CN110065054B - Multi-section driving master-slave type snake-shaped robot - Google Patents

Multi-section driving master-slave type snake-shaped robot Download PDF

Info

Publication number
CN110065054B
CN110065054B CN201910281776.8A CN201910281776A CN110065054B CN 110065054 B CN110065054 B CN 110065054B CN 201910281776 A CN201910281776 A CN 201910281776A CN 110065054 B CN110065054 B CN 110065054B
Authority
CN
China
Prior art keywords
snake
driving
unit
module
component
Prior art date
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.)
Active
Application number
CN201910281776.8A
Other languages
Chinese (zh)
Other versions
CN110065054A (en
Inventor
杜汶娟
王健
刘漫贤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN201910281776.8A priority Critical patent/CN110065054B/en
Publication of CN110065054A publication Critical patent/CN110065054A/en
Application granted granted Critical
Publication of CN110065054B publication Critical patent/CN110065054B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/005Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065Snake robots

Abstract

The invention belongs to the technical field of robots, in particular to a multi-section driving master-slave type snake-shaped robot, which aims to solve the problems of poor ground adaptability, weak obstacle crossing capability and low environmental interference resistance of the existing snake-shaped robot and comprises a first driving unit, a second driving unit, at least one third driving unit and a plurality of snake body connecting units arranged among the driving units; the first driving unit, the second driving unit and the third driving unit all comprise at least one driving component; the snake body connecting unit comprises at least one snake body module or a plurality of snake body modules connected in series; the driving assembly comprises a fixed member, a power mechanism and a traveling mechanism; the fixing component is connected with the adjacent snake body modules, the power mechanism and the travelling mechanism are both arranged on the fixing component, and the power mechanism is connected with the travelling mechanism and can drive the travelling mechanism to travel. The snake-shaped robot has stronger ground adaptability and obstacle crossing capability.

Description

Multi-section driving master-slave type snake-shaped robot
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-section driving master-slave type snake-shaped robot.
Background
The snake-shaped robot is a bionic robot with high redundancy developed by imitating the structural characteristics and the motion mechanism of biological snakes. Compared with the traditional foot type and wheel type mobile robots, the snake-shaped robot is long and thin in body, various in motion form and high in ground adaptability, and has wide application prospects in the fields of post-disaster rescue, pipeline exploration, unknown environment detection, obstacle clearing and the like.
At present, scholars at home and abroad all carry out a large amount of research to snake-shaped robot, among the prior art, snake-shaped robot structure is mainly passive wheeled and initiative wheeled, wherein, passive wheeled utilizes the frictional force drive snake-shaped robot forward motion that the body joint wrench movement produced, the snake-shaped robot ground adaptability of this kind of structure is poor and the ability of surmounting is weak, initiative wheeled utilizes driving motor direct drive snake-shaped robot forward motion, the snake-shaped robot of this kind of structure is bulky and the mobility activity flexibility is low.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problems of poor ground adaptability, weak obstacle crossing capability and low motion flexibility of the conventional snake-shaped robot, the invention provides a multi-section driving master-slave type snake-shaped robot, which comprises a first driving unit, a second driving unit, at least one third driving unit and a plurality of snake body connecting units;
the first driving unit and the second driving unit are respectively arranged at the head and the tail of the snake-shaped robot; the first driving unit is connected with the adjacent third driving unit through a snake body connecting unit; the second driving unit is connected with the adjacent third driving unit through a snake body connecting unit; when the number of the third driving units is multiple, the third driving units are connected through the snake body connecting unit;
the first driving unit, the second driving unit and the third driving unit all comprise at least one driving component; the snake body connecting unit comprises at least one snake body module or a plurality of snake body modules connected in series;
the driving assembly comprises a fixed member, a power mechanism and a traveling mechanism; the fixing member is connected with the adjacent snake body modules, the power mechanism and the travelling mechanism are both arranged on the fixing member, and the power mechanism is connected with the travelling mechanism and can drive the travelling mechanism to travel.
In some preferred embodiments, the power mechanism comprises a first drive member, a transmission member;
the first driving component comprises two driving steering engines, and the two driving steering engines are respectively arranged at the front part and the rear part of the fixed component;
the transmission component comprises two wheel sets which are arranged on the fixed component in a rotating connection mode, and each wheel set comprises a driving wheel and a guide wheel set; and an output shaft rudder disc of the driving steering engine is connected with the driving wheel and used for driving the driving wheel to rotate.
Running gear includes two tracks that fixed component left side, right side symmetry set up, the track laminating the drive wheel with the guide pulley group sets up, the drive wheel with the track meshing is with the drive the track removes, the guide pulley group with the track closely laminates and provides the support for the track.
In some preferred embodiments, the drive assembly further comprises two guard plates; the two protection plates are respectively arranged on the outer sides of the transmission members and fixedly connected with the fixing members.
In some preferred embodiments, the snake module comprises a framework, a first connector, a second drive member;
the first connecting piece is rotatably arranged at one end of the framework, and the second driving member is fixedly arranged on the framework; the second driving component is a joint driving steering engine, and the joint driving steering engine can drive the first connecting piece to axially rotate around a joint driving steering engine output shaft.
In some preferred embodiments, one end of the snake body module, which is far away from the first connecting piece, is a fixed connecting end; one end of the snake body module, which is provided with the first connecting piece, is a rotary connecting end;
a plurality of snake body modules of series connection, two adjacent snake body modules are the same-end connection:
the fixed connecting end of each snake body module is fixedly connected with the fixed connecting end of the adjacent snake body module, and the swinging directions of two first connecting pieces in the two mutually connected snake body modules are arranged orthogonally;
the first connecting piece of the rotating connecting end of the snake body module is fixedly connected with the connecting piece of the rotating connecting end of the adjacent snake body module, and the swinging directions of the two first connecting pieces in the two mutually connected snake body modules are orthogonal.
In some preferred embodiments, the skeleton includes an annular skeleton portion, the joint driving steering engine is disposed inside the annular skeleton portion, and the first connecting member is disposed at one end of the annular skeleton portion.
In some preferred embodiments, the snake body connecting unit further comprises a flexible protection component, the flexible protection component coats the two snake body modules connected with the first connecting piece, and two ends of the flexible protection component are fixedly connected with the annular framework portions of the snake body modules respectively.
In some preferred embodiments, the flexible protection assembly is a bellows assembly including a bellows and two bellows fixing rings, and the bellows is fixedly connected to the annular frame portion by the bellows fixing rings.
In some preferred embodiments, there is one third driving unit, and there is one driving assembly in each of the first driving unit, the second driving unit, and the third driving unit.
The invention has the beneficial effects that:
the invention provides active walking power for the snake-shaped robot through the plurality of driving assemblies arranged at the two ends and the middle part of the snake-shaped body structure, and the driving assemblies are respectively provided with two driving steering engines for left and right crawler belt driving, so that differential driving can be realized, the steering capability of the snake-shaped robot is greatly improved, and meanwhile, the ground adaptability and obstacle crossing capability of the snake-shaped robot can be provided through the crawler belts;
the swinging directions of two adjacent snake body modules can be orthogonally arranged or parallelly arranged, and the snake body modules can be flexibly configured to improve the flexibility of posture adjustment of the snake-shaped robot in multiple dimensions;
utilize the bellows to carry out flexonics between the snake body subassembly, can avoid snake-shaped robot and surrounding environment to take place to rub or collide to a great extent under the prerequisite that does not influence snake body joint and turn to the degree of freedom like this, greatly ensured the normal operating of the inside electronic component of robot to improve snake-shaped robot's interference killing feature greatly.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram I of the overall structure of the snake-shaped robot of the invention;
FIG. 2 is a first schematic structural diagram of a first driving unit according to the present invention;
FIG. 3 is a second schematic structural diagram of the first driving unit of the present invention;
FIG. 4 is a schematic view of the snake body module class A of the present invention;
FIG. 5 is a schematic view of a snake body module class B of the present invention;
FIG. 6 is a first schematic view of the connection of two adjacent snake modules of the present invention;
FIG. 7 is a second schematic view of the connection of two adjacent snake modules of the present invention;
FIG. 8 is a schematic view of the annular skeleton portion of a class A snake module of the present invention;
FIG. 9 is a schematic view of the annular skeleton portion of a class B snake module of the present invention;
FIG. 10 is a schematic connection diagram of a joint driving steering engine in the A-type snake body module;
FIG. 11 is a schematic connection diagram of a joint driving steering engine in a B-type snake body module;
FIG. 12 is a schematic structural view of a steering engine fixing seat of the A-type snake body module of the invention;
FIG. 13 is a schematic structural view of a steering engine fixing seat of a B-type snake body module of the invention;
FIG. 14 is a schematic view of a first connector configuration of the present invention;
FIG. 15 is a first schematic view of the connection of two adjacent snake modules of the present invention;
FIG. 16 is a second schematic view of the connection of two adjacent snake modules of the present invention;
FIG. 17 is a second schematic view of the overall structure of the snake robot of the present invention;
FIG. 18 is a schematic view of the turning attitude of the snake robot of the present invention;
fig. 19 is a schematic view of the head-up attitude of the snake robot of the present invention.
Detailed Description
In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention discloses a multi-section driving master-slave type snake-shaped robot, which comprises a first driving unit, a second driving unit, at least one third driving unit and a plurality of snake body connecting units, wherein the snake body connecting units are connected with the first driving unit; the first driving unit and the second driving unit are respectively arranged at the head and the tail of the snake-shaped robot; the first driving unit is connected with the adjacent third driving unit through a snake body connecting unit; the second driving unit is connected with the adjacent third driving unit through a snake body connecting unit; when the number of the third driving units is multiple, the third driving units are connected through the snake body connecting unit. The first driving unit, the second driving unit and the third driving unit all comprise at least one driving component; the snake body connecting unit comprises at least one snake body module or a plurality of snake body modules connected in series. The driving assembly comprises a fixed member, a power mechanism and a traveling mechanism; the fixing component is connected with the adjacent snake body modules, the power mechanism and the travelling mechanism are both arranged on the fixing component, and the power mechanism is connected with the travelling mechanism and can drive the travelling mechanism to travel.
In some embodiments of the present invention, the first driving unit is disposed at the head of the snake robot as a snake head assembly, the second driving unit is disposed at the tail of the snake robot as a snake tail assembly, and the third driving unit is disposed between the snake head assembly and the snake tail assembly as an intermediate driving assembly; the snake head component, the snake tail component and the middle driving component are connected through a snake body connecting unit; the first, second and third driving units are active driving mechanisms which can provide driving force for the snake-shaped robot; the snake body connecting unit is a driven driving mechanism, and can realize the motion form deformation, yaw, pitching and other actions of the snake-shaped robot.
According to the invention, the driving assembly comprises a fixing member, a power mechanism and a traveling mechanism, the fixing member is connected with the snake body connecting unit, the power mechanism and the traveling mechanism are both arranged on the fixing member, and the power mechanism is connected with the traveling mechanism and can drive the traveling mechanism to travel. The fixing component can be a fixing plate structure or a fixing frame structure, and can also be a fixing box body structure, and the fixing component with any shape and structure can be used in the invention. The power mechanism comprises a first driving member and a transmission member; the first drive construction comprises two driving steering engines which are respectively arranged at the front part and the rear part of the fixed component; the transmission component comprises two sets of gear transmission mechanisms which are arranged on the fixed component in a rotating connection mode and are composed of driving wheels and guide wheel sets; an output shaft rudder disc of the driving steering engine is connected with the driving wheel to drive the driving wheel to rotate. The walking mechanism comprises two tracks symmetrically arranged on the left side and the right side of the fixing component, the tracks are attached to driving wheels and guide wheel sets, the driving wheels are meshed with the tracks to drive the tracks to move, and the guide wheel sets are closely attached to the tracks to provide support for the tracks. The skilled person in the art can flexibly set the specific structures of the fixed member, the power mechanism and the traveling mechanism in practical application, as long as the power mechanism and the traveling mechanism are both arranged on the fixed member, and the power mechanism is connected with the traveling mechanism and can drive the traveling mechanism to travel. The fixing member and the snake body connecting unit can be directly connected or connected through a connecting piece, and the change of the connection form of the fixing member and the snake body connecting unit does not depart from the principle and the scope of the invention and is limited within the protection scope of the invention. The first drive unit, the third drive unit and the second drive unit preferably have the same structure, and may also have similar structures.
In order to more clearly describe the multi-section driving master-slave type snake-shaped robot, a preferred embodiment of the invention is described in detail below with reference to the accompanying drawings.
The invention discloses a multi-section driving master-slave type snake-shaped robot, wherein three driving units respectively comprise a driving component, the three driving components are respectively positioned at two ends and the middle part of a snake body and respectively used as a snake head component, a snake tail component and a middle driving component, the three driving components are connected through a snake body connecting unit, and in order to define the same level with the driving components, the snake body connecting unit is named as the snake body component in the description of the preferred embodiment.
As shown in fig. 1, the multi-section driving master-slave type snake-shaped robot of the embodiment comprises a snake head component 1, a middle driving component 3, a snake tail component 4 and a snake body component 2, wherein the snake body component comprises a first snake body component and a second snake body component, the first snake body component is arranged between the snake head component 1 and the middle driving component 3, and the second snake body component is arranged between the middle driving component 3 and the snake tail component 4. In this embodiment, the snake head assembly 1, the middle driving assembly 3 and the snake tail assembly 4 adopt the same driving assembly.
In the drive assembly shown in fig. 2 and 3, the fixing member includes a frame main body 15 and two guard plates 13; the power mechanism comprises a first driving member 11 and a transmission member consisting of a driving wheel 12 and a guide wheel set 14; the running gear is a track 16. The first drive member 11 constitutes a track wheel together with the drive wheel 12, the guide roller set 14 and the corresponding support structure.
First drive component 11 contains two drive steering engines that travel, and two drive steering engines that travel set firmly in the front portion and the rear portion of frame main part 15 through steering engine fixed plate 110 dorsad, and two drive steering engine output shafts that travel are opposite in direction. The transmission component is rotatably arranged on the frame main body 15 and positioned between the two protection plates 13, the driving wheel 12 is a gear matched with the crawler 16, an inner hole of the driving wheel 12 is connected with an output shaft of the driving steering engine in a matching way, and the gear on the rim of the driving wheel 12 is meshed with the crawler 16; the guide roller set 14 is rotatably mounted on the stationary member in close contact with the inner surface of the track 16. In addition, a person skilled in the art can flexibly install bearings between the driving wheel 12 and the guide wheel set 14 and the frame main body 15 and the protection plate 13, so that the rotation friction force is reduced, and the driving efficiency of the driving steering engine is improved.
The walking mechanism adopts the track to increase the contact area between the robot and the ground so as to improve the friction force between the robot and the ground, so that the snake-shaped robot can stably, rapidly and safely pass through various complex pavements, and the ground adaptability, obstacle crossing capability and motion flexibility of the snake-shaped robot are further improved. Because the invention aims to reduce the overall dimension of the robot and make the structure more compact, only 2 guide wheel sets on the left and right are designed and installed, and 4 guide wheels are total, the technicians in the field can properly increase the types and the number of the guide wheels and design the arrangement mode according to the actual requirements of the technicians to realize the support and the conduction of a plurality of guide wheels to the walking mechanism, and the adjustment of the arrangement mode and the specific number of the guide wheels does not deviate from the principle and the scope of the invention and is limited within the protection scope of the invention. When the driving steering engine rotates, the driving wheel can be driven to rotate, and the guide wheel group and the crawler belt are driven to rotate at the same time; two tracks are driven by two independent driving steering engines respectively, so that differential driving can be realized, and the ground adaptability, obstacle crossing capability and steering capability of the snake-shaped robot are improved.
Referring to fig. 17, the snake assembly 2 comprises a plurality of snake modules which are arranged in series among the snake head assembly 1, the intermediate drive assembly 3 and the snake tail assembly 4. In practical application, a person skilled in the art can flexibly set the specific number of the snake body joints according to practical environment. The snake assembly of the snake robot shown in fig. 17 comprises 7 snake joints in total, wherein 4 yaw joints and 3 pitch joints are included. 2 yaw joints and 2 pitch joints are arranged between the snake head component 1 and the middle driving component 3, 2 yaw joints and 1 pitch joint are arranged between the middle driving component 3 and the snake tail component 4, and the joints drive steering engines to be orthogonally arranged and alternately appear.
The snake body module shown in fig. 4, which is designated as a snake body module a, includes a framework 211, a steering engine fixing seat 221, a joint driving steering engine 231 as a second driving member, a first connecting piece 241 and a bellows fixing ring 251. The first connecting piece 241 is rotatably arranged at one end of the framework 211, and the joint driving steering engine 231 is arranged on the framework 211 through the steering engine fixing seat 221. The joint driving steering gear 231 can drive the first connecting piece 241 to rotate axially around an output shaft of the joint driving steering gear. The framework 211 is provided with an annular framework portion, the joint driving steering engine 231 is arranged inside the annular framework portion, and the first connecting piece 241 is arranged at one end of the annular framework portion. A bellows fixing ring 251 is fixed to the annular frame portion for end fixing of the bellows. The class-A snake body module can also be provided with a second connecting piece 5 at the other end of the framework 211, which is opposite to the position where the first connecting piece 241 is arranged, and the second connecting piece is used for being connected with an adjacent snake body module or a driving assembly.
Continuing to refer to fig. 17, a plurality of snake body modules are connected in series and orthogonally, one end of the snake body module far away from the first connecting piece is used as a fixed connecting end, and one end of the snake body module provided with the first connecting piece is used as a rotating connecting end; a plurality of snake body modules of series connection, two adjacent snake body modules are the same-end connection, and concrete connection mode is two kinds: (1) the fixed connecting end of each snake body module is fixedly connected with the fixed connecting end of the adjacent snake body module, and the swinging directions of two first connecting pieces in the two mutually connected snake body modules are arranged orthogonally; (2) the first connecting piece of the rotating connecting end of the snake body module is fixedly connected with the connecting piece of the rotating connecting end of the adjacent snake body module, and the swinging directions of the two first connecting pieces in the two mutually connected snake body modules are orthogonal.
Another kind of snake body module shown in fig. 5 is marked as a B kind of snake body module, which is formed by assembling two a kind of snake body module fixing connecting ends, and some related components are integrally designed for enhancing the structural strength. The B-type snake body module comprises a framework component 212, a steering engine fixing seat 222, a joint driving steering engine 232, a joint driving steering engine 233, a first connecting piece 242, a first connecting piece 243, a corrugated pipe fixing ring 252 and a corrugated pipe fixing ring 253. A joint driving steering engine 232 and a joint driving steering engine 233 in the B-type module are orthogonally arranged on the framework 212 through a steering engine fixing seat 222 respectively. The first connecting pieces 242 and 243 are installed at two ends of the framework 212 in a manner that the swinging directions thereof are orthogonal.
In this embodiment, the snake body assembly is constructed by combining the type a snake body module and the type B snake body module, as shown in fig. 17, the type a snake body module and the type B snake body module are orthogonally connected by a first connecting member, the first snake body assembly is of an a-B-a structure, and the second snake body assembly is of an a-B structure. The connection relationship between the type A snake body module, the type B snake body module, the type A snake body module and the type B snake body module will be described in detail with reference to FIGS. 4-14.
Fig. 8 is a schematic structural diagram of a skeleton 211 of a type a snake body module, fig. 9 is a schematic structural diagram of a skeleton 212 of a type B snake body module, fig. 10 is a schematic structural diagram of a connection between a joint driving steering engine 231 and a steering engine fixing seat 221 of the type a snake body module, fig. 11 is a schematic structural diagram of a connection between joint driving steering engines 232 and 233 and a steering engine fixing seat 222 of the type B snake body module, fig. 12 is a schematic structural diagram of a steering engine fixing seat 221 of the type a snake body module, fig. 13 is a schematic structural diagram of a steering engine fixing seat 222 of the type B snake body module, the steering engine fixing seat 222 is provided with two first connecting portions 222_1 and two second connecting portions 222_2, the first connecting portions 222_1 and the second connecting portions 222_2 are vertically arranged, and fig. 14 is a schematic structural diagram.
With continuing reference to fig. 4, 8, 10 and 12, in the type a snake body module, the joint driving steering engine 231 is fixed in the framework 211 of the snake body module through the steering engine fixing seat 221 and is fixedly connected with the first end surface 211_1 of the framework 211, two ends of the output shaft of the joint driving steering engine 231 are both fixedly provided with a rudder plate, and the first connecting piece 241 and the two rudder plates are respectively and fixedly connected.
With continued reference to fig. 5, 9, 11, and 13, in the type B snake body module, the steering engine fixing base 222 has two first connecting portions 222_1 and two second connecting portions 222_2, the first connecting portion 222_1 and the second connecting portion 222_2 are vertically arranged, and the joint steering engines 232 and 233 are respectively connected to the two connecting portions 222_1 and 222_2 of the steering engine fixing base 222 and fixed to the first end surface 212_1 and the second end surface 212_2 of the framework 212 through the fixing base 222; the joint driving steering engine 233 and the first connecting piece 243 are connected in the same way, and the two rudder disks are fixedly connected to the two ends of the output shaft of the joint driving steering engine 232.
With continued reference to fig. 17, 6 and 7, the class a snake module and the class B snake module are orthogonally connected by a first connector 241 and a first connector 242. In a snake body component consisting of the A-type snake body module and the B-type snake body module, the snake body modules are orthogonally connected through a first connecting piece. In order to better protect the connecting part, two adjacent snake body modules orthogonally connected by the first connecting piece are further provided with a flexible protection piece for covering the two snake body modules mutually connected by the first connecting piece, and two ends of the flexible protection piece are respectively and fixedly connected with the annular framework parts of the snake body modules. The flexible protection member in this embodiment is a bellows, and as shown in fig. 7, the bellows 26 is fixedly mounted by the bellows fixing ring 251 and the bellows fixing ring 252, so as to protect internal electronic components and improve the anti-interference capability.
The yaw and pitch motions of the snake assembly 2 will be described in detail with continued reference to figures 15-19. Under the driving action of the joint driving steering engine 231, two adjacent snake body modules can rotate relatively around the output shaft of the joint driving steering engine 231, for example, the snake body module B in fig. 15 can rotate axially around the output shaft of the joint driving steering engine 231 of the snake body module a (rotate around the Z axis shown in fig. 15), the snake body module a in fig. 16 (same as fig. 15) can rotate axially around the output shaft of the joint driving steering engine 232 of the snake body module B (rotate around the Y axis shown in fig. 16), that is, the output shaft of each joint driving steering engine is a rotating joint, and the snake body modules can be divided into a yaw joint (the snake body joints P1, P2, P3 and P4 shown in fig. 17) and a pitch joint (the snake body joints F1, F2 and F3 shown in fig. 17) according to the orientation of the output shaft of the joint driving steering engine 231, and the yaw joint (the snake body joints P1, P2, P3 and F85, P4) can be rotated along the Z axis, and the pitch joints (the snake joints F1, F2, F3 shown in fig. 17) can be rotated along the Y axis. Taking plane turning as an example, as shown in fig. 18, the snake head assembly 1 moves forward at a constant speed, the whole snake body assembly 2 can be bent to a certain radian by controlling the yaw joints (snake body joints P1, P2, P3 and P4 shown in fig. 17) in the snake body assembly 2 to rotate at a certain angle, and plane turning can be realized by combining speed driving of the first driving unit 1; similarly, as shown in fig. 19, the head raising action of the snake-shaped robot in the vertical space can be realized by controlling some pitch joints (snake body joints F1 and F2 shown in fig. 17) close to the snake head assembly 1 in the snake body assembly 2 to rotate for a certain angle. By controlling the angles of the yaw joints (the snake joints P1, P2, P3 and P4 shown in fig. 17) and the pitch joints (the snake joints F1, F2 and F3 shown in fig. 17), the snake robot can realize complex motion in a three-dimensional space.
In the above preferred embodiment, there is one third driving unit, and there is one driving assembly in each of the first driving unit, the second driving unit, and the third driving unit, in other embodiments, the third driving unit may be added according to the length of the snake-shaped robot, and the driving assembly in each driving unit may also be set as required; the snake body component can also be designed by only adopting the A-type snake body module, and certainly can also be designed by only adopting the B-type snake body module; the snake body module and the driving assembly can be connected with the fixing component through the first connecting piece, when the snake body module is the A-type snake body module, the snake body module and the driving assembly can also be connected with the fixing component of the driving assembly through the fixing connecting end of the snake body module, in the snake-shaped robot shown in figure 17, the snake head assembly and the middle driving assembly adopt the latter connecting mode, and the snake tail assembly adopts the former connecting mode.
In this embodiment, two adjacent snake body module swing direction orthorhombic set up, and in some other embodiments, two adjacent snake body module swing directions can also parallel arrangement, or other angle settings, can dispose in a flexible way at the swing direction of the first connecting piece of the snake body module of a plurality of concatenations of snake-shaped robot to improve the flexibility ratio of snake-shaped robot gesture adjustment.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "front", "rear", "left", "right", "upper", "lower", "center", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and "butted" are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims (8)

1. A multi-section driving master-slave type snake-shaped robot is characterized by comprising a first driving unit, a second driving unit, at least one third driving unit and a plurality of snake body connecting units;
the first driving unit and the second driving unit are respectively arranged at the head and the tail of the snake-shaped robot; the first driving unit is connected with the adjacent third driving unit through a snake body connecting unit; the second driving unit is connected with the adjacent third driving unit through a snake body connecting unit; when the number of the third driving units is multiple, the third driving units are connected through the snake body connecting unit;
the first driving unit, the second driving unit and the third driving unit all comprise at least one driving component; the snake body connecting unit comprises a snake body module or a plurality of snake body modules connected in series;
the snake body module comprises a framework, a first connecting piece and a second driving member; the first connecting piece is rotatably arranged at one end of the framework, and the second driving member is fixedly arranged on the framework; the second driving component is a joint driving steering engine, and the joint driving steering engine can drive the first connecting piece to axially rotate around an output shaft of the joint driving steering engine; one end of the snake body module, which is far away from the first connecting piece, is a fixed connecting end; one end of the snake body module, which is provided with the first connecting piece, is a rotary connecting end;
in the plurality of serially connected snake body modules, two adjacent snake body modules are connected at the same end; the fixed connecting end of each snake body module is fixedly connected with the fixed connecting end of the adjacent snake body module, and the swinging directions of two first connecting pieces in the two mutually connected snake body modules are arranged orthogonally; the first connecting piece of the rotating connecting end of the snake body module is fixedly connected with the connecting piece of the rotating connecting end of the adjacent snake body module, and the swinging directions of the two first connecting pieces in the two mutually connected snake body modules are arranged orthogonally;
the driving assembly comprises a fixed member, a power mechanism and a traveling mechanism; the fixing member is connected with the adjacent snake body modules, the power mechanism and the travelling mechanism are both arranged on the fixing member, and the power mechanism is connected with the travelling mechanism and can drive the travelling mechanism to travel.
2. The multi-segment driven master-slave snake robot of claim 1, wherein the power mechanism comprises a first driving member, a transmission member;
the first driving component comprises two driving steering engines, and the two driving steering engines are respectively arranged at the front part and the rear part of the fixed component;
the transmission component comprises two wheel sets which are arranged on the fixed component in a rotating connection mode, and each wheel set comprises a driving wheel and a guide wheel set; and an output shaft rudder disc of the driving steering engine is connected with the driving wheel and used for driving the driving wheel to rotate.
3. The multi-segment driving master-slave snake robot as claimed in claim 2, wherein the walking mechanism comprises two tracks symmetrically arranged on left and right sides of the fixed member, the tracks are arranged to fit the driving wheels and the guide wheel sets, the driving wheels are engaged with the tracks to drive the tracks to move, and the guide wheel sets are closely fitted with the tracks to provide support for the tracks.
4. The multi-segment driven master-slave serpentine robot of claim 3, wherein the drive assembly further comprises two guard plates; the two protection plates are respectively arranged on the outer sides of the transmission members and fixedly connected with the fixing members.
5. The multi-section driving master-slave snake robot as claimed in claim 1, wherein the skeleton comprises an annular skeleton portion, the joint driving steering engine is arranged inside the annular skeleton portion, and the first connecting member is arranged at one end of the annular skeleton portion.
6. The multi-section driving master-slave snake-shaped robot as claimed in claim 5, wherein the snake body connecting unit further comprises a flexible protection component, the flexible protection component covers two snake body modules connected with each other by the first connecting piece, and two ends of the flexible protection component are respectively and fixedly connected with the annular framework parts of the snake body modules.
7. The multi-section driving master-slave snake robot of claim 6, wherein the flexible protection component is a bellows component, the bellows component comprises a bellows and two bellows fixing rings, and the bellows is fixedly connected to the annular framework portion through the bellows fixing rings.
8. The multi-stage driving master-slave serpentine robot of any one of claims 1 to 7, wherein the number of the third driving unit is one, and the number of the driving components of the first driving unit, the second driving unit and the third driving unit is one.
CN201910281776.8A 2019-04-09 2019-04-09 Multi-section driving master-slave type snake-shaped robot Active CN110065054B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910281776.8A CN110065054B (en) 2019-04-09 2019-04-09 Multi-section driving master-slave type snake-shaped robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910281776.8A CN110065054B (en) 2019-04-09 2019-04-09 Multi-section driving master-slave type snake-shaped robot

Publications (2)

Publication Number Publication Date
CN110065054A CN110065054A (en) 2019-07-30
CN110065054B true CN110065054B (en) 2021-03-16

Family

ID=67367281

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910281776.8A Active CN110065054B (en) 2019-04-09 2019-04-09 Multi-section driving master-slave type snake-shaped robot

Country Status (1)

Country Link
CN (1) CN110065054B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110900590B (en) * 2019-12-12 2021-09-07 中国科学院自动化研究所 Snake-shaped robot modularization quick assembly disassembly dustproof and waterproof shell
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

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6512345B2 (en) * 2001-03-30 2003-01-28 The Regents Of The University Of Michigan Apparatus for obstacle traversion
CN100410128C (en) * 2006-09-28 2008-08-13 哈尔滨工业大学 Crawler type multiple joint hinged robot suitable for search and detection in coal mine
CN203875899U (en) * 2014-05-22 2014-10-15 电子科技大学 Segment unit of multi-segment snake robot
CN105171716B (en) * 2015-09-01 2017-07-25 上海大学 A kind of multi-joint search and rescue robot
CN107756386A (en) * 2017-10-31 2018-03-06 广西大学 A kind of gear type reverses i-axis snake-shaped robot
CN108748124A (en) * 2018-05-28 2018-11-06 中国科学院自动化研究所 Snake-shaped robot

Also Published As

Publication number Publication date
CN110065054A (en) 2019-07-30

Similar Documents

Publication Publication Date Title
CN110065054B (en) Multi-section driving master-slave type snake-shaped robot
US8030873B2 (en) Walk and roll robot
CN108748124A (en) Snake-shaped robot
CN103056876A (en) Variable rigidity parallel joint snake-shaped robot mechanism
CN102773860A (en) Throwable variable structure spherical robot
CN111267989A (en) Wheel-foot type mobile platform and wheel-foot type mobile robot
CN106272542A (en) Imitative Serpentis search and rescue robot articulation mechanism
CN102267506A (en) Double-wheel moving platform
CN111547148A (en) Deformation wheel device, wheel-track leg walking device and wheel-track leg robot
CN110293543A (en) A kind of multistep state snake-shaped robot merging crawler type walking mechanism and snake neck joint
CN110733335A (en) Transmission mechanism, traveling system and moon-exploring robot
CN109799819B (en) Snake-shaped robot mechanism based on gyro precession effect and motion control method
CN208760751U (en) A kind of multiple degrees of freedom multi-function robot
CN211809923U (en) Investigation robot with four-foot auxiliary wheel
CN104709369A (en) Planetary differential obstacle-crossing type tracked robot
CN101434070A (en) Joint module of amphibious snake-shaped robot
CN109080700A (en) A kind of 4 wheel driven independent steering gear
CN104590408A (en) Walking mechanism of wheel-tracked leg
CN211388758U (en) Executive device for stair climbing robot
CN205524558U (en) Eccentric wheel surmounting mechanism
CN111114637B (en) Land robot walking mechanism facing global terrain
CN211391490U (en) Robot capable of climbing stairs
CN100368156C (en) Microsize robot based on wheel leg type composite mechanism
CN212735999U (en) Structure for optimizing motion efficiency of snake-shaped robot
CN111874118B (en) Obstacle crossing robot based on wheel-track leg type chassis

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant