CN111390887A - Hydraulic snake-shaped robot - Google Patents
Hydraulic snake-shaped robot Download PDFInfo
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- CN111390887A CN111390887A CN202010179501.6A CN202010179501A CN111390887A CN 111390887 A CN111390887 A CN 111390887A CN 202010179501 A CN202010179501 A CN 202010179501A CN 111390887 A CN111390887 A CN 111390887A
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- 210000001503 joint Anatomy 0.000 claims abstract description 65
- 239000003921 oil Substances 0.000 claims description 53
- 238000005303 weighing Methods 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 8
- 230000009977 dual effect Effects 0.000 claims description 4
- 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 claims 6
- 238000006073 displacement reaction Methods 0.000 abstract description 11
- 230000033001 locomotion Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 241000270295 Serpentes Species 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 239000010727 cylinder oil Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008407 joint function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Abstract
The invention provides a hydraulic snake-shaped robot, which comprises a middle joint module and a joint ring, wherein the middle joint module and the joint ring are distributed at intervals, the middle joint module comprises a middle body shell and a hydraulic cylinder, the hydraulic cylinder comprises a first hydraulic cylinder and a second hydraulic cylinder, the joint ring comprises a shell and an angle encoder, the first hydraulic cylinder of the middle joint module on the left side pulls a first hinge seat to enable the middle joint module on the left side and the joint to rotate for an angle around a second hinge component, and the second hydraulic cylinder of the middle joint module on the right side pulls the second hinge seat to enable the middle joint module on the right side and the joint to rotate for an angle around the first hinge component to form a universal joint structure, so that the pose can be adjusted in multiple directions; the angle encoder is used for detecting a rotation angle and feeding back an angular displacement signal in real time for correcting an angular displacement deviation, so that accurate positioning between the joint ring and the middle joint module is realized.
Description
Technical Field
The invention relates to the field of snake-shaped robots, in particular to a hydraulic snake-shaped robot.
Background
The snake-shaped robot is mainly divided into a ground snake-shaped robot and a snake-shaped arm robot, the ground snake-shaped robot is mainly based on the bionic principle of a snake, joint motion is adjusted through an attitude control algorithm, and free movement on narrow, complex and changeable terrain is achieved; the snakelike arm robot is installed snakelike robot on moving platform, realizes getting in the complicated enclosure space through portable devices such as installation holder, camera probe at the front end, keeps away functions such as barrier and location, mainly is applied to industrial field.
The prior snake-shaped robot mainly has two modes of a motor direct drive mode and a pull wire mode. The motor direct drive type is that a motor or a pneumatic device is arranged in each joint module to drive the joint to move, but the bearing load is small, and in addition, the driving rigidity of the pneumatic device is small, so that the control precision is reduced. The stay wire type driving mode is that a steel wire rope is pulled through an external driving source to drive each joint to move, but the robot must be fixed on a moving platform, and meanwhile, when the load is large, the friction between the steel wire rope and the joint, the tension deformation of the steel wire rope and the like can seriously affect the positioning precision.
Disclosure of Invention
In order to solve the technical problem, a hydraulic snake-shaped robot with high load capacity and high rigidity is provided.
A hydraulic snake-shaped robot comprises a middle joint module and a joint ring, wherein the middle joint module and the joint ring are distributed at intervals, the middle joint module comprises a middle body shell and a hydraulic cylinder, the hydraulic cylinder comprises a first hydraulic cylinder and a second hydraulic cylinder, the two ends of the middle body shell are respectively provided with a left end rotating seat and a right end rotating seat, the left side and the right side of the inner side wall of the middle body shell are respectively provided with a left mounting seat and a right mounting seat, the rear end of the first hydraulic cylinder is hinged on the left mounting seat, the rear end of the second hydraulic cylinder is hinged on the right mounting seat, the joint ring comprises a shell and an angle encoder, the shell is provided with a hinge assembly, the hinge assembly comprises an encoder fixing seat and a hinge seat, the angle encoder fixing seat and the hinge seat are oppositely arranged on the inner side wall of the shell, the hinge assembly comprises a first hinge assembly and a second hinge assembly, the first hinge assembly and the second hinge assembly are arranged on the inner side wall of the shell at intervals, and a right rotating seat of the left middle joint module is hinged to the outer end of the second hinge assembly; the left end rotating seat of the right middle joint module is hinged at the outer end of the first hinge assembly; the front end of a driving rod of a first hydraulic cylinder of the left middle joint module is hinged on a hinge seat of the first hinge assembly; the front end of a driving rod of a second hydraulic cylinder of the right middle joint module is hinged on a hinge seat of the second hinge assembly.
Preferably, the present invention further comprises a double-unit rotary valve installed in the middle joint module, and the first hydraulic cylinder and the second hydraulic cylinder are respectively connected to different control ends of the double-unit rotary valve.
Preferably, the invention further comprises an end joint module, the end joint module comprises an end trunk, a unit rotary valve and an end hydraulic cylinder, the left end of the end trunk is provided with an end rotary seat, the end rotary seat is hinged to the outer end of the first hinge assembly of the adjacent joint ring, the rear end of the end hydraulic cylinder is hinged in the end trunk, the front end of a driving rod of the end hydraulic cylinder is hinged to the second hinge seat of the second hinge assembly of the adjacent joint ring, and the control end of the unit rotary valve is connected with the end hydraulic cylinder.
Preferably, the invention further comprises a front end joint module, the front end joint module comprises a front end body shell, a front end unit rotary valve and a front end hydraulic cylinder, a front end rotating seat is arranged at one end of the front end body shell, the front end rotating seat is hinged to the outer end of the first hinge assembly of the adjacent joint ring, the rear end of the front end hydraulic cylinder is hinged in the front end body shell, the front end of the driving rod of the front end hydraulic cylinder is hinged to the hinge seat of the second hinge assembly of the adjacent joint ring, and the control end of the front end unit rotary valve is communicated with the front end hydraulic cylinder.
Preferably, the present invention further comprises a hydraulic oil source installed in the end housing, and the hydraulic oil source is respectively communicated with the unit rotary valve, the front end unit rotary valve and the double unit rotary valve through hoses.
Preferably, the double-unit valve comprises a servo steering engine, a coupler, a rotary valve element and a valve body, the servo steering engine is arranged at the left end and the right end of the valve body respectively, the coupler is arranged at one end of the servo steering engine, the rotary valve element is arranged at one end of the coupler and embedded into the valve body, and an oil inlet, an oil return port and two groups of control valve port groups are arranged on the valve body.
Preferably, a weighing sensor is arranged on a driving rod of the hydraulic cylinder.
Preferably, the middle joint module further comprises an end cover and an earring joint, the end cover is installed at the rear end of the hydraulic cylinder, the end cover is hinged to the left mounting seat or the right mounting seat, the front end of the driving rod of the hydraulic cylinder is fixedly connected with the weighing sensor, the earring joint is installed at the outer end of the weighing sensor, and the earring joint is hinged to the hinging seat.
Preferably, a rotating pin shaft is arranged on a right rotating seat of the left middle joint module and rotatably arranged at the outer end of the second hinge assembly.
Preferably, the rotating pin shaft penetrates through a second encoder fixing seat of the second hinge assembly and is fixedly connected with a detection shaft of the angle encoder.
Compared with the prior art, the invention has the beneficial effects that: 1. the first hydraulic cylinder of the left middle joint module pulls the first hinge seat to enable the left middle joint module and the joint to rotate for an angle around the second hinge assembly, and the second hydraulic cylinder of the right middle joint module pulls the second hinge seat to enable the right middle joint module and the joint to rotate for an angle around the first hinge assembly to form a universal joint structure, so that the pose of the universal joint can be adjusted in multiple directions; 2. the angle encoder is used for detecting a rotation angle and feeding back an angular displacement signal in real time for correcting an angular displacement deviation to realize accurate positioning between the joint ring and the middle joint module, wherein the angle encoder adopts an absolute encoder and can obtain an angular speed by differentiating a process signal; 3. the middle joint modules and the joint rings can be connected, so that the working space and the coverage area of the mechanical arm are increased, the number of the middle joint modules and the number of the joint rings can be set according to the working space, the requirement of long-arm space expansion operation can be met if the number of the middle joint modules and the number of the joint rings are large, and the ground snake-shaped robot can adapt to complex terrains due to the high-redundancy structure; 4. the high power density of the hydraulic driving mode greatly improves the load capacity of the hydraulic driving device, the high rigidity of the high-pressure fluid improves the driving rigidity of the hydraulic driving device, and the hydraulic driving device can assist in completing the moving of obstacles in certain disaster relief scenes; 5. can calculate the atress of universal joint each direction in real time through two corresponding weighing sensor, realize that snake robot is to external environment's full-dimensional power monitoring, but angle encoder on the angle degree of freedom of each joint in addition real time feedback angle displacement signal is used for correcting of angle displacement deviation, realizes articular accurate positioning.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of an intermediate joint module according to the present invention;
FIG. 3 is a diagram of the assembly relationship between adjacent joint modules of the present invention;
FIG. 4 is a schematic structural view of an end joint module of the present invention;
FIG. 5 is an exploded view of the dual unit rotary valve arrangement of the present invention;
fig. 6 is a schematic diagram of the hydraulic system of the present invention.
In the drawings, the reference numbers: the device comprises a front end joint module 101, a middle joint module 102, a joint ring 103, a tail end joint module 104, a middle body shell 201, a first hydraulic cylinder 202A, a second hydraulic cylinder 202B, an angle encoder 203, a first encoder fixing seat 204A, a second encoder fixing seat 204B, a rotating pin shaft 205, a double-unit rotating valve 207, a shell 208, a first oil cylinder oil hole 209A and a second oil cylinder oil hole 209B; the hydraulic control valve comprises an end cover 301, a driving rod 302, a load cell 303, an earring joint 304, a first hinged seat 305A, a second hinged seat 305B, a left mounting seat 307, a right mounting seat 308, a left end rotary seat 309A, a right end rotary seat 309B, a tail end shell 401, a hydraulic oil source 402, a unit rotary valve 403, a tail end hydraulic cylinder 404, a tail end rotary seat 405, an oil supply hose 406, an oil return hose 407, an oil tank 408, a motor 409, a pump 410, a valve bank 411, a servo steering engine 501, a coupler 502, a rotary valve core 503, a bracket 504, a valve body 505, a first oil inlet P1, a second oil inlet P2, an oil return port T, a first left valve port A1, a first right valve port B1, a second left valve port A2 and a second right valve port B2.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
A hydraulic snake-shaped robot is shown in figures 1-6 and comprises a middle joint module 102 and joint rings 103, wherein the middle joint module 102 and the joint rings 103 are distributed at intervals, as shown in figure 2, the middle joint module 102 comprises a middle body shell 201 and hydraulic cylinders, the hydraulic cylinders comprise a first hydraulic cylinder 202A and a second hydraulic cylinder 202B, two ends of the middle body shell 201 are respectively provided with a left end rotating seat 309A and a right end rotating seat 309B, the left side and the right side of the inner side wall of the middle body shell 201 are respectively provided with a left mounting seat 307 and a right mounting seat 308, the rear end of the first hydraulic cylinder 202A is hinged to the left mounting seat 307, the rear end of the second hydraulic cylinder 202B is hinged to the right mounting seat 308, the joint rings 103 comprise a shell 208 and an angle encoder 203, the shell 208 is provided with a hinge assembly, as shown in figure 3, the hinge assembly comprises encoder fixing seats 204A and 204B and hinge seats 305A, 305B, the encoder 203 is installed on the encoder fixing seat, the encoder fixing seat and the hinge seat are oppositely arranged on the inner side wall of the shell 208, the hinge assembly comprises a first hinge assembly and a second hinge assembly, the first hinge assembly comprises a first encoder fixing seat 204A and a first hinge seat 305A, the second hinge assembly comprises a second encoder fixing seat 204B and a second hinge seat 305B, the first hinge assembly and the second hinge assembly are arranged on the inner side wall of the shell 208 at intervals, and a right rotating seat 309B of the left middle joint module is hinged at the outer end of the second hinge assembly; the left end rotating seat 309A of the right middle joint module is hinged at the outer end of the first hinge assembly; the front end of the driving rod of the first hydraulic cylinder 202A of the left middle joint module is hinged on the first hinge seat 305A of the first hinge assembly; the front end of the driving rod of the second hydraulic cylinder 202B of the right middle joint module is hinged on the second hinge seat 305B of the second hinge assembly.
The first hydraulic cylinder 202A of the left middle joint module pulls the first hinge base 305A to enable the left middle joint module and the joint to rotate for an angle around the second hinge assembly, and the second hydraulic cylinder 202B of the right middle joint module pulls the second hinge base 305B to enable the right middle joint module and the joint to rotate for an angle around the first hinge assembly to form a universal joint structure, so that the pose can be adjusted in multiple directions; the angle encoder is used for detecting a rotation angle, can feed back an angular displacement signal in real time for correcting angular displacement deviation, and realizes accurate positioning between the joint ring and the middle joint module, and the angle encoder 203 can adopt an absolute encoder and can obtain an angular speed by differentiating a process signal; the middle joint modules and the joint rings can be connected to increase the working space and the coverage area of the mechanical arm, the number of the middle joint modules 102 and the number of the joint rings 103 can be set according to the working space, the requirement of long-arm space expansion operation can be met if the number is large, and the ground snake-shaped robot can adapt to complex terrains due to the high-redundancy structure; the high power density of the hydraulic driving mode greatly improves the load capacity of the hydraulic driving device, the high rigidity of the high-pressure fluid improves the driving rigidity of the hydraulic driving device, and the hydraulic driving device can assist in completing the moving of obstacles in certain disaster relief scenes.
The present invention may further include a dual unit rotary valve 207 installed in the middle joint module 102, as shown in fig. 2, wherein the first hydraulic cylinder 202A and the second hydraulic cylinder 202B in the middle joint module 102 are respectively connected to different control ends of the dual unit rotary valve 207. The double unit rotary valve 207 is used to control the extension, retraction, and stop of the first and second hydraulic cylinders.
The invention can also comprise an end joint module 104, as shown in fig. 4, the end joint module 104 comprises an end trunk 401, a unit rotary valve 403 and an end hydraulic cylinder 404, the left end of the end trunk 401 is provided with an end rotary seat 405, the end rotary seat 405 is hinged at the outer end of the first hinge assembly of the adjacent joint ring, the rear end of the end hydraulic cylinder 404 is hinged in the end trunk 401, the front end of the driving rod of the end hydraulic cylinder 404 is hinged on the second hinge seat 305B of the second hinge assembly of the adjacent joint ring, and the control end of the unit rotary valve 403 is connected with the end hydraulic cylinder 404. The end hydraulic cylinder 404 pulls the second articulation seat 305B to rotate the end joint module and adjacent articulation around the first articulation assembly to adjust the angle of the end joint module 104, and the unit rotary valve 403 is used to control the extension, retraction, or stopping of the end hydraulic cylinder 404.
The invention can also comprise a front end joint module 101, wherein the front end joint module 101 comprises a front end body shell, a front end unit rotary valve and a front end hydraulic cylinder, a front end rotating seat is arranged at one end of the front end body shell, the front end rotating seat is hinged to the outer end of the first hinge assembly of the adjacent joint ring, the rear end of the front end hydraulic cylinder is hinged in the front end body shell, the front end of a driving rod of the front end hydraulic cylinder is hinged to the second hinge seat of the second hinge assembly of the adjacent joint ring, and the control end of the front end unit rotary valve is communicated with the front end hydraulic cylinder. The anterior joint module may employ the same or similar drive structure as the distal joint module. The front end joint module is used for installing a clamp holder, a camera probe or an operating mechanism.
The present invention may further include a hydraulic oil source 402 installed in the end housing 401, the hydraulic oil source 402 being communicated with the unit rotary valve 403, the front-end unit rotary valve, and the double unit rotary valve 207 through hoses, respectively. The hoses may include an oil supply hose 406 and an oil return hose 407, as shown in fig. 4 and 6, the hydraulic oil source 402 may include an oil tank 408, a motor 409, a pump 410, and a valve group 411, an oil inlet and an oil return port of the pump 410 are respectively communicated with the oil tank 408, the oil supply port of the pump 410 is connected to the oil supply hose 406, high-pressure oil is supplied to each joint module through the oil supply hose 406, the oil return port of the pump 410 is connected to the oil return hose 407, the oil return port of each joint module is connected to the oil return hose 407, low-pressure oil is delivered to the oil tank 408 through the oil return port of the oil return pump 410, and the motor 409 provides power for.
The double-unit valve 207 comprises a servo steering engine 501, a coupler 502, a rotary valve spool 503 and a valve body 505, as shown in fig. 5, the servo steering engine 501 is arranged at the left end and the right end of the valve body 505 respectively, the coupler 502 is arranged at one end of the servo steering engine 501, the rotary valve spool 503 is arranged at one end of the coupler 502, the rotary valve spool 503 is embedded in the valve body 505, and an oil inlet, an oil return port T, a first control valve port group and a second control valve port group are arranged on the valve body. The oil inlet comprises a first oil inlet P1 and a second oil inlet P2, the first control valve port group comprises a first left valve port A1 and a first right valve port B1, the second control valve port group comprises a second left valve port A2 and a second right valve port B2, and the first control valve port group and the second control valve port group are respectively communicated with the first hydraulic cylinder 202A and the second hydraulic cylinder 202B.
A load cell 303 may be provided on the drive rod of the hydraulic cylinder. The weighing sensor 303 is used for detecting the force applied to the driving rod, generating an analog signal or a digital signal and sending the analog signal or the digital signal to the control end, so that the force sensing function of the external environment is improved, and the conditions of resistance, obstacle and impact force are reflected. In one embodiment, as shown in fig. 3, the load cell 303 is installed at the front end of the driving rod 302, the outer end of the load cell is installed with an ear ring joint 304, the ear ring joint 304 is hinged on the hinge seat, the rear end of the hydraulic cylinder is installed with an end cover 301, and the end cover 301 is hinged on the left mounting seat 307 or the right mounting seat 308.
In one embodiment, the rotational angle between the middle joint module 102 and the joint ring 103 is between 45-60 degrees; the left end and the right end of the valve body 505 are fixed with a bracket 504, and the servo steering engine 501 is fixed on the bracket 504. And a rotating pin shaft 205 is arranged on the right rotating seat of the left middle joint module 102, and the rotating pin shaft 205 is rotatably arranged at the outer end of the second hinge assembly, so that the right rotating seat is rotatably arranged at the outer end of the second hinge assembly. The rotating pin 205 may pass through the second encoder fixing seat 204B of the second hinge assembly to be fixedly connected with the detection shaft of the angle encoder 203. The rotation pin 205 drives the detection shaft of the angle encoder 203 to rotate, and the detection shaft and the angle encoder body move relatively, the size and the direction of the rotation angle of the rotation pin are the same as those of the joint ring, and the angle change is convenient to detect. The connecting line of the encoder fixing seat and the hinge seat of the hinge assembly is intersected with the axis of the joint ring 103, and the connecting line of the first encoder fixing seat 204A and the first hinge seat 305A is vertical to the connecting line of the second encoder fixing seat 204B and the second hinge seat 305B.
As shown in fig. 6, when the rotary valve core 503 is at the right position, the first oil inlet P1 is communicated with the first left valve port a1, the first left valve port a1 is communicated with the first oil hole 209A of the oil cylinder, the first right valve port B1 is communicated with the second oil hole 209B of the oil cylinder, oil is fed into the first oil hole 209A of the oil cylinder and discharged from the second oil hole 209B of the oil cylinder, and high-pressure fluid is introduced into the left end of the piston to extend the driving rod of the hydraulic cylinder; when the rotary valve core 503 is at the left position, the first oil inlet P1 is communicated with the first right valve port B1, the oil return port T is communicated with the first left valve port a1, at this time, oil is fed into the second oil hole 209B of the oil cylinder, oil is discharged from the first oil hole 209A of the oil cylinder, and the driving rod 302 of the hydraulic cylinder 202 retracts; when the spool 503 is at the neutral position, the first supply port P1 and the return port T are closed, and the cylinder is not actuated. The second control valve port group can adopt the same control mode as the first control valve port group.
In order to improve the motion response speed of the hydraulic snake-shaped robot, the unit rotary valve, the double-unit rotary valve and the front-end rotary valve of the invention adopt a servo steering engine 501 with high torque and high frequency response characteristics. In order to simplify the control system, the steering engine 501 is controlled in a CAN bus mode, and each rotary valve and the connected hydraulic cylinder are conveniently and individually controlled. The functions of reversing, speed regulating and the like of the hydraulic cylinder are realized by driving the rotary valve by the servo steering engines, and because the servo steering engines are large in quantity, a CAN bus is adopted to ensure that each servo steering engine CAN act according to a control instruction sequence. The invention is not limited to controlling the movement of the hydraulic cylinder by the way of the rotary valve, and other ways can be adopted: such as servo valves and proportional valves.
Can calculate the atress of universal joint each direction in real time through pneumatic cylinder weighing sensor 303, realize that snake robot is to external environment's full position power monitoring, but angle encoder 203 on the angle degree of freedom of each joint in addition real time feedback angle displacement signal is used for correcting of angle displacement deviation, realizes articular accurate positioning.
The implementation working process of the invention is as follows:
as shown in fig. 3, a universal joint structure is formed between the joint ring 103 and two intermediate joint modules hinged thereto, and each of the two intermediate joint modules has a hydraulic cylinder as a driving source connected to the joint ring. When the left middle joint module is fixed, the first hydraulic cylinder 202A drives the right middle joint module to rotate relative to the joint ring 103, and the second hydraulic cylinder 202B drives the right middle joint module to rotate relative to the joint ring, so that two free motions of the right middle joint module are realized, and the universal joint function is realized. On the same principle, the next middle joint module adjacent to the right middle joint module can also realize the motion with two degrees of freedom, and the last middle joint module adjacent to the left middle joint module can also realize the motion with two degrees of freedom. Therefore, all the modules and joints have universal joint functions, and the whole body can realize the snake-like motion function.
Two angle encoders are arranged in each joint ring, relative rotation angles and rotation speeds of two degrees of freedom are monitored in real time, closed-loop feedback control is carried out, and accurate positioning of joints is achieved; in addition, a weighing sensor is arranged on a hydraulic cylinder for controlling each degree of freedom, the driving force on each degree of freedom can be monitored in real time, the torque of each universal joint in the direction of the two degrees of freedom can be calculated through the spatial dynamics relation in a conversion mode, and the force control or environment force sensing function of the snake-shaped robot joint is achieved. The invention directly drives each joint of the snake-shaped robot to move through the built-in hydraulic execution system, and accurately controls the snake-shaped robot through joint angular displacement closed-loop control and joint force monitoring, so that the snake-shaped robot has the characteristics of strong load capacity, large driving rigidity and high positioning accuracy.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A hydraulic snake-shaped robot is characterized by comprising a middle joint module and a joint ring, wherein the middle joint module and the joint ring are distributed at intervals,
the middle joint module comprises a middle body shell and a hydraulic cylinder, the hydraulic cylinder comprises a first hydraulic cylinder and a second hydraulic cylinder, two ends of the middle body shell are respectively provided with a left end rotating seat and a right end rotating seat, the left side and the right side of the inner side wall of the middle body shell are respectively provided with a left mounting seat and a right mounting seat, the rear end of the first hydraulic cylinder is hinged on the left mounting seat, the rear end of the second hydraulic cylinder is hinged on the right mounting seat,
the joint ring comprises a shell and an angle encoder,
the shell is provided with a hinge assembly, the hinge assembly comprises an encoder fixing seat and a hinge seat, the angle encoder is installed on the encoder fixing seat, the encoder fixing seat and the hinge seat are oppositely arranged on the inner side wall of the shell, the hinge assembly comprises a first hinge assembly and a second hinge assembly, the first hinge assembly and the second hinge assembly are arranged on the inner side wall of the shell at intervals,
the right end rotating seat of the left middle joint module is hinged at the outer end of the second hinge assembly;
the left end rotating seat of the right middle joint module is hinged at the outer end of the first hinge assembly;
the front end of a driving rod of a first hydraulic cylinder of the left middle joint module is hinged on a hinge seat of the first hinge assembly;
the front end of a driving rod of a second hydraulic cylinder of the right middle joint module is hinged on a hinge seat of the second hinge assembly.
2. The hydraulic serpentine robot of claim 1, further comprising a dual-unit rotary valve installed in the middle joint module, wherein the first and second hydraulic cylinders are connected to different control ends of the dual-unit rotary valve, respectively.
3. The hydraulic serpentine robot of claim 2, further comprising an end joint module comprising an end trunk, a unit turn valve, and an end hydraulic cylinder,
the left end of the tail end trunk shell is provided with a tail end rotating seat, the tail end rotating seat is hinged to the outer end of the first hinge assembly of the adjacent joint ring, the rear end of the tail end hydraulic cylinder is hinged in the tail end trunk shell, the front end of the driving rod of the tail end hydraulic cylinder is hinged to the second hinge seat of the second hinge assembly of the adjacent joint ring, and the control end of the unit rotating valve is connected with the tail end hydraulic cylinder.
4. The hydraulic snake-shaped robot as claimed in claim 3, further comprising a front joint module, wherein the front joint module comprises a front housing, a front unit rotary valve and a front hydraulic cylinder, the front housing is provided with a front rotary seat at one end, the front rotary seat is hinged at the outer end of the first hinge assembly of the adjacent joint ring, the rear end of the front hydraulic cylinder is hinged in the front housing, the front end of the driving rod of the front hydraulic cylinder is hinged on the hinge seat of the second hinge assembly of the adjacent joint ring, and the control end of the front unit rotary valve is communicated with the front hydraulic cylinder.
5. The hydraulic serpentine robot of claim 4, further comprising a hydraulic oil source mounted within the distal housing, the hydraulic oil source being in communication with the unit turn valve, the front end unit turn valve and the dual unit turn valve, respectively, via hoses.
6. The hydraulic snake-shaped robot as claimed in claim 1, wherein the double-unit valve comprises a servo steering engine, a coupler, a rotary valve core and a valve body, the servo steering engine is arranged at the left end and the right end of the valve body respectively, the coupler is arranged at one end of the servo steering engine, the rotary valve core is arranged at one end of the coupler and embedded into the valve body, and an oil inlet, an oil return port and two sets of control valve port sets are arranged on the valve body.
7. The hydraulic serpentine robot of claim 1, wherein a load cell is provided on a drive rod of the hydraulic cylinder.
8. The hydraulic serpentine robot of claim 7, wherein the middle joint module further comprises an end cover and an ear ring joint, the end cover is mounted at the rear end of the hydraulic cylinder, the end cover is hinged to the left or right mounting seat, the front end of the driving rod of the hydraulic cylinder is fixedly connected with the weighing sensor, the outer end of the weighing sensor is mounted with the ear ring joint, and the ear ring joint is hinged to the hinge seat.
9. The hydraulic snake-shaped robot as claimed in any one of claims 1 to 8, wherein a rotating pin is arranged on the right rotating base of the left middle joint module, and the rotating pin is rotatably mounted at the outer end of the second hinge assembly.
10. The hydraulic serpentine robot of claim 9, wherein the rotating pin passes through the second encoder fixing base of the second hinge assembly and is fixedly connected to the detecting shaft of the angle encoder.
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| CN202010179501.6A CN111390887A (en) | 2020-03-16 | 2020-03-16 | Hydraulic snake-shaped robot |
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| CN202010179501.6A CN111390887A (en) | 2020-03-16 | 2020-03-16 | Hydraulic snake-shaped robot |
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| CN112894782A (en) * | 2021-02-23 | 2021-06-04 | 中铁工程装备集团有限公司 | Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling |
| CN112975926A (en) * | 2021-03-19 | 2021-06-18 | 韶关市融德创新有限公司 | Snake-shaped robot |
| CN113290563A (en) * | 2021-05-31 | 2021-08-24 | 哈尔滨工业大学 | Space target capturing method of variable-rigidity rope-driven snakelike mechanical arm |
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