CN110065054A - Multistage drives master-slave mode snake-shaped robot - Google Patents
Multistage drives master-slave mode snake-shaped robot Download PDFInfo
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- CN110065054A CN110065054A CN201910281776.8A CN201910281776A CN110065054A CN 110065054 A CN110065054 A CN 110065054A CN 201910281776 A CN201910281776 A CN 201910281776A CN 110065054 A CN110065054 A CN 110065054A
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000001681 protective effect Effects 0.000 claims description 15
- 210000000988 bone and bone Anatomy 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 25
- 241001597062 Channa argus Species 0.000 description 12
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- 238000009434 installation Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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 belongs to robotic technology fields, master-slave mode snake-shaped robot is driven more particularly to a kind of multistage, aim to solve the problem that the weak problem low with environmental disturbances ability is resisted of existing snake-shaped robot ground bad adaptability, obstacle climbing ability, snake-shaped robot of the present invention includes the first driving unit, the second driving unit, at least one third driving unit, the multiple snake body connection units being arranged between each driving unit；First driving unit, the second driving unit, third driving unit include at least one driving assembly；Snake body connection unit includes the snake body module of at least one snake body module or multiple series connections；Driving assembly includes fixing component, power mechanism, walking mechanism；Fixing component is connect with adjacent snake body module, and power mechanism and walking mechanism are respectively provided on the fixing element, and power mechanism connect with walking mechanism and walking mechanism can be driven to walk.Snake-shaped robot of the invention has stronger ground adaptability, obstacle climbing ability.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of multistage driving master-slave mode snake-shaped robot.
Background technique
Snake-shaped robot be copy biological snake design feature and movement mechanism and a kind of High redundancy for developing it is imitative
Raw robot.Compared with the mobile robots such as traditional sufficient formula, wheeled, snake-shaped robot body is elongated, forms of motion multiplicity, tool
There is stronger ground adaptability, has in fields such as Post disaster relief, pipeline prospecting, circumstances not known detecting, barrier removings wide
Wealthy application prospect.
Currently, domestic and foreign scholars have conducted extensive research snake-shaped robot, and in the prior art, snake-shaped robot structure
It is mainly passive wheeled and actively wheeled, wherein the passive wheeled snakelike machine of frictional force drives generated using body joints twisting
Device people travels forward, and the snake-shaped robot ground bad adaptability and obstacle climbing ability of this kind of structure are weak, actively wheeled to utilize driving electricity
Machine directly drives snake-shaped robot and travels forward, and the snake-shaped robot volume of this kind of structure is big and movement flexibility ratio is low.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve existing snake-shaped robot ground bad adaptability, get over
The weak problem low with movement flexibility ratio of barrier ability, the present invention provides a kind of multistages to drive master-slave mode snake-shaped robot, the snake
Anthropomorphic robot includes the first driving unit, the second driving unit, at least one third driving unit, multiple snake body connection units；
First driving unit, the second driving unit are respectively arranged at snake-shaped robot head and tail portion；Described first
It is connected between driving unit and adjacent third driving unit by snake body connection unit；Second driving unit and adjacent
It is connected between third driving unit by snake body connection unit；When third driving unit be it is multiple when, each third driving unit it
Between by snake body connection unit connect；
First driving unit, second driving unit, the third driving unit include at least one driving
Component；The snake body connection unit includes the snake body module of at least one snake body module or multiple series connections；
The driving component includes fixing component, power mechanism, walking mechanism；The fixing component and adjacent snake body mould
Block connection, the power mechanism and the walking mechanism are respectively provided on the fixing member, the power mechanism and the row
Mechanism is walked to connect and the walking mechanism can be driven to walk.
In some preferred embodiments, the power mechanism includes the first drive member, driving member；
First drive member includes that two travelings drive steering engine, and two traveling driving steering engines are respectively arranged at described solid
Determine front, the rear portion of component；
The driving member includes the two wheel groups that rotation connection mode is set to the fixing component, and the wheel group includes
Driving wheel and guide wheel group；The output shaft steering wheel of the traveling driving steering engine is connect with the driving wheel for driving the driving wheel
Rotation.
The walking mechanism is included in the fixing component left side, symmetrically arranged two crawler belts in right side, the crawler belt patch
The driving wheel and guide wheel group setting are closed, the driving wheel is engaged with the crawler belt to drive the crawler belt mobile, described
Guide wheel group and the crawler belt, which fit closely, provides support for crawler belt.
In some preferred embodiments, the driving component further includes two protective plates；Two protective plates are respectively arranged at
On the outside of the driving member, it is fixedly connected with the fixing component.
In some preferred embodiments, the snake body module includes skeleton, the first connector, the second drive member；
First connector is rotatablely arranged at one end of the skeleton, and second drive member is fixedly arranged on described
Skeleton；Second drive member be joint drive steering engine, the joint drive steering engine can drive first connector around
Joint drive steering engine output shaft axially rotates.
In some preferred embodiments, the one end of the snake body module far from first connector is fixed connection end；
One end of first connector is arranged as rotation connection end in the snake body module；
Multiple snake body modules of the series connection, two neighboring snake body module are with end connection:
The fixed connection end of snake body module is fixedly connected with the fixed connection end of adjacent snake body module, and two interconnected
The orthogonal setting of two the first connector swaying directions in snake body module；
The connector at the rotation connection end of first connector and adjacent snake body module at the rotation connection end of snake body module is solid
Fixed to connect, in the two snakes body module interconnected orthogonal setting of two the first connector swaying directions.
In some preferred embodiments, the skeleton includes ring skeleton portion, and the joint drive steering engine is set to described
Inside ring skeleton portion, first connector is set to ring skeleton portion one end.
In some preferred embodiments, the snake body connection unit further includes flexible protective component, the flexible protective component packet
Cover the first connector two snakes body module interconnected, the flexible protective component both ends annular bone with snake body module respectively
Frame portion is fixedly connected.
In some preferred embodiments, the flexible protective component is bellows component, and the bellows component includes bellows
With two bellows fixed rings, the bellows is fixedly connected on the ring skeleton portion by the bellows fixed ring.
In some preferred embodiments, the third driving unit is one, and first driving unit, described second drive
Moving cell, the third driving unit kind driving assembly be one.
Beneficial effects of the present invention:
The present invention is provided by multiple driving assemblies at both ends and middle part setting in snake body structure for snake-shaped robot
It actively walks power, and is provided with the track drives that two traveling driving steering engines carry out left and right side in driving assembly, it can be with
It realizes differential driving, greatly improves the steering capability of snake-shaped robot, meanwhile, the ground of snake-shaped robot can be submitted by crawler belt
Face adaptability, obstacle climbing ability；
Two neighboring snake body module swaying direction orthogonal can be arranged or be arranged in parallel, and flexibly configurable is to improve snakelike machine
The flexibility ratio of the pose adjustment of the multiple dimensions of people；
It is flexibly connected between snake body component using bellows, freedom degree can be turned to not influencing snake body joint in this way
Under the premise of, it can largely avoid snake-shaped robot and ambient enviroment that friction or collision occurs, greatly ensure
The normal operation of robot interior electronic component, to greatly improve the anti-interference ability of snake-shaped robot.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the overall structure diagram one of snake-shaped robot of the invention；
Fig. 2 is the structural schematic diagram one of the first driving unit of the invention；
Fig. 3 is the structural schematic diagram two of the first driving unit of the invention；
Fig. 4 is snake body modules A class schematic diagram of the invention；
Fig. 5 is snake body module B class schematic diagram of the invention；
Fig. 6 is the connection schematic diagram one of two adjacent snake body modules of the invention；
Fig. 7 is the connection schematic diagram two of two adjacent snake body modules of the invention；
Fig. 8 is the ring skeleton portion schematic diagram of A class snake body module of the invention；
Fig. 9 is the ring skeleton portion schematic diagram of B class snake body module of the invention；
Figure 10 is joint drive steering engine connection schematic diagram in A class snake body module of the invention；
Figure 11 is joint drive steering engine connection schematic diagram in B class snake body module of the invention；
Figure 12 is the steering engine fixed seat structure schematic diagram of A class snake body module of the invention；
Figure 13 is the steering engine fixed seat structure schematic diagram of B class snake body module of the invention；
Figure 14 is the first connecting-piece structure schematic diagram of the invention；
Figure 15 is the connection schematic diagram one of two adjacent snake body modules of the invention；
Figure 16 is the connection schematic diagram two of two adjacent snake body modules of the invention；
Figure 17 is the overall structure diagram two of snake-shaped robot of the invention；
Figure 18 is snake-shaped robot turning posture schematic diagram of the invention；
Figure 19 is snake-like robot's head raising posture schematic diagram of the invention.
Specific embodiment
To keep the embodiment of the present invention, technical solution and advantage more obvious, below in conjunction with attached drawing to skill of the invention
Art scheme carries out clear, complete description, it is clear that and the embodiment described is a part of the embodiments of the present invention, rather than all
Embodiment.It will be apparent to a skilled person that these embodiments are used only for explaining technical principle of the invention, and
It is not intended to be limiting protection scope of the present invention.
A kind of multistage of the invention drives master-slave mode snake-shaped robot, including the first driving unit, the second driving unit, extremely
Few a third driving unit, multiple snake body connection units；First driving unit, the second driving unit are respectively arranged at snakelike machine
Device head part and tail portion；It is connected between first driving unit and adjacent third driving unit by snake body connection unit；Second
It is connected between driving unit and adjacent third driving unit by snake body connection unit；When third driving unit is multiple,
It is connected between each third driving unit by snake body connection unit.First driving unit, the second driving unit, third driving unit
It include at least one driving assembly；Snake body connection unit includes the snake body mould of at least one snake body module or multiple series connections
Block.Driving assembly includes fixing component, power mechanism, walking mechanism；Fixing component is connect with adjacent snake body module, engine
Structure and walking mechanism are respectively provided on the fixing element, and power mechanism connect with walking mechanism and walking mechanism can be driven to walk.
In some embodiments of the present invention, the head of snake-shaped robot is arranged in as snakehead component in the first driving unit,
The tail portion of snake-shaped robot is arranged in as ophiruid component in second driving unit, and third driving unit is set to snakehead component and snake
Midway drive component is used as between tail component；Snakehead component, ophiruid component, midway drive component are connected by snake body connection unit
It connects；First, second, third driving unit is active driving mechanisms, can provide driving force for snake-shaped robot；The connection of snake body
Unit is driven drive mechanisms, it can be achieved that the motion morphology of snake-shaped robot deforms, and yaw, pitching etc. act.
In the present invention, driving assembly includes fixing component, power mechanism and walking mechanism, and fixing component connect single with snake body
Member is connected, and power mechanism and walking mechanism are respectively provided on the fixing element, and power mechanism connect with walking mechanism and can drive
Walking mechanism walking.Fixing component can be fixed plate structure or fixed rack structure, can also be fixed bin body structure, for
Any shape, the fixing component of structure can be used in the present invention.Power mechanism includes the first drive member, driving member；
First driving building includes the front for being respectively arranged at fixing component, two travelings at rear portion driving steering engine；Driving member includes
Rotation connection mode is set to two sets of gear drives being made of driving wheel and guide wheel group of fixing component；Traveling driving rudder
The output shaft steering wheel of machine is connect with driving wheel for driving driving wheel to rotate.Walking mechanism is included in fixing component left side, right side
Symmetrically arranged two crawler belts, crawler belt are bonded driving wheel and guide wheel group setting, and driving wheel is engaged with crawler belt to drive crawler belt mobile,
Guide wheel group and crawler belt, which fit closely, provides support for crawler belt.Those skilled in the art can flexibly set solid in practical applications
The specific structure of component, power mechanism and walking mechanism is determined, as long as power mechanism and walking mechanism can be made to be arranged at fixation
On component, power mechanism connect with walking mechanism and walking mechanism can be driven to walk.Fixing component connects single with snake body
Member can be directly connected to, and can also be connected by connector, this to change to fixing component and snake body connection unit type of attachment
Become without departing from the principle and scope of the present invention, should all limit within protection scope of the present invention.First driving unit, third
Driving unit and the second driving unit preferably use identical structure, can also use similar structure.
In order to be more clearly illustrated to multistage of the present invention driving master-slave mode snake-shaped robot, with reference to the accompanying drawing to this
A kind of preferred embodiment of Fang Faming carries out expansion detailed description.
A kind of multistage of preferred embodiment of the present invention drives master-slave mode snake-shaped robot, three of them driving unit includes one
A driving assembly, three driving assemblies are located at snake body both ends and middle part, respectively as snakehead component, ophiruid component, centre
Driving assembly, three driving assemblies are connected by snake body connection unit, in order to carry out definition at the same level, the preferred reality with driving assembly
It applies in the description of example and snake body connection unit is named as snake body component.
As shown in Figure 1, the multistage driving master-slave mode snake-shaped robot of the present embodiment includes snakehead component 1, midway drive group
Part 3, ophiruid component 4, snake body component 2, snake body component include the first snake body component, the second snake body component, and the first snake body component is set
Be placed between snakehead component 1, midway drive component 3, the second snake body component be set to midway drive component 3, ophiruid component 4 it
Between.Snakehead component 1, midway drive component 3, ophiruid component 4 are using same driving assembly in the present embodiment.
In conjunction in Fig. 2, driving assembly shown in Fig. 3, fixing component includes main body of vehicle frame 15 and two protective plates 13；Power
Mechanism includes the first drive member 11, and the driving member being made of driving wheel 12 and guide wheel group 14；Walking mechanism is crawler belt
16.First drive member 11 and driving wheel 12, guide wheel group 14, and corresponding support construction constitute Athey wheel.
First drive member 11 includes that two travelings drive steering engine, and two traveling driving steering engines pass through steering engine fixed plate 110
It is installed in the front and rear of main body of vehicle frame 15 backwards, two traveling driving steering engine output shafts are contrary.Driving member can turn
On dynamic setting main body of vehicle frame 15 and it is located between two protective plates 13, driving wheel 12 is and the matched gear of crawler belt 16, driving wheel
The output shaft of 12 inner holes and traveling driving steering engine is cooperatively connected, and the gear of 12 wheel rim of driving wheel is engaged with crawler belt 16；Guide wheel group 14
It is spindle rotationally arranged in fixing component and is fitted closely with 16 inner surface of crawler belt.In addition, those skilled in the art can be in driving wheel
Between 12 and guide wheel group 14 and main body of vehicle frame 15 and protective plate 13 bearing is flexibly installed, rotation friction is reduced with this, is mentioned
High traveling servo driving efficiency.
Walking mechanism can increase the contact area on robot and ground using crawler belt, to improve rubbing for robot and ground
Wipe power, enable snake-shaped robot it is steady, rapidly, safely by various complex road surfaces, further increase snakelike machine
Ground adaptability, obstacle climbing ability and the movement flexibility ratio of people.Since the invention is dedicated to reducing robot outer dimension, make structure
It is more compact, therefore only design is mounted with 2 guide wheel groups in left and right, amounts to 4 guide wheels, those skilled in the art can be real according to itself
Border demand, it is appropriate to increase guide wheel type, quantity and design arrangement mode, realize that multiple guide wheels are supported walking mechanism, pass
Lead, it is this to guide wheel arrangement and it is specific amount of adjustment without departing from the principle and scope of the present invention, should all be limited to
Within protection scope of the present invention.Driving wheel can be driven to rotate when traveling driving steering engine rotation, while drive guide wheel group and shoe
Band rotation；Two crawler belts are driven by two independent driving steering engines respectively, differential driving may be implemented, and then improve snakelike machine
Ground adaptability, obstacle climbing ability and the steering capability of device people.
Such as Figure 17, snake body component 2 includes multiple snake body modules, and multiple snake body block coupled in series settings are in snakehead component 1, centre
Between driving assembly 3 and ophiruid component 4.Those skilled in the art in practical applications, can neatly set according to actual environment
Set the particular number in snake body joint.It include altogether 7 snake body joints in the snake body component of snake-shaped robot shown in Figure 17, wherein 4
A yaw joint, 3 pitching joints.There are 2 yaw joints, 2 pitching to close between snakehead component 1 and midway drive component 3
Section, and have 2 yaw joints, 1 pitching joint between midway drive component 3 and ophiruid component 4, these joint drive steering engines
Orthogonal installation, is alternately present.
A kind of snake body module as shown in Figure 4 is denoted as A class snake body module, including skeleton 211, steering engine fixing seat 221, work
For the joint drive steering engine 231, the first connector 241 and bellows fixed ring 251 of the second drive member.First connector 241
It is rotatablely arranged at one end of skeleton 211, joint drive steering engine 231 is set on skeleton 211 by steering engine fixing seat 221.
Joint drive steering engine 231 can drive the first connector 241 axially to rotate around joint drive steering engine output shaft.Skeleton 211 is arranged
There is ring skeleton portion, joint drive steering engine 231 is set to inside ring skeleton portion, and the first connector 241 is set to ring skeleton
Portion one end.Bellows fixed ring 251 is fixed in ring skeleton portion, is fixed for carrying out end to bellows.A class snake body module
The second connector 5 is arranged in the other end that can also be opposite with the first connector 241 setting position in skeleton 211, is used for and phase
Adjacent snake body module or driving assembly connection.
With continued reference to Figure 17, multiple snake body block coupled in series and orthogonal connection, by snake body module far from the first connector one
End is used as fixed connection end, and one end of the first connector is arranged as rotation connection end in snake body module；What is be connected in series is multiple
Snake body module, two neighboring snake body module are with end connection, and specific connection type is two kinds: (1) snake body module is fixedly connected
End is fixedly connected with the fixed connection end of adjacent snake body module, two the first connectors in two snakes body module interconnected
The orthogonal setting of swaying direction；(2) rotation connection of first connector at the rotation connection end of snake body module and adjacent snake body module
The connector at end is fixedly connected, the orthogonal setting of two the first connector swaying directions in two snakes body module interconnected.
Another kind of snake body module as shown in Figure 5, is denoted as B class snake body module, such snake body module is equivalent to by two A classes
Snake body module fixed connection end assembles, while for enhancing structure intensity, carrying out integrated design to some associated components.
B class snake body module includes frame member 212, steering engine fixing seat 222, joint drive steering engine 232, joint drive steering engine 233, first
Connector 242, the first connector 243, bellows fixed ring 252, bellows fixed ring 253.Joint drive steering engine in B generic module
232, joint drive steering engine 233 is normally located otherwise on skeleton 212 by steering engine fixing seat 222 respectively.First connector 242,
First connector, 243 swaying direction it is orthogonal be installed in 212 both ends of skeleton.
In the present embodiment in such a way that A class snake body module is combined with B class snake body module component snake body component, such as Figure 17
Shown, by the orthogonal connection of the first connector, the first snake body component is the knot of A-B-A for A class snake body module and B class snake body module
Structure, the second snake body component are the structure of A-B.Below with reference to Fig. 4-Figure 14 to A class snake body module, B class snake body module, A class snake body
The connection relationship of module and B class snake body module is described in detail.
Fig. 8 is the structural schematic diagram of the skeleton 211 of A class snake body module, and Fig. 9 is the structure of the skeleton 212 of B class snake body module
Schematic diagram, Figure 10 are the joint drive steering engine 231 of A class snake body module and the attachment structure schematic diagram of steering engine fixing seat 221, Figure 11
It is the joint drive steering engine 232,233 of B class snake body module and the attachment structure schematic diagram of steering engine fixing seat 222, Figure 12 is A class snake
The structural schematic diagram of the steering engine fixing seat 221 of body module, Figure 13 are the structural representations of the steering engine fixing seat 222 of B class snake body module
Figure, there are two first connecting portion 222_1 and second connecting portion 222_2, first connecting portion 222_1 and second for steering engine fixing seat 222
Interconnecting piece 222_2 is vertical setting, and Figure 14 is the structural schematic diagram of the first connector 4.
With continued reference to Fig. 4, Fig. 8, Figure 10, Figure 12, in A class snake body module, joint drive steering engine 231 passes through steering engine fixing seat
221 are fixed in the skeleton 211 of snake body module, are fixedly connected with the first end face 211_1 of skeleton 211, joint drive steering engine 231
Output shaft both ends be fixedly installed with steering wheel, the first connector 241 and two steering wheels are respectively fixedly connected with.
With continued reference to Fig. 5, Fig. 9, Figure 11, Figure 13, in B class snake body module, there are two first connecting portions for steering engine fixing seat 222
222_1 and second connecting portion 222_2, first connecting portion 222_1 and second connecting portion 222_2 are vertical setting, joint steering engine 232
It is connected respectively with two interconnecting pieces 222_1,222_2 of steering engine fixing seat 222 with 233, and passes through fixing seat 222 and skeleton
212 first end face 212_1, second end face 212_2 is fixed；The output shaft both ends of joint drive steering engine 232 are fixedly installed with
Steering wheel, the first connector 242 and two steering wheels are respectively fixedly connected with, same to carry out joint drive steering engine 233 and the first connector
The setting of 243 connection relationships.
With continued reference to Figure 17, Fig. 6, Fig. 7, A class snake body module and B class snake body module are connected by the first connector 241, first
The orthogonal connection of fitting 242.By passing through in the snake body component of A class snake body module and B class snake body module composition between snake body module
The orthogonal connection of first connector.In order to preferably protect interconnecting piece, the two neighboring snake body module of the orthogonal connection of the first connector
Be additionally provided with flexible guard cladding the first connector two snakes body module interconnected, flexible guard both ends respectively with snake
The ring skeleton portion of body module is fixedly connected.Flexible guard in the present embodiment is bellows, as shown in fig. 7, bellows 26
Installation is fixed by bellows fixed ring 251, bellows fixed ring 252, internal electronic element is protected with this, is improved anti-
Interference performance.
The movement that snake body component 2 carries out yaw and pitching is specifically described continuing with Figure 15 to 19.In joint drive steering engine
Under 231 driving effect, two neighboring snake body module can be relatively rotated around the output shaft of joint drive steering engine 231, such as
Snake body module B in Figure 15 can be carried out around the output shaft of the joint drive steering engine 231 of snake body modules A axial rotation (around
Z axis shown in figure 15 rotation), the snake body modules A in Figure 16 (same to Figure 15) then can be around the joint drive steering engine of snake body module B
Axially rotation (the Y-axis rotation shown in Figure 16) of 232 output shaft, i.e., the output shaft of each joint drive steering engine is one and turns
Snake body module can be divided into yaw joint (snake shown in Figure 17 according to the output shaft of joint drive steering engine 231 direction by movable joint
Body joint P1, P2, P3, P4) and pitching joint (snake body joint F1, F2, F3 shown in Figure 17), joint is yawed (shown in Figure 17
Snake body joint P1, P2, P3, P4) it can be rotated along Z axis, pitching joint (snake body joint F1, F2, F3 shown in Figure 17) can
It is rotated along Y-axis.By taking plane turning acts as an example, as shown in figure 18, snakehead component 1 is at the uniform velocity advanced with certain speed, passes through control
Joint (snake body joint P1, P2, P3, P4 shown in Figure 17) is yawed in snake body component 2 processed rotates a certain angle, it can be achieved that snake body group
2 integrally bending of part is certain radian, is driven in conjunction with 1 speed of the first driving unit, it can be achieved that plane turning；Similarly, such as Figure 19 institute
Show, passes through certain several pitching joint (snake body joint F1, F2 shown in Figure 17) in control snake body component 2 close to snakehead component 1
It turns an angle, it can be achieved that new line movement of the snake-shaped robot in vertical space.The yaw of snake-shaped robot is closed simultaneously
Save the angle of (snake body joint P1, P2, P3, P4 shown in Figure 17) and pitching joint (snake body joint F1, F2, F3 shown in Figure 17)
It is controlled, the compound movement of snake-shaped robot in three dimensions can be realized.
In above preferred embodiment, third driving unit is one, and the first driving unit, the second driving unit, third are driven
Driving assembly in moving cell is one, in other embodiments, third drive can be added according to the length of snake-shaped robot
Moving cell, the driving assembly in each driving unit can also be configured as needed；Snake body component can also be only with A class
Snake body module is designed, and can also be designed certainly only with B class snake body module；Snake body module can lead to driving assembly
It crosses the first connector to be attached with fixing component, when for A class snake body module, its fixed connection end and driving can also be passed through
The fixing component of component is attached, and in the snake-shaped robot shown in Figure 17, snakehead component, midway drive component are using latter
Kind connection type, ophiruid component use former connection type.
In the present embodiment, the orthogonal setting of two neighboring snake body module swaying direction, in some other embodiment, adjacent two
A snake body module swaying direction can also be arranged in parallel or other angles setting, in the multiple concatenated snake bodies of snake-shaped robot
The swaying direction of the first connector of module can be with flexible configuration, to improve the flexibility ratio of snake-shaped robot pose adjustment.
It should be noted that in the description of the present invention, term "front", "rear", "left", "right", "upper", "lower", " in ",
The direction of the instructions such as "inner", "outside" or the term of positional relationship are direction based on the figure or positional relationship, this is only
For ease of description, rather than indication or suggestion described device or element must have a particular orientation, with specific orientation structure
It makes and operates, therefore be not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and
It cannot be understood as indicating or implying relative importance.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " setting ", " connected ", " connection ", " docking " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to removable
Connection is unloaded, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements.It to those skilled in the art, can be as the case may be
Understand the concrete meaning of above-mentioned term in the present invention.
Term " includes " or any other like term are intended to cover non-exclusive inclusion, so that including a system
Process, article or the equipment/device of column element not only include those elements, but also other are wanted including what is be not explicitly listed
Element either further includes these processes, article or the intrinsic element of equipment/device.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (10)
1. a kind of multistage drives master-slave mode snake-shaped robot, which is characterized in that the snake-shaped robot include the first driving unit,
Second driving unit, at least one third driving unit, multiple snake body connection units；
First driving unit, the second driving unit are respectively arranged at snake-shaped robot head and tail portion；First driving
It is connected between unit and adjacent third driving unit by snake body connection unit；Second driving unit and adjacent third
It is connected between driving unit by snake body connection unit；When third driving unit is multiple, lead between each third driving unit
Cross the connection of snake body connection unit；
First driving unit, second driving unit, the third driving unit include at least one driving assembly；
The snake body connection unit includes the snake body module of at least one snake body module or multiple series connections；
The driving component includes fixing component, power mechanism, walking mechanism；The fixing component and adjacent snake body module connect
It connects, the power mechanism and the walking mechanism are respectively provided on the fixing member, the power mechanism and the vehicle with walking machine
Structure connects and the walking mechanism can be driven to walk.
2. multistage according to claim 1 drives master-slave mode snake-shaped robot, which is characterized in that the power mechanism includes
First drive member, driving member；
First drive member includes that two travelings drive steering engine, and two traveling driving steering engines are respectively arranged at the fixed structure
Front, the rear portion of part；
The driving member includes the two wheel groups that rotation connection mode is set to the fixing component, and the wheel group includes driving
Wheel and guide wheel group；The output shaft steering wheel of the traveling driving steering engine is connect for driving the driving to rotate with the driving wheel
It is dynamic.
3. multistage according to claim 2 drives master-slave mode snake-shaped robot, which is characterized in that the walking mechanism includes
On the left of the fixing component, symmetrically arranged two crawler belts in right side, the crawler belt is bonded the driving wheel and the guide wheel group
Setting, the driving wheel are engaged with the crawler belt to drive the crawler belt mobile, and the guide wheel group is fitted closely with the crawler belt
Support is provided for crawler belt.
4. multistage according to claim 3 drives master-slave mode snake-shaped robot, which is characterized in that the driving component is also wrapped
Include two protective plates；Two protective plates are respectively arranged on the outside of the driving member, are fixedly connected with the fixing component.
5. multistage according to claim 1 drives master-slave mode snake-shaped robot, which is characterized in that the snake body module includes
Skeleton, the first connector, the second drive member；
First connector is rotatablely arranged at one end of the skeleton, and second drive member is fixedly arranged on the bone
Frame；Second drive member is joint drive steering engine, and the joint drive steering engine can drive first connector around pass
Section driving steering engine output shaft axially rotates.
6. multistage according to claim 5 drives master-slave mode snake-shaped robot, which is characterized in that the snake body module is separate
One end of first connector is fixed connection end；The snake body module is arranged one end of first connector and connects for rotation
Connect end；
Multiple snake body modules of the series connection, two neighboring snake body module are with end connection:
The fixed connection end of snake body module is fixedly connected with the fixed connection end of adjacent snake body module, two snake bodies interconnected
The orthogonal setting of two the first connector swaying directions in module；
The connector at the rotation connection end of first connector and adjacent snake body module at the rotation connection end of snake body module is fixed to be connected
It connects, the orthogonal setting of two the first connector swaying directions in two snakes body module interconnected.
7. multistage according to claim 6 drives master-slave mode snake-shaped robot, which is characterized in that the skeleton includes annular
Skeleton portion, the joint drive steering engine are set to inside the ring skeleton portion, and first connector is set to the annular
Skeleton portion one end.
8. multistage according to claim 7 drives master-slave mode snake-shaped robot, which is characterized in that the snake body connection unit
It further include flexible protective component, the flexible protective component coats the first connector two snakes body module interconnected, described
Flexible protective component both ends are fixedly connected with the ring skeleton portion of snake body module respectively.
9. multistage according to claim 8 drives master-slave mode snake-shaped robot, which is characterized in that the flexible protective component
For bellows component, the bellows component includes bellows and two bellows fixed rings, and the bellows passes through the wave
Line pipe fixed ring is fixedly connected on the ring skeleton portion.
10. -9 described in any item multistages drive master-slave mode snake-shaped robots according to claim 1, which is characterized in that described the
Three driving units be one, first driving unit, second driving unit, the third driving unit kind driving group
Part is one.
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| CN201910281776.8A CN110065054B (en) | 2019-04-09 | 2019-04-09 | Multi-section driving master-slave type snake-shaped robot |
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| CN201910281776.8A CN110065054B (en) | 2019-04-09 | 2019-04-09 | Multi-section driving master-slave type snake-shaped robot |
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| CN110065054B CN110065054B (en) | 2021-03-16 |
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| CN113043256A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Snakelike joint crawler-type composite robot |
| CN113953285A (en) * | 2021-10-28 | 2022-01-21 | 深圳市众视通线材有限公司 | Multifunctional robot |
| CN114800468A (en) * | 2022-06-08 | 2022-07-29 | 北京科技大学 | Reconfigurable active wheel type joint module and active wheel type snake-shaped robot thereof |
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| CN110065054B (en) | 2021-03-16 |
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