CN113752242A - Mechanical structure of bionic snake-shaped robot - Google Patents
Mechanical structure of bionic snake-shaped robot Download PDFInfo
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- CN113752242A CN113752242A CN202111131856.9A CN202111131856A CN113752242A CN 113752242 A CN113752242 A CN 113752242A CN 202111131856 A CN202111131856 A CN 202111131856A CN 113752242 A CN113752242 A CN 113752242A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
The invention discloses a mechanical structure of a bionic snake-shaped robot, which comprises a walking mechanism and a steering mechanism; the two traveling mechanisms are respectively a first traveling mechanism and a second traveling mechanism, the first traveling mechanism is positioned at the head of the robot, and the second traveling mechanism is positioned at the tail end of the robot; the steering mechanism is positioned between the two travelling mechanisms, at least one steering mechanism is arranged, the steering mechanism comprises a steering mechanism shell, a differential device and a turnover device, the differential device and the turnover device are both arranged in the steering mechanism shell, the output end of the differential device extends out of the steering mechanism shell to be rotatably connected with the first travelling mechanism, and the output end of the turnover device extends out of the steering mechanism shell to be rotatably connected with the second travelling mechanism; the differential device drives the steering mechanism to lift up, fall down and swing leftwards or rightwards relative to the travelling mechanism, and the turnover device drives the steering mechanism to turn over relative to the travelling mechanism, so that the robot capable of simulating a snake travelling state is provided.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a mechanical structure of a bionic snake-shaped robot.
Background
The bionic robot is an electromechanical system with excellent performance designed according to the bionics principle, and is mainly a humanoid robot, a bionic robot and a biological robot.
In recent years, with the rapid development of the bionic technology, the application of the bionic technology in the robot field is more and more extensive, and the bionic robot is more and more intelligent. In the aspect of emergency rescue, China focuses on developing earthquake relief robots, fire rescue robots, flood rescue robots, mine disaster relief robots and the like, and the examples of the emergency rescue robots manufactured by using the bionics principle are few.
Disclosure of Invention
The invention aims to provide a mechanical structure of a bionic snake-shaped robot, which can simulate the motion form of a snake.
The technical scheme adopted by the invention is as follows:
a mechanical structure of a bionic snake-shaped robot comprises a walking mechanism and a steering mechanism; the two traveling mechanisms are respectively a first traveling mechanism and a second traveling mechanism, the first traveling mechanism is positioned at the head of the robot, the second traveling mechanism is positioned at the tail of the robot, and the robot moves back and forth through the two traveling mechanisms; the steering mechanism is positioned between the two travelling mechanisms, at least one steering mechanism is arranged, the steering mechanism comprises a steering mechanism shell, a differential device and a turnover device, the differential device and the turnover device are both arranged in the steering mechanism shell, the differential device is arranged at one side close to the first travelling mechanism, the output end of the differential device extends out of the steering mechanism shell and is rotationally connected with the first travelling mechanism, the turnover device is arranged at one side close to the second travelling mechanism, and the output end of the turnover device extends out of the steering mechanism shell and is connected with the second travelling mechanism; the differential device drives the steering mechanism to do lifting and falling motion relative to the running mechanism, or drives the steering mechanism to do left and right swinging motion relative to the running mechanism, and the turnover device drives the steering mechanism to do turnover motion relative to the running mechanism.
Therefore, the two travelling mechanisms are positioned at the head end and the tail end of the robot and are used for supporting the robot to move forwards and backwards, and when the front and back directions of the robot are converted, the front and back directions can be converted only by enabling the travelling mechanisms in the corresponding directions to work, so that the robot has the advantage of flexible steering. The differential device and the turnover device are arranged in the steering mechanism shell, and when the differential device acts, the steering mechanism is driven to do lifting and falling motion relative to the traveling mechanism, or the steering mechanism is driven to do left and right swinging relative to the traveling mechanism, the turnover device drives the steering mechanism to do turnover motion relative to the traveling mechanism.
Furthermore, the tail end of the first travelling mechanism is rotatably connected with the output end of the first steering mechanism differential device, and the output end of the first steering mechanism overturning device is connected with the output end of the second steering mechanism differential device; the output end of the second steering mechanism turnover device is connected with the head end of the second travelling mechanism.
The design is that when the turning device of the first steering mechanism works, the first steering mechanism is driven to turn between the first travelling mechanism and the second steering mechanism, and when the turning device of the second steering mechanism works, the second steering mechanism is driven to turn between the first steering mechanism and the second travelling mechanism.
The differential device comprises a first steering engine, a first gear transmission assembly, a second steering engine, a second gear transmission assembly, a first bevel gear, a bevel gear shaft, a gear mounting rack and a rotating rack, wherein the first steering engine and the second steering engine are both arranged in a steering mechanism shell, output shafts of the first steering engine and the second steering engine are arranged in parallel, face opposite directions and are respectively positioned on two sides of the steering mechanism shell in the length direction; the first gear transmission assembly comprises a first transmission wheel, a second transmission wheel, a third transmission wheel, a second bevel gear and a first steering engine output gear, the first steering engine output gear is fixedly arranged on a first steering engine output shaft, the first transmission wheel is meshed with the first steering engine output gear, the second transmission wheel is meshed with the first transmission wheel, the third transmission wheel is meshed with the second transmission wheel, rotating shafts of the first transmission wheel, the second transmission wheel and the third transmission wheel are parallel to the first steering engine output shaft and are respectively and rotatably connected to steering mechanism shells at corresponding positions, the second bevel gear and the third transmission wheel are fixed on the same rotating shaft, the second bevel gear is meshed with the first bevel gear, the first bevel gear is fixed on a bevel gear shaft, and the bevel gear shaft is perpendicular to the rotating shaft of the second bevel gear; the second gear transmission assembly comprises a fourth transmission wheel, a fifth transmission wheel, a sixth transmission wheel, a third bevel gear and a second steering engine output gear, the second steering engine output gear is fixedly arranged on a second steering engine output shaft, the fourth transmission wheel is meshed with the second steering engine output gear, the fifth transmission wheel is meshed with the fourth transmission wheel, the sixth transmission wheel is meshed with the fifth transmission wheel, rotating shafts of the fourth transmission wheel, the fifth transmission wheel and the sixth transmission wheel are parallel to the second steering engine output shaft and are respectively and rotatably connected to steering mechanism shells at corresponding positions, the third bevel gear and the sixth transmission wheel are fixed on the same rotating shaft, the third bevel gear is meshed with the first bevel gear, and the axes of the third bevel gear and the second bevel gear are collinear; one end of the gear mounting rack is rotatably connected with the first bevel gear, the other end of the gear mounting rack is rotatably connected with the second bevel gear, the bevel gear shaft is rotatably connected onto the gear mounting rack, and the bevel gear shaft penetrates through the gear mounting rack and is fixedly connected with the rotating rack positioned above the gear mounting rack.
The first steering gear output gear is arranged on a first steering gear output shaft and used for driving the rotation of the first steering gear output shaft, and the rotation of the first steering gear output gear is sequentially transmitted to a second bevel gear through a driving wheel by arranging the first steering gear and a second steering gear; second steering wheel output gear installs on second steering wheel output shaft, a rotation for transmitting second steering wheel output shaft, through setting up second gear drive subassembly, make the rotation of second steering wheel output gear, transmit the third bevel gear for in proper order through the drive wheel, second bevel gear and third bevel gear mesh with first bevel gear respectively, the one end at corresponding pivot is all fixed to every drive wheel, the other end of pivot is rotated and is connected on the steering mechanism shell, and stretch out the steering mechanism shell, make the pivot inject on the steering mechanism shell through the thrust ring, break away from the steering mechanism shell after preventing the pivot from rotating.
When the rotation direction and the rotation speed of the second bevel gear and the third bevel gear are the same, the first bevel gear, the second bevel gear and the third bevel gear are in a locking state, the first bevel gear, the second bevel gear, the third bevel gear, the bevel gear shaft, the gear mounting rack and the rotating rack integrally rotate along with the rotating shafts of the second bevel gear and the third bevel gear, under the limiting action of the first traveling mechanism, the first steering mechanism lifts or falls relative to the first traveling mechanism, and under the common limiting action of the first traveling mechanism and the first steering mechanism, the second steering mechanism lifts or falls relative to the first steering mechanism.
When the second bevel gear and the third bevel gear have the same rotation rate and opposite rotation directions, the second bevel gear and the third bevel gear drive the first bevel gear to rotate, the rotation of the first bevel gear enables the bevel gear shaft fixedly connected with the first bevel gear to rotate, the rotating frame fixedly connected with the bevel gear shaft also rotates, and as the gear mounting frame is rotatably connected with the bevel gear shaft, so that rotation of the bevel gear shaft will not cause rotation of the gear mounting bracket, and by rotating the first bevel gear, the rotating bracket can be caused to rotate correspondingly, under the limiting action of the first travelling mechanism, the first steering mechanism is driven by the rotating frame to swing left and right relative to the first travelling mechanism, under the combined limiting action of the first travelling mechanism and the first steering mechanism, the second steering mechanism is driven by the rotating frame to swing left and right relative to the first steering mechanism.
Further, the turnover device comprises a third steering engine, a first output shaft, a seventh transmission wheel and a seventh rotating flange, the third steering engine is arranged in the shell of the steering mechanism, the output shaft of the third steering engine is perpendicular to the output shaft of the first steering engine and the bevel gear shaft, an output gear of the third steering engine is meshed with the seventh transmission wheel, one end of the first output shaft is fixedly connected with the seventh transmission wheel, the other end of the first output shaft is rotatably connected with the shell of the steering mechanism and fixedly connected with the rotating flange, the first output shaft is parallel to the output shaft of the third steering engine, and the rotating flange is connected with a vertical plate of the rotating frame or connected with a second walking mechanism.
The third steering engine is arranged, the third steering engine output gear is arranged on an output shaft of the third steering engine, power is provided for rotation of the third steering engine output gear, the transmission wheel seventh is arranged and fixed on the first output shaft, rotation of the third steering engine output gear is transmitted to the transmission wheel seventh meshed with the third steering engine output gear, the transmission wheel seventh transmits rotation to the first output shaft, one end, located on the outer side of the steering mechanism shell, of the first output shaft is connected with the rotating flange, rotation of the first output shaft drives the rotating flange to rotate, so that the rotating flange serves as the output end of the turnover device, and the turning mechanism is turned over relative to the walking mechanism or the adjacent turning mechanism under the limiting effect of the walking mechanism or the adjacent turning mechanism connected with the turning mechanism through rotation of the rotating flange.
Specifically, the gear mounting rack is of a U-shaped structure and is provided with two vertical plates and a horizontal plate, one vertical plate is rotationally connected with the second bevel gear, the other vertical plate is rotationally connected with the third bevel gear, a bevel gear shaft is rotationally connected with the horizontal plate, and the bevel gear shaft penetrates through the horizontal plate and is fixedly connected with a rotating rack positioned above the gear mounting rack.
When the rotating direction and the rotating speed of the second bevel gear and the third bevel gear are the same, the first bevel gear, the second bevel gear and the third bevel gear are in a locking state, and the first bevel gear, the second bevel gear, the third bevel gear, the bevel gear shaft, the gear mounting frame and the rotating frame integrally rotate along with the rotating shafts of the second bevel gear and the third bevel gear.
Furthermore, the rotating frame is of an L-shaped structure and is provided with a horizontal plate and a vertical plate, the horizontal plate of the rotating frame is fixedly connected with the bevel gear shaft, and the vertical plate of the rotating frame is rotatably connected with the first travelling mechanism or fixedly connected with the output end of the adjacent steering mechanism overturning device.
Through the arrangement of the rotating frame, on one hand, the rotating frame is used as an output end of the differential device, on the other hand, a vertical plate of the rotating frame is rotatably connected with the first travelling mechanism or is connected with a rotating flange of an adjacent steering mechanism, and a horizontal plate of the rotating frame is connected to a bevel gear shaft of the corresponding differential device, so that the rotating frame also has a connecting function.
Furthermore, the mechanical structure of the bionic snake-shaped crawler robot further comprises two intermediate connecting pieces, one of the two intermediate connecting pieces is connected to the tail end of the first walking mechanism, the other one of the two intermediate connecting pieces is connected to the head end of the second walking mechanism, the vertical plate of the rotating frame is rotatably connected with the intermediate connecting piece of the first walking mechanism, and the rotating flange plate is connected with the intermediate connecting piece of the second walking mechanism.
By arranging the intermediate connecting piece, the travelling mechanism and the steering mechanism can be connected more easily and firmly.
Further, the first steering engine and the second steering engine are stacked up and down, and the first steering engine is located below the second steering engine.
Through range upon range of setting from top to bottom first steering wheel and second steering wheel, can practice thrift the inner space of steering mechanism shell, can reduce steering mechanism's weight with the relatively little of steering mechanism shell, overturn more easily.
The walking mechanism comprises a toothless crawler wheel, toothless crawler wheel shafts, a crawler middle support frame, a toothed crawler wheel shaft, a speed reducer and a motor, wherein the number of the toothed crawler wheel shaft is one, the two ends of the toothed crawler wheel shaft are respectively connected with the toothed crawler wheel, the number of the toothless crawler wheel shafts is two, the two ends of each toothless crawler wheel shaft are respectively provided with one toothless crawler wheel, the toothed crawler wheel shaft is positioned between the two toothless crawler wheel shafts, and the toothed crawler wheel and the toothless crawler wheel are respectively arranged on the crawler middle support frame through the toothed crawler wheel shaft and the toothless crawler wheel shaft; the crawler belt is provided with two crawler belts, each crawler belt is of a closed annular structure, each crawler belt is sleeved on a toothed crawler wheel and a toothless crawler wheel which are positioned on the same side, and the crawler belts are tensioned through the two toothless crawler wheels; the motor and the reducer are both arranged on the middle support frame of the crawler belt, and the motor drives the toothed crawler wheel shaft and the toothed crawler wheel through the reducer to enable the travelling mechanism to move.
The motor and the speed reducer are arranged to provide walking power for the walking mechanism, and the toothed crawler wheel drives the crawler to rotate, so that the walking mechanism is driven to move.
The invention has the beneficial effects that:
the invention can realize that the robot is driven to move by the walking mechanism, and the robot finishes the motions of lifting, falling and overturning by the steering mechanism, thereby realizing the walking state of animals such as snakes and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the steering mechanism.
Fig. 3 is a schematic view of the differential device and the tumbling device.
Fig. 4 is a schematic structural diagram of the traveling mechanism.
Fig. 5 is a schematic view of the structure of the intermediate connecting member.
FIG. 6 is a schematic structural view of the support frames at both sides of the track connected to the middle support frame of the track.
Fig. 7 is a structural schematic diagram of the middle support frame of the crawler.
Fig. 8 is a schematic structural view of the middle connecting piece and the two side supporting frames of the crawler belt connected together.
Parts, elements and numbering in the drawings: the sensor comprises a sensor mounting shell 1, a traveling mechanism 2, an intermediate connecting piece 3, a steering mechanism 4, a single chip microcomputer mounting shell 5, a toothless crawler wheel 6, a crawler 7, a crawler intermediate support frame 8, a toothed crawler wheel 9, a speed reducer 10, a motor 11, an intermediate connecting frame 12, crawler two-side support frames 13, a rotating frame 14, a gear mounting frame 15, a steering mechanism shell 16, a first steering engine 17, a second steering engine 18, a third steering engine 19, a rotating flange 20, a second bevel gear 21, a driving wheel third 22, a driving wheel second 23, a driving wheel first 24, a first steering engine output gear 25, a driving wheel seventh 26, a third steering engine output gear 27, a second steering engine output gear 28, a thrust ring 29, a driving wheel fourth 30, a driving wheel fifth 31, a driving wheel sixth 32, a rotating shaft 33, an umbrella gear shaft 34, a third bevel gear 35 and a first bevel gear 36.
Detailed Description
The following provides a detailed description of the embodiments of the present invention, and the technical solutions of the present invention are clearly and completely described with reference to the accompanying drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the mechanical structure of a bionic snake-shaped robot comprises a walking mechanism 2, a steering mechanism 4 and an intermediate connecting piece 3; the two traveling mechanisms 2 are respectively a first traveling mechanism and a second traveling mechanism, the first traveling mechanism is located at the head of the robot, the first traveling mechanism can be used for installing the sensor installation shell 1, different types of sensors can be installed in the sensor installation shell 1, such as an infrared sensor and the like, the second traveling mechanism is located at the tail of the robot, the second traveling mechanism can be used for installing the single chip microcomputer installation shell 5, a single chip microcomputer can be installed in the single chip microcomputer installation shell 5, the movement of the robot can be controlled, and the robot can move back and forth through the two traveling mechanisms 2.
As shown in fig. 2, the steering mechanism 4 is located between the two traveling mechanisms 2, the steering mechanism 4 includes a steering mechanism housing 16, a differential device and a turnover device, the differential device and the turnover device are both installed in the steering mechanism housing 16, the differential device is installed at a side close to the first traveling mechanism, the turnover device is installed at a side close to the second traveling mechanism, the differential device drives the steering mechanism 4 to perform lifting and falling movements relative to the traveling mechanisms, or drives the steering mechanism 4 to perform left and right swinging movements relative to the traveling mechanisms, and the turnover device drives the steering mechanism 4 to perform turnover movements relative to the traveling mechanisms.
As shown in fig. 3, the differential device includes a first steering engine 17, a first gear transmission assembly, a second steering engine 18, a second gear transmission assembly, a first bevel gear 36, a bevel gear shaft 34, a gear mounting bracket 15 and a rotating bracket 14, wherein the first steering engine 17 and the second steering engine 18 are both installed in the steering mechanism housing 16, and output shafts of the first steering engine 17 and the second steering engine 18 are arranged in parallel and are respectively located on two sides of the steering mechanism housing 16 in the length direction; the first steering engine 17 and the second steering engine 18 are arranged in an up-down stacked mode, the first steering engine 17 is located below the second steering engine 18, the first gear transmission component comprises a first transmission wheel 24, a second transmission wheel 23, a third transmission wheel 22, a second bevel gear 21 and a first steering engine output gear 25, the first steering engine output gear 25 is fixedly installed on a first steering engine output shaft, the first transmission wheel 24 is meshed with the first steering engine output gear 25, the second transmission wheel 23 is meshed with the first transmission wheel 24, the third transmission wheel 22 is meshed with the second transmission wheel 23, rotating shafts 33 of the first transmission wheel 24, the second transmission wheel 23 and the third transmission wheel 22 are parallel to the first steering engine output shaft and are respectively and rotatably connected to the steering mechanism shell 16 at corresponding positions, the second bevel gear 21 and the third transmission wheel 22 are fixed on the same rotating shaft, the second bevel gear 21 is meshed with the first bevel gear 36, the first bevel gear 36 is fixed on a bevel gear shaft 34, the bevel gear shaft 34 is vertically arranged with the rotating shaft of the second bevel gear 21; the second gear transmission component comprises a fourth transmission wheel 30, a fifth transmission wheel 31, a sixth transmission wheel 32, a third bevel gear 35 and a second steering engine output gear 28, the second steering engine output gear is fixedly arranged on a second steering engine output shaft, the fourth transmission wheel 30 is meshed with the second steering engine output gear, the fifth transmission wheel 31 is meshed with the fourth transmission wheel 30, the sixth transmission wheel 32 is meshed with the fifth transmission wheel 31, rotating shafts 33 of the fourth transmission wheel 30, the fifth transmission wheel 31 and the sixth transmission wheel 32 are parallel to the second steering engine output shaft and are respectively and rotatably connected to the steering mechanism shell 16 at corresponding positions, the third bevel gear 35 and the sixth transmission wheel 32 are fixed on the same rotating shaft, and the third bevel gear 35 is meshed with the first bevel gear 36; one end of the gear mounting frame 15 is rotatably connected to the first bevel gear 36, the other end is rotatably connected to the second bevel gear 21, the bevel gear shaft 34 is rotatably connected to the gear mounting frame 15, the bevel gear shaft 34 penetrates through the gear mounting frame 15 to be fixedly connected to the upper rotating frame 14, each driving wheel is fixed to one end of a corresponding rotating shaft 33, the other end of the rotating shaft 33 is rotatably connected to the steering mechanism housing 16 and extends out of the steering mechanism housing 16, the rotating shaft 33 is limited on the steering mechanism housing 16 through the thrust ring 29, and the rotating shaft 33 is prevented from being separated from the steering mechanism housing 16 after being rotated.
The turnover device comprises a third steering engine 19, a first output shaft, a transmission wheel seven 26 and a rotary flange plate 20, the third steering engine 19 is installed in a steering mechanism shell 16, the output shaft of the third steering engine 19 is perpendicular to the output shaft of the first steering engine and an umbrella gear shaft, a third steering engine output gear 27 is fixedly connected to the output shaft of the third steering engine 19, the third steering engine output gear 27 is meshed with the transmission wheel seven 26, one end of the first output shaft is fixedly connected with the transmission wheel seven 26, the other end of the first output shaft is rotatably connected to the steering mechanism shell 16 and extends out of the steering mechanism shell 16 and is fixedly connected with the rotary flange plate 20, the first output shaft is parallel to the output shaft of the third steering engine 19, and the rotary flange plate 20 is connected with a vertical plate of the rotating frame 14 or connected with a second travelling mechanism.
The steering mechanism 4 is two, and the rotary flange plate 20 of the first steering mechanism is connected with the rotary frame 14 of the second steering mechanism.
As shown in fig. 5, there are two intermediate connecting members 3, one connecting to the tail end of the first running gear and the other connecting to the head end of the second running gear, the rotating frame 14 of the first steering gear is rotatably connected to the intermediate connecting member 3 of the first running gear, and the rotating flange 20 of the second steering gear is connected to the intermediate connecting member 3 of the second running gear.
The gear mounting rack 15 is of a U-shaped structure and is provided with two vertical plates and a horizontal plate, one vertical plate is rotationally connected with the second bevel gear 21, the other vertical plate is rotationally connected with the third bevel gear 35, the bevel gear shaft 34 is rotationally connected with the horizontal plate, and the bevel gear shaft 34 penetrates through the horizontal plate to be fixedly connected with the rotating rack 14 located above the gear mounting rack 15.
The rotating frame 14 is in an L-shaped structure and is provided with a horizontal plate and a vertical plate, the horizontal plate of the rotating frame 14 is fixedly connected with the bevel gear shaft 34, and the vertical plate of the rotating frame 14 is rotatably connected with the first travelling mechanism or fixedly connected with the rotating flange 20 of the adjacent steering mechanism overturning device.
As shown in fig. 4, 6, 7 and 8, the traveling mechanism includes a toothless crawler wheel 6, a toothless crawler wheel shaft, a crawler 7, a crawler intermediate support frame 8, a toothed crawler wheel 9, a toothed crawler wheel shaft, a speed reducer 10, a motor 11, an intermediate connection frame 12, a motor frame and crawler two-side support frames 13, the toothed crawler wheel shaft is one, the two ends of the toothed crawler wheel shaft are respectively connected with one toothed crawler wheel 9, the two toothless crawler wheel shafts are two, the two ends of each toothless crawler wheel shaft are respectively provided with one toothless crawler wheel 6, the toothed crawler wheel shaft is positioned between the two toothless crawler wheel shafts, and the toothed crawler wheel 9 and the toothless crawler wheel 6 are respectively arranged on the crawler intermediate support frame 8 through the toothed crawler wheel shaft and the toothless crawler wheel shaft; the number of the crawler belts 7 is two, each crawler belt 7 is of a closed annular structure, each crawler belt 7 is sleeved on the toothed crawler wheel 9 and the toothless crawler wheel 6 which are positioned on the same side, and the crawler belts 7 are tensioned through the two toothless crawler wheels 6.
The speed reducer 10 is arranged on the middle connecting frame 12, the middle connecting frame 12 is arranged on the middle support frame 8 of the crawler, the motor frame is arranged on the middle connecting frame 12, the motor 11 is arranged on the motor frame, the two support frames 13 on the two sides of the crawler are respectively arranged on the two sides of the length direction of the travelling mechanism 2 and are respectively in threaded connection with the middle connecting frame 12, and the motor 11 drives the toothed crawler wheel shaft and the toothed crawler wheel 9 through the speed reducer 10 to enable the travelling mechanism 2 to move.
Claims (9)
1. A mechanical structure of a bionic snake-shaped robot is characterized by comprising a walking mechanism (2) and a steering mechanism (4);
the two traveling mechanisms (2) are respectively a first traveling mechanism and a second traveling mechanism, the first traveling mechanism is positioned at the head of the robot, the second traveling mechanism is positioned at the tail of the robot, and the robot moves back and forth through the two traveling mechanisms;
the steering mechanism (4) is positioned between the two travelling mechanisms (2), at least one steering mechanism (4) is arranged, each steering mechanism (4) comprises a steering mechanism shell (16), a differential device and a turnover device, the differential device and the turnover device are both arranged in the steering mechanism shell (16), the differential device is arranged on one side close to the first travelling mechanism, the output end of the differential device extends out of the steering mechanism shell (16) and is connected with the first travelling mechanism in a rotating mode, the turnover device is arranged on one side close to the second travelling mechanism, and the output end of the turnover device extends out of the steering mechanism shell (16) and is connected with the second travelling mechanism;
the differential device drives the steering mechanism (4) to do lifting and falling motion relative to the running mechanism, or drives the steering mechanism (4) to do left and right swinging motion relative to the running mechanism, and the turnover device drives the steering mechanism (4) to do turnover motion relative to the running mechanism.
2. The mechanical structure of the bionic snake-shaped robot is characterized in that the number of the steering mechanisms (4) is two, the tail end of the first walking mechanism (2) is rotatably connected with the output end of the differential device of the first steering mechanism, and the output end of the overturning device of the first steering mechanism (4) is connected with the output end of the differential device of the second steering mechanism (4); the output end of the turnover device of the second steering mechanism (4) is connected with the head end of the second walking mechanism (2).
3. The mechanical structure of the bionic snake-shaped robot is characterized in that the differential device comprises a first steering engine (17), a first gear transmission assembly, a second steering engine (18), a second gear transmission assembly, a first bevel gear (36), a bevel gear shaft (34), a gear mounting rack (15) and a rotating rack (14), wherein the first steering engine (17) and the second steering engine (18) are both mounted in a steering mechanism shell (16), output shafts of the first steering engine (17) and the second steering engine (18) are arranged in parallel and face opposite directions and are respectively located on two sides of the steering mechanism shell in the length direction;
the first gear transmission component comprises a first transmission wheel (24), a second transmission wheel (23), a third transmission wheel (22), a second bevel gear (21) and a first steering engine output gear (25), the first steering engine output gear is fixedly arranged on a first steering engine output shaft, the first transmission wheel (24) is meshed with the first steering engine output gear, the second transmission wheel (23) is meshed with the first transmission wheel (24), the third transmission wheel (22) is meshed with the second transmission wheel (23), rotating shafts of the first transmission wheel, the second transmission wheel and the third transmission wheel are parallel to the first steering engine output shaft and are respectively and rotatably connected to a steering mechanism shell (16) at a corresponding position through rotating shafts, the second bevel gear (21) and the third transmission wheel (22) are fixed on the same rotating shaft, the second bevel gear (21) is meshed with a first bevel gear shaft (36), and the first bevel gear (36) is fixed on an umbrella shaft (34), the bevel gear shaft is vertically arranged with the rotating shaft of the second bevel gear (21);
the second gear transmission component comprises a fourth transmission wheel (30), a fifth transmission wheel (31), a sixth transmission wheel (32), a third bevel gear (35) and a second steering engine output gear (28), the second steering engine output gear is fixedly arranged on an output shaft of the second steering engine, the fourth transmission wheel (30) is meshed with the second steering engine output gear, the fifth transmission wheel (31) is meshed with the fourth transmission wheel (30), the sixth transmission wheel (32) is meshed with the fifth transmission wheel (31), rotating shafts of the fourth transmission wheel (30), the fifth transmission wheel (31) and the sixth transmission wheel are all parallel to the output shaft of the second steering engine, the third bevel gear (35) and a driving wheel six (32) are fixed on the same rotating shaft, the third bevel gear (35) is meshed with the first bevel gear (36), and the axes of the third bevel gear and the second bevel gear are collinear;
one end of the gear mounting rack (15) is rotatably connected with the first bevel gear (36), the other end of the gear mounting rack is rotatably connected with the second bevel gear (21), the bevel gear shaft (34) is rotatably connected to the gear mounting rack (15), and the bevel gear shaft (34) penetrates through the gear mounting rack (15) and is fixedly connected with the rotating rack (14) located above the gear mounting rack.
4. The mechanical structure of the bionic snake-shaped robot as claimed in claim 3, wherein the turning device comprises a third steering engine (19), a first output shaft, a seventh driving wheel (26) and a rotating flange (20), the third steering engine (19) is arranged in a steering mechanism shell (16), the output shaft of the third steering engine is perpendicular to the output shaft of the first steering engine and an umbrella gear shaft, the output shaft of the third steering engine is fixedly connected with a third steering engine output gear (27), the third steering engine output gear (27) is meshed with the seventh driving wheel (26), one end of the first output shaft is fixedly connected with the seventh driving wheel (26), the other end of the first output shaft is rotatably connected to the steering mechanism shell (16) and extends out of the steering mechanism shell (16) to be fixedly connected with the rotating flange (20), the first output shaft is parallel to the output shaft of the third steering engine, the rotary flange plate (20) is connected with the rotary frame (14) or the second travelling mechanism.
5. The mechanical structure of the bionic snake-shaped robot as claimed in claim 4, wherein the gear mounting rack (15) is of a U-shaped structure and has two vertical plates and a horizontal plate, one vertical plate is rotatably connected with the second bevel gear (21), the other vertical plate is rotatably connected with the third bevel gear (35), the bevel gear shaft (34) is rotatably connected with the horizontal plate, and the bevel gear shaft (34) penetrates through the horizontal plate to be fixedly connected with the rotating rack (14) above the gear mounting rack (15).
6. The mechanical structure of the bionic snake-shaped robot as claimed in claim 5, wherein the rotating frame (14) is L-shaped and has a horizontal plate and a vertical plate, the horizontal plate of the rotating frame (14) is fixedly connected with the bevel gear shaft (34), and the vertical plate of the rotating frame (14) is rotatably connected with the first traveling mechanism or fixedly connected with the rotating flange of the turning device of the adjacent steering mechanism.
7. The mechanical structure of the bionic snake-shaped robot is characterized in that the mechanical structure of the bionic snake-shaped tracked robot further comprises two intermediate connecting pieces (3), one of the two intermediate connecting pieces (3) is connected to the tail end of the first walking mechanism, the other one of the two intermediate connecting pieces is connected to the head end of the second walking mechanism, a vertical plate of the rotating frame is rotatably connected with the intermediate connecting piece of the first walking mechanism, and the rotating flange (20) is connected with the intermediate connecting piece of the second walking mechanism.
8. The mechanical structure of the bionic snake-shaped robot as claimed in claim 1, wherein the first steering engine (17) and the second steering engine (18) are arranged in a stacked manner, and the first steering engine (17) is positioned below the second steering engine (18).
9. The mechanical structure of the bionic snake-shaped robot is characterized in that the walking mechanism comprises a toothless crawler wheel (6), a toothless crawler wheel shaft, a crawler belt (7), a crawler belt middle support frame (8), two toothless crawler wheels (9), a toothed crawler wheel shaft, a speed reducer (10) and a motor (11), wherein the number of the toothed crawler wheel shaft is one, the two ends of the toothed crawler wheel shaft are respectively connected with one toothed crawler wheel (9), the two toothless crawler wheel shafts are respectively provided with one toothless crawler wheel (6), the toothed crawler wheel shaft is positioned between the two toothless crawler wheel shafts, and the toothed crawler wheel (9) and the toothless crawler wheel (6) are respectively arranged on the crawler belt middle support frame (8) through the toothless crawler wheel shaft and the toothless crawler wheel shaft;
the number of the crawler belts (7) is two, each crawler belt (7) is of a closed annular structure, each crawler belt (7) is sleeved on a toothed crawler wheel (9) and a toothless crawler wheel (6) which are positioned on the same side, and the crawler belts (7) are tensioned through the two toothless crawler wheels (6);
the motor (11) and the speed reducer (10) are both arranged on the crawler middle support frame (8), and the motor (11) drives the toothed crawler wheel shaft and the toothed crawler wheel (9) through the speed reducer (10) to enable the travelling mechanism (2) to move.
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| CN202111131856.9A CN113752242A (en) | 2021-09-26 | 2021-09-26 | Mechanical structure of bionic snake-shaped robot |
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| CN202111131856.9A CN113752242A (en) | 2021-09-26 | 2021-09-26 | Mechanical structure of bionic snake-shaped robot |
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| US5142932A (en) * | 1991-09-04 | 1992-09-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Flexible robotic arm |
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| CN111941407A (en) * | 2020-09-17 | 2020-11-17 | 福州大学 | Three-degree-of-freedom snake-shaped robot module and snake-shaped robot applying same |
| CN112519904A (en) * | 2020-12-16 | 2021-03-19 | 北方工业大学 | Bionic telescopic active barbed-type crawler climbing mechanism |
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- 2021-09-26 CN CN202111131856.9A patent/CN113752242A/en active Pending
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| US5142932A (en) * | 1991-09-04 | 1992-09-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Flexible robotic arm |
| US20080258550A1 (en) * | 2007-04-23 | 2008-10-23 | Mr. TIMOTHY DAVID WEBSTER | Hybrid Combination of Rubber Track with Road Wheels for a Vehicle |
| CN101434070A (en) * | 2007-11-14 | 2009-05-20 | 中国科学院沈阳自动化研究所 | Joint module of amphibious snake-shaped robot |
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