CN212735999U

CN212735999U - Structure for optimizing motion efficiency of snake-shaped robot

Info

Publication number: CN212735999U
Application number: CN202020996672.3U
Authority: CN
Inventors: 胡文瀚
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2021-03-19
Anticipated expiration: 2030-06-01

Abstract

The utility model discloses an optimize structure of snake-shaped robot motion efficiency, including pipy shell with inlay a plurality of body wheels of establishing in the middle of the shell, adjacent two the body wheel all connects through body wheel mounting, and body wheel mounting fixed connection is on the shell, the inside both ends of shell are equipped with horizontal direction swing and vertical direction wobbling steering wheel respectively. The utility model discloses a plurality of shells are connected and form bionical snake-shaped robot body, and set up many individual wheels in the periphery of shell, and rotate the special gear of drive motor drive inside the shell through setting up the value, drive the drive ball by special gear and rotate, and then drive the rotor wheel by the drive ball and rotate, make bionical snake-shaped robot can move forward, steering wheel in the shell can make bionical snake-shaped robot meander motion simultaneously, make bionical snake-shaped robot can remove always, also can meander motion, thereby the motion efficiency of bionical snake-shaped robot has been optimized.

Description

Structure for optimizing motion efficiency of snake-shaped robot

Technical Field

The utility model relates to a bionical snake-shaped robot technical field specifically is a optimize structure of snake-shaped robot motion efficiency.

Background

A snake-shaped robot is one of the fields of bionic robots. The robot has the characteristic of multi-step motion capability and can adapt to complex and changeable environments, and becomes a hot topic in the field of robot research. Compared with the traditional leg type and wheel type mobile robots, the snake-shaped robot simulates the limb-free structure of a biological snake and has a plurality of advantages. The problem of stability which is difficult to control in the motion of the leg robot does not need to be considered in the motion of the snake-shaped robot, because the body of the snake-shaped robot always contacts with the ground in the motion to ensure the lowest position of the gravity center. The wheel type mobile robot is difficult to move in sand and marsh, the snake-shaped robot can move in sand and marsh very smoothly, and the sealed snake-shaped robot can move in water. Therefore, the method has wide prospect in many fields, such as real-time survey in natural disasters such as earthquake and fire and the like, and emergency relief. The detection and maintenance of the pipeline with narrow space, and the application of the snake-shaped robot in human body surgical operation treatment in medical science can utilize the snake-shaped robot with low cost to replace operators to properly complete assigned tasks. And can also have wide application in the military field.

Most of the prior snake-shaped robots wrap a circle of driven wheels outside a shell to be used as a body wheel so as to improve the meandering motion efficiency of the snake-shaped robots. Although the design of the existing snake-shaped robot can improve the efficiency of the meandering motion, all the body wheels can not move on the road surface with a larger inclination angle because of the driven wheels; or a wheel type structure or a crawler structure is added below the abdomen of the joint of the snake-shaped robot, so that the snake-shaped robot can directly move forwards in a straight line through the wheel type structure, or the movement speed of the snake-shaped robot can be improved, but the contact area of a body wheel and the ground is too large, and the acting force generated by yaw movement cannot be effectively utilized; and the design may be hindered from traveling when encountering narrow spaces.

The current research mainly uses a winding motion as a main motion mode, and the winding motion is the most effective motion mode of the snake-shaped robot but is not satisfactory in many practical applications. For example, in a cave of a snake-like robot or in a narrow environment for exploration and rescue of a floor, the advantage of generating a longitudinal friction force by largely swinging a meandering motion cannot be obtained. Secondly, the uneven terrain and gravels in the cave can also greatly influence the movement efficiency of the winding movement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an optimize structure of snake-shaped robot motion efficiency to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a structure for optimizing the motion efficiency of a snake-shaped robot comprises a tubular shell and a plurality of body wheels embedded in the middle of the shell, wherein two adjacent body wheels are connected through body wheel fixing pieces which are fixedly connected to the shell, and two ends in the shell are respectively provided with a steering engine which swings in the horizontal direction and a steering engine which swings in the vertical direction;

the inside of shell still is equipped with the drive ball, the ball spindle direction of drive ball is equipped with the drive ball mounting hole, the bearing is installed at the both ends of drive ball mounting hole, the drive ball passes through the drive ball locating pin to be fixed on the shell, and is a plurality of the body wheel all is connected with the surface transmission of drive ball, still be equipped with drive ball pivoted actuating mechanism in the shell.

As a further aspect of the present invention: the driving mechanism comprises two groups of motors, the two groups of motors are arranged on the inner side of the shell through motor fixing seats, special gears are arranged on transmission shafts of the two groups of motors, two rows of ring gears are longitudinally arranged on the surface of the driving ball, and the two rows of ring gears are respectively meshed with the two special gears.

As a further aspect of the present invention: the steering engine is characterized in that steering engine supports are arranged on two sides of the steering engine, a steering wheel disc used for connecting two adjacent steering engines is arranged on a shaft lever of the steering engine, steering engine fixing seats are arranged on the outer side of the steering engine, and the steering engine fixing seats are arranged on the inner wall of the shell through steering engine fixing parts.

As a further aspect of the present invention: the number of body wheel is six, and the number of body wheel mounting is also six.

As a further aspect of the present invention: the body wheel and the body wheel fixing piece are connected into a ring shape.

As a further aspect of the present invention: the special gear is designed to be of a circular ring structure.

Compared with the prior art, the utility model has the advantages of as follows:

the utility model discloses a plurality of shells are connected and form bionical snake-shaped robot body, and set up many individual wheels in the periphery of shell, and rotate the special gear of drive motor drive inside the shell through setting up the value, drive the drive ball by special gear and rotate, and then drive the rotor wheel by the drive ball and rotate, make bionical snake-shaped robot can move forward, steering wheel in the shell can make bionical snake-shaped robot meander motion simultaneously, make bionical snake-shaped robot can remove always, also can meander motion, thereby the motion efficiency of bionical snake-shaped robot has been optimized.

Drawings

Fig. 1 is a schematic structural view of a structure for optimizing the movement efficiency of a serpentine robot.

Fig. 2 is a schematic view of the internal structure of a housing in a structure for optimizing the efficiency of the movement of the serpentine robot.

Fig. 3 is a schematic sectional view showing the structure of the housing in a structure for optimizing the efficiency of the movement of the serpentine robot.

Fig. 4 is a schematic structural view of a body wheel in a structure for optimizing the motion efficiency of the serpentine robot.

Fig. 5 is a schematic view showing the structure of a driving ball in a structure for optimizing the moving efficiency of the serpentine robot.

Fig. 6 is a schematic structural diagram of a steering engine fixing part in a structure for optimizing the motion efficiency of the snake-shaped robot.

Fig. 7 is a schematic structural view of a special gear in a structure for optimizing the motion efficiency of the serpentine robot.

Fig. 8 is a schematic structural view of a body wheel fixing member in a structure for optimizing the moving efficiency of the serpentine robot.

In the figure: 1. a housing; 2. a steering engine; 3. a body wheel; 4. a body wheel fixing member; 5. a drive ball; 6. a motor; 7. a special gear; 8. a steering engine fixing seat; 9. a bearing; 10. a drive ball locating pin; 11. a rudder wheel; 12. a drive ball mounting hole; 13. a ring gear; 14. steering wheel mounting.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1-8, a structure for optimizing the motion efficiency of a snake-shaped robot comprises a cylindrical snake-shaped robot joint housing 1, and six wheels 3 surrounding a circle are mounted on the housing 1 in an embedded manner to simulate scales of a snake. Each individual wheel 3 is arranged on the shell 1 through a body wheel fixing piece 4, a driving ball 5 is arranged in the middle of six body wheels 3, so that the driving ball can drive the surrounding body wheels 3 to rotate, the driving ball 5 is in contact with the six individual wheels 3 to generate rolling friction so as to drive the body wheels 3, and the body wheels 3 are changed from driven wheels to driving wheels, so that the winding movement efficiency of the snake-shaped robot is increased, and meanwhile, the snake-shaped robot can rapidly move like a high-speed train; a driving ball mounting hole 12 is formed in the driving ball 5 in the ball center axis direction, bearings 9 are mounted at two ends of the driving ball mounting hole 12, the driving ball 5 is fixed on the shell 1 through a driving ball positioning pin 10, two groups of ring gears 13 are designed on the driving ball 5, two symmetrically-placed driving motors 6 are mounted in the shell 1, a special gear 7 is mounted on each driving motor 6, and the special gear 7 is designed in a circular ring structure; the one-circle body wheel 3 is designed to achieve effective contact of the robot with the ground to obtain effective driving force. While preventing the housing 1 from colliding with the surrounding environment in a narrow space. The design of the body wheel 3 as a spindle not only ensures the continuous contact of the body wheel 3 with the ground or an obstacle, but also more effectively applies the acting force generated by the meandering motion in the tangential direction to the acting force in the normal direction.

The inside both ends of shell 1 are equipped with horizontal direction swing and vertical direction wobbling steering wheel 2 respectively, the installation of steering wheel 2 both sides has the steering wheel support, install the steering wheel 11 that is used for connecting two adjacent steering wheel 2 on the axostylus axostyle of steering wheel 2, the 2 outsides of steering wheel are equipped with steering wheel fixing base 8, steering wheel fixing base 8 passes through steering wheel mounting 14 and installs on the inner wall of shell 1, steering wheel swing through in the shell can be so that bionical snake robot meanders.

The drive balls 5 are designed with two ring gears 13 placed in parallel. The ring gear 13 is engaged with the special gear 7, thereby rotating the drive balls 5.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. A structure for optimizing the motion efficiency of a snake-shaped robot is characterized by comprising a tubular shell (1) and a plurality of body wheels (3) embedded in the middle of the shell (1), wherein two adjacent body wheels (3) are connected through body wheel fixing pieces (4), the body wheel fixing pieces (4) are fixedly connected to the shell (1), and two ends in the shell (1) are respectively provided with a steering engine (2) which swings in the horizontal direction and the vertical direction; the inside of shell (1) still is equipped with drive ball (5), the ball spindle direction of drive ball (5) is equipped with drive ball mounting hole (12), bearing (9) are installed at the both ends of drive ball mounting hole (12), drive ball (5) are fixed on shell (1) through drive ball locating pin (10), and are a plurality of body wheel (3) all are connected with the surface transmission of drive ball (5), still be equipped with drive ball (5) pivoted actuating mechanism in shell (1).

2. The structure for optimizing the motion efficiency of the snake-shaped robot as claimed in claim 1, wherein the driving mechanism comprises two sets of motors (6), the two sets of motors (6) are installed inside the housing (1) through motor fixing seats, gears (7) are installed on transmission shafts of the two sets of motors (6), two rows of ring gears (13) are longitudinally arranged on the surface of the driving ball (5), and the two rows of ring gears (13) are respectively meshed with the two gears (7).

3. The structure for optimizing the motion efficiency of the snake-shaped robot is characterized in that steering engine supports are installed on two sides of each steering engine (2), a steering wheel disc (11) used for connecting two adjacent steering engines (2) is installed on a shaft rod of each steering engine (2), steering engine fixing seats (8) are arranged on the outer sides of the steering engines (2), and the steering engine fixing seats (8) are installed on the inner wall of the shell (1) through steering engine fixing pieces (14).

4. The structure for optimizing the motion efficiency of the snake-shaped robot as claimed in claim 1, wherein the number of the body wheels (3) is six and the number of the body wheel fixing members (4) is also six.

5. The structure for optimizing the motion efficiency of the snake-shaped robot as claimed in claim 1, wherein the body wheel (3) and the body wheel fixing member (4) are connected in a ring shape.

6. The structure for optimizing the motion efficiency of the snake-shaped robot as claimed in claim 2, wherein the gear (7) is designed in a circular ring structure.