CN2774717Y - Snaik shape robot of multiple freedom flexible joints - Google Patents
Snaik shape robot of multiple freedom flexible joints Download PDFInfo
- Publication number
- CN2774717Y CN2774717Y CN 200520068382 CN200520068382U CN2774717Y CN 2774717 Y CN2774717 Y CN 2774717Y CN 200520068382 CN200520068382 CN 200520068382 CN 200520068382 U CN200520068382 U CN 200520068382U CN 2774717 Y CN2774717 Y CN 2774717Y
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- snake
- joint
- robot
- flexible joint
- flexible
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- 210000001503 Joints Anatomy 0.000 title abstract 2
- 241000270295 Serpentes Species 0.000 claims abstract description 20
- 239000003570 air Substances 0.000 claims abstract description 7
- 239000011257 shell materials Substances 0.000 claims description 20
- 210000003660 Reticulum Anatomy 0.000 claims description 6
- 239000007789 gases Substances 0.000 claims description 6
- 210000000038 chest Anatomy 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 210000003205 Muscles Anatomy 0.000 claims description 4
- 239000003292 glue Substances 0.000 claims description 3
- 230000037250 Clearance Effects 0.000 claims description 2
- 230000035512 clearance Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 239000011664 nicotinic acid Substances 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 claims 1
- 241001597062 Channa argus Species 0.000 abstract description 2
- 230000001429 stepping Effects 0.000 abstract 2
- 241000287181 Sturnus vulgaris Species 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 210000003128 Head Anatomy 0.000 description 2
- 210000002356 Skeleton Anatomy 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 230000001174 ascending Effects 0.000 description 2
- 238000006243 chemical reactions Methods 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002493 climbing Effects 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000010586 diagrams Methods 0.000 description 1
- 238000005516 engineering processes Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 methods Methods 0.000 description 1
- 239000000203 mixtures Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004450 types of analysis Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
Description
Technical field:
The utility model relates to the snake-shaped robot in multiple degrees of freedom flexible joint, this snake-shaped robot has characteristics such as good stability, cross section are little, flexibility, can on various coarse, precipitous, rugged complex-terrains, walk, also can climb barrier, this is to be difficult to accomplish with wheel or the leg robot as the walking instrument, therefore, rescue, detect, aspect such as celestial body detecting has broad application prospects, and, belong to the robot application technical field for the movement mechanism of research snake type games, dynamics, motion control method etc. provide experiment body.
Background technology:
Before the utility model is made, in prior art, for the snake robot anthropomorphic robot, difference according to version, can be divided into two classes: the first kind is to be connected in series by the module that has wheel, motion is directly driven by wheel or the propagation of snake bulk wave produces, and shortcoming is planar to move.Second class is the chain structure that rigid rod is formed, and motion is produced by the twisting action between the joint, can realize multiple plane and spatial movement, and its shortcoming of first kind snake-shaped robot is that movement velocity is low relatively.Above-mentioned two class snake-shaped robots are power with all kinds of motors all, employing be various pure frame for movements, be rigid structure, can not imitate the motion feature of snake class preferably, the action underaction.
Summary of the invention:
The purpose of this utility model is to overcome above-mentioned weak point, this practical snake-shaped robot is on the basis of design feature of copying snake and movement mechanism, conceived the elementary cell of snake---the flexible joint module, this joint module is made up of multiple degrees of freedom pneumatic type flexible joint, micro-step motor, micro-step motor driver, rotation distributing valve; With this joint module is the trunk of snake, connects into the structure as the vertebrae formula of snake, and is connected one with the reception of snakehead with the micro air pump of control device and ophiruid, constitutes snake-shaped robot; With the remote signal that main control computer sends, the motion of control snake-shaped robot.It is skeleton that universal ball joint is adopted in the multiple degrees of freedom flexible joint, and the ripple shell is subjected to axially to expand as muscular motivation behind the gas pressure, can realize multiple plane and spatial movement, as wriggling, go ripple, climbing, rolling, lateral movement etc., flexible movements, it is little to consume energy, and control is simple.
Main solution of the present utility model is achieved in that
The head of snake has the band reception of antenna and control device 1, a plurality of flexible joint modules 6 at middle part, the micro air pump 7 of afterbody, and they connect into the structure as the vertebrae formula of snake, and there is the main control computer 8 of the remote signal sent the outside; Consider that balanced weight, center of gravity are low, battery 3 is housed below the joint module junction dispersedly, be connected into battery pack by power line 2 at last, pneumatic soft house steward 4, data/address bus 5 are arranged in the top of snake; The installation of power line 2, battery 3, pneumatic soft house steward 4, data/address bus 5 is all on the center vertical plane of snake.
Compared with the prior art the utility model has the following advantages:
The utility model snake-shaped robot is by the elementary cell of snake---and the flexible joint module constitutes, and according to job requirement, module number is the amount doesn't matter; It is skeleton that universal ball joint is adopted in the multiple degrees of freedom flexible joint, and the ripple shell is subjected to axially to expand as muscular motivation behind the gas pressure, can realize multiple plane and spatial movement; Have characteristics such as good stability, cross section are little, flexibility.
Description of drawings:
Fig. 1 is the front view of the utility model snake-shaped robot
Fig. 2 is the vertical view of the utility model snake-shaped robot
Fig. 3 is the B-B cutaway view of the utility model snake-shaped robot flexible joint
Fig. 4 analyses and observe rotation diagram for the A-A of the utility model snake-shaped robot flexible joint
Fig. 5 rotates the A-A cutaway view of distributing valve for the utility model snake-shaped robot
Fig. 6 rotates the main cutaway view of distributing valve for the utility model snake-shaped robot
Fig. 7 rotates the E-E cutaway view of distributing valve for the utility model snake-shaped robot
Fig. 8 rotates the D-D cutaway view of distributing valve for the utility model snake-shaped robot
Fig. 9 rotates the C-C cutaway view of distributing valve for the utility model snake-shaped robot
Figure 10 rotates the B-B cutaway view of distributing valve for the utility model snake-shaped robot
Figure 11 rotates the I-I cutaway view of distributing valve for the utility model snake-shaped robot
Figure 12 rotates the H-H cutaway view of distributing valve for the utility model snake-shaped robot
Figure 13 rotates the G-G cutaway view of distributing valve for the utility model snake-shaped robot
Figure 14 rotates the F-F cutaway view of distributing valve for the utility model snake-shaped robot
Figure 15 is the pneumatic connection layout of the utility model snake-shaped robot flexible joint module
The specific embodiment:
Embodiment during following the utility model is incited somebody to action in conjunction with the accompanying drawings is further described:
The essential structure of the snake-shaped robot shown in accompanying drawing 1,2 is: receive and compositions such as control device 1, power line 2, battery 3, pneumatic soft house steward 4, data/address bus 5, flexible joint module 6, micro air pump 7, main control computer 8.
The structure of the flexible joint module 6 of snake is shown in accompanying drawing 3,4: ripple shell 11 (vertical sectional shape of single-unit ripple shell is the rubber bellows of shapes such as " V ", " U ", " Ω ") is clamped on the bayonet socket of headstock 9 and tailstock 12 by clip 10, the enclosed cavity that ripple shell 11, headstock 9 and tailstock 12 constitute; Gas enters the joint cavity by flexible pipe 15 and joint 14, and 12 of joint 14 and tailstocks have sealing ring 13 sealings; Constituted an independently gas-powered muscle assembly by above-mentioned part.In the guiding square groove of the two ends of gas-powered muscle assembly by the regular polygon seat 19 at guide pad 17 location headstock 9, tailstock 12 and two ends, be fixed on the regular polygon seat 19 at two ends by hexagon socket head cap screw 16 again, the two ends of universal ball joint 18 are by nut and fastening with the regular polygon seat 19 at two ends, and the axle journal at universal ball joint 18 two ends is a matched in clearance with cooperating of regular polygon seat 19 interstitial holes.Micro-step motor 21 drives rotation distributing valve 22 and rotates or the location, and the driver 20 of micro-step motor 21, micro-step motor 21, rotation distributing valve 22 are installed on the support 23, and support 23 can be connected in series a plurality of flexible joint modules 6.
The vertical sectional shape of the single-unit ripple shell of ripple shell 11 described in the utility model is rubber bellows of shapes such as " V ", " U ", " Ω ".
The structure of rotating distributing valve 22 is shown in accompanying drawing 5～14: welded spool 24 is supported on protecgulum 25 and the bonnet 30 by needle bearing 29, protecgulum 25 and bonnet 30 are by the mesopore location of axial ledge seam and valve chest 27, and connect with sunk screw, the side of protecgulum 25 and bonnet 30 is embedded with sealing ring 26, sticks with glue in valve chest 27 mesopores and connects elastic packing lining 28.
Be the operation principle and the course of work of the utility model bionic machine snake-shaped robot below:
As shown in Figure 15, the ripple shell I-O in the flexible joint module 1Mouth links to each other, ripple shell IV-O 2Mouth links to each other, and they play the horizontal curvature effect, and O 1, O 2Mouth is adjacent, and the horizontal curvature reaction is fast, and the speed of moving about of snake is fast; Cause is stressed bigger when crooked up and down, and after II, III, V, the VI parallel connection in twos, the valve port with the rotation distributing valve is connected again, promptly forms II-III-O in the ripple shell in joint 3, V-VI-O 4Connection, so also reduced the axial dimension of rotation distributing valve.
Rotation distributing valve 22 by micro-step motor 21 drivings, the spool 24 of rotation distributing valve 22 processes after welding axle journal by the seamless steel pipe two ends, so both can reduce weight, processing simply, its cavity and pneumatic soft house steward 4 combine, and can play the effect of air accumulator again; Elastic packing lining 28 is bonded on the valve chest by glue.The gas that micro air pump pumps from pneumatic soft house steward 4 enter the rotation distributing valve 22 the P mouth, by annular groove, through the spool cavity, again from the narrow groove of small semi-ring to O 1Mouthful, enter the ripple shell I of flexible joint; At this moment, the ripple shell II-III of flexible joint is through O 3Behind mouth, the more than half ring width groove, by the logical atmosphere of outlet; The equally also logical atmosphere other ripple shell IV, V-VI this moment of flexible joint.After the valve core rotation, through conversion, the order that gas is pumped in the connection of ripple shell is successively: IV, II-III, V-VI, realize rotating the distribution effect; Micro-step motor can be parked in a certain position, keeps the qi of chong channel ascending adversely of corresponding ripple shell or the state of holding one's breath; During the swing of joint horizontal plane transverse curvature, the ripple shell I of relative direction, IV qi of chong channel ascending adversely repeatedly, hold one's breath, exit, by micro-step motor just, location stall and counter-rotating realize.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520068382 CN2774717Y (en) | 2005-01-17 | 2005-01-17 | Snaik shape robot of multiple freedom flexible joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520068382 CN2774717Y (en) | 2005-01-17 | 2005-01-17 | Snaik shape robot of multiple freedom flexible joints |
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| Publication Number | Publication Date |
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| CN2774717Y true CN2774717Y (en) | 2006-04-26 |
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| CN 200520068382 CN2774717Y (en) | 2005-01-17 | 2005-01-17 | Snaik shape robot of multiple freedom flexible joints |
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|---|---|---|---|---|
| CN100410128C (en) * | 2006-09-28 | 2008-08-13 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| CN101265813B (en) * | 2008-05-14 | 2010-04-14 | 哈尔滨工业大学 | Mine searching multi-robot system based on wireless sensor network |
| CN101961870A (en) * | 2010-08-12 | 2011-02-02 | 燕山大学 | Danger rescue and pipe parallel robot |
| US8002365B2 (en) | 2006-11-13 | 2011-08-23 | Raytheon Company | Conformable track assembly for a robotic crawler |
| US8002716B2 (en) | 2007-05-07 | 2011-08-23 | Raytheon Company | Method for manufacturing a complex structure |
| CN102167103A (en) * | 2011-03-31 | 2011-08-31 | 西北工业大学 | Machine body of bionic quadruped robot |
| CN102198655A (en) * | 2010-03-22 | 2011-09-28 | 常州机械电子工程研究所 | Search and rescue robot |
| US8042630B2 (en) | 2006-11-13 | 2011-10-25 | Raytheon Company | Serpentine robotic crawler |
| CN102416622A (en) * | 2011-09-13 | 2012-04-18 | 上海交通大学 | Bionic snake mouth mechanism |
| US8185241B2 (en) | 2006-11-13 | 2012-05-22 | Raytheon Company | Tracked robotic crawler having a moveable arm |
| CN102582710A (en) * | 2012-03-09 | 2012-07-18 | 北京化工大学 | Rope robot with serial driving wheels |
| US8317555B2 (en) | 2009-06-11 | 2012-11-27 | Raytheon Company | Amphibious robotic crawler |
| CN102837307A (en) * | 2012-09-13 | 2012-12-26 | 南京航空航天大学 | Amphibious S-shaped robot on basis of MDOF (Multiple Degree of Freedom) flexible motion units |
| US8392036B2 (en) | 2009-01-08 | 2013-03-05 | Raytheon Company | Point and go navigation system and method |
| US8393422B1 (en) | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
| CN103042535A (en) * | 2012-12-26 | 2013-04-17 | 安科智慧城市技术（中国）有限公司 | Three-degree-of-freedom movable joint mechanism and bionic robot |
| CN103144103A (en) * | 2011-12-06 | 2013-06-12 | 中国科学院合肥物质科学研究院 | Mixed joint continuous robot |
| CN103203742A (en) * | 2013-04-24 | 2013-07-17 | 武汉大学 | Snakelike robot |
| CN103231388A (en) * | 2013-05-10 | 2013-08-07 | 南开大学 | Flexible operating arm used for service robot |
| CN101784435B (en) * | 2007-07-10 | 2013-08-28 | 雷神萨科斯公司 | Modular robotic crawler |
| CN103302677A (en) * | 2013-06-03 | 2013-09-18 | 哈尔滨工程大学 | Hydraulically-driven two-freedom degree bionic spinal joint module |
| CN103692440A (en) * | 2013-12-06 | 2014-04-02 | 中国民航大学 | Spatial path tracking method of continuous robot |
| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
| CN103786166A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic rotation stretching type double-spiral flexible joint |
| CN103978485A (en) * | 2014-05-15 | 2014-08-13 | 郑天江 | Snake-like soft-bodied robot control system and control method |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| US8935014B2 (en) | 2009-06-11 | 2015-01-13 | Sarcos, Lc | Method and system for deploying a surveillance network |
| US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
| CN104626157A (en) * | 2015-01-16 | 2015-05-20 | 上海大学 | Electric steering device used for ruins rescue guiding |
| 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 |
| CN104742152A (en) * | 2015-04-02 | 2015-07-01 | 中国科学院合肥物质科学研究院 | Tandem type multi-joint mechanical arm |
| CN104858889A (en) * | 2014-07-12 | 2015-08-26 | 都瑛娜 | Hydraulically or pneumatically controlled joint mechanism capable of performing bending, twisting and stretching motions and used for numerical-control soft-bodied robot |
| CN104924305A (en) * | 2015-06-19 | 2015-09-23 | 上海交通大学 | Deformable flexible spherical modular robot |
| CN105108747A (en) * | 2015-08-04 | 2015-12-02 | 深圳市金刚蚁机器人技术有限公司 | Device for achieving seamless motion of head and neck of robot and method for device |
| CN105539619A (en) * | 2015-12-16 | 2016-05-04 | 安徽工业大学 | Worm-drive active multi-wheel S-shaped robot with universal joint |
| CN105619450A (en) * | 2016-03-17 | 2016-06-01 | 上海交通大学 | Flexible mechanical arm and control method thereof |
| US9409292B2 (en) | 2013-09-13 | 2016-08-09 | Sarcos Lc | Serpentine robotic crawler for performing dexterous operations |
| US9566711B2 (en) | 2014-03-04 | 2017-02-14 | Sarcos Lc | Coordinated robotic control |
| CN106829470A (en) * | 2017-04-05 | 2017-06-13 | 李良杰 | Flexible grabbing device |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
| WO2018006145A1 (en) * | 2016-07-07 | 2018-01-11 | Lepri Lincoln José | Improvement to a snake robot movement mechanism |
| CN107749547A (en) * | 2017-10-31 | 2018-03-02 | 朱森 | A kind of charging wire for new-energy automobile |
| CN107757409A (en) * | 2017-10-31 | 2018-03-06 | 朱森 | A kind of charging line control system for new-energy automobile |
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2005
- 2005-01-17 CN CN 200520068382 patent/CN2774717Y/en not_active IP Right Cessation
Cited By (58)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100410128C (en) * | 2006-09-28 | 2008-08-13 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| US8002365B2 (en) | 2006-11-13 | 2011-08-23 | Raytheon Company | Conformable track assembly for a robotic crawler |
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| US8042630B2 (en) | 2006-11-13 | 2011-10-25 | Raytheon Company | Serpentine robotic crawler |
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| US8434208B2 (en) | 2007-05-07 | 2013-05-07 | Raytheon Company | Two-dimensional layout for use in a complex structure |
| US8002716B2 (en) | 2007-05-07 | 2011-08-23 | Raytheon Company | Method for manufacturing a complex structure |
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| CN102198655B (en) * | 2010-03-22 | 2013-04-03 | 常州机械电子工程研究所 | Search and rescue robot |
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| US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
| CN103042535B (en) * | 2012-12-26 | 2015-01-14 | 安科智慧城市技术（中国）有限公司 | Three-degree-of-freedom movable joint mechanism and bionic robot |
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| CN103231388B (en) * | 2013-05-10 | 2015-06-24 | 南开大学 | Flexible operating arm used for service robot |
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| CN103302677A (en) * | 2013-06-03 | 2013-09-18 | 哈尔滨工程大学 | Hydraulically-driven two-freedom degree bionic spinal joint module |
| US9409292B2 (en) | 2013-09-13 | 2016-08-09 | Sarcos Lc | Serpentine robotic crawler for performing dexterous operations |
| CN103692440B (en) * | 2013-12-06 | 2015-06-17 | 中国民航大学 | Spatial path tracking method of continuous robot |
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| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
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| CN103786166B (en) * | 2014-01-22 | 2017-01-04 | 北华大学 | Type Double helix flexible joint is stretched in pneumatic rotation |
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| US9566711B2 (en) | 2014-03-04 | 2017-02-14 | Sarcos Lc | Coordinated robotic control |
| CN103978485A (en) * | 2014-05-15 | 2014-08-13 | 郑天江 | Snake-like soft-bodied robot control system and control method |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
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| CN104626157A (en) * | 2015-01-16 | 2015-05-20 | 上海大学 | Electric steering device used for ruins rescue guiding |
| CN104742152A (en) * | 2015-04-02 | 2015-07-01 | 中国科学院合肥物质科学研究院 | Tandem type multi-joint mechanical arm |
| CN104924305A (en) * | 2015-06-19 | 2015-09-23 | 上海交通大学 | Deformable flexible spherical modular robot |
| CN105108747A (en) * | 2015-08-04 | 2015-12-02 | 深圳市金刚蚁机器人技术有限公司 | Device for achieving seamless motion of head and neck of robot and method for device |
| CN105539619A (en) * | 2015-12-16 | 2016-05-04 | 安徽工业大学 | Worm-drive active multi-wheel S-shaped robot with universal joint |
| CN105619450A (en) * | 2016-03-17 | 2016-06-01 | 上海交通大学 | Flexible mechanical arm and control method thereof |
| WO2018006145A1 (en) * | 2016-07-07 | 2018-01-11 | Lepri Lincoln José | Improvement to a snake robot movement mechanism |
| CN106927000B (en) * | 2017-03-06 | 2019-02-26 | 浙江大学 | Transformation compound bending module, S type advance around module and soft robot |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
| CN106829470A (en) * | 2017-04-05 | 2017-06-13 | 李良杰 | Flexible grabbing device |
| CN107749547A (en) * | 2017-10-31 | 2018-03-02 | 朱森 | A kind of charging wire for new-energy automobile |
| CN107757409A (en) * | 2017-10-31 | 2018-03-06 | 朱森 | A kind of charging line control system for new-energy automobile |
| CN107933339A (en) * | 2017-10-31 | 2018-04-20 | 朱森 | A kind of control method of charging line control system for new-energy automobile |
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