CN217304006U

CN217304006U - Bionic snake-shaped air-ground dual-purpose detector

Info

Publication number: CN217304006U
Application number: CN202221336155.9U
Authority: CN
Inventors: 张志强; 陈功明; 齐晨韬; 张海明; 仇永琛; 于淼
Original assignee: Beijing University of Civil Engineering and Architecture
Current assignee: Beijing University of Civil Engineering and Architecture
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2022-08-26
Anticipated expiration: 2032-05-31

Abstract

The utility model discloses a bionical snakelike empty dual-purpose detector in land, include the head that sets gradually from a left side to the right side, trunk and afterbody, the trunk includes a plurality of truck subassemblies, all be provided with on truck subassembly and the afterbody and remove steering mechanism, connect through removing the steering mechanism transmission between the two adjacent truck subassemblies, the truck subassembly that is close to the head is connected with the head transmission through removing steering mechanism, the truck subassembly that is close to the afterbody is connected with the removal steering mechanism transmission on the afterbody, all be provided with coupling mechanism on the two truck subassemblies that are close to head and afterbody, head and afterbody all with coupling mechanism spacing cooperation, all be provided with flight mechanism on a plurality of truck subassemblies, be provided with the control box on the head, it all with control box electric connection to remove steering mechanism and flight mechanism. The utility model discloses simple structure has realized that the walking of device is smooth and easy, possesses land gesture and flight gesture, and the conversion is convenient, has realized the steady operation of land, empty two kinds of environment.

Description

Bionic snake-shaped air-ground dual-purpose detector

Technical Field

The utility model relates to a detector technical field especially relates to bionical snakelike empty dual-purpose detector in land.

Background

The development of the current society tends to be intelligent and automatic, the bionic machinery (or a robot) gradually enters the aspects of human life, and the figure of the bionic machinery is found in exploration monitoring, military industry and production industry. Since the first snake-shaped robot appeared to date, the motion environment of the snake-shaped robot gradually develops from a two-dimensional plane form to a three-dimensional plane environment in the period of fifty years. Stand and carry out the analysis to snake robot on theoretical aspect, the motion of snake robot mainly concentrates on two-dimensional plane, and the adaptability is stronger in the environment of smoother road surface such as laboratory, and snake robot mainly uses land walking at present is the market main part, acts on all kinds of complex environment and surveys the task, and snake robot among the prior art does not have the flight ability, only can realize land walking or aquatic operation, can't realize aerial operation, seems comparatively to limit to some special environment. Therefore, a bionic snake-shaped ground-air dual-purpose detector is needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a bionical snakelike empty dual-purpose detector in land to solve the problem that above-mentioned prior art exists.

In order to achieve the above object, the utility model provides a following scheme: the utility model provides a bionic snake-shaped air-ground dual-purpose detector, which comprises a head part, a body part and a tail part which are arranged from left to right in sequence, the trunk part comprises a plurality of trunk components, the trunk components and the tail part are both provided with a movable steering mechanism, two adjacent trunk components are in transmission connection through the movable steering mechanism, the trunk component close to the head part is in transmission connection with the head part through the movable steering mechanism, the trunk component close to the tail part is in transmission connection with the movable steering mechanism on the tail part, the two trunk components close to the head part and the tail part are both provided with a connecting mechanism, the head part and the tail part are both in limit fit with the connecting mechanism, a plurality of the trunk assemblies are both provided with a flying mechanism, the head is provided with a control box, and the mobile steering mechanism and the flying mechanism are electrically connected with the control box.

Preferably, the truck subassembly includes the truck support frame, the truck support frame is close to one side of head articulates there is the horizontal box that turns to, on the truck subassembly remove steering mechanism with transversely turn to box fixed connection, be close to the afterbody the truck support frame with on the afterbody remove steering mechanism fixed connection, flight mechanism is located the truck support frame is close to one side top of head, transversely turn to the box with control box electric connection.

Preferably, the movable steering mechanism comprises a support frame, one side of the support frame, which is close to the head, is hinged with a longitudinal steering box, the support frame is provided with a movable mechanism, and the longitudinal steering box and the movable mechanism are both electrically connected with the control box.

Preferably, the moving mechanism comprises a first motor fixedly connected to the support frame, one end of a rotating shaft is fixedly connected to an output shaft of the first motor, a ratchet support is fixedly connected to the other end of the rotating shaft, a supporting rod is rotatably connected to the ratchet support, pulleys are fixedly connected to the supporting rod, a second motor is fixedly connected to the ratchet support, an output shaft of the second motor is fixedly connected to one end of the supporting rod, a limiting portion is arranged on the ratchet support, and the limiting portion and the pulleys are correspondingly arranged.

Preferably, spacing portion includes fixed connection two ratchets on the bracing piece, the pulley is located two between the ratchet, the last rotation of ratchet support is connected with spacing axle, two stoppers of fixed connection on the spacing axle, the stopper bottom with the ratchet butt, the one end of spacing epaxial fixedly connected with torsion spring, the torsion spring other end with ratchet support fixed connection.

Preferably, the flight mechanism includes fixed connection and is in the transmission case on truck support frame top, the transmission of transmission case top is connected with the wing, the transmission case with control box electric connection.

Preferably, the connecting mechanism comprises a plurality of connecting rods fixedly connected to the transverse steering box, the head and the tail are far away from one side of the trunk supporting frame and are respectively fixedly connected with a connecting pipe, and the connecting rods are matched with the connecting pipes.

The utility model discloses a following technological effect: the utility model provides a bionical snakelike land-air dual-purpose detector, simple structure, the walking of having realized the device is smooth and easy, makes it be suitable for different environment, and more vivid simulation snake class animal's the mode of crawling, under the prerequisite of realizing land walking simultaneously, make the device possess the flight function, land gesture and flight gesture conversion are convenient, have realized the steady operation of land, empty two kinds of environment.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic view of the structure of the device of the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is a schematic structural view of the movable steering mechanism of the present invention;

FIG. 4 is a schematic view of the ratchet support of the present invention;

FIG. 5 is a schematic view of the plug of the present invention;

FIG. 6 is a schematic view of the structure of the trunk assembly of the present invention;

FIG. 7 is a schematic view of the connection state of the lateral steering box of the present invention;

FIG. 8 is a schematic view of the flight attitude of the present invention;

wherein, 1, a trunk support frame; 2. a lateral steering box; 3. a support frame; 4. a longitudinal turn box; 5. a first motor; 6. a rotating shaft; 7. a ratchet wheel bracket; 8. a pulley; 9. a second motor; 10. a ratchet wheel; 11. a limiting shaft; 12. a limiting block; 13. a torsion spring; 14. a transmission case; 15. an airfoil; 16. a head portion; 17. a tail portion; 18. a control box; 19. a connecting rod; 20. and (4) connecting the pipes.

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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

The utility model provides a bionical snakelike empty dual-purpose detector in land, include the head 16 that sets gradually from a left side to the right side, trunk and afterbody 17, the trunk includes a plurality of truck subassemblies, all be provided with on trunk subassembly and the afterbody 17 and remove steering mechanism, connect through removing the steering mechanism transmission between the two adjacent truck subassemblies, the trunk subassembly that is close to head 16 is connected with the 16 transmission of head through removing steering mechanism, the trunk subassembly that is close to afterbody 17 is connected with the removal steering mechanism transmission on the afterbody 17, all be provided with coupling mechanism on the two truck subassemblies that are close to head 16 and afterbody 17, head 16 and afterbody 17 all with the spacing cooperation of coupling mechanism, all be provided with flight mechanism on a plurality of truck subassemblies, be provided with control box 18 on the head 16, remove steering mechanism and flight mechanism all with control box 18 electric connection.

Further optimize the scheme, in order to realize the holistic crawl of device, turn to and the flight, the truck subassembly includes truck support frame 1, truck support frame 1 is articulated to have transversely to turn to box 2 near one side of head 16, removal steering mechanism on the truck subassembly with transversely turn to box 2 fixed connection, the horizontal direction that transversely turns to box 2 simulation snake turns to, be close to truck support frame 1 and the removal steering mechanism fixed connection on the afterbody 17 of afterbody 17, flight mechanism is located truck support frame 1 and is close to one side top of head 16, transversely turn to box 2 and control box 18 electric connection.

In order to further optimize the scheme, in order to realize the movement and the steering of each part of the device, the moving steering mechanism comprises a support frame 3, one side of the support frame 3, which is close to the head 16, is hinged with a longitudinal steering box 4, the longitudinal steering box 4 simulates the steering of a snake in the vertical direction, the support frame 3 is provided with the moving mechanism, and the longitudinal steering box 4 and the moving mechanism are both electrically connected with a control box 18.

In order to realize the movement of the whole device, the moving mechanism comprises a first motor 5 fixedly connected to the support frame 3, one end of a rotating shaft 6 is fixedly connected to an output shaft of the first motor 5, the other end of the rotating shaft 6 is fixedly connected with a ratchet support 7, a support rod is rotatably connected to the ratchet support 7, a pulley 8 is fixedly connected to the support rod, a second motor 9 is fixedly connected to the ratchet support 7, an output shaft of the second motor 9 is fixedly connected with one end of the support rod, a limiting part is arranged on the ratchet support 7, the limiting part is arranged corresponding to the pulley 8, the supporting rod is driven to rotate by the second motor 9, the pulley 8 is driven to rotate by the supporting rod, the movement of the device is realized, the rotating shaft 6 is driven to rotate by the first motor 5, the ratchet wheel support 7 is driven to rotate by the rotating shaft 6, slight rotation of the pulley 8 is achieved, and the device is more simulated.

Further optimize the scheme, in order to realize spacing to pulley 8, make its unidirectional rotation, guarantee the stability that the device crawled, spacing portion includes two ratchet 10 of fixed connection on the bracing piece, pulley 8 is located between two ratchet 10, it is connected with spacing axle 11 to rotate on ratchet support 7, two stopper 12 of fixedly connected with on the spacing axle 11, stopper 12 bottom and ratchet 10 butt, fixedly connected with torsion spring 13's one end on the spacing axle 11, the torsion spring 13 other end and ratchet support 7 fixed connection, through stopper 12 joint in the tooth's socket of ratchet 10, guaranteed the stability to ratchet 10 unidirectional movement, carry on spacingly to ratchet 10 reverse movement, guarantee device unidirectional movement's stability.

Further optimizing the scheme, in order to realize the flight of the device, the flight mechanism comprises a transmission case 14 fixedly connected to the top end of the trunk support frame 1, a driving motor is fixedly connected in the transmission case 14, a hole is formed in the top end of the transmission case 14, an output shaft of the driving motor extends out of the transmission case 14 through the hole to be fixedly connected with the wing 15, the driving motor in the transmission case 14 is electrically connected with a control box 18, the wing 15 is driven to rotate through the driving motor, meanwhile, in order to ensure the stability of the flight attitude, the number of the trunk components is four, the four trunk components form a regular quadrangle in a surrounding manner, the number of the connecting rods 19 is two, the connecting rods are respectively positioned on a first trunk component and a third trunk component from left to right, the connecting rod 19 on the first trunk component is inserted with the connecting pipe 20 on the tail part 17, the connecting rod 19 on the third trunk component is inserted with the connecting pipe 20 on the head part 16, and simultaneously, in order to further ensure the stability of connection, the top end of the connecting rod 19 and the bottom end inside the connecting pipe 20 are fixedly connected with opposite magnets.

Further optimization scheme, in order to realize the detection task, further simulate the motion of snake head, the head 16 is kept away from the one end of trunk portion and is articulated to have a horizontal box 2 that turns to, and horizontal fixedly connected with moving mechanism turns to on the box 2, at head installation camera simultaneously, is convenient for shoot the record.

Further optimize the scheme, in order to realize transversely turning to box 2, vertically turning to of box 4, transversely turn to box 2, vertically turn to fixedly connected with servo motor in the box 4, servo motor's output shaft with transversely turn to box 2, vertically turn to box 4 outside articulated part fixed connection, through servo motor's rotation, drive articulated turn to the box and rotate, realize angle modulation.

The utility model provides a bionical snakelike land-air dual-purpose detector, land gesture and flight gesture when using time division:

land attitude: drive pulley 8 through second motor 9 and rotate, ratchet 10 synchronous revolution simultaneously, ratchet 10 and stopper 12 butt, spacing axle 11 receives torque spring 13's elastic force to drive stopper 12 card and goes into the tooth's socket on the ratchet 10, make ratchet 10 can only the folk prescription to rotate, realize the holistic positive direction motion of device, and the opposite direction can be spacing to be stopped, thereby guarantee snake-shaped device's removal, drive axis of rotation 6 through first motor 5 simultaneously and rotate, axis of rotation 6 drives ratchet support 7 small-amplitude rotation, realize turning to pulley 8, thereby realize the holistic turning to of device, the while device removes in-process, can realize the horizontal turning to and the vertical rising of device through horizontal turning to box 2 and vertical turning to box 4, the crawling mode of simulation snake class animal, make the device be suitable for different environment on every side.

Flight attitude: drive truck support frame 1 and head 16 through transversely turning to box 2 and rotate, make four truck support frames 1 enclose into square structure, make head 16 be located in the middle of the square structure simultaneously, make the connecting rod 19 that transversely turns to on the box 2 that is close to head 16 peg graft with connecting pipe 20 on the afterbody 17, make the connecting rod 19 that transversely turns to on the box 2 that is close to afterbody 17 peg graft with head connecting pipe 20, realize the conversion of flight gesture, drive wing 15 through transmission case 14 and rotate, realize the stable flight of device.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description of the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

The above-mentioned embodiments are only intended to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and those skilled in the art should also be able to make various modifications and improvements to the technical solution of the present invention without departing from the spirit of the present invention, and all such modifications and improvements are intended to fall within the scope of the present invention as defined in the appended claims.

Claims

1. The bionic snake-shaped air-ground dual-purpose detector is characterized by comprising a head part (16), a trunk part and a tail part (17) which are sequentially arranged from left to right, wherein the trunk part comprises a plurality of trunk components, the trunk components and the tail part (17) are respectively provided with a movable steering mechanism, two adjacent trunk components are in transmission connection through the movable steering mechanism, the trunk component close to the head part (16) is in transmission connection with the head part (16) through the movable steering mechanism, the trunk component close to the tail part (17) is in transmission connection with the movable steering mechanism on the tail part (17), two trunk components close to the head part (16) and the tail part (17) are respectively provided with a connecting mechanism, the head part (16) and the tail part (17) are in limit fit with the connecting mechanisms, and a plurality of the trunk components are respectively provided with a flying mechanism, the head (16) is provided with a control box (18), and the mobile steering mechanism and the flying mechanism are electrically connected with the control box (18).

2. The bionic snake-shaped air-ground dual-purpose detector as claimed in claim 1, wherein: truck subassembly includes truck support frame (1), truck support frame (1) is close to one side of head (16) articulates there is the box that transversely turns to (2), on the truck subassembly remove steering mechanism with transversely turn to box (2) fixed connection, be close to afterbody (17) truck support frame (1) with on afterbody (17) remove steering mechanism fixed connection, flight mechanism is located truck support frame (1) is close to one side top of head (16), transversely turn to box (2) with control box (18) electric connection.

3. The bionic snake-shaped air-ground dual-purpose detector as claimed in claim 2, wherein: the movable steering mechanism comprises a supporting frame (3), one side, close to the head (16), of the supporting frame (3) is hinged with a longitudinal steering box (4), the supporting frame (3) is provided with a moving mechanism, and the longitudinal steering box (4) and the moving mechanism are electrically connected with the control box (18).

4. The bionic snake-shaped air-ground dual-purpose detector as claimed in claim 3, wherein: moving mechanism includes fixed connection and is in first motor (5) on support frame (3), the one end of fixedly connected with axis of rotation (6) on the output shaft of first motor (5), other end fixedly connected with ratchet support (7) of axis of rotation (6), it is connected with the bracing piece to rotate on ratchet support (7), fixedly connected with pulley (8) on the bracing piece, fixedly connected with second motor (9) on ratchet support (7), the output shaft of second motor (9) with bracing piece one end fixed connection, be provided with spacing portion on ratchet support (7), spacing portion corresponds the setting with pulley (8).

5. The bionic snake-shaped air-ground dual-purpose detector as claimed in claim 4, wherein: spacing portion includes fixed connection two ratchet (10) on the bracing piece, pulley (8) are located two between ratchet (10), it is connected with spacing axle (11) to rotate on ratchet support (7), two stopper (12) of fixedly connected with on spacing axle (11), stopper (12) bottom with ratchet (10) butt, the one end of fixedly connected with torque spring (13) on spacing axle (11), torque spring (13) the other end with ratchet support (7) fixed connection.

6. The bionic snake-shaped air-ground dual-purpose detector as claimed in claim 5, wherein: flight mechanism is including fixed connection in transmission case (14) on truck support frame (1) top, transmission case (14) top transmission is connected with wing (15), transmission case (14) with control box (18) electric connection.

7. The bionic snake-shaped air-ground dual-purpose detector as claimed in claim 2, wherein: the connecting mechanism comprises a plurality of connecting rods (19) fixedly connected to the transverse steering box (2), the head portion (16) and the tail portion (17) are far away from one side of the trunk supporting frame (1) and are fixedly connected with connecting pipes (20), and the connecting rods (19) are matched with the connecting pipes (20).