CN216803495U

CN216803495U - Snake-shaped robot joint

Info

Publication number: CN216803495U
Application number: CN202220236704.9U
Authority: CN
Inventors: 火伟伟; 唐术锋; 张学炜; 郭世杰; 王钟英; 赵国庆; 黄仁杰; 奇立根
Original assignee: Inner Mongolia University of Technology
Current assignee: Inner Mongolia University of Technology
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2022-06-24
Anticipated expiration: 2032-01-28

Abstract

The utility model relates to the technical field of robots, and particularly discloses a snake-shaped robot joint which comprises a protective shell, wherein a supporting rod is arranged on the protective shell, a joint ball is arranged at one end of the supporting rod, the head is matched with the joint ball to form a spherical hinge structure, two pull ropes are symmetrically arranged on the head, sliding holes corresponding to the pull ropes are formed in the protective shell, and the two pull ropes penetrate through the corresponding sliding holes respectively. The utility model has the advantages that the joint can ensure that the human body of the robot clings to the ground, and the center of gravity is reduced, so that the motion of the robot has stronger stability; through nimble rotary mechanism, can pass through multiple rugged complicated highway section, even have the motion ability of climbing the stand.

Description

Snake-shaped robot joint

Technical Field

The utility model relates to the technical field of robots, in particular to a snake-shaped robot joint.

Background

In recent years, biomimetic robotics is occupying an increasingly important position in the field of robots. The snake-shaped robot is a novel bionic robot, realizes 'limb-free motion' like a snake, has wide application prospect in many fields, such as occasions with radiation, severe toxicity, earthquake, narrow pipelines and the like which are not suitable for human work, and the advantages are fully proved in partial production application.

At present, snake-shaped robots have various structural forms, but the problem of complicated structure exists.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides the snake-shaped robot joint, which can ensure that the human body of the robot is tightly attached to the ground, and the center of gravity is reduced to ensure that the motion of the robot has stronger stability; through nimble rotary mechanism, can pass through multiple rugged complicated highway section, even have the motion ability of climbing the stand.

The purpose of the utility model is realized by the following technical scheme: the utility model provides a snake-shaped robot joint, includes the protective housing, be provided with branch on the protective housing, the one end of branch is provided with the joint ball, still includes the head, the head forms spherical hinge structure with the cooperation of joint ball, the symmetry is provided with two stay cords on the head, be provided with the slide opening that corresponds with the stay cord on the protective housing, two the stay cord passes corresponding slide opening respectively.

Specifically, a rotating mechanism is arranged inside the protective shell.

Specifically, rotary mechanism includes the rotation axis, the winding has two rotatory stay cords on the rotation axis, the protective housing includes casing and apron, apron and casing normal running fit, the one end and the casing of rotation axis rotate to be connected, the other end and the apron fixed connection of rotation axis, branch is fixed on the apron.

Specifically, the rotating shaft is provided with two clamping grooves, and the two rotating pull ropes are wound in the corresponding clamping grooves.

Specifically, the two rotary pull ropes are oppositely wound.

The utility model has the following advantages:

1. the utility model can utilize two flexible pull ropes at the top end to steer, and the rotation of the head part is controlled by the bottom rotating mechanism by matching with the spherical hinge structure, so that the advancing direction of the snake-shaped robot is controlled, and the utility model has simple structure and high degree of freedom.

2. According to the utility model, the rotary pull rope is pulled to rotate the rotary shaft, so that the joint rotates, and the snake-shaped robot has high flexibility.

Drawings

FIG. 1 is a schematic view of the overall structure of the snake-shaped robot joint of the present invention;

FIG. 2 is a schematic cross-sectional structural view of a snake-shaped robot joint of the present invention;

in the figure: 1-protective shell, 11-shell, 12-cover plate, 2-support rod, 3-joint ball, 4-head, 5-pull rope, 6-rotary pull rope and 7-rotary shaft.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the utility model, are intended for purposes of illustration only and are not intended to limit the scope of the utility model. The components of embodiments of the present invention 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 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 derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The utility model will be further described with reference to the accompanying drawings, but the scope of the utility model is not limited to the following.

As shown in fig. 1 and 2, a snake-shaped robot joint comprises a protective shell 1, a supporting rod 2 is arranged on the protective shell 1, a joint ball 3 is arranged at one end of the supporting rod 2, the snake-shaped robot joint further comprises a head 4, the head 4 and the joint ball 3 are matched to form a spherical hinge structure, two pull ropes 5 are symmetrically arranged on the head 4, a sliding hole corresponding to the pull rope 5 is formed in the protective shell 1, and the pull rope 5 penetrates through the corresponding sliding hole respectively. The snake-shaped robot joint in the embodiment is a unit of the robot joint, a plurality of snake-shaped robot joints are connected in series to form the snake-shaped robot, wherein each joint can rotate left and right, so that the snake-shaped robot can be controlled to move and turn in a plane, in the implementation, a protective shell 1 is arranged, a supporting rod 2 is fixed on the protective shell 1, the other end of the supporting rod 2 is provided with a joint ball 3, the head 4 and the joint ball 3 are matched to form a spherical hinge structure, the degree of freedom is high, then two pull ropes 5 are connected with the head part 4 to control the left and right steering of the head part 4, the two pull ropes 5 are arranged in a central symmetry way around the head part 4, meanwhile, the two sliding holes are formed in the protective shell 1, the two pull ropes 5 penetrate through the sliding holes respectively, and therefore the steering of the head 4 can be controlled by pulling the two pull ropes 5 through the motor respectively.

Further, the protective shell 1 is internally provided with a rotating mechanism, and the rotating mechanism drives the supporting rod 2 to rotate. Set up a rotary mechanism in the inside of protective housing 1 in this embodiment and drive branch 2 and rotate, just so can control head 4 through rotary mechanism and rotate, further improve articular degree of freedom, make its degree of freedom in space higher, can let the snake-shaped robot have very high flexibility, can pass through the highway section of multiple rugged and complicated, have the motion ability of climbing the stand even.

Further, rotary mechanism includes rotation axis 7, the winding has two rotatory stay cords 6 on the rotation axis 7, protective housing 1 includes casing 11 and apron 12,

apron

12 and 11 normal running fit of casing, the one end and the casing 11 of rotation axis 7 rotate to be connected, the other end and the apron 12 fixed connection of rotation axis 7, branch 2 is fixed on apron 12. The protective housing 1 in this embodiment is composed of a cylindrical housing 11 and a circular cover plate 12, the cover plate 12 covers the end face of the housing 11, and the cover plate 12 and the housing 11 can rotate relatively, an annular groove can be arranged on the housing 11, the cover plate 12 is clamped in the annular groove, so that the relative rotation can be realized, the annular groove can be formed by fixing an annular end cover on the end face of the protective housing 1, a rotating shaft 7 is rotatably arranged in the housing 11, a column is arranged at the bottom of the housing 11, a groove is arranged at the bottom of the rotating shaft 7, the groove at the bottom of the rotating shaft 7 is matched with the column to form a structure of rotational connection, a cylindrical protrusion is arranged at the top of the rotating shaft 7, a mounting hole is arranged at the center of the cover plate 12, the cylindrical protrusion is in interference fit with the mounting hole, or is fixedly connected together by a connection mode such as a bolt, and two rotational pull ropes 6 are wound on the rotating shaft 7, corotation and reversal are controlled respectively to two rotatory stay cords 6, it just can drive rotation axis 7 to rotate to stimulate one of them rotatory stay cord 6, rotation axis 7 rotates and just can drive apron 12 and casing 11 relative rotation, apron 12 drives branch 2 simultaneously and rotates, because the friction has between head 4 and the joint ball 3, and two stay cords 5 all pass apron 12, apron 12 can stimulate stay cord 5 at apron 12 pivoted in-process, thereby produce the moment of torsion and drive head 4 and rotate, it turns to about relative equally can carrying out equally to pull stay cord 5 to rotate the back at apron 12, rotatory stay cord 6 passes casing 11, just can carry out rotation control through foretell structure, and then change snake shape robot's direction. The joint can also be internally provided with a high-definition camera and a distance sensor, when the distance sensor identifies a front-end right obstacle, the high-definition camera is started, pictures are transmitted in real time, and the advancing obstacle avoidance control is assisted.

Furthermore, two clamping grooves are formed in the rotating shaft 7, and the two rotating pull ropes 6 are wound in the corresponding clamping grooves. Set up the draw-in groove in this implementation on rotation axis 7 and be used for winding rotatory stay cord 6, in order to make rotatory stay cord 6 can be fine when pulling out and withdrawing the winding in the draw-in groove, can set up the hole on the draw-in groove wall, rotatory stay cord 6 passes the hole.

Further, the two rotary pulling ropes 6 are oppositely wound. The two rotary pull ropes 6 are wound oppositely to realize the control of positive and negative rotation.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Those skilled in the art can make numerous possible variations and modifications to the described embodiments, or modify equivalent embodiments, without departing from the scope of the utility model. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technology of the present invention are within the protection scope of the present invention, unless the content of the technical solution of the present invention is departed from.

Claims

1. A serpentine robotic joint, comprising: including protective housing (1), be provided with branch (2) on protective housing (1), the one end of branch (2) is provided with joint ball (3), still includes head (4), head (4) and joint ball (3) cooperation form spherical hinge structure, the symmetry is provided with two stay cords (5) on head (4), be provided with the slide opening that corresponds with stay cord (5) on protective housing (1), two stay cord (5) pass the slide opening that corresponds respectively.

2. A serpentine robotic joint as claimed in claim 1 wherein: the protective shell (1) is internally provided with a rotating mechanism, and the rotating mechanism drives the supporting rod (2) to rotate.

3. A serpentine robotic joint as claimed in claim 2 wherein: the rotary mechanism comprises a rotary shaft (7), two rotary pull ropes (6) are wound on the rotary shaft (7), the protective shell (1) comprises a shell (11) and an cover plate (12), the cover plate (12) is in running fit with the shell (11), one end of the rotary shaft (7) is connected with the shell (11) in a rotating mode, the other end of the rotary shaft (7) is fixedly connected with the cover plate (12), and the supporting rod (2) is fixed on the cover plate (12).

4. A serpentine robotic joint as claimed in claim 3 wherein: two clamping grooves are formed in the rotating shaft (7), and the two rotating pull ropes (6) are wound in the corresponding clamping grooves.

5. A serpentine robotic joint as claimed in claim 3 wherein: the two rotary pull ropes (6) are oppositely wound.