CN203765613U - Modularized reconfigurable snakelike robot - Google Patents
Modularized reconfigurable snakelike robot Download PDFInfo
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- CN203765613U CN203765613U CN201420172958.4U CN201420172958U CN203765613U CN 203765613 U CN203765613 U CN 203765613U CN 201420172958 U CN201420172958 U CN 201420172958U CN 203765613 U CN203765613 U CN 203765613U
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Abstract
The utility model belongs to the field of mechanical automation engineering, and particularly relates to a modularized reconfigurable snakelike robot. The modularized reconfigurable snakelike robot comprises a visualization module, a temperature detecting module, a humidity detecting module, a gas detecting module and connection modules. The two ends of the visualization module, the two ends of the temperature detecting module, the two ends of the humidity detecting module and the two ends of the gas detecting module are provided with the same quick-changing ports, and the visualization module, the temperature detecting module, the humidity detecting module and the gas detecting module are connected with one another through the connection modules; the visualization module is composed of a standard module, a visual camera, a camera installation base and the like, and the visual camera is fixed to one end of the standard module through the camera installation base; the other end of the standard module is connected with the other modules. The modularized reconfigurable snakelike robot is compact in structure, light in weight, high in environment suitability, capable of obtaining environment information of temperature, humidity, harmful gas, the layout and the like of ancient tombs and underground tombs by combining different modules according to different conditions so as to complete the detection task of the underground tombs, and has active drive capability and passive drive capability.
Description
Technical field
The utility model belongs to mechanical automation engineering field, and specifically a kind of modular reconfigurable snake-shaped robot, can be applicable to the environment such as ancient tomb, underground grave.
Background technology
At China's archaeological circle, for a long time to the detecting of underground grave class enclosure space, main what adopt is Luoyang Spade.This mode of detecting, is to get vertical exploratory heading in investigation region with Luoyang Spade, and the feature that the earth of taking out of according to Luoyang Spade changes judges the situation of underground remnants.Although this method for surveying is easy, its basis for estimation is indirectly with certain randomness, and cannot accurately judge existence and the distribution of underground remnants.And while there is remnants, Luoyang Spade is just in time beaten unavoidably on historical relic when underground, there is the risk of certain infringement historical relic.
Archaeology personnel, if body enters coffin chamber, are also that risk is heavy.Ancient times, grave was of the remote past, the oxydative spoilage of corpse and other materials, has exhausted oxygen wherein, also can generate some harmful gases simultaneously, such as carbon dioxide, hydrogen sulfide, sulfur dioxide, methane, may also can there is mercuryvapour according to ancients' burial culture.In addition,, due to underground humidity, darkness, may also can there are some microorganisms.The existence of anaerobic and above-mentioned gas and microorganism, must cause adverse effect to archaeology personnel.
Foreign study personnel use robot to survey in 1993 first in Great Pyramid.In September, 2002, the robot of " pyramid ramber " by name is used to the mysterious crossdrift archaeology of Pyramids exploration task, its long 30cm, wide 12cm, height is adjustable within the scope of 11～28cm, be equipped with sonac and be used for measuring stone thickness, and survey gold tower inside by " radar thoroughly " device.In April, 2013, archaeologist, in order to verify the profoundness in a tunnel in Mexico's Quetzalcoatl mausoleum, has used the robot of " Tlaloc II-TC " by name.This robot is equipped with infrared pick-up device and laser scanner, can generate the 3D rendering of the underground space.
The National Museum of China developed a kind of double-crawler type archaeology robot in 2008, in the rescue excavation work of Xi'an Pang Liutang tomb, robot success enters in coffin pit from hole for robbing, passes the information such as the image in coffin chamber, temperature, humidity back console.This robot also prolongs honest and clean tomb of Han dynasty and has carried out testing experiment in Xi'an.If domestic similar robot enters from exploratory heading, just can not survey at tomb indoor moving.How to allow robot both can enter from hole for robbing, exploratory heading, can move detection entering after coffin chamber again, obtain the environmental information in grave in ancient times, become to restrict a bottleneck of underground grave archaeological excavation.
Utility model content
The problems referred to above that exist in order to solve existing ancient tomb sniffing robot, the purpose of this utility model is to provide a kind of modular reconfigurable snake-shaped robot that can work under the environment such as ancient tomb, underground grave.This snake-shaped robot can obtain the environmental informations such as the temperature in ancient tomb, underground grave, humidity, pernicious gas and layout combining different modules according to different situations.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises the visual module connecting successively by link block, temperature sensing module, humidity detecting module and detection of gas module, wherein visual module, temperature sensing module, humidity detecting module and detection of gas module include standard module, described standard module comprises framework, crawler rack, crawler belt, Athey wheel, track wheel shaft and track driving mechanism, this framework is circumferentially evenly equipped with multiple crawler racks, between adjacent crawler rack, be provided with at least one crawler belt, on described crawler belt, be connected with multiple Athey wheels, the track wheel shaft of each Athey wheel is rotatably installed on described crawler rack, described track driving mechanism is arranged in framework, drives the Athey wheel rotation of same position in every crawler belt and then drives crawler belt, the two ends of described framework are respectively the rapid replacing interface plate, the link block interface that are connected with described link block, the standard module of described visual module is provided with visual camera head, on the standard module of described temperature sensing module, be separately installed with temperature data acquisition change-over circuit plate and temperature sensing head, on the standard module of described humidity detecting module, be separately installed with humidity data Collect conversion circuit board and humidity detecting head, on the standard module of described detection of gas module, have air intlet, air outlet slit, and be provided with gas composition analysis module in the standard module of detection of gas module,
Wherein: described crawler rack end face is " ten " font, in it, side-lower is provided with fixed mount, and the two ends of each fixed mount are connected with described rapid replacing interface plate and link block interface respectively, form described framework; Described crawler rack and fixed mount equal in length, is the axial length of described standard module; Described standard module is that end face is tetragonal frame structure, crawler rack and fixed mount are respectively four, lay respectively at tetragonal four angles, each face of described standard module is equipped with two crawler belts that are parallel to each other, on every crawler belt, connect the Athey wheel of equal number, on two crawler belts, corresponding Athey wheel is set on same track wheel shaft; On the track wheel shaft of two crawler belts on each of described standard module near rapid replacing interface plate one end, be equipped with the first helical gear, each upper the first helical gear is between each two crawler belts, the first helical gear on each synchronously drives rotation by described track driving mechanism, and then synchronously drives the crawler belt on each;
Described link block interface is circular ring part, its outer ring is along the circumferential direction evenly equipped with four extensions that extend radially outward, two crawler belts on each of described standard module are rotationally connected with an extension respectively near the track wheel shaft of link block interface one end, and the extending part on each is between each two crawler belts; Described extension is less than described standard module along the axial length of standard module; The inner ring of described link block interface is cylindrical seam, and end face is along the circumferential direction evenly equipped with multiple screwed holes for connecting;
Described rapid replacing interface plate is the tabular structural member of quadrangle, and centre has circular hole, the described circular hole edge formation interface that stretches out vertically; Four jiaos of screwed holes that have for being connected with described fixed mount of described rapid replacing interface plate;
Described track driving mechanism comprises drive motors, orthogonal helical gear, helical gear shaft and the second helical gear, this drive motors is arranged in described framework, described orthogonal helical gear is connected in the output shaft of drive motors, be evenly equipped with at this orthogonal helical gear circumferencial direction the second helical gear that quantity is identical with described crawler rack, each the second helical gear helical gear shaft is all rotatably installed on described framework; Athey wheel transmission on crawler belt between each described the second helical gear and adjacent two crawler racks, drives crawler belt by the driving of described drive motors;
The temperature sensing head of described temperature sensing module is arranged on the crawler rack of standard module, is positioned at the outside of described framework, surveys outside environment temperature; Described temperature data acquisition change-over circuit plate is arranged on framework inside, and is connected with temperature sensing head with outside line respectively, and the information that temperature sensing head is collected converts data signal to and uploads on outside line;
The temperature sensing head of described humidity detecting module is arranged on the crawler rack of standard module, is positioned at the outside of described framework, surveys outside environment humidity; Described humidity data Collect conversion circuit board is arranged on framework inside, and is connected with humidity detecting head with outside line respectively, and the information that humidity detecting head is collected converts data signal to and uploads on outside line;
Air intlet, the air outlet slit of described detection of gas module are arranged on respectively on the crawler rack of standard module, are positioned at the outside of described framework, gather or discharged air; Described gas composition analysis module is arranged on framework inside, and is connected with air intlet, air outlet slit with outside line respectively, converts the analytical information of gas componant to data signal and uploads on outside line;
Described link block comprises rubber sleeve shell, support side plate, steering wheel, quick change flange, " L " shape plate, gear drive and has flexible rubber sleeve, on this rubber sleeve outer casing inner wall, be symmetrically fixed with two support side plate, described steering wheel is two, is all placed in described rubber sleeve shell, and is connected with described support side plate respectively; One end of described " L " shape plate is connected with the output shaft of two steering wheels by described gear drive, and the other end is connected with on described quick change flange; Described rubber sleeve is enclosed within on rubber sleeve shell, and one end is connected on rubber sleeve shell, and the other end is connected in described quick change flange; Described rubber sleeve shell is exposed at the part of rubber sleeve outside and the link block interface of described standard module is connected, and described quick change flange is connected with the rapid replacing interface plate of described standard module.
Advantage of the present utility model and good effect are:
1. the utility model, based on reconfigurable modular design concept, is assembled different exploration modules for different acquisition environments, by exploratory heading and enter coffin chamber and nose into.Robot has stronger obstacle climbing ability, can detect for a long time, on a large scale environment, the layout in coffin pit and bury product; Robot can detect the temperature in coffin chamber, humidity and toxic and harmful simultaneously, prevents that scientific investigation personnel from directly entering coffin chamber and causing historical relics and personnel's injury.
2. environmental suitability of the present utility model is stronger, there is active and passive driving force, the utility model is simulated creeping action the smooth soil property ground of underground burial chamber is can also adapting to the road surface such as cement, reason Shi He except adapting to of biological snake, leans on that passive that the promotion of frictional ground force realizes modular reconfigurable snake-shaped robot advances, setback by imitating snake type games; The active that can realize robot by the drive motors on modular reconfigurable snake-shaped robot standard module is advanced, setback, also has obstacle climbing ability.
3. the utility model compact conformation, lightweight, can be good at the detection mission of catacombs.
Brief description of the drawings
Fig. 1 is perspective view of the present utility model;
Fig. 2 is the structural representation of the visual module of the utility model;
Fig. 3 is the structural representation of the utility model standard module;
Fig. 4 is the structural representation of track driving mechanism in the utility model standard module;
Fig. 5 is the structural representation of the utility model temperature sensing module;
Fig. 6 is the structural representation of the utility model humidity detecting module;
Fig. 7 is the structural representation of the utility model detection of gas module;
Fig. 8 is the structural representation of the utility model link block;
Fig. 9 is the internal structure schematic diagram of the utility model link block;
Figure 10 is the structural representation of the utility model link block middle gear transmission mechanism;
Figure 11 is the syndeton schematic diagram of the utility model crawler rack and fixed mount;
Wherein: 1 is visual module, 2 is link block, 3 is temperature sensing module, 4 is humidity detecting module, 5 is detection of gas module, 6 is visual camera head, 7 is mounting base for camera head, 8 is standard module, 9 is the second helical gear, 10 is orthogonal helical gear, 11 is rapid replacing interface plate, 12 is crawler rack, 13 is fixed mount, 14 is helical gear shaft, 15 is motor mount, 16 is drive motors, 17 is link block interface, 18 is temperature data acquisition change-over circuit plate, 19 is temperature sensing head, 20 is humidity data Collect conversion circuit board, 21 is humidity detecting head, 22 is crawler belt, 23 is gas composition analysis module, 24 is air intlet, 25 is air outlet slit, 26 is rubber sleeve, 27 is rubber sleeve shell, 28 is support side plate, 29 is steering wheel, 30 is quick change ring flange, 31 is " L " shape plate, 32 is T oblique crank Z, 33 is bevel gear, 34 is spur gear.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, the utility model comprises the visual module 1, temperature sensing module 3, humidity detecting module 4 and the detection of gas module 5 that connect successively by link block 2, the two ends of visual module 1, temperature sensing module 3, humidity detecting module 4 and detection of gas module 5 are all designed with identical rapid replacing interface, can be connected by link block 2 each other.
As shown in Figure 2, visual module 1 comprises visual camera 6, mounting base for camera head 7 and standard module 8, and visual camera 6 is fixed on one end of standard module 8 by mounting base for camera head 7; Because the installation site of visual camera in visual module 16 is in one end of standard module 8, so visual module 1 is merely able to be arranged on the forward and backward two ends of modular reconfigurable snake-shaped robot.
Standard module 8 comprises framework, crawler rack 12, crawler belt 22, Athey wheel 35, track wheel shaft 36 and track driving mechanism, this framework is circumferentially evenly equipped with multiple crawler racks 12, between adjacent crawler rack 12, be provided with at least one crawler belt 22, on described crawler belt 22, be connected with multiple Athey wheels 35, the track wheel shaft 36 of each Athey wheel 35 is rotatably installed on described crawler rack 12; Described track driving mechanism is arranged in framework, drives the Athey wheel 35 of same position in every crawler belt 22 to rotate and then drives crawler belt 22; The two ends of described framework are respectively the rapid replacing interface plate 11, the link block interface 17 that are connected with described link block 2.As shown in figure 11, crawler rack 12 end faces are " ten " font, and in it, side-lower is provided with fixed mount 13, and the two ends of each fixed mount 13 are connected with described rapid replacing interface plate 11 and link block interface 17 respectively, form described framework.
The standard module 8 of the present embodiment is as shown in Fig. 3, Fig. 5, standard module 8 is tetragonal frame structure for end face, and crawler rack 12 and fixed mount 13 are respectively four, lay respectively at tetragonal four angles, crawler rack 12 is equal in length with fixed mount 13, is the axial length of standard module 8; Each face of standard module 8 is equipped with two crawler belt 22(that are parallel to each other totally eight crawler belts), on every crawler belt 22, connect equal number (five s') Athey wheel 35; Article two, on crawler belt 22, corresponding Athey wheel 35 is set in the two ends of same track wheel shaft 36, and every five Athey wheels 35 connect a crawler belt 22, and standard module 8 is axially quadrangle, and Athey wheel 35 is arranged on every limit two, corresponding two crawler belts 22,5 Athey wheels 35 of every row.On the track wheel shaft 36 of two crawler belts 22 on each of standard module 8 near rapid replacing interface plate 11 one end, be equipped with the first helical gear, each upper the first helical gear is between each two crawler belts 22, the first helical gear on each synchronously drives rotation by track driving mechanism, and then synchronously drives the crawler belt 22 on each.
Link block interface 17 is circular ring part, its outer ring is along the circumferential direction evenly equipped with four extensions that extend radially outward, two crawler belts 22 on each of standard module 8 are rotationally connected with an extension respectively near the track wheel shaft 36 of link block interface 17 one end, and the extending part on each is between each two crawler belts 22; Described extension is less than described standard module 8 along the axial length of standard module 8; The inner ring of link block interface 17 is cylindrical seam, and end face is along the circumferential direction evenly equipped with multiple screwed holes for being connected with other module.
Rapid replacing interface plate 11 is the tabular structural member of quadrangle, and centre has circular hole, the described circular hole edge formation interface that stretches out vertically; Four jiaos of screwed holes that have for being connected with fixed mount 13 of rapid replacing interface plate 11.
As shown in Figure 3, Figure 4, track driving mechanism is positioned at framework one end near rapid replacing interface plate 11, comprise drive motors 16, motor mount 15, orthogonal helical gear 10, four helical gear shafts 14 and four the second helical gears 9, this motor mount 15 is fixed on the end face of standard module 8 framework inside and motor mount 15 perpendicular to the longitudinal center line of standard module 8, drive motors 16 is fixed on motor mount 15, and output shaft and orthogonal helical gear 10 coaxially connect firmly; Be evenly equipped with at the circumferencial direction of orthogonal helical gear 10 tetra-of the second helical gear 9(that quantity is identical with crawler rack 12), the helical gear shaft 14 of each the second helical gear 9 is all rotatably installed on framework; Four the second helical gears 9 are corresponding one by one with peripheral four the first helical gears again, inside and outside two-layer totally eight helical gears, outer field four the first helical gears are separately fixed on the track wheel shaft 36 at framework four sides, in the time that the drive motors 16 of track driving mechanism in standard module 8 rotates, realize the rotation output of Athey wheel 35, rotate with eight crawler belts 22 that can drive four sides simultaneously, drive modular reconfigurable snake-shaped robot to carry out active and advance, retreat.
As shown in Figure 5, temperature sensing module 3 comprises standard module 8, temperature sensing head 19 and temperature data acquisition change-over circuit plate 18, identical with visual module 1 of the structure of standard module 8; Temperature sensing head 19 is exposed to the outside of standard module 8 frameworks and is arranged on the crawler rack 12 of standard module 8, to survey outside environment temperature; Temperature data acquisition change-over circuit plate 18 is arranged on standard module 8 frameworks inside and is connected with temperature sensing head 19 with outside line respectively, and the information that temperature sensing head 19 is collected converts data signal to and uploads on outside line.
As shown in Figure 6, humidity detecting module 4 comprises standard module 8, humidity detecting head 21 and humidity data Collect conversion circuit board 20, identical with visual module 1 of the structure of standard module 8; Humidity detecting head 21 is exposed to the outside of standard module 8 frameworks and is arranged on the crawler rack 12 of standard module 8, to survey outside environment humidity; Humidity data Collect conversion circuit board 20 is arranged on standard module 8 frameworks inside and is connected with humidity detecting head 21 with outside line respectively, and the information that humidity detecting head 21 is collected converts data signal to and uploads on outside line.
As shown in Figure 7, detection of gas module 5 comprises standard module 8, air intlet 24, air outlet slit 25 and gas composition analysis module 23, identical with visual module 1 of the structure of standard module 8; Air intlet 24, air outlet slit 25 are exposed to the outside of standard module 8 frameworks and are arranged on the crawler rack 12 of standard module 8, are beneficial to collection and the discharge of air; Gas composition analysis module 23 is arranged on standard module 8 frameworks inside and is connected with air intlet 24, air outlet slit 25 with outside line respectively, converts the analytical information of gas componant to data signal and uploads on outside line.
As shown in Figure 8,9, link block 2 comprises rubber sleeve shell 27, rubber sleeve 26, quick change flange 30, " L " shape plate 31, two steering wheels 29, two support side plate 28 and gear drives, rubber sleeve shell 27 is cylinder-like structure, on its inwall, be symmetrically fixed with two support side plate 28, two steering wheels 29 are all placed in rubber sleeve shell 27, and are connected with support side plate 28 respectively; One end of described " L " shape plate 31 is connected with the output shaft of two steering wheels 29 by described gear drive, the other end is quincunx cross structure, is connected with quick change flange 30, has annexation more reliably between guarantee " L " shape plate 31 and quick change ring flange 30; Rubber sleeve 26 has elasticity, is enclosed within on rubber sleeve shell 27, and one end is connected on rubber sleeve shell 27, and the other end is connected with quick change flange 30; Rubber sleeve shell 27 is exposed at the part of rubber sleeve 26 outsides and the link block interface 17 of standard module 8 is connected, and quick change flange 30 is connected with the rapid replacing interface plate 11 of standard module 8, to realize quick-detachment and the installation of intermodule.
Gear drive of the present utility model is prior art, and as shown in figure 10, gear drive comprises six straight-tooth travelling gears 34, T oblique crank Z 32 and three bevel gears 33; Gear drive is symmetrical about link block 2 mid-planes, in link block 2, on steering wheel 29 output shafts, directly connect a straight-tooth travelling gear 34, this straight-tooth travelling gear 34 is meshed with the 3rd straight-tooth travelling gear 34 by a straight-tooth travelling gear 34 with idle pulley effect, and the 3rd straight-tooth travelling gear 34 is taking T oblique crank Z 32 cross bars as gear shaft; The cross bar two ends of T oblique crank Z 32 are symmetrically installed with a straight-tooth travelling gear 34 and a bevel gear 33 successively, corresponding straight-tooth travelling gear 34 is in outside, the conical surface of bevel gear 33 is fixedly connected with straight-tooth travelling gear 34 towards vertical pivot and tail end in the middle of T shape bar 32, on transverse axis, two symmetrical bevel gears 33 are meshed with the bevel gear 33 on vertical pivot, and bevel gear 33 end faces in vertical axes are connected with one end of " L " shape plate 31.By two steering wheels 29 time in the same way, rotate backward and realize facing upward of intermodule and bow and swing.
Operation principle of the present utility model is:
In the time that two steering wheels 29 in link block 2 rotatablely move by rightabout output, drive the left and right rotation of bevel gear 33 in vertical axes in the gear drive in link block 2, rotarily drive " L " shape plate 31 and turn left and right when bevel gear in vertical axes 33 is left and right, realize the each interarticular left-right rotation of modular reconfigurable snake-shaped robot, realize the imitative snake type motion of robot.In the time that two steering wheels 29 in link block 2 rotatablely move by equidirectional output, in the gear drive in drive link block 2, in vertical axes, bevel gear 33 carries out upper and lower swing around the cross bar of T shape bar 32.When bevel gear in vertical axes 33 drives the 31 upper and lower swings of " L " shape plate in the time that the cross bar of T shape bar 32 carries out upper and lower swing, realize the each interarticular motion of bowing of facing upward of modular reconfigurable snake-shaped robot.Above motion be robot by imitating the wriggling movement of snake, by the frictional force of the earth realize robot to forward and backward motion, belong to the passive forward travel form of modular reconfigurable snake-shaped robot.
In the time that the drive motors 16 in the standard module 8 of modular reconfigurable snake-shaped robot moves, drive the crawler belt 22 at four sides on standard module 8 to rotate.Now, robot is by straight the position according to putting advancing, retreat, and this forms of motion belongs to the active forward travel form of modular reconfigurable snake-shaped robot.
Claims (10)
1. a modular reconfigurable snake-shaped robot, it is characterized in that: comprise the visual module (1) connecting successively by link block (2), temperature sensing module (3), humidity detecting module (4) and detection of gas module (5), wherein visual module (1), temperature sensing module (3), humidity detecting module (4) and detection of gas module (5) include standard module (8), described standard module (8) comprises framework, crawler rack (12), crawler belt (22), Athey wheel (35), track wheel shaft (36) and track driving mechanism, this framework is circumferentially evenly equipped with multiple crawler racks (12), between adjacent crawler rack (12), be provided with at least one crawler belt (22), on described crawler belt (22), be connected with multiple Athey wheels (35), the track wheel shaft (36) of each Athey wheel (35) is rotatably installed on described crawler rack (12), described track driving mechanism is arranged in framework, drives Athey wheel (35) rotation of same position in every crawler belt (22) and then drives crawler belt (22), the two ends of described framework are respectively the rapid replacing interface plate (11), the link block interface (17) that are connected with described link block (2), the standard module (8) of described visual module (1) is provided with visual camera head (6), on the standard module (8) of described temperature sensing module (3), be separately installed with temperature data acquisition change-over circuit plate (18) and temperature sensing head (19), on the standard module (8) of described humidity detecting module (4), be separately installed with humidity data Collect conversion circuit board (20) and humidity detecting head (21), on the standard module (8) of described detection of gas module (5), have air intlet (24), air outlet slit (25), and be provided with gas composition analysis module (23) in the standard module (8) of detection of gas module (5).
2. by modular reconfigurable snake-shaped robot claimed in claim 1, it is characterized in that: described crawler rack (12) end face is " ten " font, in it, side-lower is provided with fixed mount (13), the two ends of each fixed mount (13) are connected with described rapid replacing interface plate (11) and link block interface (17) respectively, form described framework.
3. by modular reconfigurable snake-shaped robot claimed in claim 2, it is characterized in that: described crawler rack (12) is equal in length with fixed mount (13), be the axial length of described standard module (8); Described standard module (8) is tetragonal frame structure for end face, crawler rack (12) and fixed mount (13) are respectively four, lay respectively at tetragonal four angles, each face of described standard module (8) is equipped with two crawler belts that are parallel to each other (22), the upper Athey wheel (35) that connects equal number of every crawler belt (22), the upper corresponding Athey wheel (35) of two crawler belts (22) is set on same track wheel shaft (36); On the track wheel shaft (36) of two crawler belts (22) on each of described standard module (8) near rapid replacing interface plate (11) one end, be equipped with the first helical gear, each upper the first helical gear is positioned between each two crawler belts (22), the first helical gear on each synchronously drives rotation by described track driving mechanism, and then synchronously drives the crawler belt (22) on each.
4. by modular reconfigurable snake-shaped robot claimed in claim 3, it is characterized in that: described link block interface (17) is circular ring part, its outer ring is along the circumferential direction evenly equipped with four extensions that extend radially outward, two crawler belts (22) on each of described standard module (8) are rotationally connected with an extension respectively near the track wheel shaft (36) of link block interface (17) one end, and the extending part on each is between each two crawler belts (22); Described extension is less than described standard module (8) along the axial length of standard module (8); The inner ring of described link block interface (17) is cylindrical seam, and end face is along the circumferential direction evenly equipped with multiple screwed holes for connecting.
5. by modular reconfigurable snake-shaped robot claimed in claim 3, it is characterized in that: described rapid replacing interface plate (11) is the tabular structural member of quadrangle, and centre has circular hole the described circular hole edge formation interface that stretches out vertically; Four jiaos of screwed holes that have for being connected with described fixed mount (13) of described rapid replacing interface plate (11).
6. by modular reconfigurable snake-shaped robot claimed in claim 1, it is characterized in that: described track driving mechanism comprises drive motors (16), orthogonal helical gear (10), helical gear shaft (14) and the second helical gear (9), this drive motors (16) is arranged in described framework, described orthogonal helical gear (10) is connected in the output shaft of drive motors (16), be evenly equipped with at the circumferencial direction of this orthogonal helical gear (10) the second helical gear (9) that quantity is identical with described crawler rack (12), the helical gear shaft (14) of each the second helical gear (9) is all rotatably installed on described framework, Athey wheel (35) transmission on crawler belt (22) between each described the second helical gear (9) and adjacent two crawler racks (12), drives crawler belt (22) by the driving of described drive motors (16).
7. by modular reconfigurable snake-shaped robot claimed in claim 1, it is characterized in that: the temperature sensing head (19) of described temperature sensing module (3) is arranged on the crawler rack (12) of standard module (8), be positioned at the outside of described framework, survey outside environment temperature; Described temperature data acquisition change-over circuit plate (18) is arranged on framework inside, and is connected with temperature sensing head (19) with outside line respectively, and the information that temperature sensing head (19) is collected converts data signal to and uploads on outside line.
8. by modular reconfigurable snake-shaped robot claimed in claim 1, it is characterized in that: the temperature sensing head (21) of described humidity detecting module (4) is arranged on the crawler rack (12) of standard module (8), be positioned at the outside of described framework, survey outside environment humidity; Described humidity data Collect conversion circuit board (20) is arranged on framework inside, and is connected with humidity detecting head (21) with outside line respectively, and the information that humidity detecting head (21) is collected converts data signal to and uploads on outside line.
9. by modular reconfigurable snake-shaped robot claimed in claim 1, it is characterized in that: on the air intlet (24) of described detection of gas module (5), the crawler rack (12) that air outlet slit (25) is arranged on respectively standard module (8), be positioned at the outside of described framework, gather or discharged air; Described gas composition analysis module (23) is arranged on framework inside, and is connected with air intlet (24), air outlet slit (25) with outside line respectively, converts the analytical information of gas componant to data signal and uploads on outside line.
10. by modular reconfigurable snake-shaped robot claimed in claim 1, it is characterized in that: described link block (2) comprises rubber sleeve shell (27), support side plate (28), steering wheel (29), quick change flange (30), " L " shape plate (31), gear drive and has flexible rubber sleeve (26), on this rubber sleeve shell (27) inwall, be symmetrically fixed with two support side plate (28), described steering wheel (29) is two, is all placed in described rubber sleeve shell (27), and is connected with described support side plate (28) respectively; One end of described " L " shape plate (31) is connected with the output shaft of two steering wheels (29) by described gear drive, and the other end is connected with on described quick change flange (30); It is upper that described rubber sleeve (26) is enclosed within rubber sleeve shell (27), and it is upper that one end is connected in rubber sleeve shell (27), and the other end is connected in described quick change flange (30); Described rubber sleeve shell (27) is exposed at the outside part of rubber sleeve (26) and is connected with the link block interface (17) of described standard module (8), and described quick change flange (30) is connected with the rapid replacing interface plate (11) of described standard module (8).
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| CN104669256A (en) * | 2015-01-06 | 2015-06-03 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Snake-shaped robot flat road travelling posture control method |
| CN104723346A (en) * | 2015-03-23 | 2015-06-24 | 南京航空航天大学 | Snake gastrostege simulated structure of tribological anisotropy and preparation method |
| CN105171716A (en) * | 2015-09-01 | 2015-12-23 | 上海大学 | Multi-joint search-and-rescue robot |
| CN107239631A (en) * | 2017-06-20 | 2017-10-10 | 王建 | BIM modularization modeling methods and BIM Modularization modeling systems |
| CN108582054A (en) * | 2018-07-18 | 2018-09-28 | 毛忠杰 | A kind of snake-shaped robot |
-
2014
- 2014-04-10 CN CN201420172958.4U patent/CN203765613U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104669256A (en) * | 2015-01-06 | 2015-06-03 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Snake-shaped robot flat road travelling posture control method |
| CN104723346A (en) * | 2015-03-23 | 2015-06-24 | 南京航空航天大学 | Snake gastrostege simulated structure of tribological anisotropy and preparation method |
| CN105171716A (en) * | 2015-09-01 | 2015-12-23 | 上海大学 | Multi-joint search-and-rescue robot |
| CN107239631A (en) * | 2017-06-20 | 2017-10-10 | 王建 | BIM modularization modeling methods and BIM Modularization modeling systems |
| CN107239631B (en) * | 2017-06-20 | 2021-02-05 | 王建 | BIM modular modeling method and BIM modular modeling system |
| CN108582054A (en) * | 2018-07-18 | 2018-09-28 | 毛忠杰 | A kind of snake-shaped robot |
| CN108582054B (en) * | 2018-07-18 | 2021-03-05 | 毛忠杰 | Snake-shaped robot |
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