CN103879469B - A kind of snakelike search and rescue robot joint module - Google Patents
A kind of snakelike search and rescue robot joint module Download PDFInfo
- Publication number
- CN103879469B CN103879469B CN201410102219.2A CN201410102219A CN103879469B CN 103879469 B CN103879469 B CN 103879469B CN 201410102219 A CN201410102219 A CN 201410102219A CN 103879469 B CN103879469 B CN 103879469B
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- cavity ring
- flexibly connected
- module
- reel
- robot joint
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Abstract
The invention discloses a kind of snakelike search and rescue robot joint module, the body that multi-directionally deflects and the connecting portion being arranged on described body both ends is included by described module, described body includes multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein relative to two described be flexibly connected point be arranged on described cavity ring upper surface, being flexibly connected point described in another two and be arranged on described cavity ring lower surface, described adjacent cavity ring is flexibly connected by the described point that is flexibly connected.Module of the present invention uses line to drive, and self can multi-direction deflect, the protected net of module integral coating, it is possible to the effective service life extending module.
Description
Technical field
The present invention relates to a kind of robot architecture, particularly relate to a kind of snakelike search and rescue robot joint module.
Background technology
Snake-shaped robot is the study hotspot in bio-robot field in recent years, there is the advantages such as structure is unique, it is flexible to control, strong, the strong adaptability of dependable performance, extensibility, snake-shaped robot is adapted at small space and long and narrow pipeline and various ground motion due to the feature of himself shape and motion mode, it can enter, and the collapsed building because of the disaster such as earthquake or fire is internal performs the tasks such as search and rescue, not only make people safer, also make search-and-rescue work more efficient.
In the prior art, relate to snake-shaped robot under water as Shenyang automation research the person of being detected III, i.e. a kind of Amphibious snake-like robot disclosed in the Chinese patent of Patent No. 200810229974.1, it is made up of multiple modules, each module is connected rotatably, in two adjacent blocks one can another horizontal deflection and elevating movement relatively, each module is made up of two motor and reduction gearing and bevel gear, and each module has two degree of freedom.But the individual module of above-mentioned amphibious robot is can not bending of rigidity, though being capable of freely moving about in water, but owing to individual module is relatively long, causing its motion the submissiveest flexibly, and driving structure complicated, manufacturing difficulty.
Summary of the invention
It is an object of the invention to provide a kind of can the snakelike search and rescue robot module of flexible motion under circumstances.
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 joint module, described module includes the body that multi-directionally deflects and the connecting portion being arranged on described body both ends, described module outer surface is coated with catch net and water-proof jacket, described body includes multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein relative to two described be flexibly connected point be arranged on described cavity ring upper surface, it is flexibly connected point described in another two and is arranged on described cavity ring lower surface, described adjacent cavity ring is flexibly connected by the described point that is flexibly connected；
Described connecting portion include shell, the servomotor being arranged in described shell, by the reel with two winding slots of described driven by servomotor, the rope yarn being wrapped 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 ends wound is 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.
Preferably technical scheme, described cavity ring medial surface is equipped with four wire guides, and described wire guide is arranged on described flexible connection below point.
Technical scheme further, described rope yarn passes each described wire guide.
Preferably technical scheme, described servomotor is by reel described in gear reduction unit transmission, and described reel is coaxially connected with described gear reduction unit.
Preferably technical scheme, described shell is cylindrical.
In technique scheme, shell inward flange is additionally provided with two bullports, the guide roller of two wire columns is respectively just to two winding slots, and the wire guide that two rope yarns are each passed through each corresponding guide roller, bullport is then passed through in each cavity ring on winding slot is finally fixed in the cavity ring of least significant end.
The operation principle of the present invention, body and two connecting portions it are provided with on individual module, servomotor and reel it is provided with in connecting portion, servomotor drives reel to rotate, due on reel two rope yarns around on the contrary, when reel rotates, a rope yarn is strained another rope yarn and is loosened, and body can be made to draw deflection in the side that rope yarn is strained；And on individual module, it being provided with two connecting portions, basis is the most internal is evenly equipped with 4 rope yarns altogether, the multi-direction deflection of body can be made to twist the control of reel by servomotor.
Owing to technique scheme is used, the present invention compared with prior art has the advantage that
1, the module of the present invention itself can multi-direction deflect, and adds the motility of snakelike search and rescue robot, can advance flexibly in rugged environment；
2, the present invention is overall in cylinder, and the resistance being subject to 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 accurate, and the deflection being made body by control is more flexible;
4, using guide roller to guide rope yarn on the wire column of the present invention, both decreased frictional force and made rope yarn operation more smooth, the whole structure that can make again rope yarn folding and unfolding is accurate.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is wire column schematic diagram；
Fig. 3 is connecting portion schematic diagram；
Fig. 4 is cavity ring schematic diagram；
Fig. 5 is shell schematic diagram；
Fig. 6 is reel partial sectional view.
Wherein: 1, module；2, body；3, connecting portion；21, cavity ring；22, it is flexibly connected point；23, wire guide；31, shell；32, servomotor；33, reel；35, wire column；37, bullport；331, winding slot；351, guide roller.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the invention will be further described:
Embodiment one:
As shown in figures 1 to 6; a kind of snakelike search and rescue robot joint module 1; module 1 includes the body 2 that multi-directionally deflects and the connecting portion being arranged on body 2 both ends; module 1 outer surface is coated with catch net and water-proof jacket; body 2 includes multiple cavity ring 21; cavity ring 21 is equipped with four and is flexibly connected point 22; wherein relative to two flexible connection points 22 be arranged on cavity ring 21 upper surface; another two is flexibly connected point 22 and is arranged on cavity ring 21 lower surface, and adjacent cavity ring 21 is by being flexibly connected point 22 flexible connection；
Connecting portion includes shell 31, be arranged in shell 31 servomotor 32, the reel 33 with two winding slots 331, the rope yarn being wrapped in winding slot 331 that are driven by servomotor 32, it is fixedly installed on two wire columns 35 within shell 31, wire column 35 end is provided with guide roller 351, rope yarn one ends wound is on reel 33, the other end of rope yarn is fixed on body 2 end by guide roller 351 and body 2, and two rope yarns on reel 33 are around on the contrary.
Being equipped with four wire guides 23 on cavity ring 21 medial surface, wire guide 23 is arranged on below flexible connection point 22.
Rope yarn passes each wire guide 23.
Preferably technical scheme, servomotor 32 is by gear reduction unit transmission reel 33, and reel 33 is coaxially connected with gear reduction unit.
Shell 31 is cylindrical.
Shell 31 inward flange is additionally provided with two bullports 37, the guide roller 351 of two wire columns 35 is respectively just to two winding slots 331, and the wire guide 23 that two rope yarns are each passed through each corresponding guide roller 351351, bullport 37 is then passed through in each cavity ring 21 on winding slot 331 is finally fixed in the cavity ring 21 of least significant end.
The operation principle of the present invention, body 2 and two connecting portions it are provided with on individual module 1, servomotor 32 and reel 33 it is provided with in connecting portion, servomotor 32 drives reel 33 to rotate, due on reel 33 two rope yarns around on the contrary, when reel 33 rotates, a rope yarn is strained another rope yarn and is loosened, and body 2 can be made to draw deflection in the side that rope yarn is strained；And on individual module 1, it is provided with two connecting portions, altogether it is evenly equipped with 4 rope yarns in body 2, the multi-direction deflection of body 2 can be made to twist the control of reel 33 by servomotor 32.
Claims (6)
1. a snakelike search and rescue robot joint module, it is characterized in that: described module includes the body that multi-directionally deflects and the connecting portion being arranged on described body both ends, described body includes multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein relative to two described be flexibly connected point be arranged on described cavity ring upper surface, being flexibly connected point described in another two and be arranged on described cavity ring lower surface, adjacent described cavity ring is flexibly connected by the described point that is flexibly connected；
Described connecting portion include shell, the servomotor being arranged in described shell, by the reel with two winding slots of described driven by servomotor, the rope yarn being wrapped 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 ends wound is 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.
One the most according to claim 1 snakelike search and rescue robot joint module, it is characterised in that: being equipped with four wire guides on described cavity ring medial surface, described wire guide is arranged on described flexible connection below point.
One the most according to claim 2 snakelike search and rescue robot joint module, it is characterised in that: described rope yarn passes each described wire guide.
One the most according to claim 1 snakelike search and rescue robot joint module, it is characterised in that: described servomotor is by reel described in gear reduction unit transmission, and described reel is coaxially connected with described gear reduction unit.
One the most according to claim 1 snakelike search and rescue robot joint module, it is characterised in that: described shell is cylindrical.
One the most according to claim 1 snakelike search and rescue robot joint module, it is characterised in that: described module outer surface is coated with catch net and water-proof jacket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102219.2A CN103879469B (en) | 2014-03-19 | 2014-03-19 | A kind of snakelike search and rescue robot joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102219.2A CN103879469B (en) | 2014-03-19 | 2014-03-19 | A kind of snakelike search and rescue robot joint module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103879469A CN103879469A (en) | 2014-06-25 |
| CN103879469B true CN103879469B (en) | 2016-08-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410102219.2A Expired - Fee Related CN103879469B (en) | 2014-03-19 | 2014-03-19 | A kind of snakelike search and rescue robot joint module |
Country Status (1)
| Country | Link |
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| CN (1) | CN103879469B (en) |
Families Citing this family (1)
| 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 |
Citations (4)
| 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 |
| CN102729240A (en) * | 2012-06-28 | 2012-10-17 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| CN203780642U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Joint module for snake-like robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100116080A1 (en) * | 2008-11-11 | 2010-05-13 | Intuitive Surgical, Inc. | Robotic linkage |
-
2014
- 2014-03-19 CN CN201410102219.2A patent/CN103879469B/en not_active Expired - Fee Related
Patent Citations (4)
| 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 |
| CN102729240A (en) * | 2012-06-28 | 2012-10-17 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| CN203780642U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Joint module for snake-like robot |
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| Publication number | Publication date |
|---|---|
| CN103879469A (en) | 2014-06-25 |
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Granted publication date: 20160803 Termination date: 20190319 |