CN105058413B - Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism - Google Patents
Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism Download PDFInfo
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- CN105058413B CN105058413B CN201510493267.3A CN201510493267A CN105058413B CN 105058413 B CN105058413 B CN 105058413B CN 201510493267 A CN201510493267 A CN 201510493267A CN 105058413 B CN105058413 B CN 105058413B
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Abstract
Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism, including joint left end cap, joint right end cap, two RRPRR side chains and a RRPRR become born of the same parents' side chain.Becoming born of the same parents joint has two kinds of mechanism forms, working space, mobility are variable, and in mechanism form I, prismatic pair P has the initiative mobile status during RRPRR becomes born of the same parents' side chain, rotate secondary R and be in servo-actuated state, now joint has an one-movement-freedom-degree and two rotational freedoms；In mechanism form II, prismatic pair P is in least displacement and locking state during RRPRR becomes born of the same parents' side chain, rotates secondary R and has the initiative state, and it is parallel connection spherical joint that joint becomes born of the same parents, with three rotational freedoms.Becoming born of the same parents' articulation mechanism has the characteristics of flexibility is good, bearing capacity is high, structural robustness is strong, suitable for imitative snake search and rescue robot, become born of the same parents' two kinds of joint mechanism form by multiple to work in coordination, the flexibility in different environments of imitative snake search and rescue robot and adaptability can be effectively improved.
Description
Technical field
The present invention relates to robot research and engineering field, specifically refer to a kind of imitative snake search and rescue robot and become born of the same parents joint machine
Structure.
Technical background
The elongated body structure of Fang She robots and its without limb motion mode, makes it have in disaster search and rescue task good
Stability and adaptability.Disaster field usually contains various terrain environments such as gap, gully, step, but imitative snake is searched at present
Rescue using the joint that mechanism form is single more than robot, working space is fixed, and exercise performance is constant, it is difficult to further improve imitative snake
Mission Capability of the search and rescue robot in the complex environments such as earthquake disaster.
Metamorphic mechanisms are found in the mechanism of restructural automated package line, and in the end of the year 1998,25 ASME mechanisms
Learn and the formal a kind of novel mechanism for proposing in the double annual meetings of robotics.This class novel mechanism can be according to environment and task
Demand, carries out self restructuring and reconstructs, and is changed into another mechanism form from a kind of mechanism form, with mobility, motility
Can be variable the characteristics of.The characteristics of metamorphic mechanisms be applied to solve imitative snake search and rescue robot joint operation space fix, mobility list
One problem, is favorably improved application value of the imitative snake search and rescue robot in disaster search and rescue.
The content of the invention
Become born of the same parents' articulation mechanism it is an object of the invention to provide one kind, becoming born of the same parents joint has two kinds of mechanism forms, it is adaptable to
Imitative snake search and rescue robot, can solve the problems, such as that existing imitative snake search and rescue robot articulation mechanism form is single.
The present invention is realized using following technological means：
The change born of the same parents articulation mechanism includes that the first movement branched chain 1, the second movement branched chain 2, the 3rd movement branched chain 3, joint are left
End cap 4, joint right end cap 5, joint left end cap 4 by the first movement branched chain 1, the second movement branched chain 2, the 3rd movement branched chain 3 with
Joint right end cap 5 is connected；First movement branched chain 1 and the second movement branched chain 2 are identicalsRRPRR side chains, the 3rd movement branched chain 3 isRRPRR becomes born of the same parents' side chain, whereinRIt is the rotation pair that translator drives,PFor the prismatic pair that translator drives；Becoming born of the same parents joint has machine
Configuration Formulas I, two kinds of mechanism forms of mechanism form II, mechanism form I time-varying born of the same parents joint have two rotational freedoms and an edge
The one-movement-freedom-degree of joint end cap central direction of principal axis, mechanism form II time-varying born of the same parents joint 1 has pitching, driftage and around joint end cap
The three degree of freedom of center axis thereof.
The joint left end cap 4 is made up of a round end cap and the first~tri- support, and the first~tri- support is three phases
Same pentagon support 6, the first~tri- support is distributed around round end cap central axis and is connected with round end cap, in round end cap
Between have a through hole；Joint right end cap 5 is made up of a round end cap and the four~six support, and the four~six support is three phases
Same triangular supports 7, the four~six support is distributed around round end cap central axis and is connected with round end cap, in round end cap
Between have a through hole.
The movement branched chain 2 of first movement branched chain 1 and second is identicalRRPRR side chains, the first movement branched chain 1 includes the
One curved rod 8, first straight line kinematic pair P1 and the 4th curved rod 9；The left and right end of first curved rod 8 connects first respectively
Rotate secondary R1, the 4th rotation secondary R4, the 4th rotation secondary R4 and first straight line kinematic pair P1 left end phases of the right-hand member of the first curved rod 8
Even, first straight line kinematic pair P1 right-hand members are connected by the 7th rotation secondary R7 with the left end of the 4th curved rod 9.
3rd movement branched chain 3 isRRPRR becomes born of the same parents' side chain, and the 3rd movement branched chain 3 includes the 3rd curved rod 10, straight line
The curved rod 12 of driver 11 and the 6th；The left and right end of 3rd curved rod 10 connects the 3rd rotation secondary R3, the 6th rotation pair respectively
R6, the 6th rotation secondary R6 of the right-hand member of the 3rd curved rod 10 is connected with the left end of linear actuator 11, the right-hand member spiral shell of linear actuator 11
Female 30 are connected by the 9th rotation secondary R9 with the left end of the 6th curved rod 12.
Described first rotates secondary R1 by the first motor 13 by worm screw and turbine drives；Described second rotates secondary R2 drives
Flowing mode is identical with R1；Described 3rd rotates secondary R3 is driven by the 3rd motor 17 by train of reduction gears.
Described first, second, and third rotates secondary around the distribution of the central axis of joint left end cap 4, the first~the 6th turns auxiliary shaft
Line intersects at a point Q on the central axis of joint left end cap 4；Ten, the 11st and the 12nd rotate pair around the center of joint right end cap 5
Axis is distributed, and the 7th~12 turns auxiliary shaft lines intersect at a point Q' on the central axis of joint right end cap 5.
The the first~six curved rod curved surface in first movement branched chain 1, the second movement branched chain 2, the 3rd movement branched chain 3
Post foil gauge 31 in both sides.
The present invention compared with prior art, with following obvious advantage and beneficial effect：
(1) flexibility is good.Becoming born of the same parents joint has two kinds of mechanism forms, and working space, mobility are variable, becomes born of the same parents joint two
Can flexibly switch between kind mechanism form.Two kinds of mechanism forms are worked in coordination between multiple becomes born of the same parents joint, can help imitative snake
Search and rescue robot completes flexibly complicated action；Become born of the same parents joint in mechanism form I, its Telescopic having searches and rescues imitative snake
Robot can faster pierce slit when searching and rescuing and cave is scouted, and task is held in improve imitative snake search and rescue robot adverse circumstances
Line efficiency.
(2) bearing capacity is high.Become born of the same parents joint and belong to spherical surface parallel connected joint in mechanism form II, joint has powerful inclined
Torque and bearing capacity higher so that imitative snake search and rescue robot can lift multiple moving cells, can both cross rugged
Landform protrusions obstacle, can also expand lift position camera etc. investigate equipment reconnaissance range.
(3) structural robustness is strong.Contain six curved rods, curved rod energy in change born of the same parents' three movement branched chains of articulation mechanism
The impulsive force that enough effectively dispersion joints are subject to, reduces the stress of kinematic pair in joint；Curved rod both sides are provided with foil gauge, lead to
Overstrain piece can be with real-time monitoring joint mechanics situation, and imitating snake search and rescue robot can be right before joint mechanics reach warning value
Joint is adjusted in time, and mechanical structure destruction is not easily caused.
Brief description of the drawings
Fig. 1 is articulation mechanism general illustration of the invention；
Fig. 2 is movement branched chain schematic diagram of the invention；
Fig. 3 .1 are left end cap schematic diagrames in joint of the invention；
Fig. 3 .2 are right end cap schematic diagrames in joint of the invention；
Fig. 4 is movement branched chain drive mechanism schematic diagram of the invention；
Fig. 5 is the 3rd movement branched chain schematic diagram of the invention；
Fig. 6 .1 are change born of the same parents' articulation mechanism form I schematic diagrames of the invention；
Fig. 6 .2 are change born of the same parents' articulation mechanism form II schematic diagrames of the invention；
Fig. 7 is using the imitative snake search and rescue robot structural scheme of mechanism for becoming born of the same parents joint
In figure：1 is the first movement branched chain, and 2 is the second movement branched chain, and 3 is the 3rd movement branched chain, and 4 is joint left end cap, 5
It is joint right end cap, 6 is pentagon support, and 7 is triangular supports, and 8 is the first curved rod, and 9 is the 4th curved rod, and 10 are
3rd curved rod, 11 is linear actuator, and 12 is the 6th curved rod, and 13 is the first motor, and 14 is the first driving electricity
Machine support, 15 is the first worm screw, and 16 is the first worm gear, and 17 is the 3rd motor, and 18 is the 3rd motor support, and 19 is the
One spur gear, 20 is the second spur gear, and 21 is the 3rd spur gear, and 22 is the first rotary shaft, and 23 is the 4th spur gear, and 24 is first
Bevel gear, 25 is the second rotary shaft, and 26 is the second bevel gear, and 27 is the 4th motor, and 28 is the 4th driving electric machine support, 29
It is screw mandrel, 30 is nut, and 31 is foil gauge, and 32 is garter spring, and 33 is bellows, and 34 is follower, and 35 is passive wheel support, and 36 are
Protective cover, R1 is that the first rotation is secondary, and R2 is that the second rotation is secondary, and R3 rotates secondary for the 3rd, and R4 rotates pair for the 4th, and R5 is the 5th turn
Dynamic secondary, R6 is that the 6th rotation is secondary, and R7 is that the 7th rotation is secondary, and R8 is the dynamic pair of eighth-turn, and R9 rotates pair for the 9th, and R10 is the tenth turn
Dynamic secondary, R11 is that the 11st rotation is secondary, and R12 is that the 12nd rotation is secondary, and P1 is first straight line kinematic pair, and P2 is that second straight line is moved
It is secondary.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig. 1, the change born of the same parents articulation mechanism that the present invention is provided includes the first movement branched chain 1, the second movement branched chain the 2, the 3rd
Movement branched chain 3, joint left end cap 4, joint right end cap 5, the first~tri- rotation of the first~tri- movement branched chain left end it is secondary respectively with
The the first~tri- support in joint left end cap 4 is connected, the tenth~12 rotations of the first~tri- movement branched chain right-hand member it is secondary respectively with
The four~six support in joint right end cap 5 is connected.
Referring to Fig. 2, the joint left end cap 4 is made up of a round end cap and the first~tri- support, the first~tri- support
It is three identical pentagon supports 6, the first~tri- support is distributed around round end cap central axis and is connected with round end cap, circle
There is a through hole in the middle of shape end cap；The joint right end cap 5 is made up of a round end cap and the four~six support, and the four~six
Support is three identical triangular supports 7, and the four~six support is distributed and solid with round end cap around round end cap central axis
Even, there is a through hole in the middle of round end cap.
Referring to Fig. 2, the first movement branched chain 1 includes the first curved rod 8, first straight line kinematic pair P1 and the 4th curved rod
9；The left and right end of first curved rod 8 connects the first rotation secondary R1, the 4th rotation secondary R4 respectively, and first rotates secondary R1 and the 4th turn
Dynamic secondary R4 axis angles are pi/2, and the left and right end of the 4th curved rod 9 connects the 7th rotation secondary R7, the tenth rotation secondary R10 respectively, the
Seven rotate secondary R7 and the tenth rotates secondary R10 axis angles for pi/2, the 4th rotation secondary R4 and first of the right-hand member of the first curved rod 8
Linear motion secondary P1 left ends are connected, and first straight line kinematic pair P1 right-hand members rotate secondary R7 and the left end of the 4th curved rod 9 by the 7th
It is connected, the 4th rotates secondary R4, the 7th rotation secondary R7 diameter parallels；The structure of second movement branched chain 2 and the structure phase of the first movement branched chain 1
Together.
Referring to Fig. 2, the 3rd movement branched chain 3 includes the 3rd curved rod 10, the curved rod 12 of linear actuator 11 and the 6th；
The left and right end of 3rd curved rod 10 connects the 3rd rotation secondary R3, the 6th rotation secondary R6 respectively, and the 3rd rotates secondary R3 and the 6th rotates
Secondary R6 axis angles are pi/2, and the left and right two ends of the 6th curved rod 12 connect the 9th rotation secondary R9, the 12nd rotation pair respectively
R12, the 9th rotates secondary R9 and the 12nd rotates secondary R12 axis angles for pi/2, and the 6th rotation of the right-hand member of the 3rd curved rod 10 is secondary
R6 is connected with the left end of linear actuator 11, and the right-hand member of linear actuator 11 rotates secondary R9 and the left end of the 6th curved rod 12 by the 9th
It is connected, the 6th rotates secondary R6, the 9th rotation secondary R9 diameter parallels.
Referring to Fig. 3 .1-3.2, first, second, and third rotates secondary around the distribution of the central axis of joint left end cap 4, the first~the
Six turns auxiliary shaft lines intersect at a point Q on the central axis of joint left end cap 4；Ten, the 11st and the 12nd rotate pair around joint
The central axis of right end cap 5 is distributed, and the 7th~12 turns auxiliary shaft lines intersect at a point Q' on the central axis of joint right end cap 5.
Referring to Fig. 4, first rotates secondary R1 by the first motor 13, by worm screw and turbine drives；First motor
13 are connected by the first motor support 14 and joint left end cap 4, and the first worm screw 15 is connected with motor output shaft, the first worm gear
16 and first rotate secondary R1 rotating shafts and are connected, and the first motor 13 is by the first worm screw 15 and the engaged transmission of the first worm gear 16.The
The type of drive of two rotation secondary R2 is identical with the first type of drive for rotating secondary R1.
Referring to Fig. 4, the described 3rd rotates secondary R3 is driven by the 3rd motor 17 by train of reduction gears；3rd drives electricity
Machine 17 is connected by the 3rd motor support 18 and joint left end cap 4, and train of reduction gears includes that the first spur gear 19, second is straight
Gear 20, the 3rd spur gear 21, the 4th spur gear 23, the first bevel gear 24, the second bevel gear 26；First spur gear 19 and the 3rd
The output shaft fixed connection of motor 17, the first spur gear 19 and the engaged transmission of the second spur gear 20, the 3rd spur gear 21 are straight with the 4th
The engaged transmission of gear 23, the second spur gear 20, the 3rd spur gear 21 and the first rotary shaft 22 are connected, the 4th spur gear 23, first
The rotary shaft 25 of bevel gear 24 and second is connected, and the second spur gear 20 is interlocked with the 3rd spur gear 21, the 4th spur gear 23 and first
Bevel gear 24 is interlocked, the first bevel gear 24 and the engaged transmission of the second bevel gear 26, and the second bevel gear 26 and the 3rd rotates secondary R1 turns
Axle is connected.First~the 4th spur gear pivot center extends parallel to one another and perpendicularly relative to the central axis of joint left end cap 4.
Referring to Fig. 5, the linear actuator 11 in the 3rd movement branched chain 3 drives including the 4th motor the 27, the 4th
Electric machine support 28, screw mandrel 29, nut 30；4th motor 27 and the 4th drives electric machine support 28 to be connected, screw mandrel 29 and the 4th
The output shaft fixed connection of motor 27, nut 30 is connected to form screw pair with screw mandrel 29.
Referring to Fig. 5, foil gauge 31 is posted in the first~six curved rod curved surface both sides in three movement branched chains, should
Becoming piece 31 can measure the stress of curved rod as force snesor.
Referring to Fig. 6 .1-6.2, become born of the same parents' joint operation principle into：
When linear actuator has the initiative active state, when nut leaves limit on the left position, at first, fourth turns auxiliary shaft line
In separate parastate, second, five turns auxiliary shaft lines are in and separate parastate, and the three, the six turns auxiliary shaft lines are in separately flat
Row state, first and second rotates vice division chief in active state, and the 3rd rotates vice division chief in servo-actuated state, and this time-varying born of the same parents joint is in mechanism
Form I, becoming born of the same parents joint has deflection and two rotational freedoms of pitching and a flexible free degree, the direction of the free degree of stretching with
Four~six rotates secondary axis vertical take-off；When nut is located at limit on the left position, and linear actuator is in inactive state, nut
Self-locking can be realized with screw mandrel, first, fourth turns auxiliary shaft line overlaps, and second, five turns auxiliary shaft lines overlap, the three, the six rotate secondary
Axis overlaps, and the first~tri- rotates vice division chief in active state, and first~12 turns auxiliary shaft lines are met at one in intra articular space
Point, now joint be in mechanism form II, become born of the same parents be spherical surface parallel connected joint, with pitching, go off course and around joint end cap central axle
The three degree of freedom that line is rotated.
Referring to Fig. 7, by an example of the present invention, each change born of the same parents joint is joined end to end by garter spring 32 and constitutes imitative snake search and rescue aircraft
Device people, each becomes the bellows 33 that flexible film material making is cased with outside born of the same parents' articulation structure；The left end of bellows 33 is embedded in garter spring 32
And joint left end cap 4 between, between the right-hand member of bellows 33 insertion garter spring 32 and joint right end cap 5；Follower 34 passes through follower
Support 35 is arranged on garter spring 32；Passive wheel support 35 is symmetrically distributed in its outer surface around the central axis of garter spring 32, imitates snake and searches and rescues
Robot head and the tail end is fixed with protective cover 36.
Below several embodiments of the invention are only expressed, its description is more specific and in detail, but can not therefore and
It is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, not taking off
On the premise of present inventive concept, various modifications and improvements can be made, or a part of content of the invention is used for other
On product, these belong to protection scope of the present invention.
Claims (9)
1. imitate snake search and rescue robot and become born of the same parents' articulation mechanism, it is characterised in that：Change born of the same parents articulation mechanism includes the first movement branched chain
(1), the second movement branched chain (2), the 3rd movement branched chain (3), joint left end cap (4), joint right end cap (5), joint left end cap (4)
It is connected with joint right end cap (5) by the first movement branched chain (1), the second movement branched chain (2), the 3rd movement branched chain (3)；First fortune
Dynamic side chain (1) and the second movement branched chain (2) are identicalsRRPRR side chains, the 3rd movement branched chain (3) isRRPRR becomes born of the same parents' side chain；Become
Born of the same parents joint has mechanism form I, two kinds of mechanism forms of mechanism form II, and there are two to rotate certainly in mechanism form I time-varying born of the same parents joint
By degree and an one-movement-freedom-degree along joint end cap central direction of principal axis, mechanism form II time-varying born of the same parents joint has pitching, driftage
And the three degree of freedom rotated around joint end cap central axis.
2. imitative snake search and rescue robot according to claim 1 becomes born of the same parents' articulation mechanism, it is characterised in that：The joint left end cap
(4) it is made up of a round end cap and the first~tri- support, the first~tri- support is three identical pentagons support (6), the
One~tri- support is distributed around round end cap central axis and is connected with round end cap, there is a through hole in the middle of round end cap；Joint
Right end cap (5) is made up of a round end cap and the four~six support, and the four~six support is three identical triangular supports
(7), the four~six support is distributed around round end cap central axis and is connected with round end cap, has one to lead in the middle of round end cap
Hole.
3. imitative snake search and rescue robot according to claim 1 becomes born of the same parents' articulation mechanism, it is characterised in that：First movement branched chain
(1) comprising the first curved rod (8), first straight line kinematic pair (P1) and the 4th curved rod (9)；First curved rod (8) left side,
Right-hand member connects the first rotation pair (R1), the 4th rotation pair (R4) respectively, and first rotates secondary (R1) and the 4th rotates pair (R4) axis
Angle is pi/2, and the 4th curved rod (9) left and right end connects the 7th rotation secondary (R7), the tenth rotation pair (R10), the 7th turn respectively
Dynamic pair (R7) and the tenth to rotate secondary (R10) axis angle be pi/2, the 4th rotation secondary (R4) of the first curved rod (8) right-hand member and
First straight line kinematic pair (P1) left end is connected, and first straight line kinematic pair (P1) right-hand member rotates secondary (R7) and the 4th arc by the 7th
Connecting rod (9) left end is connected, and the 4th rotates secondary (R4), secondary (R7) diameter parallel of the 7th rotation；
Second movement branched chain (2) includes the second curved rod (37), second straight line kinematic pair (P2) and the 5th curved rod (38)；
Second curved rod (37) left and right end connects the second rotation pair (R2), the 5th rotates secondary (R5) respectively, second rotate secondary (R2) and
5th to rotate secondary (R5) axis angle be pi/2, and the 5th curved rod (38) left and right end connects the dynamic pair (R8) of eighth-turn, the respectively
11 rotate secondary (R11), and the dynamic pair (R8) of eighth-turn and secondary (R11) axis angle of the 11st rotation are pi/2, the second curved rod
(37) the 5th rotation secondary (R5) of right-hand member is connected with second straight line kinematic pair (P2) left end, and second straight line kinematic pair (P2) right-hand member leads to
Cross the dynamic pair (R8) of eighth-turn to be connected with the 5th curved rod (38) left end, the 5th rotates secondary (R5), dynamic pair (R8) axis of eighth-turn
It is parallel；
3rd movement branched chain (3) isRRPRR becomes born of the same parents' side chain, and the 3rd movement branched chain (3) includes the 3rd curved rod (10), straight
Line drive (11) and the 6th curved rod (12)；3rd curved rod (10) left and right end connect respectively the 3rd rotation secondary (R3),
6th rotates secondary (R6), and the 3rd rotation secondary (R3) and secondary (R6) axis angle of the 6th rotation are pi/2, the 6th curved rod (12)
Left and right two ends connect the 9th rotation secondary (R9), the 12nd rotation pair (R12) respectively, and the 9th rotates secondary (R9) and the 12nd rotates
Secondary (R12) axis angle is pi/2, the 6th rotation secondary (R6) of the 3rd curved rod (10) right-hand member and linear actuator (11) left end
It is connected, linear actuator (11) right-hand member rotates secondary (R9) and is connected with the 6th curved rod (12) left end by the 9th, and the 6th rotates
Secondary (R6), the 9th rotate secondary (R9) diameter parallel.
4. imitative snake search and rescue robot according to claim 3 becomes born of the same parents' articulation mechanism, it is characterised in that：First, second and
Three rotate secondary around the distribution of joint left end cap (4) central axis, and the first~the 6th turns auxiliary shaft line is intersected in joint left end cap (4)
A point Q on heart axis；Ten, the 11st and the 12nd rotate secondary around the distribution of joint right end cap (5) central axis, the 7th~12
Turns auxiliary shaft line intersects at a point Q' on joint right end cap (5) central axis.
5. imitative snake search and rescue robot according to claim 3 becomes born of the same parents' articulation mechanism, it is characterised in that：Described first rotates secondary
(R1) by the first motor (13) by worm screw and turbine drives, the first motor (13) is by the first motor support
(14) it is connected with joint left end cap (4), the first worm screw (15) is connected with motor output shaft, the first worm gear (16) rotates secondary with first
(R1) rotating shaft is connected, and by the first worm screw (15) and the first worm gear (16) engaged transmission, second rotates the first motor (13)
The type of drive of secondary (R2) is identical with the first type of drive for rotating secondary (R1).
6. imitative snake search and rescue robot according to claim 3 becomes born of the same parents' articulation mechanism, it is characterised in that：Described 3rd rotates secondary
(R3) driven by train of reduction gears by the 3rd motor (17), the 3rd motor (17) is by the 3rd motor support
(18) it is connected with joint left end cap (4), train of reduction gears includes the first spur gear (19), the second spur gear (20), the 3rd straight-tooth
Wheel (21), the 4th spur gear (23), the first bevel gear (24), the second bevel gear (26)；First spur gear (19) drives with the 3rd
Motor (17) output shaft fixed connection, the first spur gear (19) and the second spur gear (20) engaged transmission, the 3rd spur gear (21) and the
Four spur gears (23) engaged transmission, the second spur gear (20), the 3rd spur gear (21) are connected with the first rotary shaft (22), and the 4th is straight
Gear (23), the first bevel gear (24) are connected with the second rotary shaft (25), and the second spur gear (20) is with the 3rd spur gear (21) even
Dynamic, the 4th spur gear (23) is interlocked with the first bevel gear (24), the first bevel gear (24) and the second bevel gear (26) engaged transmission,
Second bevel gear (26) rotates secondary (R1) rotating shaft and is connected with the 3rd；First~the 4th spur gear pivot center is parallel to each other and vertical
In joint left end cap (4) central axis.
7. imitative snake search and rescue robot according to claim 3 becomes born of the same parents' articulation mechanism, it is characterised in that：The 3rd motion branch
Linear actuator (11) in chain (3) drives electric machine support (28), screw mandrel (29), spiral shell including the 4th motor (27), the 4th
Female (30)；4th motor (27) drives electric machine support (28) to be connected with the 4th, and screw mandrel (29) is defeated with motor (27)
Shaft is connected, and nut (30) is connected to form screw pair with screw mandrel (29).
8. imitative snake search and rescue robot according to claim 3 becomes born of the same parents' articulation mechanism, it is characterised in that：The first motion branch
In chain (1), the second movement branched chain (2), the 3rd movement branched chain (3), foil gauge is posted in the first~six curved rod curved surface both sides
(31)。
9. imitative snake search and rescue robot according to claim 1 becomes born of the same parents' articulation mechanism, it is characterised in that：It is each to become born of the same parents' articulation mechanism
Joined end to end by garter spring (32) and constitute imitative snake search and rescue robot, each becomes and be cased with outside born of the same parents' articulation structure flexible film material making
Bellows (33)；Bellows (33) left end is embedded between garter spring (32) and joint left end cap (4), the insertion of bellows (33) right-hand member
Between garter spring (32) and joint right end cap (5)；Follower (34) is by passive wheel support (35) on garter spring (32)；Passively
Wheel support (35) is symmetrically distributed in its outer surface around garter spring (32) central axis, and imitative snake search and rescue robot head and the tail end is fixed with guarantor
Shield (36).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510493267.3A CN105058413B (en) | 2015-08-12 | 2015-08-12 | Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510493267.3A CN105058413B (en) | 2015-08-12 | 2015-08-12 | Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism |
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| Publication Number | Publication Date |
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| CN105058413A CN105058413A (en) | 2015-11-18 |
| CN105058413B true CN105058413B (en) | 2017-06-20 |
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| CN105620582A (en) * | 2016-03-16 | 2016-06-01 | 天津市银河飞跃科技有限公司 | Four-foot bio-robot with eight-rod metamorphic mechanism used on waist and driving method thereof |
| CN105598711A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | High-precision numerical control machine tool spindle head |
| CN105598953A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Two-rotation and one-movement three-degree-of-freedom parallel mechanism |
| GB2580832B (en) * | 2017-09-15 | 2022-04-06 | Groove X Inc | Robot that acts comically, and structure thereof |
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