CN203439163U - Multi-joint pneumatic snakelike robot - Google Patents
Multi-joint pneumatic snakelike robot Download PDFInfo
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- CN203439163U CN203439163U CN201320446668.XU CN201320446668U CN203439163U CN 203439163 U CN203439163 U CN 203439163U CN 201320446668 U CN201320446668 U CN 201320446668U CN 203439163 U CN203439163 U CN 203439163U
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Abstract
The utility model discloses a multi-joint pneumatic snakelike robot which is formed by serially connecting a plurality of snake-body joints having same structures, wherein each of the snake-body joints comprises a connecting plate and three executor parts having same structures; a micro-cylinder is respectively fixed on one side of a U-shaped bracket; a cylinder piston rod is fixedly connected with the bottom surface of a U-shaped connecting plate; a ball hinge pair is fixed under the other side of the U-shaped bracket; a connecting plate hinge shaft is arranged in holes in the two sides of the U-shaped connecting plate and is formed into rotating pairs together with connecting plate shaft base holes in the two sides; the ball hinge pair is in interference fit with a through hole of the connecting plate of the next snake-body joint; similarly, the other two executor parts are also respectively connected with the corresponding gap of the connecting plate and the lower connecting plate hole of the next snake-body joint; analogizing successively, the multi-joint pneumatic snakelike robot is formed. Each joint of the multi-joint pneumatic snakelike robot has three degrees of freedom for realizing deflecting, pitching and stretching motions. The multi-joint pneumatic snakelike robot can finish the motion modes of an ordinary robot snake, such as, wriggling, twisting, laterally turning and squirming, and the actions which are difficult to finish by the other robots.
Description
Technical field
The utility model relates to robot architecture, especially relates to the pneumatic snake-shaped robot of a kind of multi-joint.
Background technology
Mobile robot has been widely used in the every field of social life, and the small scale robot with the light little advantage such as fast is especially subject to people's favor.Although it is a variety of that robot motion's form has, but mostly still can only under the comparatively simple environment of landform, move, also be difficult to by field actual environment at present, the complex-terrain under natural environment and complex conditions are as the puddles of water, and cave etc. are all present mobile robot's very large challenges.
Biological snake, because its soft changeable body possesses multi-motion form, makes it can adapt to the geographical environment of various complexity.Snake is considered to one of animal that obstacle climbing ability is the strongest.In recent years, there is the research of the version of all kinds of mimic biology snakes and the snake-shaped robot of the characteristics of motion both at home and abroad, and obtained many achievements in research.Current snake-shaped robot be mainly multi-motion modes when imitating the motion principle of snakelike mechanism and crawling be away main.Specifically by changing relative motion angle between each joint, make the mode of motion such as the wriggling of the imitative snake of snake phantom, flexible, side direction.
Wherein, have a kind of snake-shaped robot to adopt the twisting progression of servo driving, only have one degree of freedom between adjacent segment, be subject to its structural limitations, have under power, responsiveness is slow, the shortcoming of obstacle detouring difficulty.Another snake-shaped robot, realizes snakelike movement by motor drive arrangement steamboat in vitro, has the poor shortcoming of comformability in actual rural atmosphere.Another snake-shaped robot, covers several shoes of snake-shaped robot whole body by driven by motor, although can realize whole body power, have complex structure, and the large weight of volume is large, and the shortcoming such as consume energy larger.Also having a kind of snake-shaped robot, adopt driven by motor to be entangled in the mode of the snake robot rope on the snake robot whole body, control snake-shaped robot and advance, but exist mechanism complicated, easily there is the problems such as winding mutually in snake rope.
Current main type of drive is motor or servo driving, because the developing direction of snake-shaped robot is more and more less, therefore the power of motor being contained on snake-shaped robot is all smaller, is therefore difficult to realize the quick action of snake-shaped robot, is also difficult to cross the landform of precipitous complexity.In addition, owing to there being the charging equipments such as motor steering wheel on these snake-shaped robots, so they are when humidity or shallow water area activity, need to consider complicated waterproof technique.Between two joints of existing snake-shaped robot, only have one or two degree of freedom, need the series connection of a large amount of joints could realize comparatively compound movement, the volume that this has significantly increased snake-shaped robot, has restricted its comformability.
Summary of the invention
For above-mentioned existing technological deficiency, the purpose of this utility model has been to provide the pneumatic snake-shaped robot of a kind of multi-joint, can complete wriggling of general snake robot, twisting, side direction, the mode of motion such as wriggling, even can also realize new line, flexible, the other robots such as climbing are difficult to the action realizing.
To achieve these goals, the technical scheme that the utility model is taked is:
The utility model is mainly composed in series by the snake body joint of the identical 3-RPS parallel institution of a plurality of structures; Snake body joint: include connecting panel and three actr parts that structure is identical; On the same circumference of connecting panel, have three through holes that decile distributes, the circumference side of connecting panel has three breach, and three through holes and three breach phase differences are 60 °;
Each actr parts: include minitype cylinder, U-shaped support, typed ball bearing pair and U-shaped connecting panel; Minitype cylinder be fixed on U-shaped support one side above, cylinder piston rod and U-shaped connecting panel bottom surface are affixed, below U-shaped support opposite side, be fixed with typed ball bearing pair, in the hole of U-shaped connecting panel both sides, connecting panel hinge is housed, the connecting panel hinge two ends of exposing outside U-shaped connecting panel both sides form revolute pair with the connecting panel axle bed hole of both sides respectively, the both sides of U-shaped connecting panel embed respectively in the circumference side breach of connecting panel fixing, a through hole interference fit of the lower connecting plate in typed ball bearing pair and next snake body joint; In like manner, the both sides of the U-shaped connecting panel of other two actr parts also embed respectively in two other breach of connecting panel circumference side fixing, other two typed ball bearing pair also respectively with other two through hole interference fit of the lower connecting plate in next snake body joint; The like form the pneumatic snake-shaped robot of multi-joint.
The utlity model has beneficial effect is:
1. the utility model is that linear pneumatic drives, and the adjusting of pneumatic actuator power output and work speed is very easy to, and the utility model operation response is high, and the speed of travel is fast.
2. the utility model utilizes the feature of pneumatic element miniaturization and low-power consumption, and simple in structure light and handy, reliability is high.
3. the utility model snake body does not partly have charging equipment, can in the muddy complex-terrain of humidity, advance.
4. each module of the utility model has three degree of freedom, can realize deflection, pitching and fore and aft motion, and motion is flexibly; Can complete wriggling of general snake robot, twisting, side direction, the mode of motion such as wriggling, even can also realize new line, flexible, and the other robots such as climbing are difficult to the action realizing.
5. the utlity model has the features such as volume is little, practical, and obstacle climbing ability is strong, and speed is fast, solved snake robot under power of the prior art, mechanism is complicated, the bottleneck problems such as bad adaptability.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present utility model.
Fig. 2 is the snake body articulation structure figure of the single 3-RPS parallel institution of the utility model form.
Fig. 3 is the structural representation of the actr part of the utility model individual module.
Fig. 4 is the structural representation of the utility model connecting panel part.
Wherein: 1, snake body joint, 2, actr parts, 3, connecting panel, 4, lower connecting plate, 5, U type connecting panel, 6, nut, 7, cylinder piston rod, 8, minitype cylinder, 9, jam nut, 10, cylinder universal joint, 11, nut, 12, loosen packing ring, 13, typed ball bearing pair, 14, U-shaped support, 15, end plate axle bed, 16, bolt, 17, connecting panel hinge, 18, nut, I, cylinder, II, cylinder, III, cylinder.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is further described.
As shown in Figure 1, the utility model is mainly composed in series by the snake body joint 1 of the identical 3-RPS parallel institution of a plurality of structures.
As shown in Figure 1, Figure 2, Figure 3 shows, snake body joint: include connecting panel 3 and three actr parts 2 that structure is identical.
As shown in Figure 3, Figure 4, have three through holes that decile distributes on the same circumference of connecting panel 3, side has three breach, and three through holes and three breach phase differences are 60 °.Each module is comprised of connecting panel 1, three actr parts 2.Actr parts coordinate formation revolute pair by the connecting panel hinge 17 of connecting panel flange and connecting panel part 1, by typed ball bearing pair 13 and lower connecting plate 4 through hole interference fit, form space typed ball bearing pair.3 actr parts that form are like this all that upside is revolute pair, and downside is that Spatial Sphere strand is secondary, and minitype cylinder 8 is for the moving sets of propulsive effort is provided, and the individual module so forming is 3-RPS mechanism, has three degree of freedom.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, actr parts 2: include minitype cylinder 8, U-shaped support 14, typed ball bearing pair 13 and U-shaped connecting panel 5, minitype cylinder 8 respectively by jam nut 9 be fixed on U-shaped support 14 1 sides above, cylinder universal joint 10 is connected with minitype cylinder 8 lower port, cylinder piston rod 7 is affixed by two nuts 6 with U-shaped connecting panel bottom surface 5, affixed with typed ball bearing pair 13 use check washers 12 and nut 11 below U-shaped support 14 opposite sides, in the hole of U-shaped connecting panel 5 both sides, connecting panel hinge 17 is housed, connecting panel hinge 17 two ends of exposing outside U-shaped connecting panel 5 both sides form revolute pair with connecting panel axle bed 15 holes of both sides respectively, the connecting panel of both sides embeds in breach fixing, and with bolt 16 and nut 18, connecting panel axle bed 15 and lower connecting plate 4 are fixed together, a through hole interference fit of the lower connecting plate 4 in typed ball bearing pair 13 and next snake body joint 1, in like manner, other two actr parts are also connected with connecting panel 3 holes in next snake body joint 1 with described connecting panel 3 breach separately, the like form the pneumatic snake-shaped robot of multi-joint.By giving minitype cylinder 8 air feed, the piston rod of cylinder can seesaw.
The utility model is the pneumatic snake-shaped robot of a kind of multi-joint, and each snake body joint consists of 3-RPS parallel institution, has 3 degree of freedom, can realize deflection, pitching and fore and aft motion.
Principle of work of the present utility model is:
As shown in Figure 2, in a snake body joint 1, when cylinder I ventilation source, cylinder I I, during the logical atmosphere of III, the relative lower connecting plate 4 of connecting panel 3 moves downward; When the logical atmosphere of cylinder I, cylinder I I, during III ventilation source, connecting panel 3 is with respect to lower connecting plate 4 upward movements, and these two actions have completed the pitching action of connecting panel 3 with respect to lower connecting plate 4.Work as cylinder I, the II source of ventilating, during the logical atmosphere of cylinder I II, the relative lower connecting plate 4 of connecting panel 3 moves to lower right side; Work as cylinder I, II leads to atmosphere, and during cylinder I II ventilation source, the relative lower connecting plate 4 of connecting panel 3 moves to upper left side; Work as cylinder I, the III source of ventilating, during the logical atmosphere of cylinder I I, connecting panel 3 relative lower connecting plate 4 lateral movements to left down; Work as cylinder I, III leads to atmosphere, and during cylinder I I ventilation source, the relative lower connecting plate 4 of connecting panel 3 is to upper right side motion, and these four actions have realized the yaw motion of the four direction of connecting panel 3 relative lower connecting plates 4.Work as cylinder I, II, III cylinder connects source of the gas simultaneously, and connecting panel 3 stretches out; Work as cylinder I, II, III cylinder connects atmosphere simultaneously, and connecting panel 3 is retracted, and these two actions have realized the fore and aft motion of connecting panel 3 with respect to lower connecting plate 4, make snake advance or retreat.By a plurality of modules, connect, the positional number exponentially that pneumatic snake can be realized increases, and can meet various locational requirements completely.
The utility model, by the different plenum system of each cylinder, realizes the different mode position of snake body, by continuous transformation snake figure state, drives snake-shaped robot to advance.Under terrestrial environment, particularly moist, under muddy complex environment, the utility model has the incomparable advantage of other snake-shaped robots.
Above-described embodiment, the utility model a kind of in the specific embodiment more preferably just, the common variation that those skilled in the art carries out within the scope of technical solutions of the utility model and replacing all should be included in protection domain of the present utility model.
Claims (1)
1. the pneumatic snake-shaped robot of multi-joint, is characterized in that: mainly the snake body joint (1) by the identical 3-RPS parallel institution of a plurality of structures is composed in series; Snake body joint: include connecting panel (3) and three actr parts that structure is identical; On the same circumference of connecting panel (3), have three through holes that decile distributes, the circumference side of connecting panel (3) has three breach, and three through holes and three breach phase differences are 60 °;
Each actr parts: include minitype cylinder (8), U-shaped support (14), typed ball bearing pair (13) and U-shaped connecting panel (5), minitype cylinder (8) be fixed on U-shaped support (14) one sides above, cylinder piston rod (7) is affixed with U-shaped connecting panel bottom surface (5), below U-shaped support (14) opposite side, be fixed with typed ball bearing pair (13), in the hole of U-shaped connecting panel (5) both sides, connecting panel hinge (17) is housed, connecting panel hinge (17) two ends of exposing outside U-shaped connecting panel (5) both sides form revolute pair with connecting panel axle bed (15) hole of both sides respectively, the both sides of U-shaped connecting panel embed respectively in the breach of circumference side of connecting panel (3) fixing, a through hole interference fit of the lower connecting plate (4) in typed ball bearing pair (13) and next snake body joint (1), in like manner, the both sides of the U-shaped connecting panel of other two actr parts also embed respectively in two other breach of connecting panel (3) circumference side fixing, other two typed ball bearing pair (13) also respectively with other two through hole interference fit of the lower connecting plate (4) in next snake body joint (1), the like form the pneumatic snake-shaped robot of multi-joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320446668.XU CN203439163U (en) | 2013-07-25 | 2013-07-25 | Multi-joint pneumatic snakelike robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320446668.XU CN203439163U (en) | 2013-07-25 | 2013-07-25 | Multi-joint pneumatic snakelike robot |
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| Publication Number | Publication Date |
|---|---|
| CN203439163U true CN203439163U (en) | 2014-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320446668.XU Withdrawn - After Issue CN203439163U (en) | 2013-07-25 | 2013-07-25 | Multi-joint pneumatic snakelike robot |
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| CN (1) | CN203439163U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419854A (en) * | 2013-07-25 | 2013-12-04 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN106695769A (en) * | 2016-12-29 | 2017-05-24 | 上海理工大学 | Snakelike rescue robot |
| CN107443364A (en) * | 2017-08-04 | 2017-12-08 | 广州小瓦智能科技有限公司 | A kind of scalable modular unit structure twisted |
-
2013
- 2013-07-25 CN CN201320446668.XU patent/CN203439163U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419854A (en) * | 2013-07-25 | 2013-12-04 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN103419854B (en) * | 2013-07-25 | 2015-10-28 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN106695769A (en) * | 2016-12-29 | 2017-05-24 | 上海理工大学 | Snakelike rescue robot |
| CN106695769B (en) * | 2016-12-29 | 2019-06-04 | 上海理工大学 | A kind of snakelike rescue robot |
| CN107443364A (en) * | 2017-08-04 | 2017-12-08 | 广州小瓦智能科技有限公司 | A kind of scalable modular unit structure twisted |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140219 Effective date of abandoning: 20151028 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |