CN110125922A - A kind of snake-shaped robot that rotating and swinging joint module is constituted - Google Patents
A kind of snake-shaped robot that rotating and swinging joint module is constituted Download PDFInfo
- Publication number
- CN110125922A CN110125922A CN201910528602.7A CN201910528602A CN110125922A CN 110125922 A CN110125922 A CN 110125922A CN 201910528602 A CN201910528602 A CN 201910528602A CN 110125922 A CN110125922 A CN 110125922A
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- Prior art keywords
- joint module
- rotating
- swinging joint
- small
- snake
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000003032 molecular docking Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B25J17/0283—Three-dimensional joints
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
Abstract
The present invention relates to robotic technology fields, disclose a kind of snake-shaped robot that rotating and swinging joint module is constituted.The snake-shaped robot is sequentially connected in series by several basic joints, basic joint includes small-sized rotating and swinging joint module and traveling wheel mechanism, small-sized rotating and swinging joint module is equipped with for realizing the modularization robot interface for being mechanically connected and being electrically connected between basic joint, and traveling wheel mechanism is set to small-sized rotating and swinging joint module bottom；Traveling wheel mechanism includes connection slide fastener, wheel shaft and idler wheel, and connection slide fastener two sides are equipped with the axis hole for passing through for wheel shaft, and idler wheel is set to wheel shaft both ends；The binding face for connecting slide fastener and small-sized rotating and swinging joint module is equipped with hasp structure, and hasp structure and small-sized rotating and swinging joint module are assembled to fix traveling wheel mechanism.Invention increases the versatilities of snake-shaped robot basic joint, meanwhile, wheel construction of walking is fixed on small-sized rotating and swinging joint module by hasp structure, and structure is simple, and it is not necessary that connection can be completed by tool, dismounting is rapidly completed in realization.
Description
Technical field
The present invention relates to robotic technology field, the snakelike machine constituted more particularly, to a kind of rotating and swinging joint module
People.
Background technique
With bionic machine man-based development, the application of snake-shaped robot is got more and more attention.Snake-shaped robot is laterally wriggled
Yan motor pattern stability with higher and environmental suitability.Snake-shaped robot has narrow by the connection in multiple joints
The flexible operating ability of the ride-through capability in space, obstacle climbing ability, ultra-redundant degree of freedom.The general bottom of snake-shaped robot can be provided with
For the pulley of walking, but the substantially stationary setting of sheave segment of existing snake-shaped robot, it can not change, ability to work list
One.Moreover, the connection in existing snake-shaped robot joint is complex, it cannot quickly increase and decrease the basic joint number of snake-shaped robot
Amount, the basic joint of most of snake-shaped robots is dedicated snakelike basic joint mostly, lacks certain versatility and extension
Property.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above, provides what a kind of rotating and swinging joint module was constituted
Snake-shaped robot, the basic joint of the robot increase snakelike machine based on the small-sized rotating and swinging joint module of servo driving
The versatility of device people's basic joint, meanwhile, basic joint is equipped with walking wheel construction, and can realize dismounting demand.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of snake-shaped robot that rotating and swinging joint module is constituted, is sequentially connected in series, the base by several basic joints
This joint includes small-sized rotating and swinging joint module and traveling wheel mechanism, small-sized rotating and swinging joint module be equipped with for realizing basic joint it
The modularization robot interface of room machine connection and electrical connection, traveling wheel mechanism are set to small-sized rotating and swinging joint module bottom；Row
Zou Lun mechanism includes connection slide fastener, wheel shaft and idler wheel, and the connection slide fastener two sides are equipped with the axis hole for passing through for wheel shaft, described
Idler wheel is set to wheel shaft both ends；The binding face of the connection slide fastener and small-sized rotating and swinging joint module is equipped with hasp structure, hasp structure
It assembles with small-sized rotating and swinging joint module to fix traveling wheel mechanism.The snake-shaped robot is based on basic joint, successively from beginning to end
Series connection.Wherein, small-sized rotating and swinging joint module is mainly used for connection and rotation, the modularization robot of small-sized rotating and swinging joint module connect
Mouth is general, assembles regardless of tandem.Traveling wheel mechanism is mainly used for walking, and walking module and small-sized rotating and swinging joint module are removable
Unload connection.
Further, the traveling wheel mechanism further includes axial retaining ring, and the axial direction retaining ring is set to wheel shaft, and close to connection
Slide fastener.Axial retaining ring is mainly used for limitation wheel shaft position, prevents wheel shaft from horizontally slipping, influences to balance.
Further, the hasp structure is symmetrical set, including flat segments and raised section, and the raised section outer diameter is greater than
Flat segments are to realize that snapping is fixed.Hasp structure is mainly used for traveling wheel mechanism and small-sized rotating and swinging joint module dismounts.
Further, U-type groove is equipped among the hasp structure.There are U-type grooves in the middle part of hasp structure, primarily to side
Just it dismantles, U-type groove is left a blank, and is facilitated and is squeezed the raised section elasticity of hasp structure, will connect slide fastener from small-sized rotating and swinging joint module
It disassembles.
Wherein, small-sized rotating and swinging joint module includes fixing shell, steering engine and swings shell, and the fixing shell is loaded on steering engine
Outside is simultaneously firmly connected with it；The delivery outlet for swinging shell and being connected to steering engine, by servo driving to realize swinging motion；It is described
Fixing shell swings the modularization robot interface that shell is equipped with.Moreover, the installation direction one of each small-sized rotating and swinging joint module
It causes, is rotated by each steering engine delivery outlet, drive and swing shell, realize the swing of snake-shaped robot entirety.Small-sized rotating and swinging joint mould
Block and traveling wheel mechanism can in the case where not by tool quick-assembling at basic joint, meanwhile, small-sized rotating and swinging joint mould
Block is but also as base unit, for building other configurations.
Further, the small-sized rotating and swinging joint module is equipped with the through-hole for connecting traveling wheel mechanism hasp structure.One
As, traveling wheel mechanism is loaded in fixing shell.
In addition, axis perpendicular where the delivery outlet of swinging plane and steering engine where small-sized rotating and swinging joint module.It is snakelike
The plane of oscillation of robot is vertical with the pivot center of steering engine delivery outlet.
Further, the modularization robot interface includes the docking buckle and electric interfaces for mechanical connection, and
Dimensions is consistent.Docking buckle is circular ring shape, is mainly used for being fixedly connected.Electric interfaces are located at circular ring shape center, for real
Existing electric energy transmission.
Further, the idler wheel is rubber wheel.The size dimension of idler wheel does not limit, and generallys use in even surface walking small
Wheel, in rugged face, walking generallys use bull wheel.
Compared with prior art, the beneficial effects of the present invention are: the present invention provides a kind of rotating and swinging joint module compositions
Snake-shaped robot possesses quick modularization robot interface, it can be achieved that quickly and easily increasing and decreasing snakelike machine on basic joint
The quantity of people's basic joint adjusts the length of snake-shaped robot.The basic joint main movement of snake-shaped robot is by small-sized rotation
Joint module is realized, is not required to the special joint module of design serpentine robotic, is increased the versatility of basic joint.Meanwhile row
It walks wheel construction and small-sized rotating and swinging joint module is fixed on by hasp structure, structure is simple, it is not necessary that connection can be completed by tool,
Dismounting is rapidly completed in realization.
Detailed description of the invention
Fig. 1 is the overall structure diagram of snake-shaped robot.
Fig. 2 is the overall structure diagram of basic joint.
Fig. 3 is the overall structure diagram of traveling wheel mechanism.
Fig. 4 is the overall structure diagram for connecting slide fastener.
Fig. 5 is the overall structure diagram of small-sized rotating and swinging joint module.
Wherein, 1 basic joint, 2, small-sized rotating and swinging joint module, 3 traveling wheel mechanisms, 4 modularization robot interfaces, 21 is solid
Determine shell, 22 steering engines, 23 swing shells, 24 through-holes, 31 connection slide fasteners, 32 wheel shafts, 33 idler wheels, 311 axis holes, 312 hasp structures,
34 axial retaining rings, 3121 flat segments, 3122 raised sections.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" " length " " short " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore describes position in attached drawing
The term for setting relationship only for illustration, should not be understood as the limitation to this patent, for the ordinary skill people of this field
For member, the concrete meaning of above-mentioned term can be understood as the case may be.
Below by specific embodiment, and in conjunction with attached drawing, technical scheme of the present invention is further described:
Embodiment 1
As shown in Figure 1, this implementation provides a kind of snake-shaped robot that rotating and swinging joint module is constituted, closed substantially by several
Section 1 is sequentially connected in series, and basic joint 1 includes small-sized rotating and swinging joint module 2 and traveling wheel mechanism 3, small-sized rotating and swinging joint module 2
Equipped with for realizing the modularization robot interface 4 for being mechanically connected and being electrically connected between basic joint 1, traveling wheel mechanism 3 is set
In small-sized 2 bottom of rotating and swinging joint module, as shown in Figure 2.
Wherein, as shown in figure 3, traveling wheel mechanism 3 includes connection slide fastener 31, wheel shaft 32, axial retaining ring 34 and idler wheel 33, connect
It connects 31 two sides of slide fastener and is equipped with axis hole 311 for passing through for wheel shaft 32, axial retaining ring 34 is set to wheel shaft 32 and close to connection slide fastener
31.Idler wheel 33 is set to 32 both ends of wheel shaft, and idler wheel 33 is rubber wheel in the present embodiment.
In addition, as shown in figure 4, connection slide fastener 31 and small-sized rotating and swinging joint module 2 binding face be equipped with hasp structure 312,
Hasp structure 312 is symmetrical set, and centre is equipped with U-type groove, and hasp structure 312 specifically includes flat segments 3121 and raised section
3122,3122 outer diameter of raised section is greater than flat segments 3121 to realize that snapping is fixed, hasp structure 312 and small-sized rotating and swinging joint module
2 assembly are to fix traveling wheel mechanism 3.Small-sized rotating and swinging joint module and traveling wheel mechanism can be fast in the case where not by tool
Speed Pinyin dresses up basic joint, meanwhile, small-sized rotating and swinging joint module is but also as base unit, for building other configurations.
Meanwhile as shown in figure 5, small-sized rotating and swinging joint module 2 include fixing shell 21, steering engine 22 and swing shell 23, it is small
Swinging plane where type rotating and swinging joint module 2 and axis perpendicular where the delivery outlet of steering engine 22.Specifically, fixing shell 21
It loaded on 22 outside of steering engine and is firmly connected with it, fixing shell 21 is equipped with for connecting the logical of 3 hasp structure 312 of traveling wheel mechanism
Hole 24.The delivery outlet that shell 23 is connected to steering engine 22 is swung, is driven by steering engine 22 to realize swinging motion.Each small-sized rotating and swinging joint mould
The installation direction of block 2 is consistent, is rotated by each 22 delivery outlet of steering engine, drives and swings shell 23, realizes snake-shaped robot entirety
It swings.
Wherein, the modularization robot interface 4 that fixing shell 21, swing shell 23 are equipped with, modularization robot interface 4
Including the docking buckle and electric interfaces for mechanical connection, and dimensions is consistent.Docking buckle is circular ring shape, is mainly used for
It is fixedly connected.Electric interfaces are located at circular ring shape center, for realizing electric energy transmission.
In actual use, assembled good traveling wheel mechanism 3 is inserted into small-sized rotating and swinging joint module by hasp structure 312
Through-hole 24 in 2 fixing shells 21 realizes the fixation of traveling wheel mechanism 3, then passes through the module on small-sized rotating and swinging joint module 2
Change the connection between the realization snake-shaped robot basic joint 1 of robot interface 4, snake-shaped robot basic joint 1 completes rotation fortune
It moves to realize advancing tortuously for small snake.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (7)
1. the snake-shaped robot that a kind of rotating and swinging joint module is constituted, is sequentially connected in series, feature by several basic joints (1)
Be: the basic joint (1) includes small-sized rotating and swinging joint module (2) and traveling wheel mechanism (3), small-sized rotating and swinging joint module
(2) it is equipped with for realizing the modularization robot interface (4) for being mechanically connected and being electrically connected between basic joint (1), traveling wheel
Mechanism (3) is set to small-sized rotating and swinging joint module (2) bottom；Traveling wheel mechanism (3) includes connection slide fastener (31), wheel shaft (32) and rolling
It takes turns (33), connection slide fastener (31) two sides are equipped with the axis hole (311) for passing through for wheel shaft (32), and the idler wheel (33) is set to
Wheel shaft (32) both ends；The binding face of connection slide fastener (31) and small-sized rotating and swinging joint module (2) is equipped with hasp structure (312),
Hasp structure (312) and small-sized rotating and swinging joint module (2) are assembled to fix traveling wheel mechanism (3).
2. the snake-shaped robot that a kind of rotating and swinging joint module according to claim 1 is constituted, it is characterised in that: the walking
Take turns mechanism (3) further include axial retaining ring (34), it is described axial direction retaining ring (34) be set to wheel shaft (32), and close to connection slide fastener (31).
3. the snake-shaped robot constituted according to a kind of rotating and swinging joint module that claim 2 is stated, it is characterised in that: the slide fastener knot
Structure (312) is symmetrical set, including flat segments (3121) and raised section (3122), and raised section (3122) outer diameter is greater than straight
Section (3121) is to realize that snapping is fixed.
4. the snake-shaped robot that a kind of rotating and swinging joint module according to claim 3 is constituted, it is characterised in that: the slide fastener
U-type groove is equipped among structure (312).
5. the snake-shaped robot that a kind of rotating and swinging joint module according to claim 4 is constituted, it is characterised in that: described small-sized
Rotating and swinging joint module (2) is equipped with the through-hole (24) for connecting traveling wheel mechanism (3) hasp structure (312).
6. the snake-shaped robot that a kind of rotating and swinging joint module according to claim 1-5 is constituted, it is characterised in that:
The modularization robot interface (4) includes the docking buckle and electric interfaces for mechanical connection, and dimensions is consistent.
7. the snake-shaped robot that a kind of rotating and swinging joint module according to claim 1 is constituted, it is characterised in that: the idler wheel
It (33) is rubber wheel.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910186338.3A CN109909986A (en) | 2019-03-12 | 2019-03-12 | A kind of small modular snake-shaped robot |
| CN2019101863383 | 2019-03-12 |
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| Publication Number | Publication Date |
|---|---|
| CN110125922A true CN110125922A (en) | 2019-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910186338.3A Pending CN109909986A (en) | 2019-03-12 | 2019-03-12 | A kind of small modular snake-shaped robot |
| CN201910528602.7A Pending CN110125922A (en) | 2019-03-12 | 2019-06-18 | A kind of snake-shaped robot that rotating and swinging joint module is constituted |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910186338.3A Pending CN109909986A (en) | 2019-03-12 | 2019-03-12 | A kind of small modular snake-shaped robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561402A (en) * | 2019-09-23 | 2019-12-13 | 西南石油大学 | Passive disconnect-type snake-like robot |
| CN112428249A (en) * | 2020-11-13 | 2021-03-02 | 安徽信息工程学院 | Battlefield omnibearing rescue robot |
| US11135716B2 (en) * | 2016-03-30 | 2021-10-05 | B.G. Negev Technologies & Applications Ltd., At Ben-Gurion University | Minimally actuated serial robot |
| CN115574857A (en) * | 2022-10-24 | 2023-01-06 | 西安交通大学城市学院 | Environment detection device |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804058B (en) * | 2021-09-17 | 2022-12-27 | 杨攻略 | Snake-shaped tank |
| CN113830196B (en) * | 2021-09-26 | 2022-08-05 | 山东大学 | Biped robot capable of being spliced autonomously, multi-configuration robot and control method of multi-configuration robot |
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| CN115574857A (en) * | 2022-10-24 | 2023-01-06 | 西安交通大学城市学院 | Environment detection device |
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| Publication number | Publication date |
|---|---|
| CN109909986A (en) | 2019-06-21 |
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