CN114161400A - Air bag advancing type snake-shaped crawling robot - Google Patents
Air bag advancing type snake-shaped crawling robot Download PDFInfo
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- CN114161400A CN114161400A CN202111288975.5A CN202111288975A CN114161400A CN 114161400 A CN114161400 A CN 114161400A CN 202111288975 A CN202111288975 A CN 202111288975A CN 114161400 A CN114161400 A CN 114161400A
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- 230000009193 crawling Effects 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 47
- 230000006835 compression Effects 0.000 claims description 18
- 238000007906 compression Methods 0.000 claims description 18
- 238000005192 partition Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 9
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- 230000007704 transition Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 241000270295 Serpentes Species 0.000 claims 5
- 238000005096 rolling process Methods 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229920001296 polysiloxane Polymers 0.000 description 2
- 241000258957 Asteroidea Species 0.000 description 1
- 241000238366 Cephalopoda Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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Abstract
The invention relates to an air bag advancing type snakelike crawling robot which comprises a plurality of advancing units, steering units and detecting units arranged on the advancing units at the head end and the tail end, wherein a advancing motor in the advancing units is arranged on a rack, an output shaft of the advancing motor is connected with a driving gear, a transmission shaft is arranged in a through hole of the transmission shaft, one end of the transmission shaft is connected with a driven gear, the driven gear is in meshing transmission with the driving gear, an air bag is arranged on the outer side of the rack, the steering units are arranged between every two adjacent advancing units, and the steering units are connected with the rack through annular end plates. The air bag structure can adapt to a complex unstructured environment, the crawling robot can rapidly advance under complex and severe working conditions such as slopes, pipelines and ruins without damage by rolling of the air bag, and the expansion state of the pneumatic ball hinge in the steering unit can be controlled by controlling the air pump, so that the steering of the robot is controlled, and the active obstacle avoidance capability of the robot is improved.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to an air bag advancing type snake-shaped crawling robot.
Background
With the development of science and technology, robots are gradually applied in the fields of reconnaissance, detection, rescue and the like. Most of the traditional mobile robots are rigid structures, and the rapid advance is realized mostly through a wheel type structure or a crawler type structure. However, such robots are generally operated in simple, specific environments and are poorly suited for complex environments. With the unstructured working environment, the traditional rigid robot is difficult to meet the requirements. The soft robot is made of a flexible material which is highly deformable, and has higher adaptability and stability in a complex environment due to the flexibility of the soft robot.
The soft crawling robot has good application prospect in the fields of reconnaissance, rescue and the like due to the advantages of good flexibility and flexibility, a representative soft crawling robot developed at home and abroad has a looper-like soft crawling robot designed under the inspiration of an inchworm movement mode such as WANG of the university of the first country, and the like, and the robot is embedded with memory alloys at the front, the back, the left and the right, and can realize crawling and turning; RobertF, shepherd and the like of Harvard university obtain inspiration from animals such as starfish, squid and the like in nature, and a pneumatic four-footed soft robot with 5 drivers is designed to pass through complex obstacles; the pneumatic four-footed soft robot designed by Michael T, Tolley and the like of Harvard university can move in severe environments such as ice, snow, high-temperature flame and the like. However, most of the soft crawling robots rely on mutual friction between their own soft structures and the ground to realize crawling and advancing, and it is difficult to realize the functional requirement of fast advancing.
Disclosure of Invention
In view of the above situation, the invention provides an air bag advancing type snakelike crawling robot with strong adaptability and good flexibility, which can adapt to a complex unstructured environment through an air bag structure, can advance quickly through rolling of an air bag, and can advance quickly and reliably without damage under complex and severe working conditions such as a sloping field, a pipeline, ruins and the like.
The invention adopts the technical scheme that the air bag advancing type snakelike crawling robot comprises a plurality of advancing units, a steering unit and detecting units arranged on the advancing units at the head end and the tail end, each advancing unit comprises a rack, an advancing motor, a driving gear, a driven gear, a transmission shaft and an air bag, the racks are of cylindrical frame structures, a motor installing groove and a power supply containing groove are respectively arranged in the middles of the first end and the second end of each rack, the motor installing grooves are communicated with the power supply containing grooves, the advancing motors are arranged in the motor installing grooves, the output shafts of the advancing motors are connected with the driving gears, transmission shaft through holes are uniformly distributed in the racks along the circumferential direction of the motor installing grooves, the transmission shafts are arranged in the transmission shaft through holes, and the first ends of the transmission shafts are supported on the racks through bearings, the second end of the transmission shaft penetrates through a bearing to be connected with the driven gear, the driven gear is in meshing transmission with the driving gear, a spiral guide groove is formed in the side wall of the through hole of the transmission shaft, two ends of the spiral guide groove are respectively communicated with an air bag inlet and an air bag outlet on the side face of the rack, the air bag is arranged on the outer side of the rack and is of an annular film tubular structure, the air bag comprises a compression part, a transition part and an expansion part, the compression part of the air bag is wound on the side wall of the transmission shaft along the spiral guide groove, the transition part of the air bag is respectively located between ports at two ends of the spiral guide groove and the air bag inlet and the air bag outlet, and the expansion part of the air bag is arranged on the outer side of the rack and is tightly attached to the outer wall of the rack; the steering units are arranged between two adjacent travelling units and fixedly connected with a frame in the travelling unit through an annular end plate, each steering unit comprises a pneumatic spherical hinge, an annular end plate, an air pump and a steel wire rope, two ends of each pneumatic spherical hinge are arranged in end plate circular grooves of the annular end plate, each pneumatic spherical hinge is formed by connecting a plurality of pneumatic discs, a cylindrical cavity is arranged in the middle of each pneumatic spherical hinge, fan-shaped cylinders are uniformly distributed on the inner walls of the cylindrical cavities, fan-shaped passages are arranged in the fan-shaped cylinders to communicate the plurality of pneumatic discs, the pneumatic discs are of an internal cavity structure, the inner cavities of the pneumatic discs are uniformly divided into a plurality of air cavities through spoke type partition plates, and first through holes corresponding to the fan-shaped passages are arranged on the inner annular wall of each air cavity, the first through hole is communicated with the fan-shaped passage, the air pumps are uniformly distributed in an air pump mounting groove on the side face of the rack, the air outlets of the air pumps are communicated with the fan-shaped passages corresponding to the different air cavities through air pipes, the steel wire rope is arranged in the cylindrical cavity, and two ends of the steel wire rope are fixedly connected with the annular end plate.
Preferably, the side wall of the through hole of the transmission shaft is provided with a spiral guide groove with a semicircular section, and the spiral direction of the spiral guide groove in each through hole of the transmission shaft is the same.
Preferably, the air bag inlet and the air bag outlet are both in a frustum structure, and the air bag inlet and the air bag outlet form a through hole with a gradually increasing cross section towards the outer side of the rack.
Preferably, the distance from the outermost end of the expansion part of the air bag to the center of the section of the frame is larger than the radius of the section of the frame.
Further, the first end of the annular end plate is fixedly connected with the rack, an end plate circular groove is formed in the second end of the annular end plate, and the outer diameter of the pneumatic spherical hinge is equal to the inner diameter of the end plate circular groove.
Preferably, the inner cavity of the pneumatic disc is uniformly divided into a first air cavity, a second air cavity and a third air cavity by 3 groups of spoke type partition plates, first through holes are formed in the inner ring walls of the first air cavity, the second air cavity and the third air cavity, and an included angle between each group of spoke type partition plates and the central axis of each first through hole is 60 degrees.
Preferably, the central axis of the first through hole is perpendicular to the central axis of the pneumatic disc.
Preferably, one end of the fan-shaped passage is provided with a passage inlet, the first end of the air pipe is connected with the passage inlet through an air inlet on the annular end plate, and the second end of the air pipe is connected with an air outlet of the air pump.
Further, the detection unit comprises a camera and a connecting flange, the camera is arranged on the connecting flange, and the connecting flange is fixedly connected with the machine frame in the advancing units at the head end and the tail end of the robot through bolts.
The invention has the characteristics and beneficial effects that:
1. the air bag advancing type snakelike crawling robot provided by the invention has the advantages that the air bag is arranged on the outer side of the rack, the air bag is driven to make spiral motion in the spiral guide groove through the friction action between the transmission shaft and the air bag compression part, the air bag expansion part rolls to the air bag inlet of the rack from the air bag outlet of the rack, and power is provided for the advancing or retreating of the robot through the friction force between the air bag expansion part and the outside.
2. The air bag advancing type snakelike crawling robot provided by the invention can adapt to a complex unstructured environment through the air bag structure, can advance rapidly through rolling of the air bag, and can advance rapidly and reliably without damage under complex and severe working conditions such as a sloping field, a pipeline and a ruin.
3. The air bag advancing type snakelike crawling robot provided by the invention has the advantages that the pneumatic spherical hinge is composed of the plurality of pneumatic disks, the plurality of air cavities are formed in the pneumatic disks, the expansion state of the pneumatic spherical hinge can be controlled by controlling each air pump, the steering of the robot is further controlled, meanwhile, the pneumatic spherical hinge is flexible, when the robot is subjected to external force, the pneumatic spherical hinge can also deform to a certain degree, and the passive obstacle avoidance capability of the robot is further improved.
4. According to the air bag advancing type snakelike crawling robot, the head end and the tail end of the advancing unit are provided with the detecting units, and the road condition ahead crawling can be detected through the cameras of the detecting units, so that real-time prejudgment and route adjustment are facilitated.
Drawings
FIG. 1 is a schematic view of the overall structure of an air bag traveling snake-shaped crawling robot of the present invention;
FIG. 2 is a schematic view of the traveling unit structure of the present invention;
FIG. 3 is a side partial cross-sectional view of the housing of the present invention;
FIG. 4 is a schematic view of the internal drive mechanism of the present invention without the air bag of the holster;
FIG. 5 is a schematic view of the internal drive mechanism of the present invention with air bags in the frame;
FIG. 6 is a schematic view of a pneumatic ball joint of the steering unit of the present invention as it is flexed;
FIG. 7 is a schematic view of the steering unit of the present invention when flexed in the same direction;
FIG. 8 is a schematic view of the steering unit of the present invention when bent in a different direction;
FIG. 9 is a partial cross-sectional view of the pneumatic ball hinge of the present invention;
FIG. 10 is a cross-sectional partial cut-away view of the pneumatic ball joint of the present invention;
FIG. 11 is a schematic diagram of a detection unit according to the present invention.
The main reference numbers:
a camera 1; a frame 2; a motor mounting groove 21; an airbag inlet 23; an airbag outlet 24; a drive shaft through hole 25; a spiral guide groove 26; an air pump mounting groove 27; an air bag 3; a compression section 31; a transition portion 32; an expansion part 33; a pneumatic spherical hinge 4; a pneumatic disc 41; a first air chamber 411; a second air chamber 412; a third air chamber 413; a first via 414; a cylindrical cavity 42; a sector cylinder 43; a fan-shaped passage 44; a passageway inlet 441; a partition plate 45; a traveling motor 5; a driving gear 6; a driven gear 7; a bearing 8; a transmission shaft 9; an annular end plate 10; an end plate circular groove 101; an air pump 11; a wire rope 12; an air pipe 13; a connecting flange 14.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides an air bag advancing type snakelike crawling robot, which comprises a plurality of advancing units, a steering unit and detecting units arranged on the advancing units at the head end and the tail end, as shown in figure 1.
As shown in fig. 2 to 5, each of the traveling units includes a frame 2, a traveling motor 5, a driving gear 6, a driven gear 7, a transmission shaft 9, and an air bag 3, the frame 2 has a cylindrical frame structure, and a motor mounting groove 21 and a power supply accommodating groove are respectively formed in the middle of a first end and a second end of the frame 2, the traveling motor 5 is disposed in the motor mounting groove 21, the power supply accommodating groove is used for accommodating a power supply, the motor mounting groove 21 is communicated with the power supply accommodating groove, and used for arranging an electric wire between the power supply and the traveling motor 5, an output shaft of the traveling motor 5 is connected with the driving gear 6, transmission shaft through holes 25 are uniformly distributed in the frame 2 along the circumferential direction of the motor mounting groove 21, the transmission shaft 9 is disposed in the transmission shaft through hole 25, the first end of the transmission shaft 9 is supported on the frame 2 through a bearing 8, and the second end of the transmission shaft 9 passes through the bearing 8 to be connected with the driven gear 7, and driven gear 7 and driving gear 6 meshing transmission, be equipped with spiral guide way 26 on the lateral wall of transmission shaft through-hole 25, and the both ends of spiral guide way 26 are linked together with gasbag entry 23 and gasbag export 24 of frame 2 side respectively, gasbag 3 locates the frame 2 outside, and gasbag 3 is the annular film tubular structure of circle, gasbag 3 includes compression portion 31, transition portion 32 and inflation portion 33, compression portion 31 of gasbag 3 twines on the lateral wall of transmission shaft 9 along spiral guide way 26, and transition portion 32 of gasbag 3 is located respectively between the both ends port of spiral guide way 26 and gasbag entry 23 and gasbag export 24, inflation portion 33 of gasbag 3 locates the frame 2 outside and hugs closely frame 2 outer wall.
As shown in fig. 3, the side wall of the through-hole 25 of the drive shaft is provided with a spiral guide groove 26 having a semicircular cross section, and the spiral direction of the spiral guide groove 26 in each through-hole 25 of the drive shaft is the same.
As shown in fig. 4, the air bag inlet 23 and the air bag outlet 24 are both in a frustum structure, the air bag inlet 23 and the air bag outlet 24 form a through hole with a gradually increasing cross section towards the outside direction of the rack 2 for placing the air bag 3, and edges of the air bag inlet 23 and the air bag outlet 24 are transited by a fillet, so that the friction force when the air bag expansion part 33 and the air bag contraction part 31 circulate is reduced.
As shown in FIG. 5, the distance from the outermost end of the inflation portion 33 of the airbag 4 to the center of the cross section of the chassis 2 is larger than the radius of the cross section of the chassis 2.
As shown in fig. 6 to 10, the steering unit is disposed between two adjacent traveling units, and the steering unit is fixedly connected to the frame 2 in the traveling unit through an annular end plate 10, the steering unit includes a pneumatic spherical hinge 4, an annular end plate 10, an air pump 11 and a steel wire rope 12, the two ends of the pneumatic spherical hinge 4 are both provided with the annular end plate 10, the pneumatic spherical hinge 4 is formed by connecting a plurality of pneumatic disks 41, a cylindrical cavity 42 is disposed in the middle of the pneumatic spherical hinge 4, sector cylinders 43 are uniformly disposed on the inner wall of the cylindrical cavity 42, a sector passage 44 is disposed in the sector cylinder 43 to communicate the plurality of pneumatic disks 41, the pneumatic disks 41 are in an internal cavity structure, the inner cavity of the pneumatic disk 41 is uniformly divided into a plurality of air chambers by spoke type partitions 45, and a first through hole 414 corresponding to the sector passage 44 is disposed on the inner annular wall of each air chamber, and the first through hole 414 is communicated with the sector passage 44, the air pumps 11 are uniformly distributed in the air pump mounting grooves 27 on the side surface of the frame 2, the air outlets of the air pumps 11 are communicated with the fan-shaped passages 44 corresponding to different air chambers through the air pipes 13, the steel wire ropes 12 are arranged in the cylindrical cavities 42, and the two ends of the steel wire ropes 12 are fixedly connected with the annular end plates 10.
As shown in fig. 9, a first end of the annular end plate 10 is fixedly connected to the frame 2, a second end of the annular end plate 10 is provided with an end plate circular groove 101, one end of the pneumatic ball hinge 4 is arranged in the end plate circular groove 101, and an outer diameter of the pneumatic ball hinge 4 is equal to an inner diameter of the end plate circular groove 101.
As shown in fig. 9, the inner cavity of the air disk 41 is uniformly divided into a first air cavity 411, a second air cavity 412 and a third air cavity 413 by 3 groups of spoke type partition plates 45 in the air disk 41, first through holes 414 are formed in the inner annular walls of the first air cavity 411, the second air cavity 412 and the third air cavity 413, and an included angle between each group of spoke type partition plates 45 and the central axis of the first through hole 414 is 60 degrees. While the central axis of the first through-hole 414 is perpendicular to the central axis of the pneumatic disc 41.
As shown in fig. 10, one end of the fan-shaped passage 44 is provided with a passage inlet 441, and a first end of the air tube 13 is connected with the passage inlet 441 through an air inlet on the ring-shaped end plate 10, and a second end of the air tube 13 is connected with an air outlet of the air pump 11.
As shown in fig. 11, the detection unit includes a camera 1 and a connecting flange 14, the camera 1 is disposed on the connecting flange 14, and the connecting flange 14 is fixedly connected to the frame 2 in the robot head and tail end advancing unit through bolts.
The method comprises the following specific operation steps:
as shown in fig. 1 to 11, the air bag traveling snake-shaped crawling robot of the present invention includes a plurality of traveling units, a steering unit, and detecting units disposed on the traveling units at the head and tail ends.
In the process of advancing in the pipeline, firstly, the advancing motor 5 is started, and under the action of the advancing motor 5, the driving gear 6 drives the driven gear 7 to be in meshed transmission and simultaneously drives the transmission shaft 9 to rotate in the same direction, wherein the transmission structure at one end of the rack 2 is provided with a transmission structure. Because the compression part 31 of the airbag 3 is in the spiral guide groove 26, under the action of friction force between the compression part 31 of the airbag 3 and the transmission shaft 9, the compression part 31 of the airbag 3 can make spiral motion, the whole airbag 3 is driven to circularly roll inside and outside the rack 2, and then the expansion part 33 of the airbag 3 enters the airbag inlet 23 in the rack 2, the diameter is reduced under the action of inner wall extrusion, the expansion part 33 and the transition part 32 are gradually deformed into the compression part 31, while the compression part 31 of the airbag 3 passes through one end of the spiral guide groove 26 and gradually reaches the airbag outlet 24 along the spiral guide groove 26, and because a certain amount of gas is in the airbag 3, the diameter is increased under the action of internal air pressure, and the airbag 3 gradually moves to the outside of the rack 2 and is deformed into the expansion part 33. That is, the whole airbag 3 circularly moves inside and outside the frame 2, the expansion part 33 of the airbag 3 finally shows a movement law that the robot rolls from the airbag outlet 24 of the frame 2 to the airbag inlet 23 of the frame 2, and the robot can provide power for advancing or retreating in the pipeline by means of the movement of the expansion part 31 of the airbag 3, when the robot passes through the pipeline with a small pipe diameter, the section of each expansion part 31 of the airbag 3 becomes flat and clings to the inner wall of the pipeline by means of the self-adaptive characteristic of the expansion part 31 of the airbag 3, so that the robot can provide power for advancing or retreating in the pipeline with the small pipe diameter.
In the process of turning movement in the pipeline, the pneumatic spherical hinge 4 is composed of a plurality of pneumatic disks 41, a first air cavity 411, a second air cavity 412 and a third air cavity 413 are uniformly distributed in each pneumatic disk 41, each air pump 11 is started according to the turning direction of the robot at the moment, each air pump 11 respectively inflates or deflates the first air cavity 411, the second air cavity 412 and the third air cavity 413 through the air pipe 13, the passage inlet 441, the fan-shaped passage 44 and the first through hole 414, the expansion state of the pneumatic spherical hinge 4 can be controlled, the turning of the robot in the multi-channel pipeline is further controlled, and meanwhile, due to the flexibility of the silicone pneumatic spherical hinge 4, when the robot is subjected to external force, the silicone pneumatic spherical hinge 4 can also deform to a certain degree, and the turning capacity of the robot in the single-channel pipeline is improved.
In the process of traveling in non-cooperative environments such as ruins and the like, the traveling motor 5 is started firstly, and under the action of the traveling motor 5, the driving gear 6 drives the driven gear 7 to be in meshed transmission and simultaneously drives the transmission shaft 9 to rotate in the same direction, wherein the transmission structure at one end of the rack 2 is provided with a transmission structure. Because the compression part 31 of the airbag 3 is in the spiral guide groove 26, under the action of friction force between the compression part 31 of the airbag 3 and the transmission shaft 9, the compression part 31 of the airbag 3 can make spiral motion, the whole airbag 3 is driven to circularly roll inside and outside the rack 2, and then the expansion part 33 of the airbag 3 enters the airbag inlet 23 in the rack 2, the diameter is reduced under the action of inner wall extrusion, the expansion part 33 and the transition part 32 are gradually deformed into the compression part 31, while the compression part 31 of the airbag 3 passes through one end of the spiral guide groove 26 and gradually reaches the airbag outlet 24 along the spiral guide groove 26, and because a certain amount of gas is in the airbag 3, the diameter is increased under the action of internal air pressure, and the airbag 3 gradually moves to the outside of the rack 2 and is deformed into the expansion part 33. That is, the whole airbag 3 circularly moves inside and outside the frame 2, the expansion part 33 of the airbag 3 finally shows the movement law of rolling from the airbag outlet 24 of the frame 2 to the airbag inlet 23 of the frame 2, and the robot can be powered to move forwards or backwards by the movement of the expansion part 31 of the airbag 3, and when small obstacles exist in the environment, the robot can be powered to move forwards or backwards in the non-cooperative environment such as the ruins by the self-adaptive characteristic of the expansion part 31 of the airbag 3.
In the obstacle crossing process in non-cooperative environments such as ruins and the like, the pneumatic spherical hinge 4 is composed of a plurality of pneumatic disks 41, a first air cavity 411, a second air cavity 412 and a third air cavity 413 are uniformly distributed in the pneumatic disks 41, at the moment, each air pump 11 is started according to the rotation direction of the robot, each air pump 11 respectively inflates or deflates the first air cavity 411, the second air cavity 412 and the third air cavity 413 through an air pipe 13, a passage inlet 441, a fan-shaped passage 44 and a first through hole 414, the expansion state of the pneumatic spherical hinge 4 can be controlled, then under the action of a robot steering unit, a first section advancing unit of the robot is lifted, and the robot gradually passes through the upper side of an obstacle, so that the active obstacle crossing capability of the robot is realized.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (9)
1. An air bag advancing type snakelike crawling robot is characterized by comprising a plurality of advancing units, a steering unit and detecting units arranged on the advancing units at the head end and the tail end,
each advancing unit comprises a rack, an advancing motor, a driving gear, a driven gear, a transmission shaft and an air bag, the rack is of a cylindrical frame structure, a motor mounting groove and a power supply accommodating groove are respectively formed in the middle of a first end and a second end of the rack, the motor mounting groove is communicated with the power supply accommodating groove, the advancing motor is arranged in the motor mounting groove, an output shaft of the advancing motor is connected with the driving gear, transmission shaft through holes are uniformly distributed in the rack along the circumferential direction of the motor mounting groove, the transmission shaft is arranged in the transmission shaft through holes, the first end of the transmission shaft is supported on the rack through a bearing, the second end of the transmission shaft penetrates through a bearing to be connected with the driven gear, the driven gear is in meshing transmission with the driving gear, and a spiral guide groove is formed in the side wall of the transmission shaft through hole, the two ends of the spiral guide groove are respectively communicated with an air bag inlet and an air bag outlet on the side surface of the rack, the air bag is arranged on the outer side of the rack and is of a circular film tubular structure, the air bag comprises a compression part, a transition part and an expansion part, the compression part of the air bag is wound on the side wall of the transmission shaft along the spiral guide groove, the transition part of the air bag is respectively positioned between the ports at the two ends of the spiral guide groove and the air bag inlet and the air bag outlet, and the expansion part of the air bag is arranged on the outer side of the rack and is tightly attached to the outer wall of the rack;
the steering units are arranged between two adjacent travelling units and fixedly connected with a frame in the travelling unit through an annular end plate, each steering unit comprises a pneumatic spherical hinge, an annular end plate, an air pump and a steel wire rope, two ends of each pneumatic spherical hinge are arranged in end plate circular grooves of the annular end plate, each pneumatic spherical hinge is formed by connecting a plurality of pneumatic discs, a cylindrical cavity is arranged in the middle of each pneumatic spherical hinge, fan-shaped cylinders are uniformly distributed on the inner walls of the cylindrical cavities, fan-shaped passages are arranged in the fan-shaped cylinders to communicate the plurality of pneumatic discs, the pneumatic discs are of an internal cavity structure, the inner cavities of the pneumatic discs are uniformly divided into a plurality of air cavities through spoke type partition plates, and first through holes corresponding to the fan-shaped passages are arranged on the inner annular wall of each air cavity, the first through hole is communicated with the fan-shaped passage, the air pumps are uniformly distributed in an air pump mounting groove on the side face of the rack, the air outlets of the air pumps are communicated with the fan-shaped passages corresponding to the different air cavities through air pipes, the steel wire rope is arranged in the cylindrical cavity, and two ends of the steel wire rope are fixedly connected with the annular end plate.
2. The air bag traveling snake-shaped crawling robot according to claim 1, wherein the side wall of the through holes of the transmission shaft is provided with a spiral guide groove with a semicircular section, and the spiral direction of the spiral guide groove in each through hole of the transmission shaft is the same.
3. The air bag traveling snake crawling robot according to claim 1, wherein the air bag inlet and the air bag outlet are both in a frustum structure, and the air bag inlet and the air bag outlet form through holes with gradually increasing cross sections towards the outer side of the frame.
4. The air bag traveling snake crawling robot according to claim 1, wherein the distance from the outermost end of the inflated portion of the air bag to the center of the cross section of the frame is larger than the radius of the cross section of the frame.
5. The air bag traveling snake crawling robot according to claim 1, wherein a first end of the ring-shaped end plate is fixedly connected to the frame, a second end of the ring-shaped end plate is provided with an end plate circular groove, and the outer diameter of the pneumatic ball hinge is equal to the inner diameter of the end plate circular groove.
6. The air bag traveling type snakelike crawling robot according to claim 1, wherein the inner cavity of the air disc is uniformly divided into a first air cavity, a second air cavity and a third air cavity by 3 groups of spoke type partition plates, first through holes are formed in inner ring walls of the first air cavity, the second air cavity and the third air cavity, and an included angle between each group of spoke type partition plates and a central axis of each first through hole is 60 degrees.
7. The air bag traveling snake crawling robot according to claim 6, wherein the central axis of the first through hole is perpendicular to the central axis of the pneumatic disc.
8. The air bag traveling snake crawling robot according to claim 1, wherein one end of the fan-shaped passage is provided with a passage inlet, and the first end of the air pipe is connected with the passage inlet through an air inlet on the annular end plate, and the second end of the air pipe is connected with an air outlet of the air pump.
9. The air bag traveling type snakelike crawling robot according to claim 1, wherein the detection unit comprises a camera and a connecting flange, the camera is arranged on the connecting flange, and the connecting flange is fixedly connected with a rack in the traveling units at the head end and the tail end of the robot through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111288975.5A CN114161400B (en) | 2021-11-02 | 2021-11-02 | Air bag travelling type snake-shaped crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111288975.5A CN114161400B (en) | 2021-11-02 | 2021-11-02 | Air bag travelling type snake-shaped crawling robot |
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| Publication Number | Publication Date |
|---|---|
| CN114161400A true CN114161400A (en) | 2022-03-11 |
| CN114161400B CN114161400B (en) | 2024-07-16 |
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| CN202111288975.5A Active CN114161400B (en) | 2021-11-02 | 2021-11-02 | Air bag travelling type snake-shaped crawling robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114673864A (en) * | 2022-04-08 | 2022-06-28 | 吉林大学 | Flexible driver with bistable characteristic and driving method |
| CN115500910A (en) * | 2022-10-06 | 2022-12-23 | 哈尔滨理工大学 | Air bag type flexible needle puncture device |
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| CN114673864A (en) * | 2022-04-08 | 2022-06-28 | 吉林大学 | Flexible driver with bistable characteristic and driving method |
| CN114673864B (en) * | 2022-04-08 | 2022-11-22 | 吉林大学 | Flexible driver with bistable characteristic and driving method |
| CN115500910A (en) * | 2022-10-06 | 2022-12-23 | 哈尔滨理工大学 | Air bag type flexible needle puncture device |
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| CN114161400B (en) | 2024-07-16 |
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