CN103878784B - One is snake-shaped robot joint module under water - Google Patents
One is snake-shaped robot joint module under water Download PDFInfo
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- CN103878784B CN103878784B CN201410102205.0A CN201410102205A CN103878784B CN 103878784 B CN103878784 B CN 103878784B CN 201410102205 A CN201410102205 A CN 201410102205A CN 103878784 B CN103878784 B CN 103878784B
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- cavity ring
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- shaped robot
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Abstract
The invention discloses one snake-shaped robot joint module under water, comprise the body of multi-directionally deflection and be arranged on the connecting portion at body both ends, described body and described connecting portion outer surface are coated with water-proof jacket, body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, two wherein 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.The present invention has multi-direction flexible deflection twisting ability, is highly suitable for underwater operation.
Description
Technical field
The present invention relates to robot architecture field, particularly relate to one snake-shaped robot joint module under water.
Background technology
Snake-shaped robot, with the adaptive capacity to environment of its height, becomes study hotspot in recent years.In the wild detection and investigation tasks in, need snake-shaped robot to have in hydrogymnastic ability, thus snake-shaped robot has long-range using value and Research Significance under water.
In the prior art, relate to snake-shaped robot under water as Shenyang automation research the person of being detected III, namely the patent No. is a kind of Amphibious snake-like robot disclosed in the Chinese patent of 200810229974.1, be made up of multiple module, each module is connected rotatably, one in two adjacent blocks can another horizontal deflection and elevating movement relatively, and 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 is can not bending of rigidity, though can realize freely moving about in water, because individual module is relatively long, submissive flexible motion can not be realized.
Summary of the invention
Object of the present invention overcomes the deficiency of existing snake-shaped robot module, proposes a kind of joint module of snake-shaped robot under water with very strong flexibility ratio.
To achieve the above object of the invention, the technical solution used in the present invention is: one is snake-shaped robot joint module under water, comprise the body of multi-directionally deflection and be arranged on the connecting portion at described body both ends, described body and described connecting portion outer surface are coated with water-proof jacket.
Described body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, two wherein 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, the servomotor be arranged in described shell, the reel with two winding slots by described driven by servomotor, the rope yarn be wrapped in described winding slot, be fixedly installed on two wire columns of described enclosure, described wire column end is provided with through hole, described through hole center line is crossing with described reel center line, 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 through hole and body, and two rope yarns on described reel are around on the contrary.
In technique scheme, two the connecting portion ports being arranged on body both ends can engage mutually, and respectively have a capping in port two sides, and the assembling being convenient to bearing block maintains the approximate circle cylinder of case surface simultaneously.
Further technical scheme, described cavity ring medial surface is equipped with four wire guides, 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 through hole of two wire columns is respectively just to two winding slots, and two rope yarns on winding slot are each passed through each corresponding through hole, bullport and are finally fixed in the cavity ring of least significant end through the wire guide in each cavity ring.
Further technical scheme, described servomotor is by reel described in Worm Wheel System, and described reel is coaxially connected with described worm gear.
Further technical scheme, described shell is cylindrical.
Operation principle of the present invention, module is provided with body and two connecting portions, servomotor and reel is provided with in connecting portion, servomotor drives reel to rotate, due to two rope yarns on reel 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 module is provided with two connecting portions, be altogether evenly equipped with 4 rope yarns in body, the multi-direction deflection twisting of body can be made by servomotor to the control of reel.
Because technique scheme is used, the present invention compared with prior art has following advantages:
1, the present invention itself can twist in multi-direction deflection, and flexibility is very strong;
2, entirety of the present invention is cylindrical, and when underwater exercise, current are less to its resistance, can move more flexibly;
3, the present invention drives reel to rotate by servomotor, controls more accurate, by controlling to make the deflection of body more flexible.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is connecting portion structural representation one of the present invention;
Fig. 3 is connecting portion structural representation two of the present invention;
Fig. 4 is connecting portion structural representation three of the present invention;
Fig. 5 is for being shell mechanism schematic diagram of the present invention.
Wherein: 1, body; 2, connecting portion; 11, cavity ring; 12, point is flexibly connected; 13, wire guide; 21, shell; 22, servomotor; 23, reel; 24, wire column; 25, capping; 26, bullport; 27, worm gear; 28, worm screw; 231, winding slot; 241, through hole.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described:
Embodiment one:
As Figure 1-5, one is snake-shaped robot joint module under water, comprises the body 1 of multi-directionally deflection and is arranged on the connecting portion 2 at body 1 both ends.
Body 1 comprises multiple cavity ring 11, cavity ring 11 is equipped with four and is flexibly connected point 12, wherein relative two are flexibly connected point 12 and are arranged on cavity ring 11 upper surface, and another two flexible connection points 12 are arranged on cavity ring 11 lower surface, and adjacent cavity ring 11 is by being flexibly connected point 12 flexible connection;
Connecting portion 2 comprises shell 21, the servomotor 22 be arranged in shell 21, the reel 23 with two winding slots 231 driven by servomotor 22, the rope yarn 34 be wrapped in winding slot 231, be fixedly installed on two wire columns 24 of shell 21 inside, wire column 24 end is provided with through hole 241, through hole 241 center line is crossing with reel 23 center line, rope yarn 34 one ends wound is on reel 23, the other end of rope yarn 34 is fixed on body 1 end by through hole 241 and body 1, and two rope yarns 34 on reel 23 are around on the contrary.
Shell 21 is cylindrical.
Two connecting portion 2 ports being arranged on body 1 both ends can engage mutually, and respectively have a capping 25 in port two sides, and the assembling being convenient to bearing block maintains the approximate circle cylinder on shell 21 surface simultaneously.
Cavity ring 11 medial surface is equipped with four wire guides 13, wire guide 13 is arranged on and is flexibly connected below point 12.
Rope yarn 34 is through each wire guide 13.
Shell 21 inward flange is also provided with two bullports 26, the through hole 241 of two wire columns 24 is respectively just to two winding slots 231, and two rope yarns on winding slot 231 are each passed through each corresponding through hole 241, bullport 26 and are finally fixed in the cavity ring 11 of least significant end through the wire guide 13 in each cavity ring 11.
Servomotor 22 is by worm and gear 28 transmission reel 23, and reel 23 is coaxially connected with worm gear 27.
The operation principle of snake-shaped robot under water, module 1 is provided with body 1 and two connecting portions 2, servomotor 22 and reel 23 is provided with in connecting portion 2, servomotor 22 drives reel 23 to rotate, due to two rope yarns on reel 23 around on the contrary, when reel 23 rotates, a rope yarn is strained another rope yarn and is loosened, and body 1 can be made to draw deflection in the side that rope yarn is strained; And module 1 is provided with two connecting portions 2, be altogether evenly equipped with 4 rope yarns in body 1, the multi-direction deflection twisting of body 1 can be made by the control of servomotor 22 pairs of reels 23.
Claims (4)
1. a snake-shaped robot joint module under water, it is characterized in that: comprise the body of multi-directionally deflection and be arranged on the connecting portion at described body both ends, described body and described connecting portion outer surface are coated with water-proof jacket, described body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, two wherein 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 adjacent cavity ring is flexibly connected by described flexible connection point;
Described connecting portion comprises shell, the servomotor be arranged in described shell, the reel with two winding slots by described driven by servomotor, the rope yarn be wrapped in described winding slot, be fixedly installed on two wire columns of described enclosure, described wire column end is provided with through hole, described through hole center line is crossing with described reel center line, 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 through hole and body, and two rope yarns on described reel are around on the contrary;
Described servomotor is by reel described in Worm Wheel System, and described reel is coaxially connected with described worm gear.
2. one according to claim 1 snake-shaped robot joint module under water, is characterized in that: described cavity ring medial surface is equipped with four wire guides, and described wire guide is arranged on described flexible connection point below.
3. one according to claim 2 snake-shaped robot joint module under water, is characterized in that: described rope yarn is through each described wire guide.
4. one according to claim 1 snake-shaped robot joint module under water, is characterized in that: described shell is cylindrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102205.0A CN103878784B (en) | 2014-03-19 | 2014-03-19 | One is snake-shaped robot joint module under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102205.0A CN103878784B (en) | 2014-03-19 | 2014-03-19 | One is snake-shaped robot joint module under water |
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| Publication Number | Publication Date |
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| CN103878784A CN103878784A (en) | 2014-06-25 |
| CN103878784B true CN103878784B (en) | 2016-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410102205.0A Expired - Fee Related CN103878784B (en) | 2014-03-19 | 2014-03-19 | One is snake-shaped robot joint module under water |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260105B (en) * | 2014-08-29 | 2015-12-09 | 福建工程学院 | A kind ofly bend and stretch joint based on torque drive |
| CN104760055A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学深圳研究生院 | Turtle robot and flexible neck device thereof |
| CN106272527A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | Band edge strip connector |
| 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 |
| CN112091988B (en) * | 2020-08-13 | 2022-02-18 | 宁波大学 | Software bionic underwater detection robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
| CN1850456A (en) * | 2005-04-22 | 2006-10-25 | 川崎重工业株式会社 | Deformable structure and cable support system |
| CN201894627U (en) * | 2010-10-26 | 2011-07-13 | 合肥华信电动科技发展有限公司 | Snake-bone structure capable of freely rotating |
| WO2012059791A1 (en) * | 2010-11-05 | 2012-05-10 | Rīgas Tehniskā Universitāte | Robotic snake-like movement device |
| CN203779496U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Underwater snake-like robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9220398B2 (en) * | 2007-10-11 | 2015-12-29 | Intuitive Surgical Operations, Inc. | System for managing Bowden cables in articulating instruments |
| KR101941569B1 (en) * | 2012-03-30 | 2019-04-15 | 삼성전자주식회사 | Pipe having variable flexibility and manipulator having the same |
-
2014
- 2014-03-19 CN CN201410102205.0A patent/CN103878784B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
| CN1850456A (en) * | 2005-04-22 | 2006-10-25 | 川崎重工业株式会社 | Deformable structure and cable support system |
| CN201894627U (en) * | 2010-10-26 | 2011-07-13 | 合肥华信电动科技发展有限公司 | Snake-bone structure capable of freely rotating |
| WO2012059791A1 (en) * | 2010-11-05 | 2012-05-10 | Rīgas Tehniskā Universitāte | Robotic snake-like movement device |
| CN203779496U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Underwater snake-like robot |
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| Publication number | Publication date |
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| CN103878784A (en) | 2014-06-25 |
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Granted publication date: 20160309 Termination date: 20190319 |