CN103879469A

CN103879469A - Snakelike search-and-rescue robot joint module

Info

Publication number: CN103879469A
Application number: CN201410102219.2A
Authority: CN
Inventors: 胡海燕; 李伟达; 李娟�; 李春光
Original assignee: Suzhou University
Current assignee: Suzhou University
Priority date: 2014-03-19
Filing date: 2014-03-19
Publication date: 2014-06-25
Anticipated expiration: 2034-03-19
Also published as: CN103879469B

Abstract

The invention discloses a snakelike search-and-rescue robot joint module. The module comprises a body which can deflect in multiple directions and connection parts arranged at the two ends of the body. The body comprises a plurality of hollow rings which are respectively provided with four movable connection points, wherein 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. According to the snakelike search-and-rescue robot joint module, linear driving is adopted, the module can deflect in multiple directions, the module is wholly wrapped by a protection net, and the service life of the module can be effectively prolonged.

Description

A kind of snakelike search and rescue robot joint module

Technical field

The present invention relates to a kind of robot architecture, relate in particular 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 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 mode of motion 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 a luffing relatively in two adjacent blocks, each module is made up of two electrical motors and reducing gear and finishing bevel gear cuter, and each module has two degree of freedom.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 drive configuration complexity, manufacture difficult.

Summary of the invention

The object of this invention is to provide a kind of can be under various environment the snakelike search and rescue robot module 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 joint module, described module comprises the body of multi-directionally deflection and is arranged on the connecting portion at described body both ends, described module outside face is coated with guard net and water-proof jacket, 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.

Preferred technical scheme, is equipped with four wire guides on described cavity ring medial surface, described wire guide is arranged on described flexible connection point below.

Further technical scheme, described rope yarn is through each described wire guide.

Preferred technical scheme, described servomotor is by reel described in gear reducer transmission, and described reel is coaxially connected with described gear reducer.

Preferred technical scheme, described shell is cylindrical.

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 extreme end through the wire guide in each cavity ring through each corresponding guide roller, bullport respectively again.

Principle of work 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-aspect 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-aspect deflection, has increased the alerting ability 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, on wire column of the present invention, use guide roller to lead to rope yarn, both reduced friction force and made rope yarn operation more smooth, can make again the whole structure of rope yarn folding and unfolding accurate.

Brief description of the drawings

Fig. 1 is 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 part sectional view.

Wherein: 1, module; 2, body; 3, connecting portion; 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; 351, guide roller.

Detailed description of the invention

Below in conjunction with drawings and Examples, the invention will be further described:

Embodiment mono-:

As shown in Fig. 1-6, a kind of snakelike search and rescue robot joint module 1, module 1 comprises the body 2 of multi-directionally deflection and is arranged on the connecting portion at body 2 both ends, module 1 outside face is coated with guard net and water-proof jacket, 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, 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 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 351, rope yarn one end is wrapped on reel 33, the other end of rope yarn is fixed on body 2 ends by guide roller 351 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.

Preferred technical scheme, servomotor 32 is by gear reducer transmission reel 33, and reel 33 is coaxially connected with gear reducer.

Shell 31 is cylindrical.

Shell 31 inward flanges are also provided with two bullports 37, the guide roller 351 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 extreme end through the wire guide 23 in each cavity ring 21 through each corresponding guide roller 351351, bullport 37 respectively again.

Principle of work of the present invention, on individual module 1, be provided with body 2 and two connecting portions, in connecting portion, 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, and in body 2, be altogether evenly equipped with 4 rope yarns, can make the multi-aspect deflection twisting of body 2 by servomotor 32 to the control of reel 33.

Claims

1. a snakelike search and rescue robot joint module, it is characterized in that: 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, and described adjacent cavity ring is flexibly connected by described flexible connection point;

2. the snakelike search and rescue robot joint module 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 joint module 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 joint module of one according to claim 1, is characterized in that: described servomotor is by reel described in gear reducer transmission, and described reel is coaxially connected with described gear reducer.

5. the snakelike search and rescue robot joint module of one according to claim 1, is characterized in that: described shell is cylindrical.

6. the snakelike search and rescue robot joint module of one according to claim 1, is characterized in that: described module outside face is coated with guard net and water-proof jacket.