CN203780642U - Joint module for snake-like robot - Google Patents

Abstract

The utility model discloses a joint module for a snake-like robot. The module comprises a main body capable of deflecting in multiple directions and connecting parts arranged at two end parts of the main body, wherein the main body comprises a plurality of hollow rings; each hollow ring is provided with four movable connecting points; two opposite movable connecting points are arranged on the upper surface of each hollow ring; the othertwo movable connecting points are arranged on the lower surface of each hollow ring; the adjacent hollow rings are movably connected through the movable connecting points. The joint module disclosed by the utility model adopts line drive and can deflect in the multiple directions;the moduleis integrally wrapped with a protecting net, so that the service life of the module can be effectively prolonged.

Description

A snake-like search and rescue robot joint module

technical field

The utility model relates to a robot structure, in particular to a snake-shaped search and rescue robot joint module.

Background technique

Snake robot is a research hotspot in the field of bionic robots in recent years. It has the advantages of unique structure, flexible control, reliable performance, strong scalability, and strong adaptability. Snake robot is suitable for In narrow spaces, long and narrow pipelines, and various ground movements, it can enter buildings collapsed by earthquakes or fires to perform search and rescue tasks, which not only makes people safer, but also makes search and rescue work more effective.

In the prior art, an amphibious snake-like robot disclosed in Chinese Patent No. 200810229974.1, which involves underwater snake-like robots, is composed of multiple modules, and each module can be Relatively rotationally connected, one of the two adjacent modules can move horizontally and pitch relative to the other, and each module is composed of two electric motors, reduction gears and bevel gears, and each module has two degrees of freedom. However, the single module of the above-mentioned amphibious robot is rigid and cannot be bent. Although it can swim freely in the water, because the single module is relatively long, its movement is not flexible enough, and its driving structure is complicated and difficult to manufacture.

Contents of the invention

The purpose of the utility model is to provide a snake-shaped search and rescue robot module that can flexibly move in various environments.

In order to achieve the above purpose, the technical solution adopted by the utility model is: a snake-shaped search and rescue robot joint module, the module includes a body that can deflect in multiple directions and connecting parts arranged at both ends of the body, the outside of the module The surface is covered with a protective net and a waterproof sheath, the body includes a plurality of hollow rings, and each of the hollow rings is provided with four movable connection points, wherein the opposite two movable connection points are arranged on the hollow rings surface, the other two movable connection points are arranged on the lower surface of the hollow ring, and the adjacent hollow rings are movably connected through the movable connection points;

The connecting part includes a casing, a servo motor arranged in the casing, a winding wheel with two winding slots driven by the servo motor, a rope wound in the winding slots, fixedly arranged on the There are two wire posts inside the shell, the end of the wire posts is provided with a guide wheel, one end of the rope is wound on the winding wheel, and the other end of the rope is fixed on the wire through the guide wheel and the body. At the end of the body, the two ropes on the reel wind in opposite directions.

In a preferred technical solution, four wire holes are provided on the inner side of the hollow ring, and the wire holes are arranged below the movable connection point.

In a further technical solution, the rope passes through each of the wire holes.

In a preferred technical solution, the servo motor drives the winding wheel through a gear reducer, and the winding wheel is coaxially connected with the gear reducer.

In a preferred technical solution, the housing is cylindrical.

In the above technical solution, two guide holes are provided on the inner edge of the housing, and the guide wheels of the two guide posts are respectively facing the two winding grooves, and the two ropes on the winding grooves respectively pass through the corresponding guide wheels, The guide holes pass through the wire holes on the hollow rings and are finally fixed on the hollow ring at the end.

The working principle of the utility model is that a single module is provided with a main body and two connecting parts, and a servo motor and a reel are arranged in the connecting part, and the servo motor drives the reel to rotate. On the contrary, when the reel rotates, one rope is tightened and the other is loosened, so that the body can be folded and deflected toward the side where the rope is tightened; and a single module is provided with two connecting parts, and the body has a total of There are 4 ropes, and the control of the winding wheel by the servo motor can make the body deflect and twist in multiple directions.

Due to the application of the above-mentioned technical solutions, the utility model has the following advantages compared with the prior art:

1. The module of the utility model can deflect in multiple directions, which increases the flexibility of the snake-shaped search and rescue robot and can move forward flexibly in harsh environments;

2. The utility model has a cylindrical shape as a whole, and the resistance it receives during movement is small, and it is not easy to be caught by protrusions and cannot move forward;

3. The utility model drives the winding wheel to rotate through the servo motor, and the control is more precise, and the deflection of the body is more flexible through the control;

4. The guiding wheel of the utility model is used to guide the rope, which not only reduces the friction force to make the rope run more smoothly, but also makes the overall effect of the rope retractable and unwinding accurate.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is a schematic diagram of a wire column;

Fig. 3 is a schematic diagram of the connecting part;

Fig. 4 is a schematic diagram of a hollow ring;

Figure 5 is a schematic diagram of the shell;

Fig. 6 is a partial sectional view of the reel.

Among them: 1. Module; 2. Body; 3. Connecting part; 21. Hollow ring; 22. Movable connection point; 23. Wire hole; 31. Shell; 32. Servo motor; 33. Winding wheel; 35. Lead post ; 37, guide hole; 331, winding groove; 351, guide wheel.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is further described:

Embodiment one:

As shown in Figure 1-6, a snake-shaped search and rescue robot joint module 1, the module 1 includes a body 2 that can deflect in multiple directions and connecting parts arranged at both ends of the body 2, the outer surface of the module 1 is covered with a protective net and The waterproof sheath, the body 2 includes a plurality of hollow rings 21, and the hollow rings 21 are provided with four movable connection points 22, wherein the opposite two movable connection points 22 are arranged on the upper surface of the hollow ring 21, and the other two movable connection points 22 It is arranged on the lower surface of the hollow ring 21, and the adjacent hollow rings 21 are movably connected through the movable connection point 22;

The connection part includes a casing 31, a servo motor 32 arranged in the casing 31, a winding wheel 33 with two winding slots 331 driven by the servo motor 32, a rope wound in the winding slots 331, fixedly arranged in the casing 31 inside the two wire posts 35, the end of the wire posts 35 is provided with a guide wheel 351, one end of the rope is wound on the winding wheel 33, the other end of the rope is fixed at the end of the body 2 through the guide wheel 351 and the body 2, and the winding The two ropes on the wheel 33 are wound in opposite directions.

Four wire holes 23 are arranged on the inner surface of the hollow ring 21 , and the wire holes 23 are arranged below the movable connection point 22 .

The cord passes through each wire hole 23 .

In a preferred technical solution, the servo motor 32 drives the winding wheel 33 through a gear reducer, and the winding wheel 33 is coaxially connected with the gear reducer.

The casing 31 is cylindrical.

The inner edge of the casing 31 is also provided with two guide holes 37, and the guide wheels 351 of the two guide posts 35 face the two winding grooves 331 respectively, and the two ropes on the winding grooves 331 pass through the corresponding guide wheels respectively. 351351. The guide hole 37 passes through the wire hole 23 on each hollow ring 21 and is finally fixed on the hollow ring 21 at the end.

The working principle of the present utility model is that a single module 1 is provided with a main body 2 and two connecting parts, and a servo motor 32 and a winding wheel 33 are arranged in the connecting part, and the servo motor 32 drives the winding wheel 33 to rotate, because the winding wheel 33 The winding direction of the upper two ropes is opposite. When the reel 33 rotates, one rope is tightened and the other rope is loosened, so that the body 2 can be folded and deflected to the side where the rope is tightened; There are two connecting parts, and there are 4 ropes evenly distributed in the body 2, and the body 2 can be deflected and twisted in multiple directions through the control of the servo motor 32 on the reel 33.

Claims (6)

1. A snake-shaped search and rescue robot joint module, characterized in that: the module includes a multi-directional deflectable body and connecting parts arranged at both ends of the body, the body includes a plurality of hollow rings, the hollow The rings are each provided with four movable connection points, wherein the opposite two movable connection points are arranged on the upper surface of the hollow ring, the other two movable connection points are arranged on the lower surface of the hollow ring, and the adjacent The hollow rings are movably connected through the movable connection points; The connecting part includes a casing, a servo motor arranged in the casing, a winding wheel with two winding slots driven by the servo motor, a rope wound in the winding slots, fixedly arranged on the There are two wire posts inside the shell, the end of the wire posts is provided with a guide wheel, one end of the rope is wound on the winding wheel, and the other end of the rope is fixed on the wire through the guide wheel and the body. At the end of the body, the two ropes on the reel wind in opposite directions. 2 . The joint module of a snake-shaped search and rescue robot according to claim 1 , wherein four wire holes are arranged on the inner surface of the hollow ring, and the wire holes are arranged below the movable connection point. 3 . 3 . The joint module of a snake-shaped search and rescue robot according to claim 2 , wherein the rope passes through each of the wire holes. 4 . 4. The joint module of a snake-shaped search and rescue robot according to claim 1, wherein the servo motor drives the winding wheel through a gear reducer, and the winding wheel is coaxial with the gear reducer connect. 5 . The joint module of a snake-shaped search and rescue robot according to claim 1 , wherein the shell is cylindrical. 6 . 6. A snake-shaped search and rescue robot joint module according to claim 1, characterized in that: the outer surface of the module is covered with a protective net and a waterproof sheath.