CN103878768A - Snakelike search-and-rescue robot - Google Patents

Snakelike search-and-rescue robot Download PDF

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Publication number
CN103878768A
CN103878768A CN201410102214.XA CN201410102214A CN103878768A CN 103878768 A CN103878768 A CN 103878768A CN 201410102214 A CN201410102214 A CN 201410102214A CN 103878768 A CN103878768 A CN 103878768A
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CN
China
Prior art keywords
reel
cavity ring
rescue robot
snakelike
search
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CN201410102214.XA
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Chinese (zh)
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CN103878768B (en
Inventor
胡海燕
李伟达
李娟�
李春光
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Suzhou University
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Suzhou University
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Publication of CN103878768B publication Critical patent/CN103878768B/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention discloses a snakelike search-and-rescue robot which is composed of a plurality of modules. The modules are connected end to end, wherein the head end of the module at the head portion is provided with a camera and a light source. Each module comprises a body which can deflect in multiple directions and connection parts arranged at the two ends of the body, wherein the body comprises a plurality of hollow rings which are respectively provided with four movable connection points, the two opposite movable connection points are arranged on the upper surface of the corresponding hollow ring, and the other two movable connection points are arranged on the lower surface of the corresponding hollow ring. The adjacent hollow rings are movably connected through the movable connection points. The modules can deflect in multiple directions so that the snakelike robot can operate more flexibly in various environments. The modules are integrally wrapped by a protection net and a waterproof protection sleeve, the waterproof function is achieved, and meanwhile the service life of the robot can be effectively prolonged.

Description

A kind of snakelike search and rescue robot
Technical field
The present invention relates to a kind of robot architecture, relate in particular to a kind of snakelike search and rescue robot.
Background technology
Snake-shaped robot is the study hotspot in bio-robot field in recent years, there is structure uniqueness, control flexibly, the advantage such as dependable performance, extensibility are strong, strong adaptability, snake-shaped robot is because the feature of himself shape and motion mode is suitable at small space and long and narrow pipeline and various ground motion it, it can enter and carry out the tasks such as search and rescue because the disaster such as earthquake or fire collapsed building is inner, not only make people safer, also make search-and-rescue work more effective.
In the prior art, relate to snake-shaped robot under water as Shenyang automation research the person's of being detected III, be that the patent No. is 200810229974.1 the disclosed a kind of Amphibious snake-like robot of Chinese patent, formed by multiple modules, each module is connected rotatably, another horizontal deflection and an elevating movement relatively in two adjacent blocks, each module is made up of two motor and reduction gearing and bevel gear, and each module has two frees degree.But the individual module of above-mentioned amphibious robot be rigidity can not be bending, freely move about though can realize in water, because individual module is relatively long, cause its motion submissive not flexibly, and drives structure complexity, manufacture difficult.
Summary of the invention
The object of this invention is to provide a kind of can be in various environment the snakelike search and rescue robot of flexible motion.
To achieve the above object of the invention, the technical solution used in the present invention is: a kind of snakelike search and rescue robot, formed by multiple modules, each described module joins end to end, the described module head end that is positioned at stem is provided with camera and light source, and described module comprises the body of multi-directionally deflection and is arranged on the connecting portion at described body both ends.
In technique scheme, two connecting portion ports that are arranged on body both ends can engage mutually, and respectively have a capping in port two sides, and the assembling of being convenient to bearing block has kept the approximate circle cylinder of case surface simultaneously; In the module of stem, guider can also be set, realize the direction control to snakelike search and rescue robot by Remote.
Preferred technical scheme, described body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein two relative described flexible connection points are arranged on described cavity ring upper surface, another two described flexible connection points are arranged on described cavity ring lower surface, and described adjacent cavity ring is flexibly connected by described flexible connection point;
Described connecting portion comprises shell, be arranged on servomotor in described shell, the reel with two winding slots by described driven by servomotor, be wrapped in rope yarn in described winding slot, be fixedly installed on two wire columns of described enclosure, described wire column end is provided with guide roller, described rope yarn one end is wrapped on described reel, the other end of described rope yarn is fixed on described body tip by described guide roller and body, and two rope yarns on described reel are around on the contrary.
Further technical scheme, is equipped with four wire guides on described cavity ring medial surface, and described wire guide is arranged on described flexible connection point below.
Described rope yarn is through each described wire guide.
In technique scheme, shell inward flange is also provided with two bullports, the guide roller of two wire columns is respectively just to two winding slots, and two rope yarns on winding slot are finally fixed in the cavity ring of least significant end through the wire guide in each cavity ring through each corresponding guide roller, bullport respectively again.
Preferred technical scheme, described servomotor is by reel described in gear reduction unit transmission, and described reel is coaxially connected with described gear reduction unit.
Preferred technical scheme, described shell is cylindrical.
Preferred technical scheme, described module outer surface is coated with catch net and water-proof jacket.
Operation principle of the present invention, on individual module, be provided with body and two connecting portions, in connecting portion, be provided with servomotor and reel, servomotor drives reel rotation, due to two rope yarns on reel around on the contrary, in the time that reel rotates, a rope yarn is strained another rope yarn and is loosened, and can make body draw deflection in to a side of rope yarn tension; And on individual module, be provided with two connecting portions, and in body, be altogether evenly equipped with 4 rope yarns, can make the multi-direction deflection twisting of body by servomotor to the control of reel.
Because technique scheme is used, the present invention compared with prior art has following advantages:
1, module of the present invention itself can multi-direction deflection, has increased the flexibility of snakelike search and rescue robot, can in rugged environment, advance flexibly;
2, entirety of the present invention is cylindrical, and the resistance being subject in when motion is less, is also not easy to be highlighted thing and catches on and cause advancing;
3, the present invention drives reel to rotate by servomotor, controls more accurately, makes the deflection of body more flexible by control;
4, the described module head end that the present invention is positioned at stem is provided with camera and light source, can be at light continues search-and-rescue work in very poor or rayless environment, and real-time imaging can be transmitted out, is more conducive to search-and-rescue work.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is modular structure schematic diagram;
Fig. 3 is connecting portion schematic diagram;
Fig. 4 is cavity ring schematic diagram.
Wherein: 1, module; 2, body; 3, connecting portion; 4, camera; 5, LED lamp; 6, screw; Catch net; 12, water-proof jacket; 21, cavity ring; 22, be flexibly connected point; 23, wire guide; 31, shell; 32, servomotor; 33, reel; 35, wire column; 37, bullport; 331, winding slot.
The specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described:
Embodiment mono-:
As Figure 1-4, a kind of snakelike search and rescue robot, is made up of multiple modules 1, and each module 1 joins end to end, module 1 head end that is positioned at stem is provided with camera 4 and light source, and module 1 comprises the body 2 of multi-directionally deflection and is arranged on the connecting portion 3 at body 2 both ends.
Light source is taked water-proof LED lamp 5, and adjacent two connecting portions 3 are fixing by screw 6.
Two connecting portion 3 ports that are arranged on body 2 both ends can engage mutually; In the module 1 of stem, guider can also be set, realize the direction control to snakelike search and rescue robot by Remote.
Body 2 comprises multiple cavity ring 21, cavity ring 21 is equipped with four and is flexibly connected point 22, wherein two relative flexible connection points 22 are arranged on cavity ring 21 upper surfaces, and another two flexible connection points 22 are arranged on cavity ring 21 lower surfaces, and adjacent cavity ring 21 is put 22 by flexible connection and is flexibly connected;
Connecting portion 3 comprises shell 31, be arranged on servomotor 32, the reel with two winding slots 331 33 driving by servomotor 32 in shell 31, be wrapped in rope yarn in winding slot 331, be fixedly installed on two wire columns 35 of shell 31 inside, wire column 35 ends are provided with guide roller, rope yarn one end is wrapped on reel 33, the other end of rope yarn is fixed on body 2 ends by guide roller and body 2, and two rope yarns on reel 33 are around on the contrary.
On cavity ring 21 medial surfaces, be equipped with four wire guides 23, wire guide 23 is arranged on and is flexibly connected point 22 belows.
Rope yarn is through each wire guide 23.
Shell 31 inward flanges are also provided with two bullports 37, the guide roller of two wire columns 35 is respectively just to two winding slots 331, and two rope yarns on winding slot 331 are finally fixed in the cavity ring 21 of least significant end through the wire guide 23 in each cavity ring 21 through each corresponding guide roller, bullport 37 respectively again.
Servomotor 32 is by gear reduction unit transmission reel 33, and reel 33 is coaxially connected with gear reduction unit.
Shell 31 is cylindrical.
Module 1 outer surface is coated with catch net 11 and water-proof jacket 12.
The operation principle of snakelike search and rescue robot, on individual module 1, be provided with body 2 and two connecting portions 3, in connecting portion 3, be provided with servomotor 32 and reel 33, servomotor 32 drives reel 33 to rotate, due to two rope yarns on reel 33 around on the contrary, in the time that reel 33 rotates, a rope yarn is strained another rope yarn and is loosened, and can make body 2 draw deflection in to a side of rope yarn tension; And on individual module 1, be provided with two connecting portions 3, and in body 2, be altogether evenly equipped with 4 rope yarns, can make the multi-direction deflection twisting of body 2 by servomotor 32 to the control of reel 33.

Claims (6)

1. a snakelike search and rescue robot, formed by multiple modules, it is characterized in that: each described module joins end to end, the described module head end that is positioned at stem is provided with camera and light source, described module comprises the body of multi-directionally deflection and is arranged on the connecting portion at described body both ends, described body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein two relative described flexible connection points are arranged on described cavity ring upper surface, another two described flexible connection points are arranged on described cavity ring lower surface, described adjacent cavity ring is flexibly connected by described flexible connection point,
Described connecting portion comprises shell, be arranged on servomotor in described shell, the reel with two winding slots by described driven by servomotor, be wrapped in rope yarn in described winding slot, be fixedly installed on two wire columns of described enclosure, described wire column end is provided with guide roller, described rope yarn one end is wrapped on described reel, the other end of described rope yarn is fixed on described body tip by described guide roller and body, and two rope yarns on described reel are around on the contrary.
2. the snakelike search and rescue robot of one according to claim 1, is characterized in that: on described cavity ring medial surface, be equipped with four wire guides, described wire guide is arranged on described flexible connection point below.
3. the snakelike search and rescue robot of one according to claim 2, is characterized in that: described rope yarn is through each described wire guide.
4. the snakelike search and rescue robot of one according to claim 1, is characterized in that: described servomotor is by reel described in gear reduction unit transmission, and described reel is coaxially connected with described gear reduction unit.
5. the snakelike search and rescue robot of one according to claim 1, is characterized in that: described shell is cylindrical.
6. the snakelike search and rescue robot of one according to claim 1, is characterized in that: described module outer surface is coated with catch net and water-proof jacket.
CN201410102214.XA 2014-03-19 2014-03-19 A kind of snakelike search and rescue robot Expired - Fee Related CN103878768B (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
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CN103878768A true CN103878768A (en) 2014-06-25
CN103878768B CN103878768B (en) 2016-04-20

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107813304A (en) * 2017-11-22 2018-03-20 华南农业大学 A kind of bionical snake-shaped robot multi-freedom joint module
CN110686154A (en) * 2019-09-11 2020-01-14 苏州热工研究院有限公司 Probe adjusting device suitable for video inspection robot between pipes
WO2021142556A1 (en) * 2020-01-17 2021-07-22 南京溧航仿生产业研究院有限公司 Bionic robot for terrain surveying

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3190286A (en) * 1961-10-31 1965-06-22 Bausch & Lomb Flexible viewing probe for endoscopic use
KR101014346B1 (en) * 2010-08-11 2011-02-15 (주)엔티렉스 Snake shape robot
JP2012240158A (en) * 2011-05-19 2012-12-10 Tokyo Institute Of Technology Rotational wave motion mechanism
CN103273979A (en) * 2013-06-20 2013-09-04 北京信息科技大学 Splittable snake-like robot with multiple motion modes
CN203779495U (en) * 2014-03-19 2014-08-20 苏州大学 Snake-like search and rescue robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3190286A (en) * 1961-10-31 1965-06-22 Bausch & Lomb Flexible viewing probe for endoscopic use
KR101014346B1 (en) * 2010-08-11 2011-02-15 (주)엔티렉스 Snake shape robot
JP2012240158A (en) * 2011-05-19 2012-12-10 Tokyo Institute Of Technology Rotational wave motion mechanism
CN103273979A (en) * 2013-06-20 2013-09-04 北京信息科技大学 Splittable snake-like robot with multiple motion modes
CN203779495U (en) * 2014-03-19 2014-08-20 苏州大学 Snake-like search and rescue robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
胡海燕等: "结肠镜机器人结构设计与通过性研究", 《哈尔滨工程大学学报》, 28 February 2013 (2013-02-28), pages 233 - 239 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107813304A (en) * 2017-11-22 2018-03-20 华南农业大学 A kind of bionical snake-shaped robot multi-freedom joint module
CN110686154A (en) * 2019-09-11 2020-01-14 苏州热工研究院有限公司 Probe adjusting device suitable for video inspection robot between pipes
WO2021142556A1 (en) * 2020-01-17 2021-07-22 南京溧航仿生产业研究院有限公司 Bionic robot for terrain surveying

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