CN102390449B - Head raising and turning mechanism of mechanical snake - Google Patents
Head raising and turning mechanism of mechanical snake Download PDFInfo
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- CN102390449B CN102390449B CN 201110279701 CN201110279701A CN102390449B CN 102390449 B CN102390449 B CN 102390449B CN 201110279701 CN201110279701 CN 201110279701 CN 201110279701 A CN201110279701 A CN 201110279701A CN 102390449 B CN102390449 B CN 102390449B
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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 the disasters such as various earthquakes, mine landslide, there is not professional equipment can't detect accurately wrecked personnel's particular location, 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.In toxic gas leakage, nuclear radiation, explosive etc. is not suitable for hazardous environment that the mankind enter, also can utilize and search and rescue mechanical snake and gather various environmental parameterss and internal image, convenient experiment and dangerous investigation.In use, owing to working environment is complicated, obstacle is more, and the situation that overturning or obstacle can't be crossed often appears in mechanical snake in traveling process, and advancing of mechanical snake can't be carried out smoothly with search-and-rescue work.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, the new line turning mechanism of a kind of mechanical snake is provided.
The present invention includes first segment, second section, 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 spaces to arrange that when the wheel shaft of first segment was parallel to the ground, the wheel shaft of second section should be perpendicular to the ground so, successively installation.First segment and second section are the motion control joint; First segment is identical with the second section structure, comprises drive motor, boss, travel wheel, the travel wheel hollow out of first segment and second section.The 4th joint and the 5th joint comprise motor, wheel disc, travel wheel for the turning control joint that comes back.The 4th joint and the interior mounted motor of the 5th joint and wheel disc, 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 mutual vertical.Wheel disc is used for lay winding wire ropes, and wheel disc is divided into as two-layer, fixes respectively the steel rope of two equal length, and the steel rope of every one deck all saves corresponding boss with the front and fixes behind the some circles of wheel disc, 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 therewith lower left corner, the lower right corner of boss is fixed.Because two wheel disc at right angle settings, 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 second section convex platform respectively, and the steel rope of the wheel disc lower floor therewith upper right corner, the lower right corner of boss is fixed.The 7th joint and the 8th joint comprise drive motor, travel wheel for motion control joint for subsequent use.The 7th joint and the 8th saves can not to carry out at first segment and second section and carries out the power support when advancing function; The 3rd joint, the 6th joint and the 9th joint are transition segment.
Fix a boss behind the first segment and link to each other with second section with cross coupler, second section adopts same apparatus to link to each other with the 3rd joint.Connect by adaptor union 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 is that Fig. 2 is that mechanical snake turns over the front view that turn 90 degrees rear integral structure figure;
Fig. 3 is the new line turning device schematic diagram of mechanical snake.
The specific embodiment
As shown in Figure 1 and Figure 2, the new line turning mechanism of mechanical snake comprises first segment 1, second section 2, First Transition joint the 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 spaces to arrange that when the wheel shaft of first segment 1 was parallel to the ground, the wheel shaft of second section 2 should be perpendicular to the ground so, successively installation.First segment 1 and second section 2 are the motion control joint; First segment 1 is identical with second section 2 structures, comprises drive motor, boss 13, travel wheel, and drive motor drives travel wheel and advances the travel wheel hollow out of first segment 1 and second section 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.The 4th joint the 4 and the 5th joint 5 interior mounted motors 14 and wheel disc 15, 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 mutually vertical.Wheel disc 15 is used for lay winding wire ropes 11, and wheel disc 15 is divided into as two-layer, fixes respectively the steel rope 11 of two equal length, and the steel rope 11 of every one deck all saves corresponding boss 13 with the front and fixes behind wheel disc 15 some circles, 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 therewith lower left corner, the lower right corner of boss 13 is fixed.Because two wheel disc at right angle settings, 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 second section convex platform respectively, and the steel rope 11 of the wheel disc 15 lower floors therewith upper right corner, the lower right corner of boss 13 is fixed.The 7th joint the 7 and the 8th joint 8 is motion control joint for subsequent use, comprises drive motor, travel wheel.The 7th joint the 7 and the 8th joint 8 can not be carried out at first segment 1 and second section 2 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 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 section 2 new line clear an obstacles by 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 and the 7th joint 7 broke away from ground, provide driving power by second section 2 and the 8th joint 8, the 4th joint 4 control first segments 1 are realized coming back, and the 5th joint 5 control second sections 2 are realized turning, same when running into when needing obstacle that new line just can pass through, second section 2 can break away from ground, thus the meeting under power, and provide onward impulse by the 8th joint 8 motion control joints for subsequent use 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 by 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 function, and method is identical with the 5th joint 5 in front a kind of state; The 5th joint 5 is carried out turning function, and method is identical with the 4th joint 4 in front a kind of state.
Claims (1)
1. the new line turning mechanism of mechanical snake comprises first segment, second section, 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, adopt wheeled type of drive, live axle between adjacent two joints becomes 90 degree spaces to arrange, when the live axle of first segment is parallel to the ground, the live axle of second section is perpendicular to the ground so, successively installation, first segment and second section are the motion control joint; First segment is identical with the second section structure, comprise drive motor, boss, travel wheel, the travel wheel hollow out of first segment and second section, the 4th joint and the 5th joint are the turning control joint that comes back, comprise motor, wheel disc, travel wheel, the 4th joint and the interior mounted motor of the 5th joint and wheel disc, driven by motor wheel disc spins, the wheel disk axis is identical with the live axle direction, therefore the wheel disk axis of two joints is also mutually vertical, wheel disc is used for lay winding wire ropes, wheel disc is divided into as two-layer, fix respectively the steel rope of two equal length, the steel rope of every one deck all saves corresponding boss with the front and fixes behind the some circles of wheel disc, 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 of first segment convex platform, the upper right corner is fixed, the steel rope of wheel disc lower floor is the lower left corner of boss therewith, the lower right corner is fixed, because two wheel disc at right angle settings, then the two ends of the steel rope on the wheel disc upper strata of the 5th joint respectively with the upper left corner of second section convex platform, the lower left corner is fixed, and the steel rope of wheel disc lower floor is the upper right corner of boss therewith, the lower right corner is fixed; The 7th joint and the 8th joint comprise drive motor, travel wheel for motion control for subsequent use joint, and the 7th joint and the 8th saves can not carry out at first segment and second section and carries out the power support when advancing function; The 3rd joint, the 6th joint and the 9th joint are transition segment; Fix a boss behind the first segment and link to each other with second section with cross coupler, fix a boss behind the second section and link to each other with the 3rd joint with cross coupler, connect by the generic connectivity device 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 CN102390449A (en) | 2012-03-28 |
| CN102390449B true CN102390449B (en) | 2013-04-24 |
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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 |
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| Country | Link |
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| CN (1) | CN102390449B (en) |
Family Cites Families (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 |
| US8224485B2 (en) * | 2006-05-24 | 2012-07-17 | Titan Medical Inc. | 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 |
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2011
- 2011-09-20 CN CN 201110279701 patent/CN102390449B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN102390449A (en) | 2012-03-28 |
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Granted publication date: 20130424 Termination date: 20150920 |
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