CN115488868A - Autonomous recombination snake-shaped robot - Google Patents
Autonomous recombination snake-shaped robot Download PDFInfo
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- CN115488868A CN115488868A CN202211249375.2A CN202211249375A CN115488868A CN 115488868 A CN115488868 A CN 115488868A CN 202211249375 A CN202211249375 A CN 202211249375A CN 115488868 A CN115488868 A CN 115488868A
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- 230000006798 recombination Effects 0.000 title description 8
- 238000005215 recombination Methods 0.000 title description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000009471 action Effects 0.000 claims abstract description 10
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims abstract description 3
- 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 description 13
- 241000270295 Serpentes Species 0.000 claims description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 23
- 230000008521 reorganization Effects 0.000 abstract description 8
- 239000011664 nicotinic acid Substances 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention provides an autonomous recombinant snake-shaped robot, which comprises: the automatic reorganization mechanism comprises a first shell, a second shell and an automatic reorganization mechanism, wherein the automatic reorganization mechanism is connected with the first shell and the second shell; wherein: automatic reorganization mechanism includes the Z-slot, first automatic round pin head and the automatic round pin head of second, and Z-slot outside curve is eccentric design, produces effective moment when first automatic round pin head and the automatic round pin head of second and the contact of Z-slot outside curve, makes the Z-slot drive first casing and takes place the rotation to change the structure of snake-shaped robot, realize the automatic conversion of accomplishing between parallel structure and the orthogonal structure of snake-shaped robot. The invention realizes the free conversion of parallel and orthogonal by controlling the structure of the snake-shaped robot, ensures the motion of the snake-shaped robot in a three-dimensional plane, optimizes two-dimensional action by changing the structure and solves the problem of slow advancing speed of the bionic snake-shaped robot.
Description
Technical Field
The invention relates to the technical field of bionic snake-shaped fire-fighting robots, in particular to an autonomous recombination snake-shaped robot.
Background
The bionic snake-shaped robot can be used in a two-dimensional space due to the characteristics of multiple joints and multiple degrees of freedom: the biological snake wriggling, peristalsis and other actions are realized, and various complex motion modes can be realized in a three-dimensional space: traveling wave motion, rolling motion and the like, which can not be realized by the conventional biological snakes. Has excellent environment adaptability. Therefore, the snake-shaped robot can be widely applied to various fields, such as exploration in complex environments formed by natural disasters such as earthquakes, fire fighting work during fire disasters, maintenance work in complex pipelines and the like can play a great role.
At present, the snake-shaped robot mainly controls a plurality of paths of steering engines through a main control board to realize the serpentine motion to realize the forward motion, but only odd joints swing when the common orthogonal snake-shaped robot meanders, the effective motion joint distance is large, and a serpentine motion curve cannot be better fitted. Moreover, due to its particular serpentine motion: the snake-shaped robot can realize higher movement speed only by having larger normal friction and smaller tangential friction with a contact surface. The snake-shaped robot can move transversely more easily due to the larger effective movement joint length, the movement efficiency is greatly reduced, and the advancing movement speed is slow. The target requirement cannot be effectively met when a large movement speed is required in some specific occasions.
At present to the actual work demand of the snake robot of current orthogonal structure, need for a neotype snake robot structure urgently when satisfying the three-dimensional action of snake robot, optimization two-dimensional motion efficiency that again can be better effectively utilizes the frictional force of snake robot and contact surface, and better fitting serpenoid curve improves the speed of advancing, effectively avoids the side to move.
Disclosure of Invention
According to the technical problem proposed above, an autonomous recombinant snake robot is provided. The invention realizes the free conversion of parallel and orthogonal by controlling the structure of the snake-shaped robot, ensures the motion of the snake-shaped robot in a three-dimensional plane, optimizes two-dimensional action by changing the structure and solves the problem of slow advancing speed of the bionic snake-shaped robot.
The technical means adopted by the invention are as follows:
an autonomous recombinant serpentine robot comprising: the automatic reorganization mechanism comprises a first shell, a second shell and an automatic reorganization mechanism, wherein the automatic reorganization mechanism is connected with the first shell and the second shell; wherein:
automatic reorganization mechanism includes the Z-slot, first automatic round pin head and the automatic round pin head of second, and Z-slot outside curve is eccentric design, produces effective moment when first automatic round pin head and the automatic round pin head of second and the contact of Z-slot outside curve, makes the Z-slot drive first casing and takes place the rotation to change the structure of snake-shaped robot, realize the automatic conversion of accomplishing between parallel structure and the orthogonal structure of snake-shaped robot.
Furthermore, a steering engine mounting hole is formed in the first shell, and the steering engine is fixedly connected with the first shell through the steering engine mounting hole.
Furthermore, joint connecting holes are formed in the second shell in a connected mode, and the steering engine and the joint connecting holes are connected through bolts to form a snake-shaped robot structure.
Furthermore, the outer wall of the second shell is provided with an automatic pin head assembling hole for installing a first automatic pin head and a second automatic pin head.
Furthermore, the angle between the first automatic pin head and the second automatic pin head is 90 degrees, and the first automatic pin head and the second automatic pin head alternately act to realize automatic deformation.
Further, the first automatic pin head and the second automatic pin head alternately act to realize automatic deformation, and the method comprises the following steps:
when the joints of the snake-shaped robot need to be orthogonally connected, the first automatic pin head is electrified to compress the spring, so that the first automatic pin head is separated from the Z-shaped groove, meanwhile, the second automatic pin head is powered off, the pin head is bounced by the elasticity of the spring and enters the Z-shaped groove to realize the fixation of the structure between the two shells;
when the snake-shaped robot is required to be deformed into a parallel structure, the second automatic pin head is powered on, the second automatic pin head is attracted to rise to compress a spring, the second automatic pin head is separated from the Z-shaped groove, the rotation of the shell is prevented from being blocked, then the first automatic pin head is powered off, the spring force downwards pushes the curve outside the Z-shaped groove, the curve is an eccentric wheel, the Z-shaped groove rotates clockwise under the action force of the first automatic pin head in the direction towards the center of the circle, when the rotation is 90 degrees, the first automatic pin head enters the fixed groove of the Z-shaped groove, the whole first shell drives the steering engine to rotate, and the whole deformation action is completed.
Furthermore, when the first automatic pin head is in a tense state, the first automatic pin head is tangent to the outer curve of the Z-shaped groove, and a concentric structure is formed between the first shell and the second shell, so that the shells can rotate effectively.
Further, the first automatic pin head and the second automatic pin head are directly controlled by the snake-shaped robot main control board and are not separately powered.
Furthermore, the steering wheel is externally provided with a plastic shell, internally provided with an aluminum alloy gear, and the first shell and the second shell are of plastic structures.
Compared with the prior art, the invention has the following advantages:
1. the autonomous recombination snake-shaped robot provided by the invention is formed by assembling two parts of shells, and the shells are combined to form an automatic deformation device, so that the snake-shaped robot can automatically complete the conversion between a parallel structure and an orthogonal structure, and realize automation and intellectualization while considering the motion of a two-dimensional plane and a three-dimensional space.
2. According to the autonomous recombination snake-shaped robot, the automatic recombination mechanism between the two shells is composed of the Z-shaped groove and the automatic pin head, the curve on the outer side of the Z-shaped groove is in an eccentric design, and effective torque is generated when the automatic pin head is in contact with the curve on the outer side of the Z-shaped groove, so that the Z-shaped groove drives the first shell to rotate, the structure of the snake-shaped robot is changed, and the two-dimensional plane motion efficiency is optimized.
Based on the reason, the bionic snake-shaped fire-fighting robot can be widely popularized in the fields of bionic snake-shaped fire-fighting robots and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of the overall structure of the autonomous recombinant snake-shaped robot of the invention.
Fig. 2 is a cross-sectional view of the overall structure of the autonomous recombinant serpentine robot of the present invention.
Fig. 3 is a schematic diagram of an automatic deformation structure of the autonomous recombinant snake-shaped robot.
In the figure: 1. a steering engine; 2. a first housing; 3. a second housing; 4. a steering engine mounting hole; 5. an automatic pin head assembly hole; 6. a joint connecting hole; 7. a first automatic pin head; 8. a second automatic pin head; 9. a Z-shaped groove.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1, the present invention provides an autonomous recombinant serpentine robot comprising: a first case 2, a second case 3, and an automatic restructuring mechanism that connects the first case 2 and the second case 3; wherein:
the automatic recombination mechanism comprises a Z-shaped groove 9, a first automatic pin head 7 and a second automatic pin head 8, the curve outside the Z-shaped groove 9 is in an eccentric design, effective torque is generated when the first automatic pin head 7 and the second automatic pin head 8 are in contact with the curve outside the Z-shaped groove 9, the Z-shaped groove 9 drives the first shell 2 to rotate, the structure of the snake-shaped robot is changed, the snake-shaped robot can automatically complete conversion between a parallel structure and an orthogonal structure, and the two-dimensional plane motion efficiency is optimized.
In specific implementation, as a preferred embodiment of the present invention, with reference to fig. 1, a steering engine mounting hole 4 is formed in the first housing 2, and the steering engine 1 is fixedly connected to the first housing 2 through the steering engine mounting hole 4. The second shell 3 is connected with a joint connecting hole 6, and the steering engine 1 is connected with the joint connecting hole 6 through a bolt to form a snake-shaped robot structure. And an automatic pin head assembling hole 5 is formed in the outer wall of the second shell 3 and used for installing a first automatic pin head 7 and a second automatic pin head 8.
In a specific embodiment of the present invention, as shown in fig. 3, the angle between the first automatic pin head 7 and the second automatic pin head 8 is 90 °, and the first automatic pin head 7 and the second automatic pin head 8 alternately operate to realize automatic deformation. The method specifically comprises the following steps:
when the snake-shaped robot joint needs orthogonal connection, the first automatic pin head 7 is powered on to compress the spring, so that the first automatic pin head 7 is separated from the Z-shaped groove 9, meanwhile, the second automatic pin head 8 is powered off, the pin head is bounced by the elasticity of the spring and enters the Z-shaped groove 9 to realize the fixation of the structure between the two shells;
when needs snake shape robot warp to parallel structure, 8 circular telegrams of second automatic round pin head, attract the ascending compression spring of the automatic round pin head 8 of second, make the automatic round pin head 8 of second break away from Z shape groove 9, avoid hindering the casing and rotate, first automatic round pin head 7 outage afterwards, spring force promotes Z shape groove 9 outside curve downwards, the curve is the eccentric wheel, 7 directions at first automatic round pin head are under the effort of centre of a circle, Z shape groove 9 takes place clockwise rotation, when rotatory 90 degrees, first automatic round pin head 7 gets into the fixed notch in Z shape groove 9, it is rotatory to make whole first casing 2 drive steering wheel emergence, whole deformation action is accomplished.
In specific implementation, as a preferred embodiment of the present invention, as shown in fig. 2, when the first automatic pin head 7 is in a tensed state, it is tangent to the outer curve of the Z-shaped groove 9, and a concentric structure is formed between the first housing 2 and the second housing 3, so as to facilitate the effective rotation of the housings.
In a specific implementation, as a preferred embodiment of the present invention, the first automatic pin 7 and the second automatic pin 8 are directly controlled by the master control board of the snake-shaped robot, and power is not supplied independently, so that the overall structure is lighter.
In specific implementation, as a preferable implementation mode of the invention, the steering engine 1 is provided with a plastic shell outside and an aluminum alloy gear inside, and the first shell 2 and the second shell 3 are of plastic structures.
To sum up, because the motion property of snake-shaped robot itself leads to the forward velocity comparatively slow, when realizing the sinuous motion through each steering wheel fitting serpenoid curve and advancing in addition, the joint interval overlength, the fitting effect is poor, can cause serious loss of motion for the sideslip takes place for snake-shaped robot, and the forward velocity is very slow. The automatic recombination mechanism between the two shells is composed of a Z-shaped groove 9 and an automatic pin head, the curve outside the Z-shaped groove 9 is in an eccentric design, and effective torque is generated when the automatic pin head is in contact with the curve outside the Z-shaped groove 9, so that the Z-shaped groove 9 drives the first shell 1 to rotate, the structure of the snake-shaped robot is changed, and the two-dimensional plane motion efficiency is optimized.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An autonomous recombinant serpentine robot, comprising: the automatic reconfiguration device comprises a first shell (2), a second shell (3) and an automatic reconfiguration mechanism for connecting the first shell (2) and the second shell (3); wherein:
automatic mechanism of reorganizing includes Z-slot (9), first automatic round pin head (7) and the automatic round pin head of second (8), Z-slot (9) outside curve is eccentric design, produce effective moment when first automatic round pin head (7) and the automatic round pin head of second (8) and Z-slot (9) outside curve contact, it is rotatory to make Z-slot (9) drive first casing (2), thereby change snake robot's structure, realize that snake robot accomplishes the conversion between parallel structure and the orthorhombic structure automatically.
2. The autonomous recombinant snake-shaped robot according to claim 1, wherein the first shell (2) is provided with a steering engine mounting hole (4), and the steering engine (1) is fixedly connected with the first shell (2) through the steering engine mounting hole (4).
3. The autonomous recombinant snake-shaped robot according to claim 2, wherein the second shell (3) is provided with joint connecting holes (6) in a connecting manner, and the steering engine (1) and the joint connecting holes (6) are connected through bolts to form a snake-shaped robot structure.
4. The autonomous recombinant serpentine robot according to claim 2, characterized in that the outer wall of the second housing (3) is provided with automatic pin fitting holes (5) for fitting the first automatic pin (7) and the second automatic pin (8).
5. The autonomous recombinant serpentine robot according to claim 1, characterized in that the angle between said first (7) and second (8) automatic pins is 90 °, the automatic deformation being obtained by the alternating action between said first (7) and second (8) automatic pins.
6. The autonomous recombinant serpentine robot according to claim 5, characterized in that said first (7) and second (8) automatic pins alternate in action, realizing an automatic deformation, comprising:
when the snake-shaped robot joint needs orthogonal connection, the first automatic pin head (7) is electrified to compress the spring, so that the first automatic pin head (7) is separated from the Z-shaped groove (9), meanwhile, the second automatic pin head (8) is powered off, the pin head is bounced under the elastic force of the spring and enters the Z-shaped groove (9) to realize the fixation of the structure between the two shells;
when needs snake shape robot warp to parallel structure, automatic round pin head of second (8) circular telegram, attract the automatic round pin head of second (8) compression spring that rises, make automatic round pin head of second (8) break away from Z shape groove (9), avoid hindering the casing and rotate, first automatic round pin head (7) outage afterwards, spring force promotes Z shape groove (9) outside curve downwards, the curve is the eccentric wheel, under the effort of first automatic round pin head (7) direction to the centre of a circle, clockwise turning takes place in Z shape groove (9), when rotatory 90 degrees, first automatic round pin head (7) get into the fixed notch in Z shape groove (9), make whole first casing (2) drive the steering wheel and take place the rotation, whole deformation action is accomplished.
7. The autonomous recombinant serpentine robot of claim 5, characterized in that said first automatic pin (7), in a stressed condition, is tangent to the outer curve of the Z-shaped groove (9), with a concentric configuration between the first (2) and second (3) housings, facilitating the effective rotation thereof.
8. The autonomous recombinant serpentine robot according to claim 5, characterized in that said first (7) and second (8) automatic pins are directly controlled by the serpentine robot master control board, no longer powered separately.
9. The autonomous recombinant snake-shaped robot according to claim 2, wherein the steering engine (1) is externally provided with a plastic shell and internally provided with an aluminum alloy gear, and the first shell (2) and the second shell (3) are of plastic structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211249375.2A CN115488868A (en) | 2022-10-12 | 2022-10-12 | Autonomous recombination snake-shaped robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211249375.2A CN115488868A (en) | 2022-10-12 | 2022-10-12 | Autonomous recombination snake-shaped robot |
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| CN115488868A true CN115488868A (en) | 2022-12-20 |
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| CN202211249375.2A Pending CN115488868A (en) | 2022-10-12 | 2022-10-12 | Autonomous recombination snake-shaped robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323681A (en) * | 1995-05-31 | 1996-12-10 | Toshiba Corp | Floating device |
| US20110184241A1 (en) * | 2008-06-05 | 2011-07-28 | Cardiorobotics, Inc. | Extendable articulated probe device |
| CN104010773A (en) * | 2011-09-13 | 2014-08-27 | 美的洛博迪克斯公司 | Highly Articulated Probes With Anti-Twist Link Arrangement, Methods Of Formation Thereof, And Methods Of Performing Medical Procedures |
| CN112237543A (en) * | 2020-08-27 | 2021-01-19 | 胡发芬 | Intelligent intramuscular injection equipment |
| CN112366598A (en) * | 2020-11-25 | 2021-02-12 | 郑绪乐 | Rail robot for intelligently inspecting cable and using method thereof |
| CN113183140A (en) * | 2021-06-03 | 2021-07-30 | 西南交通大学 | Bionic snake-shaped robot capable of being connected in gear shifting mode and control system |
-
2022
- 2022-10-12 CN CN202211249375.2A patent/CN115488868A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323681A (en) * | 1995-05-31 | 1996-12-10 | Toshiba Corp | Floating device |
| US20110184241A1 (en) * | 2008-06-05 | 2011-07-28 | Cardiorobotics, Inc. | Extendable articulated probe device |
| CN104010773A (en) * | 2011-09-13 | 2014-08-27 | 美的洛博迪克斯公司 | Highly Articulated Probes With Anti-Twist Link Arrangement, Methods Of Formation Thereof, And Methods Of Performing Medical Procedures |
| CN112237543A (en) * | 2020-08-27 | 2021-01-19 | 胡发芬 | Intelligent intramuscular injection equipment |
| CN112366598A (en) * | 2020-11-25 | 2021-02-12 | 郑绪乐 | Rail robot for intelligently inspecting cable and using method thereof |
| CN113183140A (en) * | 2021-06-03 | 2021-07-30 | 西南交通大学 | Bionic snake-shaped robot capable of being connected in gear shifting mode and control system |
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