CN207120228U - A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine - Google Patents
A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine Download PDFInfo
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- CN207120228U CN207120228U CN201720621463.9U CN201720621463U CN207120228U CN 207120228 U CN207120228 U CN 207120228U CN 201720621463 U CN201720621463 U CN 201720621463U CN 207120228 U CN207120228 U CN 207120228U
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Abstract
A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine, including the horizontal steering wheel being arranged on snake body support and longitudinal steering wheel；The horizontal steering wheel is fixed on the front portion of snake body support, and the output shaft of horizontal steering wheel is direction straight up, can be along horizontal plane Double-directional rotary；Longitudinal steering wheel is fixed on the rear portion of snake body support, and the output shaft of longitudinal steering wheel, can be along perpendicular Double-directional rotary to be horizontally and perpendicularly to snake body direction.A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine provided by the utility model, each snake body joint has two output shafts based on orthogonal direction simultaneously, the motion driving of two frees degree can be not only completed simultaneously, with higher flexibility, the volume in snake body joint is also further reduced simultaneously, it is simple in construction, reliability is high, for ease of maintenaince and expand.
Description
Technical field
The utility model belongs to bio-robot technical field, is related to a kind of snake-shaped robot, has more particularly to one kind
There is the snake-shaped robot snake body joint of the orthogonal export structure of double steering engine.
Background technology
Snake-shaped robot has the characteristics that to be easy to camouflage, disguised strong, and complicated landform handling capacity is strong, can replace or portion
Divide and replace operating personnel to complete dangerous work, such as investigation, search and rescue, patrol, pipe detection and space exploration.It is however, existing
Snake-shaped robot generally have that structure design is unreasonable, non-uniform mass, build is heavy, underaction, and space is free
The defects of degree is not good enough, redundancy is not high enough.
Utility model content
The defects of the purpose of this utility model is to overcome prior art, there is provided a kind of compact, simple for structure, operation
Simply, the snake-shaped robot snake body joint with the orthogonal export structure of double steering engine that motion is flexible, spatial degrees of freedom is high.
To achieve the above object, the utility model employs following technical scheme：
A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine, including be arranged on snake body support
Horizontal steering wheel and longitudinal steering wheel；The horizontal steering wheel is fixed on the front portion of snake body support, and the output shaft of horizontal steering wheel is perpendicular
Straight upward direction, can be along horizontal plane Double-directional rotary；Longitudinal steering wheel is fixed on the rear portion of snake body support, longitudinal steering wheel
Output shaft to be horizontally and perpendicularly to snake body direction, can be along perpendicular Double-directional rotary.
Further, the horizontal steering wheel and longitudinal steering wheel are structure identical rectangular parallelepiped structure, horizontal steering wheel and longitudinal rudder
The forward and backward surface of machine is rectangle, and relative two sides are equipped with output shaft.
Further, joint connector, the U-shaped structure that the joint connector is converted into for flat board, including level board are additionally provided with
With positioned at level board both sides and vertical with level board two longitudinal plates；The level board, which is provided with, to be used to connect horizontal steering wheel
Third through-hole, the longitudinal plate are provided with the fourth hole for being used for connecting longitudinal steering wheel；The horizontal steering wheel, longitudinal steering wheel it is defeated
The fourth hole of third through-hole and longitudinal plate that shaft passes through terminal pad and level board is realized and is connected.
Further, the battery for being used for powering on snake body support and circuit board for control are arranged in addition to；The electricity
Pond and circuit board electrical connection, the circuit board electrically connect with horizontal steering wheel and longitudinal steering wheel.
Further, the snake body support is the cube frame structure that forward and backward side opens, and middle position, which is provided with, to be used to install
First warehouse of the rectangular configuration of horizontal steering wheel, battery and circuit board, position is provided with the U-shaped knot for being used to install longitudinal steering wheel rearward
Second warehouse of structure；The snake body bottom plate of the snake body frame bottom is rectangular configuration, is provided with above defeated for installing horizontal steering wheel
Second through hole of shaft；First warehouse of the snake body support, the second warehouse, it is additionally provided with for installing fixed horizontal stroke on snake body bottom plate
To multiple second screw holes of steering wheel, battery and circuit board.
A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine provided by the utility model, Mei Gesuo
State snake body joint while there are two output shafts based on orthogonal direction, the motion that can not only complete two frees degree simultaneously is driven
It is dynamic, there is higher flexibility, while also further reduce the volume in snake body joint, it is simple in construction, reliability is high, it is easy to tie up
Repair and expand.
Brief description of the drawings
Fig. 1 is the overall structure diagram of snake-shaped robot；
Fig. 2 is snake body joint overall structure diagram；
Fig. 3 is snake body joint front view；
Fig. 4 is snake body joint top view；
Fig. 5 is snake body joint right view；
Fig. 6 is snake body supporting structure schematic diagram；
Fig. 7 is joint connector structural representation；
Fig. 8 is steering wheel structural representation；
Fig. 9 is steering wheel terminal pad structural representation；
Figure 10 is battery structure schematic diagram；
Figure 11 is control plate structure schematic diagram；
Figure 12 is snakehead joint overall structure diagram；
Figure 13 is snakehead joint front view；
Figure 14 is snakehead joint top view；
Figure 15 is snakehead joint left view；
Figure 16 is snakehead supporting structure schematic diagram；
Figure 17 is snakehead lid structural representation；
Figure 18 is ophiruid joint overall structure diagram；
Figure 19 is ophiruid joint front view；
Figure 20 is ophiruid joint top view；
Figure 21 is ophiruid joint left view；
Figure 22 is ophiruid supporting structure schematic diagram；
Figure 23 is ophiruid lid structural representation；
Figure 24 is control system theory diagram；
Figure 25 is the electrical block diagram of master control system；
Figure 26 is the electrical block diagram from control system.
Embodiment
Below in conjunction with accompanying drawing 1 to 26, a kind of snake with the orthogonal export structure of double steering engine of the utility model is further illustrated
The embodiment in anthropomorphic robot snake body joint.Special instruction be：" preceding " described in embodiment, " front " or " rear ", " after
The statement such as side ", only represents that the ophiruid when snake-shaped robot is linear state to snakehead direction or opposite direction, is not offered as snakelike
The direction that robot advances；" snakehead " and " ophiruid " are only the title of component, are not offered as " snake when snake-shaped robot advances
Head " must be forward.A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine of the utility model be not limited to
The description of lower embodiment.
Embodiment 1：
The present embodiment provides a kind of embodiment with orthogonal joint structure snake-shaped robot.
As shown in figure 1, being a kind of snake-shaped robot with orthogonal joint structure, including pass through multiple joint connectors 4
A snakehead joint 1, multiple snake body joints 2 and an ophiruid joint 3 for head and the tail connection successively.The snakehead joint 1, snake body
Joint 2 and ophiruid joint 3 are approximate rectangular parallelepiped structure, the shape basic one of longitudinal section of each joint along vertical snake body direction
Cause, be square or rectangle, so as to ensure the passing through property of narrow space.Preferably, rollover is reduced in order to keep stable, cut
Face is the rectangle that width is more than height.
As shown in Fig. 2 to 5, the He of horizontal steering wheel 51 for horizontally rotating output is provided with the snake body support 21 in snake body joint 2
The vertical longitudinal steering wheel 52 for rotating output.The outbound course of the longitudinal steering wheel 52 of horizontal steering wheel 51 perpendicular quadrature in space.
Preferably, horizontal steering wheel 51 and longitudinal steering wheel 52 can use structure identical steering wheel 5, according to installation site and angle not
Together, horizontal steering wheel 51 and longitudinal steering wheel 52 are functionally divided into.As shown in figure 8, steering wheel 5 is rectangular parallelepiped structure, steering wheel 5
Forward and backward surface 53 is rectangle, and relative two sides 54 are equipped with output shaft 50.
As shown in fig. 7, the joint connector 4 is the U-shaped structure that is converted into of flat board, including level board 41 and positioned at level board
41 both sides and vertical with level board 41 two longitudinal plates 42.The longitudinal plate 42 and front snake in two neighboring snake body joint 2
The output shaft 50 of longitudinal steering wheel 52 in body joint 2 is fixedly connected, the level board 41 and rear snake in two neighboring snake body joint 2
The output shaft 50 of horizontal steering wheel 51 in body joint 2 is fixedly connected.Preferably, the level board 41, which is provided with, is used to connect horizontal steering wheel
51 third through-hole 43, the longitudinal plate 42 are provided with the fourth hole 44 for being used for connecting longitudinal steering wheel 52；The horizontal steering wheel
51st, the output shaft 50 of longitudinal steering wheel 52 passes through terminal pad 8 realizes the with the third through-hole 43 of level board 41 and longitudinal plate 42
Four through holes 44 are realized and are connected.The connection valve snail for installing terminal pad 8 is additionally provided with the level board 41 and longitudinal plate 42
Silk hole 45, being connected for each part is realized by screw.By joint connector 4, horizontal and vertical two between each joint
Two-way between -135 to 135 degree can freely it be rotated on individual direction, so that there is larger range of movement between each joint,
Improve the flexibility of snake-shaped robot.
As shown in figure 9, it is the structural representation of terminal pad 8.The main function of terminal pad 8, it is to realize steering wheel output shaft 50
Being connected between joint connector 4 and it is driven driving.
As shown in Figure 12 to 23, longitudinal steering wheel 52 is additionally provided with snakehead joint 1, longitudinal steering wheel is additionally provided with ophiruid joint 3,
Using with two kinds of steering wheel identical modes on snake body joint 2, be connected to the snake body being made up of snake body joint 2 front end and
End.
The present embodiment is had an advantage that：Each joint of snake-shaped robot uses quadrature drive structure, can improve snakelike
The flexibility of robot and operability, wriggling movement (i.e. horizontal plane S-shaped is moved) can be carried out simultaneously and is wriggled (i.e. vertically
Face S-shaped motion) action.Meanwhile snake body joint uses double steering engine quadrature drive structure, compact, motion is flexible, improves multiple
Heterocycle border passes through property and handling.And snake-shaped robot uses modularized design, snake body mould can be arbitrarily increased or decreased
Block, the application of snake-shaped robot is expanded；Different joint assemblies are adopted using parts such as identical steering wheel, joint connectors
With reducing maintenance difficulty.
Embodiment 2：
According to the snake-shaped robot described in embodiment 1, the present embodiment provides the further embodiment in the snake body joint.
As shown in Fig. 2 to 7, a kind of snake body joint of snake-shaped robot, including be arranged on snake body support 21 be used for it is preceding
The horizontal steering wheel 51 of square adjacent segment connection, the longitudinal steering wheel 52 being connected with rear adjacent segment, and the battery 6 for power supply
With the circuit board 7 for control.The battery 6 electrically connects with circuit board 7, the circuit board 7 and horizontal steering wheel 51 and longitudinal rudder
Machine 52 electrically connects.
As shown in fig. 6, the snake body support 21 is the cube frame structure that forward and backward side opens, middle position, which is provided with, to be used
In the first warehouse 211 of the rectangular configuration for installing horizontal steering wheel 51, battery 6 and circuit board 7, position is provided with vertical for installing rearward
To the second warehouse 212 of the U-shaped structure of steering wheel 52；The snake body bottom plate 213 of the bottom of snake body support 21 is rectangular configuration, above
Provided with the second through hole 214 for installing the horizontal output shaft 50 of steering wheel 51；First warehouse 211 of the snake body support, the second storehouse
Multiple second screws for installing fixed lateral steering wheel 51, battery 6 and circuit board 7 are additionally provided with body 212, snake body bottom plate 213
Hole 215.Preferably, the shown snake body support 21 can be bent by metallic plate and be formed, and can be also molded by 3D printing.
As shown in Fig. 2 to 5, horizontal steering wheel 51 and longitudinal steering wheel 52 are provided with snake body support 21.The horizontal steering wheel 51
It is fixed on by the way that screw is longitudinally mounted inside the first warehouse 211, an output shaft 50 of horizontal steering wheel 51 is direction straight up,
Can be along horizontal plane Double-directional rotary, another output shaft 50 is accommodated in the second through hole 214 in snake body bottom plate 213；It is described vertical
It is transversely mounted and is fixed in the second warehouse 212 by screw to steering wheel 52, the output shaft 50 of longitudinal steering wheel 52 is horizontally and vertically
, can be along perpendicular Double-directional rotary in snake body direction.The battery 6 is vertically installed at the first warehouse 211 close to horizontal steering wheel 51
In.The circuit board 7, which is arranged in the first warehouse 211, is located at the horizontal rear of steering wheel 51.
The present embodiment is had an advantage that：Each snake body joint 2 has two output shafts based on orthogonal direction simultaneously,
The motion driving of two frees degree can be not only completed simultaneously, there is higher flexibility, while also further reduce snake body
The volume in joint, it is simple in construction, reliability is high, for ease of maintenaince and expand.
Embodiment 3：
According to the snake-shaped robot described in embodiment 1, the present embodiment provides the further implementation of the snakehead articulation structure
Mode.
As shown in Figure 12 to 17, the snakehead joint of the snake-shaped robot include being arranged on be used on snakehead support 11 with it is rear
Longitudinal steering wheel 52 of square adjacent segment connection, the battery 6 for power supply and the circuit board 7 for control, and it is arranged on snakehead
The snakehead lid 12 of the front end of support 11.The battery 6 electrically connects with circuit board 7, and the circuit board 7 electrically connects with longitudinal steering wheel 52.
As shown in figure 16, the holder,head 11 is the cube frame structure that forward and backward side opens, and front portion, which is provided with, to be used to pacify
Packed battery 6 and circuit board 7 and the 3rd warehouse 111 for connecting the rectangular configuration of snakehead lid 12, rear portion, which is provided with, to be used to install longitudinal rudder
4th warehouse 112 of the U-shaped structure of machine.The bottom of 3rd warehouse 111 and the 4th warehouse 112 is the rectangle knot of holder,head 11
The bottom plate 11 of structure is rectangular configuration.The front of 3rd warehouse 111 is additionally provided with the first baffle 114 of support fixing circuit board 7.Institute
State and be additionally provided with the 3rd warehouse 111, the 4th warehouse 112, head base plate 113 of holder,head for installing fixed longitudinal steering wheel
52nd, multiple first screw holes 116 of battery 6, circuit board 7 and snakehead lid, to realize being connected for each part.
As shown in Figure 18 to 21, the horizontal steering wheel 51 is transversely mounted by screw to be fixed in the 5th warehouse 311, laterally
The output shaft 50 of steering wheel 51, can be along perpendicular Double-directional rotary to be horizontally and perpendicularly to ophiruid direction.The battery 6 is arranged on the
In five warehouses 311.
As shown in figure 11, the circuit board 7 is rectangular configuration, is provided with camera module and lighting module above, to realize
Illumination and the function of obtaining live video.Meanwhile the first baffle 114 is used to aid in branch provided with consistent with camera position
The groove 115 of fixing camera is supportted, strengthens supporting the fixed of camera module.The snakehead lid 12 is provided with imaging head mould
Block and the camera through hole 123 of lighting module position consistency and illumination through hole 124.
As shown in figure 17, the front portion of the snakehead lid 12 is arcuate stream line structure, and camera module and lighting module are located at
The middle position of snakehead lid 12, optimal video capture visual angle can be obtained, while also improve the video matter in dark surrounds
Amount.
The present embodiment is had an advantage that：Longitudinal steering wheel 52 in the snakehead joint 1 can drive snakehead joint 1 upwards or to
Lower rotation, the horizontal steering wheel 51 in adjacent snake body joint 2 can drive snakehead joint 1 to rotate to the left or to the right, so that snakehead
Possesses very high flexibility.By setting camera module and lighting module, it can in real time obtain and return live video.Snake
The streamline moulding that head joint possesses, improves snake-shaped robot and passes through performance in complicated landform.
Embodiment 4：
According to the snake-shaped robot described in embodiment 1, the present embodiment provides the further implementation of the ophiruid articulation structure
Mode.
As shown in Figure 18 to 23, the ophiruid joint of the snake-shaped robot include being arranged on be used on ophiruid support 31 with it is preceding
The horizontal steering wheel 51 of square adjacent segment connection, the battery 6 for power supply and the circuit board 7 for control, and it is arranged on ophiruid
The ophiruid lid 32 of the rear end of support 31.The battery 6 electrically connects with circuit board 7, and the circuit board 7 electrically connects with horizontal steering wheel 51.
As shown in figure 22, the ophiruid support 31 is the cube frame structure that forward and backward side opens, and centre, which is provided with, to be used to pacify
Fill the 5th warehouse 311 of horizontal steering wheel 51, battery 6 and the rectangular configuration for connecting ophiruid lid 32.The bottom of ophiruid support 31
Ophiruid bottom plate 312 is provided with the fifth hole 313 for being used for installing the horizontal output shaft 50 of steering wheel 51.The of the ophiruid support 31
Five warehouses 311, ophiruid bottom plate 312, which are provided with, to be used to install fixed lateral steering wheel 51, battery 6, and connects the more of ophiruid lid 32
Individual 3rd screw hole 215.
As shown in Figure 18 to 21, the horizontal steering wheel 51 is transversely mounted by screw to be fixed in the 5th warehouse 311, laterally
The output shaft 50 of steering wheel 51, can be along perpendicular Double-directional rotary to be horizontally and perpendicularly to ophiruid direction.The battery 6 is arranged on the
In five warehouses 311.
As shown in figure 11, the circuit board 7 is rectangular configuration.The circuit board 7 is arranged on inside ophiruid lid 32, circuit board
Laser range sensor, infrared heat source sensor, Temperature Humidity Sensor, atmospheric pressure intensity sensor and/or CO sensings are additionally provided with 7
The modules such as device, to realize external environment condition perceptional function.
As shown in Figure 18 and 23, two kinds of embodiments of the ophiruid lid 32 are given.After the ophiruid lid 32 is
Open rectangular configuration is held, the connection with ophiruid support 31 is realized by screw.The front end of ophiruid lid 32 is provided with multiple with taking the photograph
As modules such as head module, laser ranging module, Temperature Humidity Sensor, baroceptor, thermal imaging sensor and/or CO sensors
Multiple 6th through holes 321 of matching.
The present embodiment is had an advantage that：The horizontal steering wheel 51 in the ophiruid joint 3 can drive ophiruid joint leftward or rightward
Rotate, longitudinal steering wheel 52 in adjacent snake body joint 2 can drive ophiruid joint 3 to rotate up or down, so that ophiruid has
For very high flexibility.By setting multiple sensors, snake-shaped robot is possessed the perception of various field environment and obtain energy
Power.
Embodiment 5：
According to the snake-shaped robot of embodiment 1 to 4 and its joint assembly structure, the present embodiment provides a kind of with distribution
The embodiment of the snake-shaped robot of formula power supply architecture.
As shown in Fig. 1 to 23, a kind of snake-shaped robot with distributed electrical source structure, including one be sequentially connected from beginning to end
Individual snakehead joint 1, multiple snake body joints 2 and an ophiruid joint 3.On the snakehead joint 1, snake body joint 2 and ophiruid joint
Be each provided with for drive snake-shaped robot act horizontal steering wheel 51 and/or longitudinal steering wheel 52, for other joint assemblies
Circuit board carries out radio communication and the circuit board 7 for controlling, driving steering wheel 5 to work, and for the circuit board 7 for this joint assembly
The battery 6 powered with steering wheel 5.
The present embodiment is had an advantage that：It is only by being set respectively on each snakehead joint, snake body joint and ophiruid joint
The vertical battery for being used to power and for controlling, voltage stabilizing, the circuit board 7 of driving, form distributed electric power-feeding structure, not only may be used
It is rational in infrastructure so that the weight of battery is evenly distributed on into whole snake bodies, it is easy to drive control, electricity when avoiding independent current source power supply
Pond is not easy to lay, the unbalanced problem of weight；And also improve the redundancy between each component of snake-shaped robot, when one or
When partial joint component faults fail, the allomeric function of snake-shaped robot is not influenceed.
Embodiment 6：
Snake-shaped robot and its articulation structure according to embodiment 1 to 5, the present embodiment provide the snake-shaped robot
The specific embodiment of control system.
As shown in figure 24, the control system of snake-shaped robot mainly forms by master control system, from control system and monitoring system.
The master control system includes camera module, laser ranging module, Temperature Humidity Sensor, baroceptor, thermal imaging sensor
With CO sensors.Wherein, camera module and thermal imaging sensor are presented in monitoring system with visual form, can be adopted in real time
Collect environmental information and human perception information.Belong to kinetic control system from control system, the autonomous exploration of master control system can be coordinated
Function, move the control and regulation of gait, and communicated using ZigBee wireless transmission methods with master control, pass through PWM
Signal control steering wheel angle completes the motion of articulation mechanism.Monitoring system belongs to top level control system, is mainly responsible for snakelike machine
The overall control and monitoring of people, equipped with WiFi and bluetooth module, Image Real-time Transmission and more sensings can be carried out with master control system
Device presentation of information.
In multiple joints of She Shen robots, the master control system only set it is a set of, preferably may be mounted at snakehead pass
In section or ophiruid joint, naturally it is also possible to be arranged on as needed in snake body joint.It is described to be arranged on master control system from control system
Other each joints outside the joint of place." circuit board " described in embodiment, it is master control system and the master from control system
Carrier is wanted, its physical form can be the combination of one piece of independent circuit board or polylith independent circuits plate, specifically can be with
According to the spatial form flexible design in place joint.The polytype sensor provided in embodiment, can according to using needs,
Flexibly it is arranged on different joints, or same type of sensor is set on multiple joints, to realize redundancy detection, carries
The reliability of high equipment work.
As shown in figure 25, it is the master control system electrical block diagram.Master control system is mainly by core processor, wireless
Communication module, camera and various kinds of sensors composition.Master control system receives the control instruction of monitoring system by bluetooth module
With the parameter for obtaining each sensor, while monitoring system according to the instruction sent determine snake-shaped robot motion gait and will biography
Sensor parameter is shown on APP.Master control system is communicated using WiFi module with monitoring system, can collect camera in real time
Image information, system be camera be equipped with lighting circuit in order to which the image of high definition can be obtained in dark conditions.
Specifically, master control borad be integrated with core processor STM32F103 and CO sensor, Temperature Humidity Sensor, atmospheric pressure intensity sensor,
Infrared heat source sensor and laser sensor, while using CC2530 telegons with carrying out Zigbee communication, profit from controller
Each sensor parameters are transmitted with CC2541 bluetooth modules.Electric power system is by can charge-discharge lithium battery module and voltage stabilizing mould
Block forms, and provides energy requirement for whole snake-shaped robot, and be distributed among each joint of snake-shaped robot.
As shown in figure 26, it is the electrical block diagram from control system.One released using ST Microelectronics
Money cost is low, pin is few, the STM8s003f3p6 of low-power consumption as from control system core processor, pushed away using Hitec companies
The high pulling torque steering wheel of the 6V power supplies gone out, using 7.4V, 250mAh lithium battery, it is ensured that snake-shaped robot can continuously work 1h
More than.From control system operation, master control system is by CC2530 telegons with wireless transmission method to from control system
CC2530 terminal nodes under send instructions, and instruction is communicated to by core processor with serial port by terminal node
Steering wheel is driven to complete corresponding gait operation.Moving and meet power demands for the ease of snake-shaped robot, using 7.4V lithiums
Battery powered scheme, it is to be powered from control plate to convert voltages into 3.3V by RT9193 voltage conversion chips, and passes through series connection one
7.4V voltages are reduced to 6V by individual diode, to ensure the reliability service of steering wheel.
The monitoring system is integrated on handheld terminal in the form of APP, completes monitoring and the display function of collection information.
It the control system of snake-shaped robot described in the present embodiment, can be driven, wrapped using multi-motion control mode
Include the motion gait control mode based on robot, the control based on Serpenoid control functions that Japanese professor Hirose proposes
Mode processed, and control mode based on CPG central pattern generator (cpg)s etc..
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (5)
- A kind of 1. snake-shaped robot snake body joint with the orthogonal export structure of double steering engine, it is characterised in that：Including being arranged on snake Horizontal steering wheel and longitudinal steering wheel on body support；The horizontal steering wheel is fixed on the front portion of snake body support, horizontal steering wheel Output shaft is direction straight up, can be along horizontal plane Double-directional rotary；After longitudinal steering wheel is fixed on snake body support Portion, the output shaft of longitudinal steering wheel, can be along perpendicular Double-directional rotaries to be horizontally and perpendicularly to snake body direction.
- 2. the snake-shaped robot snake body joint according to claim 1 with the orthogonal export structure of double steering engine, its feature exist In：The horizontal steering wheel and the forward and backward surface that longitudinal steering wheel is structure identical rectangular parallelepiped structure, horizontal steering wheel and longitudinal steering wheel It is rectangle, relative two sides are equipped with output shaft.
- 3. the snake-shaped robot snake body joint according to claim 1 with the orthogonal export structure of double steering engine, its feature exist In：It is additionally provided with joint connector, the U-shaped structure that the joint connector is converted into for flat board, including level board and positioned at level board Both sides and vertical with level board two longitudinal plates；The level board is provided with the third through-hole for being used for connecting horizontal steering wheel, institute State longitudinal plate and be provided with the fourth hole for being used for connecting longitudinal steering wheel；The horizontal steering wheel, the output shaft of longitudinal steering wheel pass through company Connect the third through-hole of disk and level board and the fourth hole of longitudinal plate is realized and is connected.
- 4. the snake-shaped robot snake body joint according to claim 3 with the orthogonal export structure of double steering engine, its feature exist In：Also include being arranged on snake body support being used for the battery powered and the circuit board for control；The battery and circuit board electricity Connection, the circuit board electrically connect with horizontal steering wheel and longitudinal steering wheel.
- 5. the snake-shaped robot snake body joint according to claim 4 with the orthogonal export structure of double steering engine, its feature exist In：The snake body support is the cube frame structure that forward and backward side opens, and middle position is provided with mechanical, electrical for installing horizontal rudder First warehouse of the rectangular configuration of pond and circuit board, rearward position be provided be used for install longitudinal steering wheel U-shaped structure the second storehouse Body；The snake body bottom plate of the snake body frame bottom is rectangular configuration, is provided with is used to install the second of horizontal steering wheel output shaft above Through hole；First warehouse of the snake body support, the second warehouse, be additionally provided with snake body bottom plate it is mechanical, electrical for installing fixed lateral rudder Pond and multiple second screw holes of circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720621463.9U CN207120228U (en) | 2017-05-31 | 2017-05-31 | A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720621463.9U CN207120228U (en) | 2017-05-31 | 2017-05-31 | A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine |
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| Publication Number | Publication Date |
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| CN207120228U true CN207120228U (en) | 2018-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720621463.9U Active CN207120228U (en) | 2017-05-31 | 2017-05-31 | A kind of snake-shaped robot snake body joint with the orthogonal export structure of double steering engine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111633637A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Snake-shaped robot with vertical three-section structure |
| CN115598981A (en) * | 2022-10-27 | 2023-01-13 | 北京科技大学（Cn） | Electric control method and distributed power supply system for orthogonal joint snake-shaped robot |
| CN116379258A (en) * | 2023-06-05 | 2023-07-04 | 德阳市生产力促进中心 | Serpentine robot with nuclear equipment pipeline detection function |
-
2017
- 2017-05-31 CN CN201720621463.9U patent/CN207120228U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111633637A (en) * | 2020-06-08 | 2020-09-08 | 阳泉煤业（集团）股份有限公司 | Snake-shaped robot with vertical three-section structure |
| CN115598981A (en) * | 2022-10-27 | 2023-01-13 | 北京科技大学（Cn） | Electric control method and distributed power supply system for orthogonal joint snake-shaped robot |
| CN115598981B (en) * | 2022-10-27 | 2023-06-13 | 北京科技大学 | Electric control method for orthogonal joint snake-shaped robot and distributed power supply system |
| CN116379258A (en) * | 2023-06-05 | 2023-07-04 | 德阳市生产力促进中心 | Serpentine robot with nuclear equipment pipeline detection function |
| CN116379258B (en) * | 2023-06-05 | 2024-01-26 | 德阳市生产力促进中心 | Serpentine robot with nuclear equipment pipeline detection function |
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