection
Part, 17- shaft.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
If attached drawing 1 is to shown in Fig. 9, a kind of snake-shaped robot with assist device, including the head module being sequentially connected in series
1, several joint modules 2, tail module 3.The head module 1 is fixedly connected with first joint module 2, Ge Gexiang
Connected by rotation between the adjacent joint module 2 and between the last one described joint module 2 and the tail module 3
Binding structure can be connected with each other in relative rotation.Wherein, as shown in figure 9, the rotation connection structure includes connector 16 and shaft
17, one end of the connector 16 is fixedly connected with the shaft 17, the other end and next joint module 2 or the tail
Portion's module 3 is fixedly connected, and the shaft 17 is fixedly connected on the end of the joint module 2, and the rudder with the joint module 2
Machine is connected, and shaft 17 described in the servo driving simultaneously drives the connector 16 to rotate, to drive next joint mould
Block 2 or the tail module 3 rotate.
It is provided with head MCU controller in the head module 1, MCU control in joint is provided in each joint module 2
Device processed is provided with tail portion MCU controller, the head MCU controller, several joints MCU control in the tail module 3
Device, tail portion MCU controller are connected by can bus.It is sent by the way of wireless data transmission to the head MCU controller
Control instruction, the head MCU controller send the control instruction to each joint MCU after receiving control instruction
Controller and the tail portion MCU controller.
The joint module 2 includes shell, joint MCU controller, steering engine, battery.The battery respectively with the steering engine,
Joint MCU controller is connected, and is the steering engine, the power supply of joint MCU controller.The joint MCU controller and the steering engine
It is connected, the steering engine is connected with the shaft 17 of the rotation connection structure, and the joint MCU controller is receiving the head
After the control instruction that portion's MCU controller is sent, the steering engine movement is controlled, the rotation of shaft 17 described in the servo driving is to drive
Next joint module 2 or the tail module 3 rotation being connect with the shaft 17.The rotational angle model of the steering engine
Enclose is ± 90 °.
The tail module 3 includes shell, propeller, tail portion MCU controller, matches horizontal member.The shell includes upper cover plate
And main casing.
As shown in Fig. 3,4-1,4-2,5-1,5-2, the main casing first half be cylindrical-shaped structure 7, it is latter half of be flat
Shape structure 6 passes through smooth 5 transition of arcuate structure, the arc between the cylindrical-shaped structure 7 and the flat structure 6
Structure 5 makes contact of the snake-shaped robot tail portion when swinging with water more efficient with the flat structure 6, to promote trip
Dynamic speed.The bottom of the main casing is provided with intake chamber 13, rear portion is provided with water outlet 4.The propeller is using pump spray formula
Propeller, the propeller are fixedly connected in the main casing by propeller erecting bed 12, and the propeller is receiving movement
It after instruction, absorbs water from the intake chamber 13, is sprayed through the water outlet 4.The tail portion MCU controller is fixedly connected on MCU control
In making sheet, the MCU control panel is fixedly connected in the main casing by the fixed bracket 9 of MCU control panel, the tail portion MCU
Controller is connected with the propeller.It is described to be fixedly connected on the interior bottom of the main casing with horizontal member.The main casing
The interior module connection installation via hole 8 being circumferentially provided with along inner wall for connecting the connector 16, the top surface of the main casing is opened
Equipped with the fixed via hole 10 of cover board and the fixed via hole 11 of cover board for connecting the upper cover plate.
As shown in Figure 7,8, the shell installation via hole 14 for connecting the main casing is offered on the upper cover plate, it is described
Pass through screw connection between upper cover plate and the main casing.There are charging holes 15 on the upper cover plate.
By taking snake-shaped robot passes through narrow waters salvaging object as an example.There is a panel region throughout complicated grid in the waters
Network is that snake-shaped robot goes to the predetermined necessary way for salvaging region.Snake-shaped robot is after receiving salvaging instruction using imitative
The mode that raw wriggling movement is combined with hydraulic jet propulsion is advanced, and is capable of increasing the speed of advance in this way, improves sport efficiency.Work as warp
Cross need pretend, region very high to noise requirements when, by the way of bionical wriggling movement, hide investigation.When by pipe network
When water channel, since environment is narrow, snake-shaped robot can not sway, and snake-shaped robot keeps rectilinear configuration at this time, only use
The hydraulic propeller of tail portion advances.Hydraulic propeller can be rotated by caudal articular process and change water spraying direction, to realize snakelike
The locomitivity of robot different directions.After passing through narrow waters, snake-shaped robot continuation is pushed away with bionical wriggling movement with water spray
It is fast forwarded through into the mode combined, salvages place until reaching predetermined.
Snake-shaped robot rotates each joint, grabs object to be salvaged with body winding.At this point, snake-shaped robot can only
The power to advance is provided by the hydraulic propeller of tail portion.Equally, by changing the direction of caudal articular process, change hydraulic propeller
Thrust direction, realize snake-shaped robot all directions advance ability, send until salvaging object to designated place.
Snake-shaped robot of the present invention can complete bionic movement, have the ability advanced tortuously.
Snake-shaped robot of the present invention can be used alone the pump spray formula propeller of tail portion, so that it is in the fortune that can not wriggle
Have locomitivity in the case where dynamic, when such as completing crawl by narrow waters or using body winding, enhances snakelike machine
The ability of people's adaptation complex environment.
Snake-shaped robot of the present invention can accelerate travelling speed while nature bred turtle using pump spray formula propeller.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific embodiment stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, may be used also
By make it is many in the form of, within these are all belonged to the scope of protection of the present invention.
Claims (9)
1. a kind of snake-shaped robot with assist device, which is characterized in that including be sequentially connected in series head module, several pass
Module, tail module are saved, the head module is fixedly connected with first joint module, each adjacent joint module
Between and the last one described joint module and the tail module between by rotation connection structure can be in relative rotation
It is connected with each other；It is provided with head MCU controller in the head module, MCU control in joint is provided in each joint module
Device processed, is provided with tail portion MCU controller in the tail module, the head MCU controller, several joints MCU controller,
Tail portion MCU controller is sequentially connected in series, the head MCU controller sent after receiving control instruction the control instruction to
Each joint MCU controller and the tail portion MCU controller；The tail module is provided with propeller, the propeller
It is connected with the tail portion MCU controller, for that can not have locomitivity in the case where wriggling movement in snake-shaped robot, and
It can accelerate movement velocity while nature bred turtle in snake-shaped robot.
2. a kind of snake-shaped robot with assist device according to claim 1, which is characterized in that the joint module
It further include shell, steering engine, battery；The battery is connected with the steering engine, joint MCU controller respectively, is the steering engine, pass
Save the power supply of MCU controller；The joint MCU controller is connected with the steering engine, the steering engine and the rotation connection structure
Shaft be connected, the joint MCU controller controls institute after receiving the control instruction that the head MCU controller is sent
State steering engine movement, the rotation of shaft described in the servo driving with drive the next joint module being connect with the shaft or
The tail module rotation.
3. a kind of snake-shaped robot with assist device according to claim 2, which is characterized in that the steering engine turns
Dynamic angular range is ± 90 °.
4. a kind of snake-shaped robot with assist device according to claim 1, which is characterized in that the tail module
It further include shell, with horizontal member, the shell includes upper cover plate and main casing, and the horizontal member of matching is fixedly connected on the main casing
On interior bottom.
5. a kind of snake-shaped robot with assist device according to claim 4, which is characterized in that before the main casing
Half portion be cylindrical-shaped structure, it is latter half of be flat structure, by flat between the cylindrical-shaped structure and the flat structure
Sliding arcuate structure transition, the arcuate structure and the flat structure make the snake-shaped robot tail portion when swinging and water
Contact is more efficient, to promote travelling speed.
6. a kind of snake-shaped robot with assist device according to claim 4, which is characterized in that the main casing
Bottom is provided with intake chamber, rear portion is provided with water outlet, and the propeller is inhaled after receiving movement instruction from the intake chamber
Water is sprayed through the water outlet.
7. a kind of snake-shaped robot with assist device according to claim 4, which is characterized in that the upper cover plate with
Pass through screw connection between the main casing, is provided with charging hole on the upper cover plate.
8. a kind of snake-shaped robot with assist device according to claim 1, which is characterized in that the rotation connection
Structure includes connector and shaft, and one end of the connector is fixedly connected with the shaft, the other end and next pass
Section module or the tail module are fixedly connected, and the shaft is fixedly connected on the end of the joint module, and with the pass
The steering engine of section module is connected, and shaft described in the servo driving simultaneously drives the connector to rotate, next described to drive
Joint module or tail module rotation.
9. a kind of snake-shaped robot with assist device according to claim 1, which is characterized in that the propeller is adopted
With pump spray formula propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257468.3A CN109249380A (en) | 2018-10-26 | 2018-10-26 | A kind of snake-shaped robot with assist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257468.3A CN109249380A (en) | 2018-10-26 | 2018-10-26 | A kind of snake-shaped robot with assist device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109249380A true CN109249380A (en) | 2019-01-22 |
Family
ID=65046302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811257468.3A Pending CN109249380A (en) | 2018-10-26 | 2018-10-26 | A kind of snake-shaped robot with assist device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109249380A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515939A (en) * | 2020-05-14 | 2020-08-11 | 山东哈尔智能科技有限公司 | Flexible multifunctional underwater snake-shaped robot |
| CN111687823A (en) * | 2020-05-21 | 2020-09-22 | 天津大学 | Amphibious snake-shaped robot with spiral drive |
| 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 |
| CN113386929A (en) * | 2021-05-07 | 2021-09-14 | 上海大学 | Underwater soft snake-shaped robot |
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| CN101746237A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Amphibious snake-like robot |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN103358305A (en) * | 2013-06-17 | 2013-10-23 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN103909520A (en) * | 2014-03-04 | 2014-07-09 | 青岛海艺自动化技术有限公司 | Snakelike robot with creeping and swinging function |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
| US20180021945A1 (en) * | 2015-01-29 | 2018-01-25 | Eelume As | Underwater manipulator arm robot |
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2018
- 2018-10-26 CN CN201811257468.3A patent/CN109249380A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746237A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Amphibious snake-like robot |
| CN103358305A (en) * | 2013-06-17 | 2013-10-23 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN103909520A (en) * | 2014-03-04 | 2014-07-09 | 青岛海艺自动化技术有限公司 | Snakelike robot with creeping and swinging function |
| US20180021945A1 (en) * | 2015-01-29 | 2018-01-25 | Eelume As | Underwater manipulator arm robot |
| CN107127744A (en) * | 2017-05-31 | 2017-09-05 | 成都理工大学 | A kind of snake-shaped robot with orthogonal joint structure |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515939A (en) * | 2020-05-14 | 2020-08-11 | 山东哈尔智能科技有限公司 | Flexible multifunctional underwater snake-shaped robot |
| CN111687823A (en) * | 2020-05-21 | 2020-09-22 | 天津大学 | Amphibious snake-shaped robot with spiral drive |
| 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 |
| CN113386929A (en) * | 2021-05-07 | 2021-09-14 | 上海大学 | Underwater soft snake-shaped robot |
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