CN209936916U

CN209936916U - Snake-shaped robot

Info

Publication number: CN209936916U
Application number: CN201920531177.2U
Authority: CN
Inventors: 黄裕中; 徐庆忠; 张国明; 范阳; 魏宇科
Original assignee: Ping Yu (chengdu) Technology Co Ltd
Current assignee: Ping Yu (chengdu) Technology Co Ltd
Priority date: 2019-04-18
Filing date: 2019-04-18
Publication date: 2020-01-14
Anticipated expiration: 2029-04-18

Abstract

The utility model relates to a snake-shaped robot, including a plurality of rotor, a plurality of rotor connects gradually, and every two rotors that link to each other all connect through slewing mechanism and wrench movement mechanism, wrench movement mechanism includes rotating part and wrench movement part, slewing mechanism is used for driving rotating part is done and is followed the rotation, the rotor is used for rotating part's drive is down rotated, wrench movement part is used for wrench movement walking under the drive of rotor. This robot joint rotates through slewing mechanism and drives rotating member is done and is followed the rotation, and the wrench movement part is wrench movement walking under rotating member's drive and is deflected and realize the joint and rotate, provides efficient wrench movement, and simple structure easily realizes.

Description

Snake-shaped robot

Technical Field

The utility model relates to a robot field, in particular to snake-shaped robot.

Background

Compared with the traditional industrial robot, the snake-shaped robot has obstacle crossing and multi-degree-of-freedom dexterous operation capabilities in complex environments such as crossing in narrow space, multiple obstacles and the like and excellent adaptability in dangerous environments, so that the snake-shaped robot can be applied to work which is difficult to complete by human beings only, such as pipeline detection, disaster rescue and the like. The most critical research difficulty of the snake-shaped robot is the design of an actuating mechanism of the snake-shaped robot, namely a snake-shaped robot joint.

And among the snakelike robot that appears in the existing market, steering wheel drive's snakelike robot is more, and there are reverse tooth clearance, drive power shortcoming such as little in the snakelike robot that adopts this power, can't adapt to complicated operational environment that work such as search and rescue can face.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to improve the not enough that exists among the prior art, provide a snake-like robot.

In order to realize the purpose of the utility model, the embodiment of the utility model provides a following technical scheme:

the utility model provides a snake-shaped robot, includes a plurality of rotor, a plurality of rotor connects gradually, and every two rotors that link to each other all connect through slewing mechanism and wrench movement mechanism, wrench movement mechanism includes rotating part and wrench movement part, slewing mechanism is used for driving rotating part is done and is followed the rotation, the rotor is used for rotating part's drive is rotated down, wrench movement part is used for the wrench movement walking under the drive of rotor. The efficient twisting is provided through the rotating mechanism and the twisting mechanism, the structure is simple and easy to realize, the problems of reverse tooth gaps and small driving force do not exist, the device can be fully moved in the complex environment in the search and rescue task, and the obstacles are broken through.

In a further scheme, rotating member includes universal joint and first guide, and first guide is fixed to be provided with protruding part, the part of wrench movement includes the second guide, and first guide is used for producing under slewing mechanism's drive and rotates, and the second guide is used for wrench movement walking under protruding part's effect, and every two rotors that link to each other all pass through the universal joint is connected, and every rotor all is provided with first guide and second guide.

In a further aspect, the first guide member is a first guide disc, the second guide member is a second guide disc, the protruding member contacts the second guide disc, and in a static state, the protruding member makes an included angle formed between the first guide disc and the second guide disc directly or after extending

In a further scheme, a plurality of rotor is the first rotating block of a plurality of and a plurality of second rotating block respectively, just first rotating block and second rotating block staggered arrangement in proper order, the outer wall of first rotating block from left to right is equipped with in proper order first positioning disk and second positioning disk, the outer wall of second rotating block is equipped with from right to left in proper order first positioning disk and second positioning disk.

In a further scheme, the convex part is a hemisphere, the plane of the hemisphere is fixed with the first guide part, and the outer circular surface of the hemisphere is connected with the second guide part.

In a further aspect, a groove is disposed on the second guide, and the groove is adapted to the protruding part.

In a further scheme, the rotating mechanism comprises a motor and a speed reducer, the motor is connected with an input shaft of the speed reducer, an output shaft of the speed reducer is connected with the first guide piece, a cavity is arranged in the rotating body, and the motor and the speed reducer are both arranged in the cavity.

In a further aspect, the reducer is a ramp reducer. The reduction ratio is large, and thus a large moment.

In a further scheme, the spring is further included, and the rotating pieces are all sleeved in the spring ring. The plurality of rotary joints are in a straight line under the condition of no operation through the reset of the external spring.

In a further scheme, the outer wall of the spring is sleeved with a rubber sleeve. The friction force generated by the robot and the contact surface in the twisting process is increased, so that the twisting motion is better completed, and the abrasion of equipment is prevented to a certain extent.

Compared with the prior art, the beneficial effects of the utility model are that:

1. this robot joint passes through slewing mechanism and rotates first positioning disk, and first positioning disk rotates, and protruding part and second positioning disk contact lead to the second positioning disk to deflect, drive the turning block at last and take place to deflect and realize the joint rotation, provide efficient wrench movement, and simple structure easily realizes not having reverse backlash, problem that drive power is little, can satisfy and remove in the complex environment in the search and rescue task, breaks through the obstacle.

2. The robot joint is a slope speed reducer through the speed reducer, and the speed reduction ratio of the slope speed reducer is large, so that large torque is achieved.

3. The robot is reset through an external spring, and a plurality of rotating joints are in a straight line under the condition of no operation.

4. This robot has the gum cover through spring outer wall cover, increases the frictional force that the robot produced with the contact surface in wrench movement for accomplish the wrench movement better, and prevented the wearing and tearing of equipment to a certain extent.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a rotating mechanism and a twisting mechanism provided in the embodiment of the present invention.

Fig. 2 is a cross-sectional view of two connected rotating blocks of the robot provided by the embodiment of the present invention.

Fig. 3 is a schematic view of a partial structure of a robot provided by an embodiment of the present invention without a spring.

Fig. 4 is a schematic view of a partial structure of a robot with a spring according to an embodiment of the present invention.

Fig. 5 is a schematic view of a partial cross-sectional structure with a spring after the robot provided by the embodiment of the present invention is reset.

Fig. 6 is a force diagram of a motion process of the robot provided by the embodiment of the present invention.

Fig. 7 is a force diagram of a motion process of the robot provided by the embodiment of the present invention.

Description of the drawings

The universal joint comprises a universal joint 1, a spring 2, a first guide disc 3, a second guide disc 4, a motor 5, a speed reducer 6, a first rotating block 7, a second rotating block 8, a protruding part 9, a rubber sleeve 10, a groove 11 and a cavity 12.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Examples

Referring to fig. 1-7, the present embodiment schematically discloses a snake-shaped robot, which includes a plurality of rotors, including a rotating mechanism and a twisting mechanism, where the twisting mechanism includes a rotating part and a twisting part, the rotating mechanism drives the rotating part to rotate along with the rotating part, the rotors are driven by the rotating part to rotate, and the twisting part is driven by the rotating part to twist and walk. As a specific implementation mode, in this scheme, the rotatable part includes universal joint 1 and first guide, and first guide is fixed to be provided with protruding part, and the wrench movement part includes the second guide, and first guide is used for producing the rotation under slewing mechanism's drive, and the second guide is used for wrench movement walking under protruding part's effect. In the scheme, the first guide piece is a first guide disc 3, the second guide piece is a second guide disc 4, and the rotating mechanism comprises a motor 5 and a speed reducer 6. The protruding part is contacted with the second guide disc, and under the static state, the protruding part enables the first guide disc and the second guide disc to form an included angle directly or after extending. Meanwhile, in the scheme, the plurality of rotating bodies are respectively a plurality of first rotating blocks 7 and a plurality of second rotating blocks 8, and the plurality of first rotating blocks 7 and the plurality of second rotating blocks 8 are sequentially arranged in a staggered mode. The first rotating block and the second rotating block are both provided with a cavity 12 for placing the rotating mechanism, the motor 5 and the speed reducer 6 are both arranged in the cavity, and the output end of the speed reducer penetrates out of the cavity and keeps connected with the first guide disc 3.

In this embodiment, the universal joint 1 comprises a first hinge and a second hinge, and the relative orientation of the first hinge and the second hinge is 90 °. The first guide disc 3 and the second guide disc 4 are respectively fixed at two ends of the universal joint 1. The outer wall of the first rotating block is sequentially provided with the first guide disc and the second guide disc from left to right, and the outer wall of the second rotating block is sequentially provided with the first guide disc and the second guide disc from right to left. As a specific implementation manner, in this embodiment, the first guiding disc 3 is provided with a first through hole, the first guiding disc 3 is sleeved on the outer wall of the rotating body through the first through hole, the second guiding disc 4 is provided with a second through hole, and the second guiding disc 4 is sleeved on the outer wall of the rotating body through the second through hole. The first turning block 7 is connected with the first hinge, and the second turning block 8 is connected with the second hinge. The first guide disc 3 is provided with a protruding part 9, one end of the protruding part 9 is fixed with the first guide disc 3, and the other end of the protruding part 9 is in contact with the second guide disc 4. The motor 5 in the rotating mechanism is connected with an input shaft of a speed reducer 6, and an output shaft of the speed reducer 6 is connected with the first guide disc 3.

When the motor 5 drives the input shaft to rotate, the input shaft drives the output shaft to rotate. Because the output shaft is connected with first guiding disc 3, consequently the output shaft drives first guiding disc 3 and rotates, and then first hinge 7 takes place to deflect, and simultaneously, bellying 9 on the first guiding disc 3 rotates along with first guiding disc 3, because bellying 9 and second guiding disc 4 contact, and static down, bellying 9 makes and directly forms the contained angle after extending between first guiding disc 3 and the second guiding disc 4, consequently at bellying 9 pivoted in-process, second guiding disc 4 atress drives second turning block 8 and first turning block 7 and takes place relative deflection. Thereby providing efficient twisting, and simple structure easily realizes. And the first rotating block 7 and the second rotating block 8 drive the universal joint to twist in the relative deflection process, and the first rotating block 7 and the second rotating block 8 are kept connected through the universal joint.

As shown in fig. 6, during the yaw, the articulation of the joint during the rotational offset causes the rotation block to swing back and forth, the rotational force being shown as F3. It will be readily appreciated that because of rotational force F3, the bottom and contact surfaces of the robot generate a frictional force Ff opposing rotational force F3, which is resolved to provide radial force F2 and axial force F1. Referring to fig. 7, during the process that the joint rotates in the other direction, a rotating force F3 ' is generated, so that a friction force Ff ' is generated, the friction force Ff ' is decomposed, a radial force F2 ' and an axial force F1 ' are obtained, the radial force F2 ' has the same direction as the radial force F2, and the axial force F1 has the same direction as the axial force F1 ', so that the rotating block is contacted to move forwards, and the robot completes the forward movement. The driving mode has no problem of reverse backlash. And the mobile robot can move in a complex environment in a search and rescue task, and breaks through obstacles.

In a preferred embodiment, the protruding part 9 is a hemisphere, the plane of the hemisphere is fixed to the first guiding plate 3, and the outer circular surface of the hemisphere is in contact with the second guiding plate 4. Meanwhile, the second guide disc 4 is arranged on the groove 11, and the groove 11 is matched with the protruding part 9. So that the hemisphere can be embedded into the groove, and the joint can be in an upright state. Because the convex part is a hemisphere in the embodiment, the hemisphere can slide and rotate out of the groove after the motor runs.

In this embodiment, the spring 2 is further included, and a plurality of rotating blocks are all sleeved in the ring of the spring 2. As shown in fig. 5, the restoring force of the spring 2 forces the gimbal 1 to be straightened without motor drive, and the protruding parts 9 are fitted into the grooves 11, keeping the connected rotation blocks in alignment. In a further scheme, the outer wall of the spring 2 is sleeved with a rubber sleeve 10. The friction force generated by the robot and the contact surface in the twisting process is increased, so that the twisting motion is better completed, and the abrasion of equipment is prevented to a certain extent.

It is easy to understand that, in this embodiment, the first guiding disc 3 and the second guiding disc 4 function as a supporting protrusion and a driving universal joint to rotate, so that the shapes and sizes of the first guiding disc 3 and the second guiding disc 4 are not limited under the condition that the supporting protrusion and the driving universal joint 1 rotate.

Meanwhile, in order to obtain a large moment, as a preferred embodiment, the speed reducer 6 in the scheme is a slope speed reducer, and a large moment is obtained through a large reduction ratio of the slope speed reducer, so that the problem of small driving force in the prior art is solved. Of course, other reducers known in the art may be used while ensuring that the universal joint is allowed to deflect.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a snake-shaped robot, its characterized in that includes a plurality of rotor, a plurality of rotor connects gradually, and every two rotors that link to each other all connect through slewing mechanism and wrench movement mechanism, wrench movement mechanism includes rotating part and wrench movement part, slewing mechanism is used for driving rotating part is done and is followed the rotation, the rotor is used for rotating part's drive down rotates, wrench movement part is used for wrench movement walking under the drive of rotor.

2. The snake-shaped robot as claimed in claim 1, wherein the rotating member comprises a universal joint and a first guiding member, the first guiding member is fixedly provided with a protruding member, the twisting member comprises a second guiding member, the first guiding member is used for rotating under the driving of the rotating mechanism, the second guiding member is used for twisting walking under the action of the protruding member, each two connected rotating bodies are connected through the universal joint, and each rotating body is provided with the first guiding member and the second guiding member.

3. The serpentine robot of claim 2, wherein the first guide member is a first guide plate, the second guide member is a second guide plate, and the protrusion member is in contact with the second guide plate, and in a static state, the protrusion member forms an angle between the first guide plate and the second guide plate directly or after extending.

4. The snake-shaped robot as claimed in claim 3, wherein the plurality of rotating bodies are a plurality of first rotating blocks and a plurality of second rotating blocks, the first rotating blocks and the second rotating blocks are sequentially staggered, the first guide disc and the second guide disc are sequentially arranged on the outer wall of the first rotating block from left to right, and the first guide disc and the second guide disc are sequentially arranged on the outer wall of the second rotating block from right to left.

5. The serpentine robot of claim 2, wherein the protruding member is a hemisphere, a plane of the hemisphere is fixed to the first guide member, and an outer circumferential surface of the hemisphere is connected to the second guide member.

6. The serpentine robot of claim 2, wherein the second guide has a groove formed therein, the groove being adapted to the protrusion.

7. The serpentine robot as set forth in claim 2, wherein the rotating mechanism comprises a motor and a speed reducer, the motor is connected to an input shaft of the speed reducer, an output shaft of the speed reducer is connected to the first guide, the rotating body has a cavity therein, and the motor and the speed reducer are both disposed in the cavity.

8. The serpentine robot of claim 7, wherein the reducer is a ramp reducer.

9. The serpentine robot of any one of claims 1 to 8, further comprising springs, wherein the plurality of rotating members are sleeved in the spring rings.

10. The serpentine robot of claim 9, wherein the spring is coated with a rubber sleeve.