CN109483523A - A kind of snake-shaped robot mechanism of the flexible drive based on orthogonal joint - Google Patents
A kind of snake-shaped robot mechanism of the flexible drive based on orthogonal joint Download PDFInfo
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- CN109483523A CN109483523A CN201811596807.0A CN201811596807A CN109483523A CN 109483523 A CN109483523 A CN 109483523A CN 201811596807 A CN201811596807 A CN 201811596807A CN 109483523 A CN109483523 A CN 109483523A
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- China
- Prior art keywords
- joint
- snake
- shaped robot
- magnetorheological fluid
- orthogonal
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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
-
- 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
- B25J17/0208—Compliance devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The invention discloses a kind of snake-shaped robot mechanisms of flexible drive based on orthogonal joint, belong to robot architecture's design studies and engineer application field；Wheel-type magnetorheological fluid structure drives the angular wheel of two groups of orthogonal connections, and the joint deflection for completing snake-shaped robot controls and then realizes pitching, yaw motion.Magnetorheological fluid Wheel-type structure division electric current is individually controlled by via controller, and on the basis of the control of joint actuator, the size of current for changing flowing through coil changes magnetic induction power in wheel disc, and control magnetorheological fluid viscosity, that is, damping force realizes soft readjustment.Under the premise of the various motion states of snake-shaped robot are controllable, protection and control ability of the snake-shaped robot joint module under complex environment are substantially increased, provides possibility for the practical efficient application of snake-shaped robot complex environment.
Description
Technical field
The present invention relates to robot engineering research fields, in particular to one kind based on the orthogonal joint snakelike machine of driving flexible
Device person joint's structure.
Background technique
In recent years, the natural calamities such as earthquake, typhoon, chemical industry and Frequent Accidents, site environment becomes later period height after detecting calamity
The first step of efficiency rescue, the scene such as Accidents Disasters often have very big uncertainty, and there are more obstacles, narrow space, Yi Fa
The difficulties such as raw secondary disaster have the reconfigurable modular of flexible control structure based on the development trend of existing robot technology
Snake-shaped robot provides feasible technical solution for environment detection after calamity.
Snake-shaped robot mostly uses modularized design at present, based on rigid mechanical structure, has on flat ground preferably
Kinematic dexterity, flexible robot is non-linear strong, it is difficult to it is very big to realize that rapid modeling causes to control difficulty.In face of complicated high-risk
Environment, such as typhoon, earthquake disaster field propose no small challenge to the motion control of snake-shaped robot, and what is merged at present is rigid
Property and flexible module it is serious there are mechanical wear because of structural interaction the problems such as, cause service life to fall sharply, motion control effect
Fruit is declined to a great extent.
Should have that movement velocity is fast and environmental suitability to meet the snake-shaped robot that environment detection rescues demand after calamity
By force, modularized design is restructural, the feature more than athletic posture, while it is flexible controllable to can be realized movement effects.However mesh
Before meet requirements above snake-shaped robot it is less.
Before this, there is the snake-shaped robot joint structure design based on bionical joint in parallel, but in physical varification rank
There is the problems such as structure is complicated, and actuator type selecting is difficult in section, actual motion efficiency is influenced by intra-articular multi-part, and control is more tired
It is difficult.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of snake-shaped robots of flexible drive based on orthogonal joint
Mechanism solves the problems, such as that current snake-shaped robot environmental suitability is poor.Orthogonal joint, series system, magnetorheological fluid are combined, solution
Certainly the flexible drive problem of snake-shaped robot and improve its environmental suitability.The wheeled variable damper structure that the present invention designs passes through electricity
Machine drives, and drives angular wheel using coaxial bearings, angular wheel connection drives next joint motions.The fitting of wheeling disk structure inner wall
Hot-wire coil is wound, magnetorheological fluid injects coil and Bearing gaps, changes the shape of magnetorheological fluid by changing coil circulating current
State realizes damping force variation, completes snake-shaped robot joint soft start and torque flexible control, offsets part external impacts, hits
Deng.
The articulation mechanism of flexible drive snake-shaped robot of the present invention, adopts the following technical solutions realization:
A kind of snake-shaped robot mechanism of the flexible drive based on orthogonal joint, the mechanism is by the first joint, second joint
Composition is connected with joint, joint connection includes one group of joint connecting rod for the angular wheel of commutation and fixed second joint,
First joint also includes a driving motor, a Wheel-type flexible actuator, in driver line other than an articular shell
Magnetorheological fluid is injected in circle and rotor.
The second joint is connected and fixed by joint connecting rod with joint, internal structure and the first joint phase
Together, also include a motor and flexible actuator, and connected by next stage joint, be connected to next stage movement hypozygal.
The joint connection main function is the first joint of connection and second joint, provides orthogonal commutation function.By joint
Connecting rod, the first angular wheel, the second angular wheel composition.First angular wheel and the fixed company of the driver bearing in the first joint
It connects, the joint link lever of the second angular wheel and second joint is fixed, and joint link lever is fixedly connected with second joint.
First joint is made of the flexible actuator and a driving motor of the first joint surgery and intra articular,
Flexible actuator and shell are fixed together by slot.
The flexible actuator includes end housing, a bottom shell, a driver rotor, one group on a driver
Hot-wire coil, a micro drives axis and multiple parts of bearings composition.Bottom is connected with bearing respectively with upper end housing, driver
Rotor is connect by micro drives axis with bearing, bottom shell inner wall insertion coil, upper end housing and bearing by with driver
Rotor is connected with one heart, realizes flexible actuator installation.
The invention adopts the above technical scheme, has following advantage:
Advantage of the present invention is main are as follows: combines orthogonal joint, flexible actuator and magnetorheological fluid, driver is using more
Mature rotor coupling coil is superimposed gear transmission mode, and design mounting means is simple；Meanwhile by magnetorheological fluid injection rotor with
In shell mechanism gap, the control to magnetorheological fluid state is realized by control coil circulating current, adjusts the resistance that rotor is subject to
Buddhist nun's power completes the flexible drive control in joint, realizes joint soft start, weakens external impacts, protects internal joint structure
Function
Detailed description of the invention
Fig. 1 is the flexible drive mechanism schematic diagram of snake-shaped robot of the invention；
Fig. 2 is joint connection schematic diagram of the invention；
Fig. 3 is the just equal axial schematic diagram of second joint shell of the invention；
Fig. 4 is second joint back shell structure schematic diagram of the invention；
Fig. 5 is driver installation schematic top plan view of the invention；
Fig. 6 is flexible actuator the schematic diagram of the section structure of the invention；
Fig. 7 is the BH curve schematic diagram of driving structure magnetorheological fluid of the invention；
Fig. 8 is the Magnetic Induction Density Distribution schematic diagram under driving mechanism different voltages of the invention；
Fig. 9 is flexible drive mechanism voltage-damping torque relation schematic diagram of the invention；
Figure 10 is using flexible drive robotic asssembly schematic diagram of the invention；
In figure: the first joint A, B, joint connection, C, second joint, B1, the first angular wheel, B2, the second conical tooth
Wheel, B3, joint connecting rod, C1, second joint shell, C2, outside motor interface, the right fixing groove of C3, driver, C4, driver
Left fixing groove, C5, motor fixing groove, the left extension bar of C6, second joint, C7, joint power hole, C8, the right extension bar of second joint,
The left inside connecting rod of C9, second joint, the right inside connecting rod of C10, second joint；K1, the driving paraxial point in joint, K2, driving joint are remote
Axis point, K3, driving joint axial center point, R1, the left outside through-hole of second joint connecting rod, R2, second joint connecting rod are right outer logical
Hole, the left inside through-hole of R3, second joint, the right inner via hole of R4, second joint；M1, driver lower cover, M2, coil are M3, magnetorheological
Liquid, M4, center rotor, M5, upper end cover bearing, M6, motor shaft sleeve, M7, driver upper end cover, M8, lower cover bearing, M9, magnetic
Flow liquid inlet, M10, fixed screw holes.
Specific embodiment
In conjunction with attached drawing, the present invention will be further described as follows.
Referring to Fig. 1, the present invention is a kind of snake-shaped robot mechanism of flexible drive based on orthogonal joint, which includes
First joint A, second joint C connect B with joint, and the first joint A connects B by joint with second joint C and combines.
Referring to fig. 2, connection B in joint is made of the first angular wheel B1, the second angular wheel B2, joint link lever B3.First
The upper end cover bearing M5 of angular wheel B1 and flexible actuator is concentric to be fixed from relative motion, second bevel gear B2 and joint
Connecting rod B3 is concentric to be fixed from relative motion, and joint link lever B3 and the left inside through-hole R3 of second joint, right inner via hole R4 are concentric
It is fixed from relative motion, the first angular wheel B1 engagement orthogonal with the second angular wheel B2.
Referring to Fig. 3, described is flexible actuator assembling plan view, and flexible actuator includes driver lower cover M1, conductive
Coil M2, magnetorheological fluid M3, center rotor M4, upper end cover bearing M5 and driving motor axle sleeve M6.Coil M2 is close under driver
End cap M1, center rotor M4 and driving motor axle sleeve M6 realize moved in coaxial, center rotor M4 and driving coil M2 by card slot
Comprising the gap 1mm, it is filled with magnetorheological fluid M3, corresponding magnetic field is generated after energization, changes the viscosity of magnetorheological fluid M3, realization changes
Change rotor institute is dampened and then realizes flexible control.
Referring to fig. 4, described just to wait axial schematic diagram for second joint C, second joint C is by second joint shell C1, outside
The right fixing groove C3 of interface C2, driver, the left fixing groove C4 of driver, motor fixing groove C5, second joint extension bar C6, connecting rod
Left outside through-hole R1, connecting rod right accessibke porosity R2 and right inner via hole R3 composition.Actuating motor utilizes outside by motor fixing groove C5
Interface C2 fixes and is embedded in second joint C, and external interface C2 provides actuating motor control power supply and control signal wire channel；It drives
Dynamic device structure is using shown in Fig. 3, and lower cover M1 is embedded in the right fixing groove C3 of driver, the left fixing groove C4 of driver is realized and closed with second
Save shell C1 locking；Actuating motor realizes rotation locking by the concentric installation of driving motor axle sleeve, completes actuating motor to drive
The torque of dynamic structure exports control；Upper end cover bearing M5 connect the concentric locking of the first angular wheel in B with joint；Left inside company
Extension bar C9 realizes that second joint connects the synchronous of B with joint and transports with the concentric locking of joint connecting rod B3 by left inside through-hole R3
It is dynamic；The left extension bar C6 of second joint, the right extension bar C8 of second joint pass through the left outside through-hole R1 of second joint connecting rod, second joint
The right accessibke porosity R2 of connecting rod realizes concentric installation on the outside of left inside connecting rod C9, guarantees that interior the relatively flat of outer tie rod is trackslipped
It is dynamic.
Referring to Fig. 5, described is second joint back shell structure schematic diagram, left inside through-hole R4, joint power hole C7, second joint
The back structures of the right inside connecting rod C10 composition second joint C of left inside connecting rod C9, second joint.Joint power hole C7 provides pass
The power supply of motor and the electric current in magnetorheological fluid coil in overall structure are saved, and as joint bulk supply power cord via hole；It is left
Inside connecting rod C9, right inside connecting rod C10 are realized by left inside through-hole R3, right inner via hole R4 and the concentric locking of joint connecting rod B3
Pitching or yawing rotation are completed with joint connection B driving in joint.
Referring to Fig. 6, it includes coil inside flexible actuator that described, which is flexible actuator mounted inside longitudinal profile schematic diagram,
M2, magnetorheological fluid M3, center rotor M4, lower cover bearing M8, upper end cover bearing M6, flexible actuator outside include upper end cover
M7, lower cover M1, bottom inlet containing magnetorheological fluid M9 and fixed screw M10.Center rotor M4 is through card slot and motor shaft sleeve
M6 connects with one heart, upper and lower ground respectively with upper end cover bearing M5, lower cover bearing M8 are concentric combines in the same direction, coil M2 and upper end cover
M7, lower cover M1 are installed with one heart and are fixed using fixed screw holes M10, inject magnetorheological fluid through magnetorheological fluid inlet M9, under
Bearing with end cover M8, upper end cover bearing M6 installation are with lower cover M1, upper end cover M7 apart from identical.
Referring to Fig. 7, the magnetorheological fluid performance curve graph to inject in driving structure as shown is magnetorheological fluid magnetic
Induction generates the characteristic curve diagram of variation with the change of magnetic field strength；Wherein abscissa is external magnetic field intensity, ordinate
For the magnetic density of magnetorheological fluid；Curve approximation is linear, and characterization magnetic induction intensity is linearly positively correlated with magnetic field strength, table
Sign magnetorheological fluid shows the Newtonian fluid characteristic of low viscosity under zero magnetic field condition；And under strong magnetic field action, then it shows
The Bingham bulk properties of high viscosity, low-flow.
It is described to show for Magnetic Induction Density Distribution under driving structure flexible control damper difference electric current of the present invention referring to Fig. 8
It is intended to, wherein K1 is paraxial point, and theoretically mirror image magnetorheological fluid induction is minimum；K2 is distal shaft point, theoretically mirror image
Magnetorheological volume and magnetorheological fluid magnetic induction intensity maximum point are axial maximum point；K3 be magnetorheological fluid axial direction magnetic induction intensity most
Dot, i.e., the smallest point of whole Magnetic Induction Density Distribution, Magnetic Induction Density Distribution is generally uniform under different electric currents, on center rotor
Lower two sagittal planes do not influence its distribution consistency degree.
It is described to be applied to the postarticular torque output figure of snake-shaped robot for driving structure of the present invention referring to Fig. 9, according to mesh
The joint in kind of preceding realization carries out force analysis to snakelike joint, damps comprising mangneto damping torque and non-mangneto；It is tested
It is 0.7 that joint, which damps saturation value, lies prostrate in electric range in 0-20 and linearly increases, and characterization damping torque is positively correlated with voltage, real
On border, for low-speed motion joint as snake-shaped robot, mangneto torque will be far longer than non-mangneto torque, therefore will be non-magnetic
Torque is caused to ignore, voltage value reaches a certain level rear curve close to gentle, indicates that magnetorheological fluid close to saturation, is completed
The flexible control in snakelike joint.
It is described for using the virtual prototype of flexible drive snake-shaped robot joint structure of the present invention, snakelike machine referring to Figure 10
The joint structure both ends of snake-shaped robot are arranged in device head part joint H and caudal articular process T, pass through the identical joint of internal structure
Connection, connection type are as shown in Figure 1.The orthogonal connection of adjacent segment torque output shaft for taking 14 section joints, can realize respectively and bow
It faces upward and yawing rotation, there are 1,3,5,7,9,11,13 odd number joints to realize pitching movement for head to tail portion as shown in Figure 10, the 2nd,
4, yawing rotation is realized in 6,8,10,12,14 even number joints.
Claims (5)
1. a kind of snake-shaped robot mechanism of the flexible drive based on orthogonal joint, it is characterised in that: include the first joint (A) the
(C) is connected (B) with joint in two joints, and the first joint (A) connects (B) by joint with second joint (C) and combine；
The joint connects (B), is made of the first angular wheel (B1), the second angular wheel (B2), joint link lever (B3)；First
The upper end cover bearing (M5) of angular wheel (B1) and flexible actuator is concentric to be fixed from relative motion, second bevel gear (B2)
With joint link lever (B3) is concentric is fixed from relative motion, in joint link lever (B3) and the left inside through-hole of second joint (R3), the right side
Through-hole (R4) is concentric to be fixed from relative motion, the first angular wheel (B1) engagement orthogonal with the second angular wheel (B2).
2. a kind of snake-shaped robot mechanism of flexible drive based on orthogonal joint according to claim 1, feature exist
In: second joint (C) is by second joint shell (C1), external interface (C2), the right fixing groove of driver (C3), the left fixation of driver
Slot (C4), motor fixing groove (C5), second joint extension bar (C6), the left outside through-hole of connecting rod (R1), the right accessibke porosity of connecting rod
(R2) it is formed with right inner via hole (R3)；In second joint shell (C1), the outside motor interface (C2) adjacent with bottom is for mentioning
For actuating motor control signal and power supply and bottom fixed interface, motor fixing groove (C5) is embedded rectangular channel, is held for fixation
Row motor；The right fixing groove of driver (C3), the left fixing groove of driver (C4) are realized for being embedded in the activation configuration being installed
The fixation of second joint shell (C1) and driver；Second joint extension bar (C6) and second housing (C1) one, pass through second
The left outside through-hole in joint (R1), the right accessibke porosity hole (R2) connect same joint connection (B), control next joint pitching or yaw fortune
It is dynamic；The joint power hole (C7) of the bottom second joint shell (C1) is used as joint entirety power cord via hole, whole for providing joint
Electric current in body structure in the power supply of motor and magnetorheological fluid coil.
3. a kind of snake-shaped robot structure of flexible drive based on orthogonal joint according to claim 1, feature exist
In: flexible actuator includes driver lower cover (M1), conductive coil (M2), magnetorheological fluid (M3), center rotor (M4), upper end
Lid bearing (M5) and driving motor axle sleeve (M6)；Its coil (M2) be close to driver lower cover (M1), center rotor (M4) with
Motor shaft sleeve (M6) realizes moved in coaxial by card slot, and center rotor (M4) and driving coil (M2) include the gap 1mm, is filled with
Magnetorheological fluid (M3) generates corresponding magnetic field after energization, change the viscosity of magnetorheological fluid (M3), realizes that change rotor institute is dampened
Power realizes flexible control in turn.
4. a kind of snake-shaped robot mechanism of flexible drive based on orthogonal joint according to claim 1, feature exist
In: it include coil (M2), magnetorheological fluid (M3), center rotor (M4), lower cover bearing (M8), upper end cover inside flexible actuator
Bearing (M6), outside include upper end cover (M7), lower cover (M1), bottom inlet containing magnetorheological fluid (M9) and fixed screw
(M10)；Center rotor (M4) through card slot with motor shaft sleeve (M6) is concentric connects, upper and lower ground respectively with upper end cover bearing (M5),
Lower cover bearing (M8) combination in the same direction with one heart, coil (M2) and upper end cover (M7), the concentric installation of lower cover (M1) simultaneously utilize fixation
Screw hole (M10) is fixed, injects magnetorheological fluid through magnetorheological fluid inlet (M9), upper and lower bearing with end cover installation and upper and lower end cap away from
From identical, guarantee that center rotor rotational speed regulation is only related to magnetorheological fluid (M3) state, not by upper and lower end cap inner face sliding friction
Power influences.
5. a kind of snake-shaped robot mechanism of flexible drive based on orthogonal joint according to claim 1, feature exist
In: using the virtual prototype of flexible drive snake-shaped robot joint structure, snake-shaped robot joint of head (H) and caudal articular process
(T) the joint structure both ends of snake-shaped robot are set, is connected by the identical joint of internal structure, takes the adjacent of 14 section joints
The orthogonal connection of joint moment output shaft realizes that pitching and yawing rotation, head to tail portion have 1,3,5,7,9,11,13 odd numbers respectively
Section realizes pitching movement, and the 2nd, 4,6,8,10,12,14 even number sections realize yawing rotation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811596807.0A CN109483523A (en) | 2018-12-26 | 2018-12-26 | A kind of snake-shaped robot mechanism of the flexible drive based on orthogonal joint |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811596807.0A CN109483523A (en) | 2018-12-26 | 2018-12-26 | A kind of snake-shaped robot mechanism of the flexible drive based on orthogonal joint |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113183139A (en) * | 2021-05-10 | 2021-07-30 | 北京化工大学 | Small flexible drive snake-shaped mechanical arm |
| CN113479306A (en) * | 2021-08-03 | 2021-10-08 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
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| CN113479306A (en) * | 2021-08-03 | 2021-10-08 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
| CN113479306B (en) * | 2021-08-03 | 2024-02-27 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
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Application publication date: 20190319 |
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