Reconfigurable driving wheel type joint module and driving wheel type snakelike robot thereof

A technology of joint modules and active joints, applied in manipulators, motor vehicles, program-controlled manipulators, etc., can solve the problems of small joint contact friction, low reconfigurability, complex design, etc., and achieve improved mobility, flexibility and convenience Assembly and disassembly, highly reconfigurable effects

Active Publication Date: 2022-07-29
UNIV OF SCI & TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Most of the joint structures of the existing snake robots adopt wheelless joints or slave wheel joints. These robots can have certain obstacle avoidance and obstacle surmounting capabilities. Can avoid and cross some obstacles, but when encountering special obstacles such as steps, ditches, mud, grass, etc., if the joints are stuck by the obstacles or the contact friction of the joints is small, it is easy to lose the ability to move, resulting in the inability to move smoothly. through obstacles
The snake-like robots with active wheels are equipped with active wheels on the basis of wheelless or secondary wheels to improve the drive required for movement. Rugged and hard terrain environments, such as rubble from collapsed buildings, can also climb stairs, holes, pipes, etc., but these snake-like robots have complex mechanism design, difficult control, and low reconfigurability

Method used

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  • Reconfigurable driving wheel type joint module and driving wheel type snakelike robot thereof
  • Reconfigurable driving wheel type joint module and driving wheel type snakelike robot thereof
  • Reconfigurable driving wheel type joint module and driving wheel type snakelike robot thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0055] In this embodiment, a reconfigurable active wheel joint module of the present invention, such as Figure 1 to Figure 8 As shown in the figure, the active steering gear 62 of the active joint unit 6 is first controlled to rotate, and the output gear is engaged with the driving sprocket 651 for transmission. It is connected with the first lower sprocket 654 to form a first chain assembly 65. The first upper sprocket 652 and the first lower sprocket 654 are in interference fit with the upper driving axle 69 and the lower driving axle 610, and the driving steering gear 62 can drive the upper The driving wheel shaft 69 and the lower driving wheel shaft 610 rotate; the upper driving wheel shaft 69 and the lower driving wheel shaft 610 are in an interference fit with the second upper chain wheel 661 and the second lower chain wheel 662 respectively, and the second upper chain wheel 661 and the second lower chain The wheel 662 and the second chain 662 form the second chain asse...

Embodiment 2

[0057] In this embodiment, a reconfigurable active wheel joint module of the present invention, such as Figure 1 to Figure 8 As shown in the figure, the first steering gear 113 in the first joint unit 1 is controlled to rotate, and the output gear 1133 is engaged with the right flange 115 for transmission, and the right flange 115 is fixedly connected with the right connecting joint plate 122, thereby driving the connecting joint 12 Rotate around the rotary joint 11 in the yaw direction, while the first joint unit 1 is fixedly connected to the active joint unit 6, so that the active joint unit 6 can rotate in the yaw direction; control the first steering gear in the second joint unit 2 113 rotates, and the output gear 1133 meshes with the right flange 115 for transmission, and the right flange 115 is fixedly connected with the right connecting joint plate 122, thereby driving the connecting joint 12 to rotate around the rotating joint 11 in the pitch direction, and at the same...

Embodiment 3

[0059] In this embodiment, an active wheeled snake robot of the present invention, such as Figure 10 and Figure 15 As shown, firstly, a plurality of active wheel joint modules are connected end to end, and the orthogonal joint module 3 is driven by the first steering gear 113 in each module to achieve rotational motion in pitch and yaw directions, and the active steering gear 62 drives the active roller 64 and the active steering gear 64. The wheel 67 rotates, and connects the head module 4 and the tail module 5 of the snake-shaped robot, which can form a three-dimensional motion gait with multiple degrees of freedom and drive by the driving wheel. When the first steering gear 113 that controls the yaw direction of the snake robot works, the first steering gear 113 that controls the pitch direction maintains the zero initial position, the active steering gear 62 is in a non-working state, and the steering gears of the adjacent yaw joints work When the angle is output by the...

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Abstract

The reconfigurable driving wheel type joint module comprises a driving joint unit, a longitudinal joint unit and a transverse joint unit, the longitudinal joint unit and the transverse joint unit are arranged at the front end and the rear end of the driving joint unit, and the longitudinal joint unit is arranged at the front end of the driving joint unit. The joint connecting plate groove in the longitudinal joint unit is clamped to the driving bin connecting plate of the driving joint unit, the transverse joint unit is arranged at the rear end of the driving joint unit, and the bin connecting plate in the transverse joint unit is clamped to the driving bin connecting groove of the driving joint unit. All the modules can be flexibly and conveniently assembled and disassembled, meanwhile, propellers can be arranged on the driving wheels, the driving wheels can be flexibly installed and disassembled according to environmental requirements, then the snakelike robot suitable for different complex terrains can be formed, and the snakelike robot has the advantages of being good in sealing performance and high in reconfigurability and environmental adaptability.

Description

technical field [0001] The invention belongs to the technical field of snake robots, in particular to a reconfigurable active wheel joint module and an active wheel snake robot. Background technique [0002] With the characteristics of strong terrain adaptability, it has a wide range of application scenarios in many fields, such as performing various tasks such as combat, security, reconnaissance, and patrol in harsh battlefield environments, searching in the ruins after earthquakes, fires or landslides, and radiation detection in nuclear power plants. , Bridge cable erosion inspection, pipeline flaw detection, etc. The ability of snake robot to avoid obstacles and overcome obstacles is the key to improve its ability to adapt to the environment. In order to improve the ability to avoid obstacles and overcome obstacles, some joint structures can be optimized and improved. [0003] Most of the joint structures of existing snake robots use wheelless joints or slave wheel joint...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J17/02B60F3/00
CPCB25J9/065B25J17/0258B60F3/0007B60F3/003B60F3/0061
Inventor 吴兆林臧勇郜志英
Owner UNIV OF SCI & TECH BEIJING
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