CN2649273Y - Snake-shaped robot with automatic motion mode changing function - Google Patents
Snake-shaped robot with automatic motion mode changing function Download PDFInfo
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- CN2649273Y CN2649273Y CN 03238081 CN03238081U CN2649273Y CN 2649273 Y CN2649273 Y CN 2649273Y CN 03238081 CN03238081 CN 03238081 CN 03238081 U CN03238081 U CN 03238081U CN 2649273 Y CN2649273 Y CN 2649273Y
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- 230000033001 locomotion Effects 0.000 title claims abstract description 34
- 241001597062 Channa argus Species 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 239000006185 dispersion Substances 0.000 claims description 3
- 239000004576 sand Substances 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005021 gait Effects 0.000 abstract description 2
- 239000002689 soil Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 241000270295 Serpentes Species 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Abstract
The utility model relates to a robot research and engineering field specifically disclose a snake-shaped robot with automatic transform motion mode. The snake-shaped robot mechanism consists of a plurality of identical modules, wherein the head of the snake-shaped robot is provided with a main control unit of a ground characteristic detection device, each module is provided with an execution unit, the execution units receive control signals of the main control unit, and the execution units are connected through a CAN bus to form a distributed control system. According to the detection result of the ground characteristic detection device, the snake-shaped robot can automatically change gait motion on various different grounds (hard ground, soft ground, sand ground and the like) so as to adapt to different grounds.
Description
Technical field
The utility model relates to robot research and engineering field, specifically is a kind of snake-shaped robot with automatic conversion motion mode.
Technical background
Biological snake has a lot of abilities to adapt to new environment, is a kind of ability of snake by changing the motion mode new environment that makes an immediate response, and for example, snake is (as hard place, sand ground, weak soil etc.) on different ground, can adopt different motion modes.Though existing snake-shaped robot has multiple motion mode, can only move by fixing mode, can not be on different ground conversion motion mode automatically.This is restricted the application of snake-shaped robot.
The utility model content
In order to overcome the above-mentioned snake-shaped robot motion mode deficiency of conversion automatically, the purpose of this utility model provides a kind of snake-shaped robot new, that have automatic conversion motion mode.
To achieve these goals, the technical solution of the utility model is: adopt the joint module of snakehead and a plurality of identical single-degree-of-freedoms, two adjacent blocks are by differing equidirectional the coupling together of 90 degree, and formation can be carried out the snake-shaped robot of three-dimensional motion; Partly locate to be provided with main control unit and ground characteristics checkout gear at snakehead, establish performance element on each joint module, performance element receives the control signal of main control unit, connects by the CAN bus between the performance element, forms dcs;
Wherein: described ground characteristics checkout gear is installed in the snakehead shell, be made up of pressure sensor, depression bar, contact, housing parts, pressure sensor is installed in the top and the both sides of enclosure interior, and contact is positioned on the bottom of depression bar, have the narrow down wide shape that, depression bar is movably arranged on enclosure interior;
Described performance element is made up of intelligent rotating unit and single-chip microcomputer, single-chip microcomputer receives the main control unit signal by the CAN EBI, its output signal is controlled intelligent rotating unit, the motion of intelligence rotating unit control joint module, the electric interfaces of intelligent rotating unit links to each other with the single-chip microcomputer of this performance element by three core connectors; Described single-chip microcomputer is installed in the fixed head side;
Described main control unit is electrically connected with the performance element of each dispersion by the CAN bus, partly form by single-chip microcomputer, ground characteristics testing circuit and CAN EBI, the pressure sensor output signal and the first～three operational amplifier connect and compose the ground characteristics testing circuit, the AD converter that exports single-chip microcomputer to of ground characteristics testing circuit, described single-chip microcomputer are delivered to control signal the input end interface circuit of the single-chip microcomputer of performance element again by the CAN EBI; Pressure sensor is installed in ground characteristics checkout gear top, left side, right side respectively.
Described ground characteristics checkout gear can be told multiple different ground (hardstand, weak soil, sand ground etc.), testing result according to the ground characteristic detection device, snake-shaped robot adopts the wriggling movement mode to move on hardstand, on weak soil, snake-shaped robot adopts the stretching motion mode to move, on sand ground, snake-shaped robot adopts the lateral movement mode to move.
The utlity model has following beneficial effect:
The utility model adaptive capacity height.Because the ground characteristics checkout gear is installed on the snakehead, match with the main control unit of installing in the performance element of joint module, the snakehead, make snake-shaped robot can tell multiple different ground (hardstand, weak soil, sand ground etc.), can be at multiple different ground (hardstand, weak soil, sand ground etc.) automatic conversion gait motion, to adapt to different ground.The joint module of the single-degree-of-freedom that the utility model adopts is all interchangeable, uses flexibly.
Description of drawings
Fig. 1 is the utility model structural representation.
Fig. 2 is the joint module structural representation of the utility model single-degree-of-freedom.
Fig. 3 spends the direction connection diagrams for two modules of the utility model by differing 90.
Fig. 4 is the utility model whole system circuit block diagram.
Fig. 5-1 is the circuit block diagram of the utility model performance element.
Fig. 5-2 is the circuit theory diagrams of the utility model performance element.
Fig. 6 is the circuit theory diagrams of the main control unit on the utility model snakehead.
Fig. 7-1 is the utility model ground characteristics checkout gear scheme of installation.
Fig. 7-2 is the utility model ground characteristics checkout gear structural representation.
The specific embodiment
The utility model is described in further detail below in conjunction with embodiment.
The utility model overall structure as shown in Figure 1, wherein 1 is snakehead, 2 is joint module, 3 is the ground characteristics checkout gear; The joint module of single-degree-of-freedom can be with two modules by differing equidirectional the coupling together of 90 degree by screw, as shown in Figure 3, the joint module 2 of each single-degree-of-freedom has intelligent rotating unit, portable plate, connecting plate, described joint module passes through portable plate, connecting plate links to each other successively, as shown in Figure 2, described each joint module comprises connecting plate 21, fixed head 22, intelligence rotating unit 23, rotating shaft 24, portable plate 25, the bottom surface 27 of imitative snakeskin material, described bottom surface 27 is installed in the bottom of portable plate 25, portable plate 25 is a Qian shape, opening is towards a side, horizontal positioned, it is positioned at, the two side of below flexibly connects by rotating shaft 24 and servo controller 23, and portable plate 25 can rotate with rotating shaft, and intelligent rotating unit 23 is installed together with fixed head 22, fixed head 22 is a Qian shape, opening towards with portable plate 25 openings towards opposite, horizontal positioned, bottom and connecting plate 21 are connected, present embodiment is formed a snake-shaped robot by 16 joint modules, and track route can be S shape etc.; Rotating shaft 24 is the joint of joint module; 26 is pad.
As Fig. 5-1, shown in the 5-2, each joint module 2 is provided with a performance element, performance element is made up of intelligent rotating unit 23 (adopting the R/C servomechanism of JR4721 model) and single-chip microcomputer U1 (adopting the MB90F549 chip), single-chip microcomputer U1 receives the main control unit signal by CAN EBI U2 (adopting the 82C250 chip), its output signal is controlled intelligent rotating unit, again by intelligent rotating unit 23 control joint module motions, intelligence rotating unit 23 electric interfaces are three line (control signals, power supply, ground), link to each other with the single-chip microcomputer U1 of this performance element by three core connectors; Single-chip microcomputer U1 is installed in fixed head 22 sides.
Ground characteristics checkout gear 3 is housed in the snakehead shell 11, be used for detecting ground characteristics, mounting means is shown in Fig. 7-1, structure is shown in Fig. 7-2, by pressure sensor 13, depression bar 14, contact 15, housing 17 parts are formed, pressure sensor 13 is installed in the top and the both sides of housing 17 inside, contact 15 is positioned on the bottom of depression bar 14, has the narrow down wide shape that, and depression bar 14 is installed in housing 17 inside, depression bar 14 can move up and down, contact with the pressure sensor 13 at top, measure the normal pressure on ground, simultaneously also can move left and right, contact with the pressure sensor of both sides, measure side-friction force.16 is the bottom surface.
The present embodiment snake-shaped robot is made up of 16 joint modules, realizes corresponding motion by the angle that relatively rotates of controlling each joint module.Its motion is by the main control unit control that is provided with in the snakehead part, main control unit couples together by the performance element of CAN bus with each dispersion, constitute snake-shaped robot control system as shown in Figure 4, main control unit on the snakehead 1 as shown in Figure 6, by single-chip microcomputer U1, ground characteristics testing circuit and CAN EBI are partly formed, pressure sensor is (respectively at the top of housing 17, the left side, the right side) output signal and the first～three operational amplifier U3～U5 (adopting the AD623 chip) connect and compose the ground characteristics testing circuit, it exports the AD converter of single-chip microcomputer U1 to, and described single-chip microcomputer U1 delivers to control signal the interface circuit of input of the single-chip microcomputer U1 of performance element again by the CAN EBI.
During the snake-shaped robot setting in motion, gather force sensor signals earlier, judge ground characteristics according to signal, adopt then and the corresponding motion mode motion in ground, when being hardstand, then wriggle and prolong motion, then carry out lateral movement when being sand ground, then carry out stretching motion when being weak soil ground.Characteristics of the present utility model are, can adopt the optimal movement mode to move automatically on different ground, have improved the adaptive capacity of snake-shaped robot.
Claims (6)
1. snake-shaped robot with automatic conversion motion mode, joint module by snakehead and a plurality of single-degree-of-freedoms is formed, it is characterized in that: the place is provided with main control unit and ground characteristics checkout gear (3) in snakehead (1) part, each joint module is established performance element on (2), performance element receives the control signal of main control unit, connect by the CAN bus between the performance element, form dcs.
2. according to the described snake-shaped robot of claim 1 with automatic conversion motion mode, it is characterized in that: described ground characteristics checkout gear (3) is installed in the snakehead shell (11), form by pressure sensor (13), depression bar (14), contact (15), housing (17) parts, pressure sensor (13) is installed in housing (17) inner top and both sides, contact (15) is positioned on the bottom of depression bar (14), have the narrow down wide shape that, depression bar (14) is movably arranged on housing (17) inside.
3. according to the described snake-shaped robot of claim 1 with automatic conversion motion mode, it is characterized in that: described performance element is made up of intelligent rotating unit (23) and single-chip microcomputer (U1), single-chip microcomputer (U1) receives the main control unit signal by CAN bus interface (U2), its output signal is controlled intelligent rotating unit (23), the motion of intelligence rotating unit (23) control joint module, the electric interfaces of intelligent rotating unit (23) links to each other with the single-chip microcomputer (U1) of this performance element.
4. according to the described snake-shaped robot with automatic conversion motion mode of claim 3, it is characterized in that: described single-chip microcomputer (U1) is installed in fixed head (22) side.
5. according to the described snake-shaped robot of claim 1 with automatic conversion motion mode, it is characterized in that: described main control unit is electrically connected with the performance element of each dispersion by the CAN bus, by single-chip microcomputer (U1), ground characteristics testing circuit (12) and CAN EBI are partly formed, (U3～U5) connects and composes ground characteristics testing circuit (12) for the pressure sensor output signal and the first～three operational amplifier, the AD converter that exports single-chip microcomputer (U1) to of ground characteristics testing circuit (12), described single-chip microcomputer (U1) are delivered to control signal the input end interface circuit of the single-chip microcomputer (U1) of performance element again by the CAN EBI.
6. according to claim 2 or 5 described snake-shaped robots with automatic conversion motion mode, it is characterized in that: pressure sensor (13) is installed in ground characteristics checkout gear (3) top, left side, right side respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03238081 CN2649273Y (en) | 2003-09-04 | 2003-09-04 | Snake-shaped robot with automatic motion mode changing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03238081 CN2649273Y (en) | 2003-09-04 | 2003-09-04 | Snake-shaped robot with automatic motion mode changing function |
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| Publication Number | Publication Date |
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| CN2649273Y true CN2649273Y (en) | 2004-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 03238081 Expired - Lifetime CN2649273Y (en) | 2003-09-04 | 2003-09-04 | Snake-shaped robot with automatic motion mode changing function |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102298387A (en) * | 2011-06-30 | 2011-12-28 | 浙江工业大学 | Meandering movement gait control method of Pitch-Yaw structure modularization robot |
| CN102390449A (en) * | 2011-09-20 | 2012-03-28 | 杭州电子科技大学 | Head raising and turning mechanism of mechanical snake |
| CN102815347A (en) * | 2012-07-31 | 2012-12-12 | 东南大学 | Modularized reconfigurable single-link crawling robot and marching method thereof |
| CN103259705A (en) * | 2013-04-18 | 2013-08-21 | 华南理工大学 | Snake-shaped robot communication system based on CAN bus with power supply isolation |
| CN103978485A (en) * | 2014-05-15 | 2014-08-13 | 郑天江 | Snake-like soft-bodied robot control system and control method |
| CN105128032A (en) * | 2015-09-22 | 2015-12-09 | 成都理工大学 | Snake-shaped robot with nuclear equipment pipeline detecting function |
| CN110053033A (en) * | 2019-05-24 | 2019-07-26 | 北京深醒科技有限公司 | A kind of modularization snake-shaped robot and its working method for security protection patrol |
| US11623703B2 (en) | 2017-10-31 | 2023-04-11 | Crover Ltd | Propulsion in granular media |
-
2003
- 2003-09-04 CN CN 03238081 patent/CN2649273Y/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102298387A (en) * | 2011-06-30 | 2011-12-28 | 浙江工业大学 | Meandering movement gait control method of Pitch-Yaw structure modularization robot |
| CN102298387B (en) * | 2011-06-30 | 2013-04-24 | 浙江工业大学 | Meandering movement gait control method of Pitch-Yaw structure modularization robot |
| CN102390449A (en) * | 2011-09-20 | 2012-03-28 | 杭州电子科技大学 | Head raising and turning mechanism of mechanical snake |
| CN102815347A (en) * | 2012-07-31 | 2012-12-12 | 东南大学 | Modularized reconfigurable single-link crawling robot and marching method thereof |
| CN103259705A (en) * | 2013-04-18 | 2013-08-21 | 华南理工大学 | Snake-shaped robot communication system based on CAN bus with power supply isolation |
| CN103259705B (en) * | 2013-04-18 | 2016-04-13 | 华南理工大学 | Based on the snake-shaped robot communication system of the CAN of charged isolation |
| CN103978485A (en) * | 2014-05-15 | 2014-08-13 | 郑天江 | Snake-like soft-bodied robot control system and control method |
| CN105128032A (en) * | 2015-09-22 | 2015-12-09 | 成都理工大学 | Snake-shaped robot with nuclear equipment pipeline detecting function |
| US11623703B2 (en) | 2017-10-31 | 2023-04-11 | Crover Ltd | Propulsion in granular media |
| CN110053033A (en) * | 2019-05-24 | 2019-07-26 | 北京深醒科技有限公司 | A kind of modularization snake-shaped robot and its working method for security protection patrol |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20030904 |
|
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20030904 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |