CN103831840A - Lasso-drive-based search mechanism for robot - Google Patents
Lasso-drive-based search mechanism for robot Download PDFInfo
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- CN103831840A CN103831840A CN201410123298.5A CN201410123298A CN103831840A CN 103831840 A CN103831840 A CN 103831840A CN 201410123298 A CN201410123298 A CN 201410123298A CN 103831840 A CN103831840 A CN 103831840A
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Abstract
The invention discloses a lasso-drive-based search mechanism for a robot. The lasso-drive-based search mechanism comprises a camera and a rotation unit. The rotation unit comprises a first connecting piece, a second connecting piece, two steel ropes, two spring sleeves, a flat key, an angle transducer, a rotating shaft and an elastic check ring. The first connecting piece comprises a top plate and a boss; the second connecting piece comprises a bottom plate and locating plates; the boss of the first connecting piece is located between the two locating plates of the second connecting piece, and the rotating shaft is arranged in a first mounting hole and a second mounting hole; one end of each steel rope is fixedly connected in a locating hole, the other end of each steel rope penetrates through a second through hole of the bottom plate and is located in one spring sleeve, one end of each spring sleeve is fixedly connected to the bottom plate, and the other end of each spring sleeve is a free end; the angle transducer is fixedly connected to the tail end of the rotating shaft; the camera is fixedly connected to the top face of the top plate of the first connecting piece. The lasso-drive-based search mechanism is high in flexibility and adaptability and capable of completing search in multiple directions.
Description
Technical field
The invention belongs to robot field, specifically, relate to a kind of search mechanism driving based on lasso trick for robot, be mainly applicable to the field such as search and rescue and pipeline detection towards inside, ruins.
Background technology
The taking place frequently of man-made disaster such as the natural calamities such as earthquake for some years recently,, mud-rock flow and fire, the attack of terrorism impel a lot of countries and R&D institution to do a large amount of research work to search and rescue robot.Therefore Robotics starts to play the part of more and more heavier role in post-disaster search and rescue.As after the earthquake of Yaan, Sichuan, by Shenyang automation research and the non-license fighter toy of Earthquake In China emergency rescue center joint development, the achievements such as rotor wing unmanned aerial vehicle have all participated in searching rescue work after calamity.In addition the search and rescue snake robot Unified Snake of the research and development such as U.S. Cornell Wright, the ACM-R5 of the snakelike search and rescue robot of ACM series of Fukushima, Japan Guang Lai robot lab design, the snakelike search and rescue robot of Osaka university research and development etc. is all the robot that typically inner expansion is searched and rescued towards ruins.
Have numerous power delivery modes in Robotics field, wherein lasso trick transmission is a kind of more special kind of drive.The transmission of the elongated flexible that it is made up of " cable wire " and " body ".Relatively more typical application is exactly " brake cable ".Lasso trick transmission can realize remote undersized transferring power, and it can reduce robot architecture's complexity and processing cost effectively, is specially adapted to the slender type search and rescue robot towards inside, ruins.But in prior art also not for robot based on lasso trick drive search mechanism.
Summary of the invention
technical problem:technical problem to be solved by this invention is: a kind of search mechanism driving based on lasso trick for robot is provided, this search mechanism has enough flexibility ratios and adaptability, when can completing multidirectional search, also can gather necessary image information, analyze for rescue personnel.
technical scheme:for solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of search mechanism driving based on lasso trick for robot, this search mechanism comprises camera and turning unit, turning unit comprises the first connector, the second connector, two cable wires, two spring housings, flat key, angular transducer, rotating shaft and circlips, the first connector comprises top board and is fixedly connected on the boss of top board end face, boss top is semicircle, the end face of boss is provided with arc groove, the two ends of arc groove are provided with locating hole, boss is provided with the first installing hole, and top board is provided with the first through hole; The second connector comprises base plate and be fixedly connected on two location-plates on base plate, and two location-plates are oppositely arranged, and two location-plates are provided with the second coaxial installing hole, and base plate is provided with the second through hole; The boss of the first connector is between two location-plates of the second connector, and rotating shaft is arranged in the first installing hole and the second installing hole, turns the tip of the axis and is provided with draw-in groove and is used for fixing circlip; Boss is connected by rotating shaft with two location-plates, and rotating shaft is connected with the first connector by flat key through the first installing hole; One end of every cable wire is fixedly connected in a locating hole, and the other end of cable wire, through the second through hole of base plate, is arranged in spring housing, and one end of spring housing is fixedly connected on base plate, and the other end of spring housing is free end; Angular transducer is fixedly connected on rotating shaft end; Camera is fixedly connected on the end face of the first connector top board.
Further, the described search mechanism driving based on lasso trick for robot, also comprises copper sheathing, and copper sheathing is arranged in the second installing hole, and copper sheathing outside wall surface and the second installing hole interference fits, copper sleeve inner hole and rotating shaft interference fits.
Further, described turning unit is n, and n turning unit is linked in sequence, and the base plate of previous turning unit is fixedly connected with the top board of a rear turning unit, and n is more than or equal to 2 integer.
Further, described two adjacent turning units, the angle between two shaft axis is 90 degree.
Further, described n is 4.
beneficial effect:compared with prior art, technical scheme of the present invention has following beneficial effect:
(1) there is enough flexibility ratios and adaptability.Search mechanism of the present invention comprises turning unit and camera.Camera is fixedly connected on turning unit, realizes collection and transmission to front image.Turning unit is driven by a pair of lasso trick, and two spring housings are separately fixed in the second connector base plate.After passing respectively from two spring housings 5, two cable wires are fixed in the locating hole of boss both sides of the first connector.In the time pulling a cable wire, this cable wire, along the relative motion of spring housing inner hole wall, pulls the first connector to rotate with respect to the second connector simultaneously, and the direction of rotation is drawn a side of cable wire, and the center of rotation is the center line of rotating shaft.Otherwise in the time pulling the cable wire of opposite side, the first connector rotates to opposite side.Like this, under the driving of a pair of lasso trick, the left-right rotation in certain limit can be realized in this joint, thereby completes the search mission of sector region in a plane.The present invention improves common gyroscope wheel mode, and gyroscope wheel and upper junction plate are made to a part, as the first connector, has reduced complexity and the assembly difficulty of revolute joint, has improved stability.
(2) can complete multidirectional search.Search mechanism of the present invention adopts modularized design, therefore the quantity of turning unit can be multiple, is not limited to one.Search mechanism comprises n turning unit, and n turning unit is linked in sequence, and the base plate of previous turning unit is fixedly connected with the top board of a rear turning unit, and the shaft axis of adjacent two turning units becomes 90 degree to be interspersed, and n is more than or equal to 2 integer.Multiple turning units are set and can expand hunting zone, realize the search of different directions in space.
Brief description of the drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the cutaway view of the turning unit in the present invention.
Fig. 3 is the structure chart of the first connector in the present invention.
Fig. 4 is the structure chart of the second connector in the present invention.
In figure, have: camera 1, the first connector 2, the second connector 3, cable wire 4, spring housing 5, flat key 6, angular transducer 7, rotating shaft 9, circlip 10, top board 201, boss 202, arc groove 203, locating hole 204, the first through hole 205, the first installing hole 206, base plate 301, location-plate 302, the second installing hole 303, the second through hole 304.
Detailed description of the invention
Below in conjunction with accompanying drawing, describe technical scheme of the present invention in detail.
As shown in Figures 1 to 4, a kind of search mechanism driving based on lasso trick for robot of the present invention, comprises camera 1 and turning unit.Turning unit comprises the first connector 2, the second connector 3, two cable wires 4, two spring housings 5, flat key 6, angular transducer 7, rotating shaft 9 and circlips 10.The first connector 2 comprises top board 201 and the boss 202 that is fixedly connected on top board 201 end faces, and boss 202 tops are semicircle, and the end face of boss 202 is provided with arc groove 203.The two ends of arc groove 203 are provided with locating hole 204.Arc groove 203 leads to cable wire 4, and its excircle along boss 202 is moved.Boss 202 is provided with the first installing hole 206.Top board 201 is provided with the first through hole 205.The second connector 3 comprises base plate 301 and is fixedly connected on two location-plates 302 on base plate 301.Two location-plates 302 are oppositely arranged.Two location-plates 302 are provided with the second coaxial installing hole 303.Base plate 301 is provided with the second through hole 304.The boss 202 of the first connector 2 is between two location-plates 302 of the second connector 3, and rotating shaft 9 is arranged in the first installing hole 206 and the second installing hole 303, and the end of rotating shaft 9 is provided with draw-in groove and is used for installing circlip 10.Boss 202 is connected by rotating shaft 9 with two location-plates 302, and rotating shaft 9 is connected with the first connector 2 by flat key 6 through the first installing hole 206.One end of every cable wire 4 is fixedly connected in a locating hole 204.The other end of cable wire 4, through the second through hole 304 of base plate 301, is arranged in spring housing 5.One end of spring housing 5 is fixedly connected on the bottom surface of base plate 301, and the other end of spring housing 5 is free end.Angular transducer 7 is fixedly connected on rotating shaft 9 ends.Camera 1 is fixedly connected on the end face of the first connector top board 201.
In above-mentioned search mechanism, one end of rotating shaft 9 is provided with the shaft shoulder, for limiting its axially-movable.The other end of rotating shaft 9 is provided with annular slot and one section of D profile shaft.The effect of draw-in groove is that circlip for shaft 10 is installed.D profile shaft section is for setting angle sensor 7.The movement angle of turning unit can be measured by angular transducer 7 the rotational angle acquisition of rotating shaft 9.
The assembly relation of the above-mentioned search mechanism driving based on lasso trick for robot is: the top board 201 that camera 1 is fixed on to the first connector 2 of turning unit, the boss of the first connector 2 202 is embedded between two location-plates 302 of the second connector 3, and rotating shaft 9 is arranged in the first installing hole 206 and the second installing hole 303, when passing the first installing hole 206, rotating shaft 9 is connected with the first connector 2 with flat key 6, the end of rotating shaft 9 arranges annular slot and is used for installing circlip 10, prevent that rotating shaft 9 is in rotation process, depart from the first installing hole 206 and the second installing hole 303.Turning unit shaft 9 ends are all provided with angular transducer 7, for measuring the corner of search turning unit, for the calculating of whole mechanism pose.Camera 1 is for the image information of collecting mechanism front end.
The search mechanism driving based on lasso trick for robot of said structure, the course of work of a turning unit is: a turning unit is driven by a pair of lasso trick, two spring housings 5 are separately fixed in the second connector base plate 301, for example, be fixed in two spring housing fixing holes of the second connector base plate 301.After passing respectively from two spring housings 5, two cable wires 4 are fixed in the locating hole 204 of boss 202 both sides of the first connector.Can in the one side of boss 202, screwed hole be set, screwed hole and locating hole 204 connect.Screw in from screwed hole with trip bolt, compress cable wire 4 joints.So just complete the fixing of a pair of lasso trick.In the time pulling a cable wire 4, this cable wire, along spring housing 5 inner hole wall relative motions, pulls the first connector 2 to rotate with respect to the second connector 3 simultaneously, and the direction of rotation is drawn a side of cable wire, and the center of rotation is the center line of rotating shaft 9.Otherwise in the time pulling the cable wire 4 of opposite side, the first 2 of connectors rotate to opposite side.Like this, under the driving of a pair of lasso trick, the left-right rotation in certain limit can be realized in this joint, thereby completes the search mission of sector region in a plane.
Further, the described search mechanism driving based on lasso trick for robot, also comprises copper sheathing 8, and copper sheathing 8 is arranged in the second installing hole 303, and the outside wall surface of copper sheathing 8 and the second installing hole 303 interference fits, copper sheathing 8 endoporus and rotating shaft 9 interference fits.8 of copper sheathings and the second installing hole 303 and rotating shaft 9 contact, and flat key 6 is used for the boss 202 of connection rotating shaft 9 and the first connector 2.Like this, the first connector 2 and the second connector 3 can relatively rotate, and rotating shaft 9 is rotated with the first connector 2.The material of copper sheathing 8 is tin bronze.It matches with the second installing hole 303 and rotating shaft 9, and copper material can reduce rotation friction, increases anti-wear performance, overcome rotating shaft 9 and directly contact the shortcomings such as serious wear, the frictional force brought are large with the second installing hole 303, and cost is low, simple in structure.
Further, above-mentioned turning unit adopts modularized design, therefore the quantity of turning unit can be multiple, is not limited to one.Search mechanism comprises n turning unit, n turning unit is linked in sequence, and the base plate 301 of previous turning unit is fixedly connected with the top board 201 of a rear turning unit, and the shaft axis of adjacent two turning units becomes 90 degree to be interspersed, and n is more than or equal to 2 integer.Multiple turning units are set and can expand hunting zone, realize the search of different directions in space.4 turning units to be set as example, exposed installation is put the advantage of multiple turning units below.
Be positioned on the top board 201 of the first connector that search mechanism camera 1 is foremost arranged on first turning unit, then four turning units are installed successively.Between every two adjacent turning units, the angle between two rotating shaft 9 axis is 90 °.Each turning unit is driven by a pair of lasso trick, and four turning units need four pairs of lasso tricks to drive (each eight of spring housing and cable wire).If first turning unit is realized left-right rotation (swinging) search on horizontal plane, second turning unit being connected with it can be realized rotation up and down (upper and lower pitching) search on vertical plane.By that analogy, what the 3rd revolute joint realized is that level swings, and the 4th is upper and lower pitching search.Match in the joint that difference turns to, the search of search joint in can implementation space.In addition, the motion of multiple turning units stack can be expanded the scope of search greatly.Taking four turning units as example, if first turning unit rotates A angle to certain direction, the 3rd turning unit rotates B angle to this direction equally, and the angle that whole search mechanism is rotated to this direction is A+B, and the scope of search is larger like this.
Claims (5)
1. the search mechanism driving based on lasso trick for robot, it is characterized in that, this search mechanism comprises camera (1) and turning unit, turning unit comprises the first connector (2), the second connector (3), two cable wires (4), two spring housings (5), flat key (6), angular transducer (7), rotating shaft (9) and circlip (10), the first connector (2) comprises top board (201) and is fixedly connected on the boss (202) of top board (201) end face, boss (202) top is semicircle, the end face of boss (202) is provided with arc groove (203), the two ends of arc groove (203) are provided with locating hole (204), boss (202) is provided with the first installing hole (206), top board (201) is provided with the first through hole (205),
The second connector (3) comprises base plate (301) and is fixedly connected on two location-plates (302) on base plate (301), two location-plates (302) are oppositely arranged, two location-plates (302) are provided with coaxial the second installing hole (303), and base plate (301) is provided with the second through hole (304);
The boss (202) of the first connector (2) is positioned between two location-plates (302) of the second connector (3), rotating shaft (9) is arranged in the first installing hole (206) and the second installing hole (303), and the end of rotating shaft (9) is provided with draw-in groove and is used for fixing circlip (10); Boss (202) is connected by rotating shaft (9) with two location-plates (302), and rotating shaft (9) is connected with the first connector (2) by flat key (6) through the first installing hole (206);
One end of every cable wire (4) is fixedly connected in a locating hole (204), the other end of cable wire (4) is through second through hole (304) of base plate (301), be arranged in spring housing (5), it is upper that one end of spring housing (5) is fixedly connected on base plate (301), and the other end of spring housing (5) is free end;
Angular transducer (7) is fixedly connected on rotating shaft (9) end; Camera (1) is fixedly connected on the end face of the first connector top board (201).
2. according to the search mechanism driving based on lasso trick for robot claimed in claim 1, it is characterized in that, also comprise copper sheathing (8), copper sheathing (8) is arranged in the second installing hole (303), and copper sheathing (8) outside wall surface and the second installing hole (303) interference fits, copper sheathing (8) endoporus and rotating shaft (9) interference fits.
3. according to the search mechanism driving based on lasso trick for robot claimed in claim 1, it is characterized in that, described turning unit is n, n turning unit is linked in sequence, and the top board (201) of the base plate of previous turning unit (301) and a rear turning unit is fixedly connected with, and n is more than or equal to 2 integer.
4. according to the search mechanism driving based on lasso trick for robot claimed in claim 3, it is characterized in that, described two adjacent turning units, the angle between two rotating shafts (9) axis is 90 degree.
5. according to the search mechanism driving based on lasso trick for robot claimed in claim 3, it is characterized in that, described n is 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410123298.5A CN103831840A (en) | 2014-03-31 | 2014-03-31 | Lasso-drive-based search mechanism for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410123298.5A CN103831840A (en) | 2014-03-31 | 2014-03-31 | Lasso-drive-based search mechanism for robot |
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| CN103831840A true CN103831840A (en) | 2014-06-04 |
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| CN201410123298.5A Pending CN103831840A (en) | 2014-03-31 | 2014-03-31 | Lasso-drive-based search mechanism for robot |
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Cited By (4)
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| CN105150241A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Two-degree-of-freedom mechanical arm joint driven by ropes |
| CN105313135A (en) * | 2015-11-04 | 2016-02-10 | 上海交通大学 | Serial-connection robot joint mechanism capable of being bent uniformly |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN114852292A (en) * | 2022-04-18 | 2022-08-05 | 武汉大学 | Hybrid-drive underwater unmanned vehicle fused with bionic spine |
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| CN105313135A (en) * | 2015-11-04 | 2016-02-10 | 上海交通大学 | Serial-connection robot joint mechanism capable of being bent uniformly |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN106826907B (en) * | 2017-02-28 | 2019-11-26 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN114852292A (en) * | 2022-04-18 | 2022-08-05 | 武汉大学 | Hybrid-drive underwater unmanned vehicle fused with bionic spine |
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Application publication date: 20140604 |