CN104440897A - Scale-controllable type snakelike robot - Google Patents
Scale-controllable type snakelike robot Download PDFInfo
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- CN104440897A CN104440897A CN201410663548.4A CN201410663548A CN104440897A CN 104440897 A CN104440897 A CN 104440897A CN 201410663548 A CN201410663548 A CN 201410663548A CN 104440897 A CN104440897 A CN 104440897A
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- scale
- steering wheel
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Abstract
The invention discloses a scale-controllable type snakelike robot and belongs to the technical field of bio-robots. The snakelike robot is formed by connecting and combining a plurality of unit modules end to end. Each unit module comprises a dual motor drive steering engine, a module framework and a scale mechanism. The two motor shafts of each dual motor drive steering engine are arranged in parallel. The dual motor drive steering engines are connected with the module frameworks through steering engine connecting arms, scale opening and closing control motors of the scale mechanisms are installed on the module frameworks and drive guiding plates through screw rods and nuts, and the roots of scales are hinged to the module frameworks. The middles of the scales are connected with the guiding plates through connecting rods. According to the scale-controllable type snakelike robot, compared with the prior art, the scale mechanisms with the opening and closing function are introduce in for the first time, under the action of friction anisotropism of the scales, the scales can be in an opening state or a closing state, meanwhile, the adjacent unit modules are controlled to get close to each other or get away from each other through the dual motor drive steering engines, the snakelike robot can move forwards or backwards, and therefore the applicability of the snakelike robot is improved.
Description
Technical field
The invention belongs to bio-robot technical field, particularly relate to a kind of scale controllable type snake-shaped robot.
Background technology
Snake-shaped robot a kind ofly can imitate the movement mechanism of snake and the bio-robot of behavior, and because its environmental suitability is strong, kinematic dexterity is good, and the easy modularization of structure, has very large researching value and application prospect.
At present, the driving wheel mode that most snake-shaped robots adopts or cover band driving wheel mode onward impulse is provided, although the snake-shaped robot of this structure functionally can realize moving forward and backward, but structure is very complicated, although multiple different landform can be adapted to a certain extent, but be subject to the restriction of self structure, the linear telescopic motion as real biological snake cannot be realized, therefore cause applicable limitation.
For driving wheel mode or the weak point covering the snake-shaped robot being with driving wheel mode, person skilled have devised the snake-shaped robot that can realize linear telescopic motion, or by the elongation of some control unit modules of snake-shaped robot and shortening, realize that snake-shaped robot is flexible to move ahead; Or simply scale is secured in snake-shaped robot control unit module, by utilizing scale tribological anisotropy, realize that snake-shaped robot is flexible to move ahead, but drawback cannot realize former road straight line to retreat, therefore result of use is not very desirable, does not still solve applicable confinement problems.
Summary of the invention
For prior art Problems existing, the invention provides a kind of scale controllable type snake-shaped robot, its scale has opening and closing function, under the tribological anisotropy effect of scale, open configuration or closure state is in by making scale, and realize moving ahead of snake-shaped robot by the expanding-contracting action between unit module or retreat, enhance the applicability of snake-shaped robot.
To achieve these goals, the present invention adopts following technical scheme: a kind of scale controllable type snake-shaped robot, comprises some unit modules, and is joined end to end by some unit modules and combine;
Described unit module comprises Dual-motors Driving steering wheel, module framework and scale mechanism, comprise two identical motors, and the motor shaft of two motors be arranged in described Dual-motors Driving steering wheel in parallel;
Described module framework is disc, two the first steering wheel linking arms are installed with in module framework side, article two, the first steering wheel linking arm is arranged relative to module framework Central Symmetry, two the second steering wheel linking arms are installed with at module framework opposite side, article two, the second steering wheel linking arm is arranged relative to module framework Central Symmetry, and the first steering wheel linking arm differs 90 degree in a circumferential direction with the second steering wheel linking arm; Described two the first steering wheel linking arms are connected with the motor shaft of a motor of Dual-motors Driving steering wheel;
Described scale mechanism comprises scale opening and closing and controls motor, leading screw, screw, guiding plate, scale and connecting rod, described scale opening and closing control motor and are arranged on module framework, the motor shaft that scale opening and closing control motor is connected mutually with leading screw one end, described screw is fixedly mounted on guiding plate, and leading screw and nut sleeve are fitted together; The root of described scale is hinged on module framework, and described connecting rod one end is hinged in the middle part of scale, and the connecting rod other end is hinged on guiding plate.
Described module framework is also provided with guide post, guiding plate is provided with pilot hole, guide post is positioned at pilot hole, is rocked by guide post restriction guiding plate.
Described scale quantity is some, and along the uniform setting of module framework circumference.
Described guiding plate adopts disc chuck structure, and the pin joint of described connecting rod and guiding plate is between floral disc arm.
Beneficial effect of the present invention:
The present invention compared with prior art, introduce the scale mechanism with opening and closing function first, under the tribological anisotropy effect of scale, open configuration or closure state is in by making scale, simultaneously by Dual-motors Driving servos control neighboring unit module close to each other or away from, realize moving ahead or retreating of snake-shaped robot, thus enhance the applicability of snake-shaped robot.
Accompanying drawing explanation
Fig. 1 is a kind of scale controllable type snake-shaped robot structural representation of the present invention;
Fig. 2 is unit module stereogram of the present invention;
Fig. 3 is unit module front view of the present invention;
Fig. 4 is unit module top view of the present invention;
In figure, 1-Dual-motors Driving steering wheel, 2-module framework, the 3-the first steering wheel linking arm, the 4-the second steering wheel linking arm, the opening and closing of 5-scale control motor, 6-leading screw, 7-screw, 8-guiding plate, 9-scale, 10-connecting rod, 11-guide post.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Figure 1,2,3, 4, a kind of scale controllable type snake-shaped robot, comprises some unit modules, and is joined end to end by some unit modules and combine;
Described unit module comprises Dual-motors Driving steering wheel 1, module framework 2 and scale mechanism, comprise two identical motors, and the motor shaft of two motors be arranged in described Dual-motors Driving steering wheel 1 in parallel;
Described module framework 2 is in disc, two the first steering wheel linking arms 3 are installed with in module framework 2 side, article two, the first steering wheel linking arm 3 is arranged relative to module framework 2 Central Symmetry, two the second steering wheel linking arms 4 are installed with at module framework 2 opposite side, article two, the second steering wheel linking arm 4 is arranged relative to module framework 2 Central Symmetry, and the first steering wheel linking arm 3 differs 90 degree in a circumferential direction with the second steering wheel linking arm 4; Described two the first steering wheel linking arms 3 are connected with the motor shaft of a motor of Dual-motors Driving steering wheel 1;
Described scale mechanism comprises scale opening and closing and controls motor 5, leading screw 6, screw 7, guiding plate 8, scale 9 and connecting rod 10, described scale opening and closing control motor 5 and are arranged on module framework 2, the motor shaft that scale opening and closing control motor 5 is connected mutually with leading screw 6 one end, described screw 7 is fixedly mounted on guiding plate 8, and leading screw 6 and screw 7 are set in together; The root of described scale 9 is hinged on module framework 2, and described connecting rod 10 one end is hinged on the middle part of scale 9, and connecting rod 10 other end is hinged on guiding plate 8.
Described module framework 2 is also provided with guide post 11, guiding plate 8 is provided with pilot hole, guide post 11 is positioned at pilot hole, limits guiding plate 8 rock by guide post 11.
Described scale 9 quantity is 8, and along the circumferential uniform setting of module framework 2.
Described guiding plate 8 adopts disc chuck structure, and the pin joint of described connecting rod 10 and guiding plate 8 is between floral disc arm.
Below in conjunction with accompanying drawing, a use procedure of the present invention is described:
The unit module choosing right quantity is combined into a complete snake-shaped robot in end to end mode, if need snake-shaped robot to creep advance, first need the scale opening and closing in control unit module to control motor 5 to rotate forward, and then drive leading screw 6 to rotate forward, make screw 7 up along leading screw 6, drive guiding plate 8 up by screw 7 again, in the up process of guiding plate 8, by connecting rod 10, scale 9 is strutted, after scale 9 opens and puts in place, scale opening and closing control motor 5 stall, scale 9 maintains open configuration, the tip of scale 9 and earth surface this moment.
Now control two motors rotating in same direction each other of Dual-motors Driving steering wheel 1, before and after making, two adjacent unit modules produce the trend drawn nearer one another, owing to being subject to the effect of scale tribological anisotropy, the frictional force that front end unit module is subject to is large, and the frictional force that backend unit module is subject to is little, cause mass motion trend to be that front end unit module is almost motionless, and backend unit module is drawn forward dynamic; Two motors now controlling Dual-motors Driving steering wheel 1 again rotate backward each other, two unit modules adjacent before and after making produce trend away from each other, owing to being subject to the effect of scale tribological anisotropy, the frictional force that front end unit module is subject to is little, and the frictional force that backend unit module is subject to is large, cause mass motion trend to be that backend unit module is almost motionless, and front end unit module is pushed forward, and then the entirety achieving snake-shaped robot is creeped advance.
Otherwise, if need snake-shaped robot to creep retrogressing, then need the scale opening and closing in control unit module to control motor 5 and rotate backward, and then drive leading screw 6 to rotate backward, make screw 7 descending along leading screw 6, drive guiding plate 8 descending by screw 7 again, in the descending process of guiding plate 8, by connecting rod 10, scale 9 is inwardly retracted closed, when scale 9 is closed put in place after, scale opening and closing control motor 5 stall, and scale 9 maintains closure state, this moment the root of scale 9 and earth surface.
In like manner, control two motors rotating in same direction each other of Dual-motors Driving steering wheel 1, before and after making, two adjacent unit modules produce the trend drawn nearer one another, owing to being subject to the effect of scale tribological anisotropy, the frictional force that front end unit module is subject to is little, and the frictional force that backend unit module is subject to is large, cause mass motion trend to be that backend unit module is almost motionless, and front end unit module is pulled rearward dynamic; Two motors now controlling Dual-motors Driving steering wheel 1 again rotate backward each other, two unit modules adjacent before and after making produce trend away from each other, owing to being subject to the effect of scale tribological anisotropy, the frictional force that front end unit module is subject to is large, and the frictional force that backend unit module is subject to is little, cause mass motion trend to be that front end unit module is almost motionless, and backend unit module is pushed rearward dynamic, and then the entirety achieving snake-shaped robot is creeped retrogressing.
Scheme in embodiment is also not used to limit scope of patent protection of the present invention, and the equivalence that all the present invention of disengaging do is implemented or changed, and is all contained in the scope of the claims of this case.
Claims (4)
1. a scale controllable type snake-shaped robot, is characterized in that: comprise some unit modules, and is joined end to end by some unit modules and combine;
Described unit module comprises Dual-motors Driving steering wheel, module framework and scale mechanism, comprise two identical motors, and the motor shaft of two motors be arranged in described Dual-motors Driving steering wheel in parallel;
Described module framework is disc, two the first steering wheel linking arms are installed with in module framework side, article two, the first steering wheel linking arm is arranged relative to module framework Central Symmetry, two the second steering wheel linking arms are installed with at module framework opposite side, article two, the second steering wheel linking arm is arranged relative to module framework Central Symmetry, and the first steering wheel linking arm differs 90 degree in a circumferential direction with the second steering wheel linking arm; Described two the first steering wheel linking arms are connected with the motor shaft of a motor of Dual-motors Driving steering wheel;
Described scale mechanism comprises scale opening and closing and controls motor, leading screw, screw, guiding plate, scale and connecting rod, described scale opening and closing control motor and are arranged on module framework, the motor shaft that scale opening and closing control motor is connected mutually with leading screw one end, described screw is fixedly mounted on guiding plate, and leading screw and nut sleeve are fitted together; The root of described scale is hinged on module framework, and described connecting rod one end is hinged in the middle part of scale, and the connecting rod other end is hinged on guiding plate.
2. a kind of scale controllable type snake-shaped robot according to claim 1, is characterized in that: on described module framework, be also provided with guide post, guiding plate is provided with pilot hole, guide post is positioned at pilot hole, is rocked by guide post restriction guiding plate.
3. a kind of scale controllable type snake-shaped robot according to claim 1, is characterized in that: described scale quantity is some, and along the uniform setting of module framework circumference.
4. a kind of scale controllable type snake-shaped robot according to claim 1, is characterized in that: described guiding plate adopts disc chuck structure, and the pin joint of described connecting rod and guiding plate is between floral disc arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410663548.4A CN104440897B (en) | 2014-11-19 | 2014-11-19 | A kind of scale controllable type snake-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410663548.4A CN104440897B (en) | 2014-11-19 | 2014-11-19 | A kind of scale controllable type snake-shaped robot |
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| Publication Number | Publication Date |
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| CN104440897A true CN104440897A (en) | 2015-03-25 |
| CN104440897B CN104440897B (en) | 2016-01-20 |
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| CN201410663548.4A Expired - Fee Related CN104440897B (en) | 2014-11-19 | 2014-11-19 | A kind of scale controllable type snake-shaped robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104723346A (en) * | 2015-03-23 | 2015-06-24 | 南京航空航天大学 | Snake gastrostege simulated structure of tribological anisotropy and preparation method |
| CN108860354A (en) * | 2018-03-30 | 2018-11-23 | 西南交通大学 | A kind of electric power tower climbing robot and its obstacle-detouring method |
| CN110561388A (en) * | 2019-08-30 | 2019-12-13 | 东北大学 | modular mesh robot |
| CN110755003A (en) * | 2019-11-01 | 2020-02-07 | 杭州埃欧珞机器人科技有限公司 | High altitude glass curtain wall belt cleaning device based on duct fan |
| CN114842729A (en) * | 2022-04-14 | 2022-08-02 | 南京工程学院 | Strong ground-grabbing demonstration bionic crawler |
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| US20040140786A1 (en) * | 2001-03-30 | 2004-07-22 | Johann Borenstein | Apparatus for obstacle traversion |
| WO2012059791A1 (en) * | 2010-11-05 | 2012-05-10 | Rīgas Tehniskā Universitāte | Robotic snake-like movement device |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| KR101280892B1 (en) * | 2012-02-21 | 2013-07-02 | 한국기술교육대학교 산학협력단 | Follower gear assembley and mobile snake robot using the same |
| CN103203742A (en) * | 2013-04-24 | 2013-07-17 | 武汉大学 | Snakelike robot |
| CN103991089A (en) * | 2014-05-22 | 2014-08-20 | 电子科技大学 | Body segment unit for multi-body-segment S-shaped robot |
| CN204278010U (en) * | 2014-11-19 | 2015-04-22 | 东北大学 | A kind of scale controllable type snake-shaped robot |
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2014
- 2014-11-19 CN CN201410663548.4A patent/CN104440897B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20040140786A1 (en) * | 2001-03-30 | 2004-07-22 | Johann Borenstein | Apparatus for obstacle traversion |
| WO2012059791A1 (en) * | 2010-11-05 | 2012-05-10 | Rīgas Tehniskā Universitāte | Robotic snake-like movement device |
| KR101280892B1 (en) * | 2012-02-21 | 2013-07-02 | 한국기술교육대학교 산학협력단 | Follower gear assembley and mobile snake robot using the same |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723346A (en) * | 2015-03-23 | 2015-06-24 | 南京航空航天大学 | Snake gastrostege simulated structure of tribological anisotropy and preparation method |
| CN108860354A (en) * | 2018-03-30 | 2018-11-23 | 西南交通大学 | A kind of electric power tower climbing robot and its obstacle-detouring method |
| CN110561388A (en) * | 2019-08-30 | 2019-12-13 | 东北大学 | modular mesh robot |
| CN110755003A (en) * | 2019-11-01 | 2020-02-07 | 杭州埃欧珞机器人科技有限公司 | High altitude glass curtain wall belt cleaning device based on duct fan |
| CN110755003B (en) * | 2019-11-01 | 2023-05-30 | 杭州埃欧珞机器人科技有限公司 | High-altitude glass curtain wall cleaning device based on duct fan |
| CN114842729A (en) * | 2022-04-14 | 2022-08-02 | 南京工程学院 | Strong ground-grabbing demonstration bionic crawler |
| CN114842729B (en) * | 2022-04-14 | 2023-12-05 | 南京工程学院 | Powerful ground-grabbing teaching bionic crawler |
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| CN104440897B (en) | 2016-01-20 |
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Granted publication date: 20160120 Termination date: 20211119 |