CN216508691U

CN216508691U - Centipede-imitating robot

Info

Publication number: CN216508691U
Application number: CN202122794257.7U
Authority: CN
Inventors: 王春荣; 马文宝; 夏尔冬; 熊昌炯
Original assignee: Sanming University
Current assignee: Sanming University
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2022-05-13
Anticipated expiration: 2031-11-16

Abstract

The utility model provides a centipede-imitating robot, which relates to the technical field of robots and comprises a head device, an eye device and a plurality of body devices, wherein the body devices are detachably arranged on the same side of the head device at certain intervals through a connecting piece; the body device comprises a body, a transmission mechanism and walking pieces, wherein the walking pieces are connected to two opposite sides of the lower end of the body in a matching manner through the transmission mechanism; the eye device is connected to the front end of the head device in a matching mode. The robot can continuously turn through the connecting piece, the length of the body of the robot is changed, and the robot can adapt to different environments, so that the problems that the detection range of the existing rescue device is limited, and the rescue cannot be easily detected in dangerous places with small space and some special environments are solved.

Description

Centipede-imitating robot

Technical Field

The utility model relates to the technical field of robots, in particular to a centipede-imitating robot.

Background

With the development of science and technology, more and more search and rescue devices come out, and the LSJ-M radar life detection instrument is one of the search and rescue devices. However, there are some problems that most of the life detection system of LSJ-M radar, such as a camera system, have a limited detection range and are not easy to detect and rescue in dangerous, small-space and special environments, except that the life detection system of LSJ-M radar cannot penetrate obstacles to detect movement.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a centipede-imitating robot, and aims to solve the problems that the detection range of the existing rescue device is limited, and detection and rescue are not easy to carry out in dangerous places with small space and some special environments.

The utility model adopts the following scheme:

a centipede-imitating robot comprises a head device, eye devices and a plurality of body devices which are detachably arranged on the same side of the head device at certain intervals through connecting pieces, wherein each connecting piece comprises gears which are meshed with each other and a connecting shaft which is matched with the gears, and the connecting shafts are movably connected with the adjacent body devices; the body device comprises a body, a transmission mechanism and walking pieces, wherein the walking pieces are connected to two opposite sides of the lower end of the body in a matching manner through the transmission mechanism; the eye device is connected to the front end of the head device in a matching mode.

As a further improvement, the eye device comprises at least two small cameras, which can freely rotate in two directions.

As a further improvement, the walking part comprises legs and feet, one ends of the legs are movably connected to two sides of the bottom of the body, and the other ends of the legs are movably connected to one ends of the feet.

As a further improvement, the other end of the foot part is in the shape of a thin tip.

As a further improvement, the turnover device is arranged at one end of the body, which is opposite to the walking piece.

As a further improvement, the number of the turning-over devices is two, and the turning-over devices are arranged at two ends of the whole centipede robot.

As a further improvement, the turnover device comprises two lead screws, belt wheels and a transmission belt matched with the belt wheels, wherein one ends of the two lead screws are matched and connected with the two sides of the body, and the other ends of the two lead screws are matched with the belt wheels.

As a further improvement, the turnover device comprises a rotating rod and a connecting plate, wherein the front end of the connecting plate is rotatably connected above the screw rod, the rear end of the connecting plate is rotatably connected with one end of the rotating rod, and the other end of the rotating rod is connected to the body in an adaptive manner.

As a further improvement, the turnover device comprises a connecting rod and a motor, the motor is connected below the connecting plate in an adaptive mode and is movably connected with one end of the connecting rod, and the other end of the connecting rod is suspended in the air.

As a further improvement, the transmission mechanism comprises a motor, two bevel gears and a transmission shaft, one end of the transmission shaft is movably connected with the motor, the other end of the transmission shaft is movably connected with the bevel gears, and the two bevel gears are meshed.

By adopting the technical scheme, the utility model can obtain the following technical effects:

the utility model provides an imitative centipede robot, including the head device, set up the eye device at the head device front end and can dismantle the range according to certain interval through the connecting piece and be in the head device is with a plurality of health bodies of one side, just the rotatable connection of connecting piece is between two adjacent health bodies. The robot can continuously turn through the connecting piece, and can adapt to different environments by changing the length of the body of the robot, so that the problems that the detection range of the existing rescue device is limited, and the rescue is not easy to detect in dangerous places with small space and some special environments are solved. The advantages of the present application are apparent compared to the prior art.

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 an enlarged view of a part of the structure of the centipede-imitating robot of the utility model;

FIG. 2 is an enlarged view of a connector of the centipede-imitating robot of the utility model;

FIG. 3 is an enlarged view of the foot of the centipede-imitating robot of the utility model;

FIG. 4 is an enlarged view of the turning device of the centipede-imitating robot of the utility model;

FIG. 5 is a schematic view of the structure of FIG. 4 from another perspective;

fig. 6 is a general assembly diagram of the centipede-imitating robot of the utility model.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

The utility model provides a centipede-imitating robot, which comprises a head device 1, an eye device 2 and a plurality of body devices 4 which are detachably arranged on the same side of the head device 1 at certain intervals through a connecting piece 3, wherein the body devices 4 are not mutually influenced; the body length of the partial body device 4 can be changed by disassembling and assembling the partial body device, so that the device can adapt to different environments.

In the present embodiment, the connecting member 3 includes a gear 31 engaged with the gear 31 and a connecting shaft 32 adapted to the gear, and the connecting shaft 32 is movably connected to two adjacent body devices 4. The motor moves to drive the gear 31 to be meshed for transmission, so that the connecting shaft 32 is driven to rotate, and the robot can continuously turn.

Preferably, the gear 31 is a bevel gear, which has good meshing performance, smooth transmission and large contact ratio, reduces the load of each pair of gears, and improves the bearing capacity of the gears.

In this embodiment, the body device 4 includes a body 45, a transmission mechanism, and a walking member, wherein the walking member is connected to two opposite sides of the lower end of the body 45 through the transmission mechanism. The walking part comprises a leg part 41 and a foot part 42, one end of the leg part 41 is movably connected to the two sides of the bottom of the body 45, the other end of the leg part 41 is movably connected to one end of the foot part 42, and the walking, foot lifting, foot descending and other actions of the walking part can be realized through the movable connection. The other end of the foot 42 is in the shape of a thin tip, which not only reduces the mass, but also enables the tip to be inserted into the ground to obtain greater grip.

Further, the transmission mechanism comprises a motor, two bevel gears 43 and a transmission shaft 44, one end of the transmission shaft 44 is movably connected with the motor, the other end of the transmission shaft is movably connected with the bevel gears 43, and the two bevel gears 43 are meshed. The motor moves to drive the transmission shaft 44 and the two bevel gears 43 to rotate, so as to drive the walking part to move.

In this embodiment, the eye device 2 is connected to the front end of the head device 1 in an adaptive manner, and the eye device 2 comprises at least two small cameras which can freely rotate in two directions, so that the periphery can be considered, and rescue work can be better facilitated.

Further, including turning over device 5, turning over device 5 sets up the one end that the one end of health body 45 is relative than the walking piece, turning over device 5 preferred is two in quantity, two turning over device 5 set up respectively at the both ends of whole centipede robot, guarantee that it need not under the condition that manual operation can realize independently overturning, still make its simple structure and reduce the cost.

In this embodiment, the turning-over device 5 includes two lead screws 51, a belt wheel and a transmission belt 52 adapted to the belt wheel, one end of each of the two lead screws 51 is adapted to be connected to two sides of the body 45, and the other end is adapted to the belt wheel. When the robot is overturned, the motor moves to drive the belt wheel to rotate in a manner of being matched with the transmission belt 52, so that the screw rod 51 is driven to rotate.

Further, the turning-over device 5 comprises a rotating rod 53 and a connecting plate 54, the front end of the connecting plate 54 is rotatably connected above the screw rod 51, the rear end of the connecting plate is rotatably connected with one end of the rotating rod 53, and the other end of the rotating rod 53 is connected to the body 45 in an adaptive manner. When the screw rod 51 rotates, the rotating rod 53 and the connecting plate 54 are driven to rotate in the vertical direction.

Further, the turning-over device 5 comprises a connecting rod 55 and a motor, the motor is connected below the connecting plate 54 in an adaptive manner and is movably connected with one end of the connecting rod 55, and the other end of the connecting rod 55 is suspended. When the connecting rod 55 rotates along with the connecting plate 24 in the vertical direction, the motor below the connecting plate 54 moves at the moment, so that the connecting rod 55 rotates towards two sides, the robot can automatically turn over when turning over, and manual operation is not needed.

In the embodiment, when detection and rescue work needs to be carried out in some specific scenes, the eye device 2 firstly surveys the surrounding terrain, and then the walking and continuous turning of the whole body are realized through the walking piece and the connecting piece 3; in some narrow working environments, the partial body device 4 can be detached to change the length of the body, so as to adapt to different environments. When the robot is carelessly overturned in the process of detection and rescue, the robot can also be automatically overturned through the self overturning device 5 without manual operation.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.

Claims

1. A centipede-imitating robot is characterized by comprising a head device, eye devices and a plurality of body devices which are detachably arranged on the same side of the head device at certain intervals through connecting pieces, wherein each connecting piece comprises gears which are meshed with each other and a connecting shaft which is matched with the gears, and the connecting shafts are movably connected with two adjacent body devices; the body device comprises a body, a transmission mechanism and walking pieces, wherein the walking pieces are connected to two opposite sides of the lower end of the body in a matching manner through the transmission mechanism; the eye device is connected to the front end of the head device in a matching mode.

2. The centipede-imitating robot according to claim 1, wherein the eye device comprises at least two small cameras, and the small cameras can freely rotate in two directions.

3. The centipede-imitating robot according to claim 1, wherein the walking members comprise leg portions and foot portions, one end of each leg portion is movably connected to two sides of the bottom of the body, and the other end of each leg portion is movably connected to one end of each foot portion.

4. The centipede-imitating robot as claimed in claim 3, wherein the other end of the foot is in the shape of a thin tip.

5. The centipede-imitating robot according to claim 1, comprising a turning device, wherein the turning device is arranged at one end of the body opposite to the walking piece.

6. The centipede-imitating robot according to claim 5, wherein the number of the turning-over devices is two, and the turning-over devices are arranged at two ends of the whole centipede robot.

7. The centipede-imitating robot according to claim 5, wherein the turning-over device comprises two lead screws, belt wheels and a transmission belt matched with the belt wheels, one ends of the two lead screws are matched and connected with two sides of the body, and the other ends of the two lead screws are matched with the belt wheels.

8. The centipede-imitating robot according to claim 7, wherein the turning-over device comprises a rotating rod and a connecting plate, the front end of the connecting plate is rotatably connected above the screw rod, the rear end of the connecting plate is rotatably connected with one end of the rotating rod, and the other end of the rotating rod is connected to the body in a matching manner.

9. The centipede-imitating robot according to claim 8, wherein the turning-over device comprises a connecting rod and a motor, the motor is connected below the connecting plate in an adaptive mode and movably connected with one end of the connecting rod, and the other end of the connecting rod is suspended.

10. The centipede-imitating robot according to claim 1, wherein the transmission mechanism comprises a motor, two bevel gears and a transmission shaft, one end of the transmission shaft is movably connected with the motor, the other end of the transmission shaft is movably connected with the bevel gears, and the two bevel gears are meshed.