CN102390449A - Head raising and turning mechanism of mechanical snake - Google Patents
Head raising and turning mechanism of mechanical snake Download PDFInfo
- Publication number
- CN102390449A CN102390449A CN201110279701XA CN201110279701A CN102390449A CN 102390449 A CN102390449 A CN 102390449A CN 201110279701X A CN201110279701X A CN 201110279701XA CN 201110279701 A CN201110279701 A CN 201110279701A CN 102390449 A CN102390449 A CN 102390449A
- Authority
- CN
- China
- Prior art keywords
- joint
- section
- wheel
- segment
- wheel disc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a head raising and turning mechanism of a mechanical snake. In the mechanism, a first section and a seventh section are current default power supply sections in the state that the axis of the first section is parallel to the ground. When the mechanical snake meets an obstacle through which the mechanical snake can only pass by raising the head, the head of a second section is raised to pass through the obstacle through a head raising device by a fifth section of a machine, and at the time, the first section does not supply advancing power, and the seventh section continuously supplies power. A fourth section controls the first section to realize a turning function. If the mechanical snake turns over due to the obstacle, the axis of the first section is perpendicular to the ground, and at the time, the first section and the seventh section get off the ground, the second section and an eighth section supply traveling power, the fourth section controls the first section to realize head raising, and the fifth section controls the second section to realize turning; meanwhile, when the mechanical snake meets the obstacle through which the machine can only pass by raising the head, the eighth section is used for continuously supplying power, and the second section gets off the ground. One structure provided by the invention can realize two functions, namely head raising and turning; and the mechanical snake can still continuously travel when turned over due to the obstacle, and the mechanism has a simple structure.
Description
Technical field
The invention belongs to mechanical field, be specifically related to the new line turning mechanism of a kind of mechanical snake.
Background technology
In the rescue of disasters such as various earthquakes, mine landslide; There is not professional equipment can't detect wrecked personnel's particular location accurately; More can't understand survivor's concrete injured situation, health; Utilize the mechanical snake of search and rescue can go deep into various complicated ruins environment and search and rescue, convenient follow-up rescue.Be not suitable in the human hazardous environment that gets into the mechanical snake of search and rescue also capable of using at toxic gas leakage, nuclear radiation, explosive etc. and gather various environmental parameterss and internal image, convenient experiment and dangerous investigation.In use, because working environment is complicated, obstacle is more, the situation that overturning often appears in traveling process in mechanical snake or obstacle can't be crossed, make mechanical snake advance and search-and-rescue work can't carry out smoothly.
Summary of the invention
The present invention is directed to the deficiency of prior art, the new line turning mechanism of a kind of mechanical snake is provided.
The present invention includes first segment, second joint, the 3rd joint, the 4th joint, the 5th joint, the 6th joint, the 7th joint, the 8th joint, the 9th joint, boss, cross coupler, adaptor union, steel rope, motor and wheel disc.
The machinery snake is divided into nine joints, adopts wheeled type of drive, and the axle drive shaft between adjacent two joints becomes 90 degree spatial destributions, and when the wheel shaft of first segment was parallel to the ground, the wheel shaft of second joint should be perpendicular to the ground so, installation successively.The first segment and second joint are the motion control joint; First segment is identical with the second joint structure, comprises drive motor, boss, travel wheel, the travel wheel hollow out of the first segment and second joint.The 4th joint and the 5th joint comprise motor, wheel disc, travel wheel for the turning control joint that comes back.The 4th joint is installed motor and wheel disc in saving with the 5th, driven by motor wheel disc spins, and the wheel disk axis is identical with the live axle direction, so the wheel disk axis of two joints is also vertical each other.Wheel disc is used for lay winding wire ropes, and wheel disc is divided into to two-layer, fixes the steel rope of two equal length respectively, and the steel rope of each layer all saves corresponding boss around the some circles of wheel disc back with the front and fixes, and the direction that levels is twined is identical.The two ends of the wheel disc upper strata steel rope of the 4th joint and the upper left corner, the upper right corner of first segment convex platform are fixed, and the steel rope of the wheel disc lower floor lower left corner, the lower right corner of boss is therewith fixed.Because two wheel discs are vertically installed, then the two ends of the steel rope on the wheel disc upper strata of the 5th joint are fixed with the upper left corner, the lower left corner of the second joint convex platform respectively, and the steel rope of the wheel disc lower floor upper right corner, the lower right corner of boss is therewith fixed.The 7th joint and the 8th joint comprise drive motor, travel wheel for subsequent use motion control joint.The 7th joint and the 8th joint save to carry out at first segment and second and carry out the power support when advancing function; The 3rd joint, the 6th joint and the 9th joint are transition segment.
A fixing boss links to each other with second joint with cross coupler behind the first segment, and second joint adopts same apparatus to link to each other with the 3rd joint.Connect by connector between all the other joints.
Beneficial effect of the present invention: structure can realize coming back and the two kinds of functions of turning, still can continue to advance after running into obstacle and overturning, and simple in structure.
Description of drawings
Fig. 1 is the front view of the integral structure figure of mechanical snake;
Fig. 2 turn 90 degrees the front view of back integral structure figure for mechanical snake turns over for Fig. 2;
Fig. 3 is the new line turning device schematic diagram of mechanical snake.
The specific embodiment
Like Fig. 1, shown in Figure 2, the new line turning mechanism of mechanical snake comprises first segment 1, second joint, 2, first transition segment 3, second transition segment 6, the 3rd transition segment 9, the 4th joint the 4, the 5th joint the 5, the 7th joint the 7, the 8th joint 8, boss 13, cross coupler 12, adaptor union 10, steel rope 11, motor 14, wheel disc 15.
The machinery snake is divided into nine joints, adopts wheeled type of drive, and the axle drive shaft between adjacent two joints becomes 90 degree spatial destributions, and when the wheel shaft of first segment 1 was parallel to the ground, the wheel shaft of second joint 2 should be perpendicular to the ground so, installation successively.The first segment 1 and second joint 2 are the motion control joint; First segment 1 is identical with second joint, 2 structures, comprises drive motor, boss 13, travel wheel, and the drive motor drives travel wheel is advanced, the travel wheel hollow out of the first segment 1 and second joint 2.The 4th joint the 4 and the 5th joint 5 comprises motor 14, wheel disc 15, travel wheel for the turning control joint that comes back.In the 4th joint the 4 and the 5th joint 5 motor 14 and wheel disc 15 are installed, motor 14 drives wheel disc 15 rotations, and wheel disc 15 axis are identical with the live axle direction, and therefore wheel disc 15 axis of two joints are also vertical each other.Wheel disc 15 is used for lay winding wire ropes 11, and wheel disc 15 is divided into to two-layer, fixes the steel rope 11 of two equal length respectively, and the steel rope 11 of each layer all saves corresponding boss 13 around wheel disc 15 some circles backs with the front and fixes, and the direction that levels is twined is identical.The two ends of the wheel disc 15 upper strata steel ropes 11 of the 4th joint 4 and the upper left corner, the upper right corner of first segment convex platform 13 are fixed, and the steel rope 11 of the wheel disc 15 lower floors lower left corner, the lower right corner of boss 13 is therewith fixed.Because two wheel discs are vertically installed, then the two ends of the steel rope 11 on wheel disc 15 upper stratas of the 5th joint 5 are fixed with the upper left corner, the lower left corner of the second joint convex platform respectively, and the steel rope 11 of the wheel disc 15 lower floors upper right corner, the lower right corner of boss 13 is therewith fixed.The 7th joint the 7 and the 8th joint 8 is subsequent use motion control joint, comprises drive motor, travel wheel.The 7th joint the 7 and the 8th joint 8 saves 2 at first segment 1 and second and can not carry out and carry out the power support when advancing function; The 3rd joint the 3, the 6th joint the 6 and the 9th joint 9 is a transition segment.
Under first segment 1 axis state parallel to the ground, first segment 1 and the 7th joint 7 provide joint for current acquiescence power.When running into when need coming back the obstacle that just can pass through, machine the 5th joint 5 makes second joint, 2 new line clear an obstacles through head raising device, and this moment, first segment 1 can not provide onward impulse, and the 7th joint 7 continues to provide power.The 4th joint 4 control first segments 1 are realized turning function.If when running into obstacle mechanical snake being overturned, the axis of first segment 1 is perpendicular to the ground, this moment, first segment 1 saved 7 disengaging ground with the 7th; By second joint the 2 and the 8th joint 8 driving power is provided, the 4th joint 4 control first segments 1 are realized coming back, and the 5th joint 5 controls second joint 2 is realized turning; Same when running into when needing obstacle that new line just can pass through; Second joint 2 can break away from ground, thus the meeting under power, and provide onward impulse by the 8th joint 8 subsequent use motion control joints this moment.
As shown in Figure 3, when the 4th joint 4 is among the figure position in the working process, carry out turning function, then the wheel disc 15 axis execution new line parallel to the ground function of the 5th joint 5.Steel rope 11 can be realized turning about mechanical snake through twining wheel disc 15 pulling first segments 1 in the 4th joint; Motor 14 drive wheel disc spins when needs are turned, the steel rope 11 in left side begins to twine wheel disc 15, is in tight state, and the steel rope 11 on right side begins to lay out wheel disc 15, is in relaxation state, and pulling first segment 1 is realized mechanical snake left-right rotation.When steel rope 11 windings in left side reach the new line end position, finish turning action, in limit range, angle of turn can be regulated.
If when the 5th joint was among the figure position in the working process, wheel disc 15 axis were parallel to the ground in the 4th joint 4.Then the 4th joint 4 is carried out the new line functions, method with before in a kind of state the 5th save 5 identical; The 5th joint 5 is carried out turning function, method with before in a kind of state the 4th save 4 identical.
Claims (1)
1. the new line turning mechanism of mechanical snake comprises first segment, second joint, the 3rd joint, the 4th joint, the 5th joint, the 6th joint, the 7th joint, the 8th joint, the 9th joint, boss, cross coupler, adaptor union, steel rope, motor and wheel disc; It is characterized in that: mechanical snake is divided into nine joints, adopts wheeled type of drive, and the axle drive shaft between adjacent two joints becomes 90 degree spatial destributions; When the wheel shaft of first segment is parallel to the ground; The wheel shaft of second joint is perpendicular to the ground so, installation successively, and the first segment and second joint are the motion control joint; First segment is identical with the second joint structure, comprises drive motor, boss, travel wheel, the travel wheel hollow out of the first segment and second joint; The 4th joint and the 5th joint comprise motor, wheel disc, travel wheel for the turning control joint that comes back, and the 4th joint is installed motor and wheel disc in saving with the 5th; Driven by motor wheel disc spins, the wheel disk axis is identical with the live axle direction, and therefore the wheel disk axis of two joints is also vertical each other; Wheel disc is used for lay winding wire ropes; Wheel disc is divided into to two-layer, fixes the steel rope of two equal length respectively, and the steel rope of each layer all saves corresponding boss around the some circles of wheel disc back with the front and fixes; The direction that levels is twined is identical; The two ends of the wheel disc upper strata steel rope of the 4th joint and the upper left corner, the upper right corner of first segment convex platform are fixed, and the steel rope of the wheel disc lower floor lower left corner, the lower right corner of boss is therewith fixed, because two wheel discs are vertically installed; Then the two ends of the steel rope on the wheel disc upper strata of the 5th joint are fixed with the upper left corner, the lower left corner of the second joint convex platform respectively, and the steel rope of the wheel disc lower floor upper right corner, the lower right corner of boss is therewith fixed; The 7th joint and the 8th joint comprise drive motor, travel wheel for subsequent use motion control joint, and the 7th joint and the 8th saves to save to carry out at first segment and second and carries out the power support when advancing function; The 3rd joint, the 6th joint and the 9th joint are transition segment; A fixing boss links to each other with second joint with cross coupler behind the first segment, and the fixing boss in the second joint back links to each other with the 3rd joint with cross coupler, connects through common adaptor union between all the other joints.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110279701 CN102390449B (en) | 2011-09-20 | 2011-09-20 | Head raising and turning mechanism of mechanical snake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110279701 CN102390449B (en) | 2011-09-20 | 2011-09-20 | Head raising and turning mechanism of mechanical snake |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102390449A true CN102390449A (en) | 2012-03-28 |
| CN102390449B CN102390449B (en) | 2013-04-24 |
Family
ID=45857876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110279701 Expired - Fee Related CN102390449B (en) | 2011-09-20 | 2011-09-20 | Head raising and turning mechanism of mechanical snake |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102390449B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2649273Y (en) * | 2003-09-04 | 2004-10-20 | 中国科学院沈阳自动化研究所 | Snake-shaped robot with automatic motion mode changing function |
| US20100030377A1 (en) * | 2006-05-24 | 2010-02-04 | John Unsworth | Snaking Robotic Arm with Movable Shapers |
| CN101716960A (en) * | 2009-11-06 | 2010-06-02 | 北京理工大学 | Snake robot driven by ropes |
| CN201519954U (en) * | 2009-11-03 | 2010-07-07 | 曹玉 | Multifunctional snake-shaped robot |
| CN202201080U (en) * | 2011-09-20 | 2012-04-25 | 杭州电子科技大学 | Head-lifting turning mechanism of mechanical snake |
-
2011
- 2011-09-20 CN CN 201110279701 patent/CN102390449B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2649273Y (en) * | 2003-09-04 | 2004-10-20 | 中国科学院沈阳自动化研究所 | Snake-shaped robot with automatic motion mode changing function |
| US20100030377A1 (en) * | 2006-05-24 | 2010-02-04 | John Unsworth | Snaking Robotic Arm with Movable Shapers |
| CN201519954U (en) * | 2009-11-03 | 2010-07-07 | 曹玉 | Multifunctional snake-shaped robot |
| CN101716960A (en) * | 2009-11-06 | 2010-06-02 | 北京理工大学 | Snake robot driven by ropes |
| CN202201080U (en) * | 2011-09-20 | 2012-04-25 | 杭州电子科技大学 | Head-lifting turning mechanism of mechanical snake |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102390449B (en) | 2013-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104609335B (en) | Multifunctional vehicle lifting turns to mobile across fault device | |
| Dertien et al. | Development of an inspection robot for small diameter gas distribution mains | |
| JP2019526462A (en) | Serpentine inspection robot mechanism for elevator car guide by magnetic wheel drive | |
| CN202201080U (en) | Head-lifting turning mechanism of mechanical snake | |
| CN206947865U (en) | Multifunction power pipeline wears cable auxiliary car | |
| CN202438499U (en) | Tank wall sweeping machine | |
| CN105089691A (en) | Tunnel escape car | |
| CN203700963U (en) | Bridge cable PVF strap intelligent winding and covering equipment | |
| CN204588496U (en) | A kind of three degree of freedom purlin car being applicable to small space | |
| CN203891765U (en) | Split horizontal directional drilling machine | |
| CN203010110U (en) | Pipe robot | |
| CN104393534A (en) | Electric coaster | |
| CN105605370A (en) | Wireless-remote-control three-way crawler-type pipe dredging robot | |
| CN102390449B (en) | Head raising and turning mechanism of mechanical snake | |
| KR101969651B1 (en) | Pipe robot | |
| CN206125219U (en) | It explodes robot to traverse to hinder more to arrange | |
| CN104067716A (en) | Paddy field operation machine automatic out-of-stuck device and out-of-stuck method thereof | |
| CN105508802A (en) | Wheel type pipeline detection robot asynchronous origin displacement steering mechanism | |
| CN202572395U (en) | Multifunctional snake-like robot | |
| CN206286305U (en) | A kind of haulage equipment and the cleaning device with the haulage equipment | |
| CN201537918U (en) | Obstacle-crossing explosive-cleaning device | |
| CN107706819A (en) | A kind of power transmission line crusing robot based on unmanned plane | |
| CN203780642U (en) | Joint module for snake-like robot | |
| CN107059949A (en) | The superfilled monitoring device of bored concrete pile of signal transaxle and application the signal transaxle | |
| CN207657802U (en) | A kind of novel narrow-bore tunnel vehicle backing platform device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130424 Termination date: 20150920 |
|
| EXPY | Termination of patent right or utility model |