CN214028908U

CN214028908U - Unit module snake-shaped robot

Info

Publication number: CN214028908U
Application number: CN202022976822.7U
Authority: CN
Inventors: 苟明
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-08-24
Anticipated expiration: 2030-12-08

Abstract

The utility model relates to the technical field of snake-shaped robots, in particular to a unit module snake-shaped robot, which comprises a plurality of same module units, wherein each module unit comprises a head module and a tail module; the head module and the tail module are respectively provided with a head driving wheel and a tail driving wheel on one side, the head module and the tail module are respectively provided with a head driving motor and a tail driving motor which enable the driving wheels to rotate, and the tail end of the head module is provided with a head rotating disc. The utility model discloses the robot is built to the method of having used the module of unit module snakelike tree climbing robot innovation for through horizontal motor, vertical motor, driving motor and disc motor combined action, make the robot can accomplish level, vertical and rotation action, thereby make the robot not only can climb the tree, can also increase the practicality of robot through some complicated topography.

Description

Unit module snake-shaped robot

Technical Field

The utility model relates to a snake-shaped robot technical field specifically is a unit module snake-shaped robot.

Background

The snake-shaped robot is a bionic robot with high redundancy developed by imitating the structural characteristics and the motion mechanism of biological snakes. Compared with the traditional foot type and wheel type mobile robots, the snake-shaped robot is long and thin in body, various in motion form and high in ground adaptability, and has wide application prospects in the fields of post-disaster rescue, pipeline exploration, unknown environment detection, obstacle clearing and the like.

At present, scholars at home and abroad all carry out a large amount of researches to snake-shaped robot, among the prior art, snake-shaped robot structure is mainly passive wheeled and initiative wheeled, wherein, passive wheeled frictional force that utilizes the wrench movement of health joint to produce drives snake-shaped robot forward motion, the snake-shaped robot ground adaptability of this kind of structure is poor and the ability of surmounting is weak, initiative wheeled utilizes driving motor direct drive snake-type robot forward motion, the snake-shaped robot activity ratio of this kind of structure is low, can not pass through some complicated topography, the practicality is low, for this reason we propose a unit module snake-shaped robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a unit module snake-shaped robot to solve the problem that proposes in the above-mentioned background art.

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

a unit module snake-shaped robot comprises a plurality of same module units, wherein each module unit consists of a head module and a tail module; a head driving wheel and a tail driving wheel are respectively arranged on one side face of the head module and one side face of the tail module, a head driving motor and a tail driving motor which are used for driving the driving wheels to rotate are respectively arranged in the head module and the tail module, a head rotating disc is arranged at the tail end of the head module, a head disc motor which is used for driving the head rotating disc to rotate is arranged in the head module, the head disc motor is connected to the inner side of the head module through a head fixing frame, two tail vertical motors are arranged at the head end of the tail module, horizontal rods are connected to the two tail vertical motors, the movable ends of the two horizontal rods are connected with the head rotating disc, a clamping mechanism is further arranged at the head end of the head module, two moving rods are arranged on the clamping mechanism, and the movable ends of the moving rods are connected with the tail modules, the tail end of the tail module is provided with a tail rotating disc, a tail disc motor for driving the tail rotating disc to rotate is arranged inside the tail module, the tail disc motor is connected to the inner side of the tail module through a tail fixing frame, and the tail rotating disc is used for being connected with a moving rod of a head module of an adjacent module unit.

As a further aspect of the present invention: the clamping mechanism comprises a rack disc, a vertical motor, a horizontal motor and a side link, wherein the rack disc is arranged at the output end of the vertical motor, the side link is arranged on the upper end face of the rack disc, the side link is provided with two horizontal motors, and the two horizontal motors are connected with a moving rod.

As a further aspect of the present invention: the side link is in an inverted U-shaped structure.

As a further aspect of the present invention: the head module is provided with a notch on the upper head end surface for the motion rod to swing.

As a further aspect of the present invention: the upper end of the tail module is provided with a notch for swinging the horizontal rod.

As a further aspect of the present invention: the unit modules are controlled by respective arduino single-chip microcomputer main boards.

Compared with the prior art, the utility model has the advantages of following several aspects:

the utility model discloses the robot is built to the method of having used the module of unit module snakelike tree climbing robot innovation for through horizontal motor, vertical motor, driving motor and disc motor combined action, make the robot can accomplish level, vertical and rotation action, thereby make the robot not only can climb the tree, can also increase the practicality of robot through some complicated topography.

Drawings

Fig. 1 is a schematic structural diagram of a module unit in a unit module serpentine robot.

Fig. 2 is a schematic structural diagram of a clamping mechanism in a unit module serpentine robot.

In the figure: 10. a head module; 11. a clamping mechanism; 111. a frame disk; 112. a vertical motor; 113. a horizontal motor; 114. a side link; 12. a motion bar; 13. a head driving wheel; 14. a head disk motor; 15. a head rotating disk; 16. a head mount; 17. a head driving motor; 20. a tail module; 21. a tail vertical motor; 22. a horizontal bar; 23. a tail drive wheel; 24. a tail disc motor; 25. a tail rotating disk; 26. a tail fixing frame; 27. the tail part drives the motor.

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 and 2, a unit module snake robot includes a plurality of identical module units, each of which is composed of a head module 10 and a tail module 20; a head driving wheel 13 and a tail driving wheel 23 are respectively arranged on one side surface of the head module 10 and one side surface of the tail module 20, a head driving motor 17 and a tail driving motor 27 which enable the driving wheels to rotate are respectively arranged in the head module 10 and the tail module 20, a head rotating disc 15 is arranged at the tail end of the head module 10, a head disc motor 14 which drives the head rotating disc 15 to rotate is arranged in the head module 10, the head disc motor 14 is connected to the inner side of the head module 10 through a head fixing frame 16, two tail vertical motors 21 are arranged at the head end of the tail module 20, horizontal rods 22 are respectively connected to the two tail vertical motors 21, the movable ends of the two horizontal rods 22 are connected with the head rotating disc 15, a clamping mechanism 11 is also arranged at the head end of the head module 10, two moving rods 12 are arranged on the clamping mechanism 11, and the movable end of the moving rod 12 is connected with the tail module 20 of the adjacent module unit, the tail end of the tail module 20 is provided with a tail rotating disc 25, the tail module 20 is internally provided with a tail disc motor 24 for driving the tail rotating disc 25 to rotate, the tail disc motor 24 is connected to the inner side of the tail module 20 through a tail fixing frame 26, and the tail rotating disc 25 is used for being connected with the moving rod 12 of the head module of the adjacent module unit.

Clamping mechanism 11 includes frame disc 111, vertical motor 112, horizontal motor 113 and side link 114, and frame disc 111 sets up the output at vertical motor 112, and side link 114 sets up the up end at frame disc 111, is equipped with two horizontal motor 113 on the side link 114, and two horizontal motor 113 all connect motion pole 12.

The side link 114 is in an inverted U-shaped configuration.

The head module 10 is provided with a notch on the upper head end surface for swinging the motion rod 12.

The upper end of the tail module 20 is provided with a notch for swinging the horizontal rod 22.

The unit modules are controlled by respective arduino single chip microcomputer mainboards.

The utility model discloses a theory of operation is: the utility model discloses during operation, by the rotation of singlechip mainboard control head drive wheel 17 and afterbody driving motor 27, drive head drive wheel 13 and afterbody drive wheel 23 respectively and rotate, make the robot can move forward, rotate through afterbody vertical motor 21 simultaneously and drive horizontal rod 22 and swing, make and to swing horizontally between head module 10 and the afterbody module 20, vertical motor 112 rotates and to drive motion pole 12 and rotate horizontally, horizontal motor 113 can drive motion pole 12 and go into the vertical direction swing, thereby make head module 10 and afterbody module 20 on the adjacent module unit clamp and connect together; the tail of the tail module 20 drives the tail rotating disc 25 to rotate through the tail disc motor 24, so that not only can the steering engine moving in the vertical direction be connected, but also the tail module 20 can rotate; therefore, the robot can finish horizontal, vertical and rotary actions, so that the robot can climb trees and can pass through complex terrains to increase the practicability of the robot.

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 unit module snake robot comprising a plurality of identical module units, each of said module units comprising a head module (10) and a tail module (20); a head driving wheel (13) and a tail driving wheel (23) are respectively arranged on one side face of the head module (10) and one side face of the tail module (20), a head driving motor (17) and a tail driving motor (27) which enable the driving wheels to rotate are respectively arranged inside the head module (10) and the tail module (20), a head rotating disc (15) is arranged at the tail end of the head module (10), a head disc motor (14) which drives the head rotating disc (15) to rotate is arranged inside the head module (10), the head disc motor (14) is connected to the inner side of the head module (10) through a head fixing frame (16), two tail vertical motors (21) are arranged at the head end of the tail module (20), horizontal rods (22) are respectively connected to the two tail vertical motors (21), and the movable ends of the horizontal rods (22) are connected with the head rotating disc (15), the head end of head module (10) still is equipped with clamping mechanism (11), be equipped with two motion bars (12) on clamping mechanism (11), the expansion end of motion bar (12) and afterbody module (20) of adjacent modular unit are connected, the tail end of afterbody module (20) is equipped with afterbody and rotates disc (25), the inside of afterbody module (20) is equipped with drive afterbody and rotates disc (25) pivoted afterbody disc motor (24), afterbody disc motor (24) are connected in the inboard of afterbody module (20) through afterbody mount (26), afterbody rotates disc (25) and is used for connecting with motion bar (12) of the head module of adjacent modular unit.

2. A unit module snake robot as claimed in claim 1, wherein the clamping mechanism (11) comprises a frame disc (111), a vertical motor (112), a horizontal motor (113) and a side link (114), the frame disc (111) is arranged at the output end of the vertical motor (112), the side link (114) is arranged at the upper end face of the frame disc (111), two horizontal motors (113) are arranged on the side link (114), and both horizontal motors (113) are connected with the motion rod (12).

3. A unit module snake robot as claimed in claim 2 wherein the side links (114) are of inverted U-shaped configuration.

4. The unit module snake robot as claimed in claim 1, wherein the head module (10) is provided with a notch on the upper head end surface for the movement of the moving rod (12).

5. A unit module snake robot as claimed in claim 1 wherein the upper end of the tail module (20) is provided with a notch for the horizontal bar (22) to swing.

6. The snake robot of unit modules as claimed in claim 1, wherein said unit modules are controlled by respective arduino single chip microcomputer motherboards.