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CN2774717Y - Snaik shape robot of multiple freedom flexible joints - Google Patents

Snaik shape robot of multiple freedom flexible joints Download PDF

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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
micro
flexible joint
robot
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Expired - Fee Related
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CN 200520068382
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Chinese (zh)
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章军
须文波
吕兵
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Jiangnan University
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Jiangnan University
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Abstract

本实用新型涉及多自由度柔性关节的蛇形机器人，这种蛇形机器人具有稳定性好、横截面小、柔性等特点，能在各种粗糙、陡峭、崎岖的复杂地形上行走，并可攀爬障碍物，因此，在救援、探查、星球探测等方面具有广阔的应用前景，并为研究蛇类运动的运动机理、动力学、运动控制方法等提供实验本体，属于机器人应用技术领域。蛇的基本单元——柔性关节模块，该关节模块有多自由度气动式柔性关节、微型步进电机、微型步进电机驱动器、旋转配气阀组成；以此关节模块为蛇的主干，连接成如蛇的脊椎骨式的结构，并同蛇头的接收与控制装置和蛇尾的微型气泵连接一体，构成蛇形机器人；以主控计算机发出的遥控信号，控制蛇形机器人的运动。

Figure 200520068382

The utility model relates to a snake-shaped robot with multi-degree-of-freedom flexible joints. The snake-shaped robot has the characteristics of good stability, small cross-section, and flexibility. Climbing obstacles, therefore, has broad application prospects in rescue, exploration, planetary detection, etc., and provides an experimental body for studying the motion mechanism, dynamics, and motion control methods of snake motion, which belongs to the field of robot application technology. The basic unit of the snake is the flexible joint module, which is composed of a multi-degree-of-freedom pneumatic flexible joint, a micro-stepping motor, a micro-stepping motor driver, and a rotary air distribution valve; the joint module is the backbone of the snake, and it is connected into a The spine-like structure of a snake is connected with the receiving and control device of the snake head and the micro-pump of the snake tail to form a snake-like robot; the movement of the snake-like robot is controlled by the remote control signal sent by the main control computer.

Figure 200520068382

Description

The snake-shaped robot in multiple degrees of freedom flexible joint
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)

1. the utility model relates to the snake-shaped robot in multiple degrees of freedom flexible joint, it is characterized 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, 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; Below flexible joint module (6) junction battery (3) is housed dispersedly, is 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.
2. the snake-shaped robot in multiple degrees of freedom flexible according to claim 1 joint, the structure that it is characterized in that described flexible joint module (6) is as follows: ripple shell (11) 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 sealing ring (13) sealing is arranged between joint (14) and tailstock (12), has 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 separately 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 fastening by the regular polygon seat (19) at nut and two ends, and the cooperating of regular polygon seat (19) interstitial hole at the axle journal at universal ball joint (18) two ends and two ends is matched in clearance; Micro-step motor (21) drives rotation distributing valve (22) rotation or location, 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).
3. the flexible joint module (6) of the snake-shaped robot in multiple degrees of freedom flexible according to claim 2 joint, it is characterized in that described rotation distributing valve (22) structure is as follows: 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) mesopore and connects elastic packing lining (28).
4. the flexible joint module (6) of the bionic machine fish of a kind of swing type flexible joint according to claim 2, the vertical sectional shape that it is characterized in that the single-unit ripple shell of described ripple shell (11) is the rubber bellows of shapes such as " V ", " U ", " Ω ".
CN 200520068382 2005-01-17 2005-01-17 Snaik shape robot of multiple freedom flexible joints Expired - Fee Related CN2774717Y (en)

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CN102416622A (en) * 2011-09-13 2012-04-18 上海交通大学 Bionic snake mouth mechanism
CN102416622B (en) * 2011-09-13 2013-10-16 上海交通大学 Bionic snake mouth mechanism
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
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