CN203726486U - Snakelike detection robot - Google Patents

Snakelike detection robot Download PDF

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Publication number
CN203726486U
CN203726486U CN201420111692.2U CN201420111692U CN203726486U CN 203726486 U CN203726486 U CN 203726486U CN 201420111692 U CN201420111692 U CN 201420111692U CN 203726486 U CN203726486 U CN 203726486U
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CN
China
Prior art keywords
connector
connecting rod
robot
snakelike
steering wheel
Prior art date
Application number
CN201420111692.2U
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Chinese (zh)
Inventor
王妍玮
孟浩
张艺漫
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哈尔滨石油学院
王妍玮
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Application filed by 哈尔滨石油学院, 王妍玮 filed Critical 哈尔滨石油学院
Priority to CN201420111692.2U priority Critical patent/CN203726486U/en
Application granted granted Critical
Publication of CN203726486U publication Critical patent/CN203726486U/en

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Abstract

The utility model relates to a robot, in particular to a snakelike detection robot and aims to solve the problems of complex structure and high manufacturing cost of an existing snakelike robot. The snakelike detection robot comprises a plurality of driving units, a head and a plurality of connecting rods. Each two adjacent driving units are rotatably connected through one connecting rod, and the head is fixedly arranged at one end of the plurality of driving units. Each driving unit comprises a first steering engine, a first connection part, a second steering engine and a second connection part, each first steering engine is vertically rotatably arranged in the corresponding first connection part, each second connection part is arranged horizontally and fixedly connected with the corresponding first connection part, each second steering engine is horizontally rotatably arranged on the corresponding second connection part, one end of each connection rod is connected with the first steering engine in one driving unit, and the other end of each connection rod is connected with the second steering engine of an adjacent driving unit. The snakelike detection robot is used for detection.

Description

Snakelike Detecting Robot

Technical field

The utility model relates to a kind of robot, is specifically related to a kind of snakelike Detecting Robot.

Background technology

In recent years, the research of snake-shaped robot has been subject to extensive concern both domestic and external, and has obtained many progress.Snake-shaped robot has better kinetic stability and adaptive capacity to environment than traditional two-legged type robot or caterpillar robot, be adapted at moving in the special environment of narrow and small crack, the outer celestial body state of weightlessness etc. of underground piping under water, uneven or muddy ground, between the walls, have broad application prospects.The structure of snake-shaped robot is to be in series by multimode substantially.Module frame is the agent structure of snake-shaped robot, can play and transmit motion, protection body, load the several functions such as the required parts of robot.The frame structure that at present snake-shaped robot adopts mainly contains three kinds of rigid pipe, functional module and flexible structures.

Connected mode between snake-shaped robot modules joint has a great impact the motion of snake-shaped robot, and the connected mode in joint has determined which type of motion snake-shaped robot can do.Common joint connection mode is parallel joint, orthogonal joint, P-R joint and universal joint etc.Wherein parallel joint only has one degree of freedom, and some that make that snake-shaped robot can only complete on two dimensional surface are simply moved, but simple in structure, are convenient to control; Orthogonal joint is made up of a drag articulation joint parallel with, after coupling together, the original like this joint of only having one degree of freedom just there is the ability that horizontal direction and Vertical Square move upward, to complete incomplete three-dimensional space motion, there is more motor pattern; P-R joint is the same with universal joint can carry out complete three-dimensional space motion, has good space flexibility.Orthogonal joint, P-R joint and universal joint all have the ability of spatial movement, apply at present more or orthogonal joint, because of its relevant analysis and calculation more simple in structure than other.

Some snake-shaped robot takes the module of provided with wheels to be in series, motion by wheel drive or snake body in row ripple propagate produce.Such snake-shaped robot is convenient to control, but has reduced the adaptability of robot for external environment condition; Another kind of is the chain structure being only made up of rigidity connecting rod, and motion is produced by the twisting action between joint.The motion in each joint of robot is mainly produced by driver drives.Robot adopts servomotor as driver mostly at present.Compare other type of drive as pneumatic, hydraulic pressure etc., this type of drive is more simple effectively.The current situation of comprehensive snake-shaped robot, there is complex structure in existing snake-shaped robot, and the high problem of manufacturing cost.

Utility model content

The purpose of this utility model is to have complex structure in order to solve existing snake-shaped robot, and the high problem of manufacturing cost, and then a kind of snakelike Detecting Robot is provided.

The technical solution of the utility model is: snakelike Detecting Robot comprises multiple driver element A, described snakelike Detecting Robot also comprises head C and multiple connecting rod B, between adjacent two driver element A, be rotatably connected by a connecting rod B, head C is fixedly installed on one end of multiple driver element A, described each driver element A includes the first steering wheel 1, the first connector 2, the second steering wheel 3 and the second connector 4, the first steering wheel 1 is vertically rotatably arranged in the first connector 2, the second connector 4 is horizontally disposed with, and be fixedly connected with between the second connector 4 and the first connector 2, the second steering wheel 3 is parallel to be rotatably arranged on the second connector 4, one end of connecting rod B is connected with the first steering wheel 1 in a driver element A, the other end of connecting rod B is connected with the second steering wheel 3 of an adjacent driver element A.

Described connecting rod B is zigzag connecting rod.

Described the first connector 2 and the second connector 4 are grooved connecting rod.

The bottom surface of described grooved connecting rod and side are equipped with screwed hole 5.

The diameter of described screwed hole 5 is 3cm.

Described snakelike Detecting Robot also comprises between multiple bolt 6, the second connectors 4 and the first connector 2 and being fixedly connected with by multiple bolts 6.

The utility model compared with prior art has following effect:

1. snake-shaped robot of the present utility model motion in the plane roughly can be decomposed into two steps: be first by the rotation of snake-shaped robot joint steering wheel, the shape of snake-shaped robot to be changed, secondly the frictional force between change and snake-shaped robot and the ground of this shape produces forward with joint efforts, driving snake-shaped robot travels forward.Also the change (joint torque-joint angles) and the resultant inertia motion (joint angles-inertia orientation) that are snake-shaped robot shape finally cause robot motion's state to change.

2. of the present utility model unit-modularized, make it have reconfigurability, now snake-shaped robot just can change its shape and size according to the various combination of module, adapts to the demand of different operating environment and task with this.And make version simple and flexible of the present utility model due to unit-modularized, can in different environment, realize complicated forms of motion.The snake-shaped robot designing like this has very high versatility, robustness and economy, has increased greatly the adaptive capacity to environment of snake-shaped robot, has reduced again manufacturing cost, has avoided numerous and diverse repetitive operation.

Brief description of the drawings

Fig. 1 is overall structure schematic diagram of the present utility model.

Detailed description of the invention

Detailed description of the invention one: present embodiment is described in conjunction with Fig. 1, present embodiment comprises multiple driver element A, described snakelike Detecting Robot also comprises head C and multiple connecting rod B, between adjacent two driver element A, be rotatably connected by a connecting rod B, head C is fixedly installed on one end of multiple driver element A, described each driver element A includes the first steering wheel 1, the first connector 2, the second steering wheel 3 and the second connector 4, the first steering wheel 1 is vertically rotatably arranged in the first connector 2, the second connector 4 is horizontally disposed with, and be fixedly connected with between the second connector 4 and the first connector 2, the second steering wheel 3 is parallel to be rotatably arranged on the second connector 4, one end of connecting rod B is connected with the first steering wheel 1 in a driver element A, the other end of connecting rod B is connected with the second steering wheel 3 of an adjacent driver element A.

As a kind of optimal way, the connecting rod B of present embodiment is zigzag connecting rod.

As a kind of optimal way, the first connector 2 and second connector 4 of present embodiment are grooved connecting rod.

As a kind of optimal way, bottom surface and the side of the grooved connecting rod of present embodiment are equipped with screwed hole 5.

As a kind of optimal way, the diameter of the screwed hole 5 of present embodiment is 3cm.

As a kind of optimal way, the snakelike Detecting Robot of present embodiment also comprises between multiple bolt 6, the second connectors 4 and the first connector 2 and being fixedly connected with by multiple bolts 6.

Operation principle:

Mainly be how to coordinate the communication between the cell cube of each joint composition by the problem of implementation of control system and realize the coordination control between each unit.What generally adopt is upper and lower computer two-stage computer control scheme, complete the real-time monitoring to snake-shaped robot by host computer, Attitude Tracking, in-circuit emulation, path planning etc., slave computer is mainly single-chip microcomputer and motor drive plate, responsible instruction of accepting and passing on host computer, and the various information that the sensor that collection and processing snake-shaped robot carry transmits also sends host computer etc. to.In the time that signal instruction is transferred to multiple driver element A, the first steering wheel 1 of multiple driver element A and the second steering wheel 3 are carried out whole action operation by the first connector 2 and the second connector 4.

The control of snake-shaped robot is mainly to make snake-shaped robot with given movement locus and speed motion by adjusting robot parameters, and in the situation that realizing closed-loop control, robot should have the ability to adjust voluntarily the realizations such as motion mode, movement locus and speed and keeps away the motions such as barrier, climbing and then finish the work.

The control method of snake-shaped robot mainly can be divided into two large classes.One class is that the Mathematical Modeling based on snake-shaped robot is controlled, and comprises the control based on kinematics model and the control based on kinetic model.During based on kinematics model control, being mainly that sinuous curve by changing snake-shaped robot when motion carries out, is mainly set up corresponding mechanical equation and derive thus the equation of motion during based on kinetic model control, then it is controlled accordingly.Another kind of is to control based on sensor, and this control method is generally applied to Attitude Tracking and the path planning of snake-shaped robot.

Claims (6)

1. a snakelike Detecting Robot, it comprises multiple driver elements (A), it is characterized in that: described snakelike Detecting Robot also comprises head (C) and multiple connecting rod (B), between adjacent two driver elements (A), be rotatably connected by a connecting rod (B), head (C) is fixedly installed on one end of multiple driver elements (A), described each driver element (A) includes the first steering wheel (1), the first connector (2), the second steering wheel (3) and the second connector (4), the first steering wheel (1) is vertically rotatably arranged in the first connector (2), the second connector (4) is horizontally disposed with, and be fixedly connected with between the second connector (4) and the first connector (2), the second steering wheel (3) is parallel to be rotatably arranged on the second connector (4), one end of connecting rod (B) is connected with the first steering wheel (1) in a driver element (A), the other end of connecting rod (B) is connected with second steering wheel (3) of an adjacent driver element (A).
2. snakelike Detecting Robot according to claim 1, is characterized in that: described connecting rod (B) is zigzag connecting rod.
3. snakelike Detecting Robot according to claim 2, is characterized in that: described the first connector (2) and the second connector (4) are grooved connecting rod.
4. snakelike Detecting Robot according to claim 3, is characterized in that: the bottom surface of described grooved connecting rod and side are equipped with screwed hole (5).
5. snakelike Detecting Robot according to claim 4, is characterized in that: the diameter of described screwed hole (5) is 3cm.
6. snakelike Detecting Robot according to claim 1, is characterized in that: described snakelike Detecting Robot also comprises multiple bolts (6), between the second connector (4) and the first connector (2), is fixedly connected with by multiple bolts (6).
CN201420111692.2U 2014-03-13 2014-03-13 Snakelike detection robot CN203726486U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420111692.2U CN203726486U (en) 2014-03-13 2014-03-13 Snakelike detection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420111692.2U CN203726486U (en) 2014-03-13 2014-03-13 Snakelike detection robot

Publications (1)

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CN203726486U true CN203726486U (en) 2014-07-23

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104669255A (en) * 2015-01-06 2015-06-03 泰华宏业(天津)机器人技术研究院有限责任公司 Spiral propulsion variable form snake-shaped robot
CN104691648A (en) * 2015-01-06 2015-06-10 泰华宏业(天津)机器人技术研究院有限责任公司 Attitude control method of snake-like robot for advancing in hole
CN104925159A (en) * 2015-07-05 2015-09-23 北京工业大学 Reconnaissance type obstacle-surmounting machine snake
CN105033991A (en) * 2015-06-05 2015-11-11 常熟理工学院 Snake-shaped robot of one-way driven wheel contact mechanisms and control method of snake-shaped robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104669255A (en) * 2015-01-06 2015-06-03 泰华宏业(天津)机器人技术研究院有限责任公司 Spiral propulsion variable form snake-shaped robot
CN104691648A (en) * 2015-01-06 2015-06-10 泰华宏业(天津)机器人技术研究院有限责任公司 Attitude control method of snake-like robot for advancing in hole
CN105033991A (en) * 2015-06-05 2015-11-11 常熟理工学院 Snake-shaped robot of one-way driven wheel contact mechanisms and control method of snake-shaped robot
CN104925159A (en) * 2015-07-05 2015-09-23 北京工业大学 Reconnaissance type obstacle-surmounting machine snake
CN104925159B (en) * 2015-07-05 2017-04-05 北京工业大学 A kind of reconnaissance version can obstacle detouring snake robot
CN104925159B8 (en) * 2015-07-05 2017-06-20 北京工业大学 A kind of reconnaissance version can obstacle detouring snake robot

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140723

Termination date: 20160313