CN202467846U - Imitated flying snake skeleton space expanding and tunneling device - Google Patents
Imitated flying snake skeleton space expanding and tunneling device Download PDFInfo
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- CN202467846U CN202467846U CN201220085292XU CN201220085292U CN202467846U CN 202467846 U CN202467846 U CN 202467846U CN 201220085292X U CN201220085292X U CN 201220085292XU CN 201220085292 U CN201220085292 U CN 201220085292U CN 202467846 U CN202467846 U CN 202467846U
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Abstract
The utility model relates to the fields of subjects such as mechanism bionics, machine design and manufacture, and particularly relates to a research on a device for achieving bionic expansion and bionic tunneling functions. In order to solve the problems of dredging and expanding of buried roadway caused by snow slide and a mine accident to win time for rescue workers, expand a rescue passage for a trapped person and added a new method for rescue, the utility model provides an imitated flying snake skeleton space expanding and tunneling device with simple structure, easiness for processing and assembling and good bionic effect. The technical scheme disclosed by the utility model is that the imitated flying snake skeleton space expanding and tunneling device is structured and is composed of a plurality of flying snake frame units; all the units are connected together through a similar universal hinge mode, and opposite movement between the units is driven by two groups of synchronous belts, so that the flying snake frame unit can achieve bending and reversing, and the power of a flying snake drive unit is driven by a motor arranged inside the flying snake drive unit.
Description
Technical field
The utility model relates to mechanism's bionics, and ambits such as Machine Design and manufacturing, especially to a kind of device research that realizes bionical expansion and bionical driving function.
Background technology
Imitative reptiles snake-shaped robot on land or tree, can realize screw, wriggling movement, stretching motion, side direction spiral motion, wriggle and climb etc.; Big spacing under the complicated non-structure environment in high-altitudes such as jungle or architecture ensemble moves, and has received certain restriction on its space and the speed.Fly snake and have the unusual function that the shaker rib is realized glide; Upspring or dive through moment in the branch end and obtain the kinetic energy and the potential energy of flight; The shaker rib becomes and is similar to the flat strip of serpentine; Realize the accurately glide fast of big spacing through the head swing, can climb the eminence continuation of the journey after the landing again.The utility model further investigation flies snake shaker rib and realizes movement mechanism and muscle biomechanics characteristic and the head of the air sail planing adjustment characteristic to glide attitude; Developed mole, expanded the space and the function prospect of snake-shaped robot with spatial spread function.
The utility model content
The purpose of the utility model is in order to solve snowslide, mine disaster by the mediation in landfill tunnel and expansion; For the rescue personnel has won the time; For trapped personnel has been expanded the rescue passage; For rescue has increased a kind of new tool, and provide a kind of simple in structure, be easy to process, assembling and the bionical effective imitative snake bone spatial spread mole that flies.
The technical scheme of the utility model is: the imitative snake bone spatial spread mole that flies of structure; The imitative snake bone body that flies flies the snake rack unit by several and forms; Mode through the class universal hinging between each unit links together; Relative motion between the unit has two groups to be with transmission synchronously, thus make fly the snake rack unit can realize crooked with reverse, the imitative power that flies the snake gear unit is to fly the inner motor-driven of snake gear unit through being installed in.
Concrete technical scheme is following: a kind of imitative snake bone spatial spread mole that flies; Comprise driving unit, fly snake rack unit and ophiruid as 3～10 of snake body as head; Said flying connects through cross axle quadrature syndeton between the snake rack unit; Fly the snake rack unit and have the frame body, frame body middle part is provided with the framing system that can launch to both sides; The above-mentioned frame body that flies the snake rack unit is provided with transmission component and extension element, and above-mentioned transmission component comprises motor, travelling gear and the Synchronous Transmission part that is located at frame body front and rear portions respectively; The one-level magnetic drives wheel that said extension element comprises steering wheel, cooperate with the steering wheel output and cooperates and be positioned at two secondary magnetic drives wheels of one-level magnetic drives wheel both sides with one-level magnetic drives wheel, above-mentioned secondary magnetic drives wheel is coupled with framing system.
On the above-mentioned cross axle quadrature syndeton pivot pin is arranged, frame body one end lug is provided with connecting hole, and pivot pin and two connecting holes of frame body lug cooperatively interact on the cross axle quadrature syndeton.
The travelling gear of above-mentioned transmission component is bevel pinion and the bevel gear wheel that is connected with motor output end; The Synchronous Transmission part is for taking turns with the active synchronization of the coaxial setting of bevel gear wheel and being arranged on passive and synchronous wheel the on the cross axle quadrature syndeton, and above-mentioned master, the passive and synchronous wheel through synchronous band are in transmission connection.
Above-mentioned driving unit is grouped into by cut part and motor driving part, is welded with cutting lump on the above-mentioned cut part.
The utility model beneficial effect: the utility model is concentrated one with walking function, expanded function and driving function; Flying snake rack unit body is that whole mole provides land walking function and attitude control; The cross quadrature syndeton of unique design realizes the rotation of two degree of freedom in adjacent two joints; Extension element utilization magnetic force transfer mode in the rack unit; The imitative framing system folding that flies on the snake bone expansion mole of control can make the imitative snake bone expansion that flies, the function of mole final implementation space expansion; Framing system is through light-weighted processing, light practicality; The driving unit provides the excavation function for the imitative snake bone expansion mole that flies, and this mole is simple in structure, handling ease, and motion stabilization can be realized the imitative multiple functional task that flies snake bone expansion mole, can tackle the challenge of different external environments.
Description of drawings
Fig. 1 is the imitative overall structure sketch map that flies snake bone spatial spread mole of the utility model.
Fig. 2 is for flying the structural representation of snake rack unit among Fig. 1.
Fig. 3 is a transmission component structural representation in Fig. 2 mid frame unit.
Fig. 4 flies transmission component sketch map between the snake rack unit for adjacent two.
Fig. 5 flies structural representation between the snake rack unit for adjacent two.
Fig. 6 is for flying extension element sketch map in the snake rack unit.
Fig. 7 is a cross axle quadrature syndeton sketch map among Fig. 6.
Fig. 8 is the magnetic drives structural representation of extension element among Fig. 6.
Fig. 9 is in the deployed condition sketch map for framing system among Fig. 6.
Figure 10 is the utility model driving block construction sketch map.
Figure 11 flies for adjacent that joint motions concern sketch map between the snake rack unit.
The specific embodiment
For example utility model is done more detailed explanation below in conjunction with accompanying drawing.
See also Fig. 1 to Fig. 5, the utility model is imitative to fly snake bone spatial spread mole and comprises the driving unit 1 that is positioned at the place ahead, and the driving unit is 6 at the back and flies snake rack unit 2 and ophiruid 3.Above-mentioned flying connects through cross axle quadrature syndeton 20 between the snake rack unit 2.That is to say and imitative fly snake bone spatial spread mole and form by plurality of sections; Every section rack unit connects through cross quadrature syndeton; Each section rack unit is realized the deflection of certain angle during motion through cross quadrature syndeton; Thereby not only realize imitating the bending that flies snake bone spatial spread mole, the variation of stretching attitude, more can realize walking function through control.Imitate and fly the degree of freedom that snake bone spatial spread mole ophiruid 3 has a rotation, it is used to regulate the balance of whole health, as the imitative supplementary structure that flies snake bone spatial spread mole attitude of adjustment.
The imitative snake rack unit 2 that flies that flies snake bone spatial spread mole of the utility model has frame body 21 and framing system 22.Above-mentioned frame body quantity also has 6; Hinged through cross axle quadrature syndeton 20 just between each frame body; On the cross axle quadrature syndeton 20 pivot pin 20-1 is arranged; Frame body 21 1 end lugs are provided with connecting hole 21-1, and pivot pin and two connecting hole 21-1 of frame body lug cooperatively interact on the cross axle quadrature syndeton, make imitative fly snake bone spatial spread mole rack unit two degree of freedom are arranged; These two degree of freedom are quadratures, drive to fly snake skeleton bending motion.
The above-mentioned snake rack unit that flies comprises transmission component 4 and extension element 5; Above-mentioned transmission component is separately positioned on the forward and backward position of rack unit, comprises motor 41 respectively, bevel pinion 42; Bevel gear wheel 43, active synchronization wheel 44, passive and synchronously take turns 45 and be with 46 synchronously; Above-mentioned bevel pinion and motor output end coupling, bevel gear wheel 43 is taken turns 44 coaxial settings with active synchronization, and both rotating speeds are identical; Passive and synchronously take turns 45 and be arranged on the cross axle quadrature syndeton 20, active synchronization wheel 44 and passive and synchronous has between taking turns 45 is with 46 transmissions synchronously.Like this, when being positioned at rack unit one side motor 41 and rotating, imitatively fly snake bone spatial spread mole rack unit and can realize rotation (seeing that Fig. 3 shows) around the Z axle.And the drive disk assembly of rack unit opposite side is when having an effect, motor is imitative fly snake bone spatial spread mole rack unit can be around the rotation of Y axle.Therefore the two adjacent imitative snake rack units 2 ', 2 that fly that fly snake bone spatial spread mole have two degree of freedom, and two motors rotate simultaneously, produce compound motion, twist thereby drive skeleton, realize that walking and multiple attitude represent (seeing that Fig. 5 shows).
See also Fig. 6 to Figure 11, the imitative extension element 5 that flies snake bone spatial spread mole of the utility model comprises steering wheel 51, one-level magnetic drives wheel 52 and secondary magnetic drives wheel 53.Above-mentioned steering wheel 51 is installed in the frame body 21, and steering wheel 51 outputs connect one-level magnetic drives wheel 52, and utilization magnetic attraction principle realizes the transmission of contactless force, and one-level magnetic drives wheel 52 is sent to power on the secondary magnetic drives wheel 53 that is positioned at both sides; And above-mentioned secondary magnetic drives wheel 53 and framing system 22 coaxial couplings can drive framing system 22 and rotate when secondary magnetic drives wheel rotates.When steering wheel 51 rotates, can transmit torque to framing system 22 like this, realize the imitative framing system folding (seeing that Fig. 9 shows) that flies snake thereby drive; And because framing system is driven by same steering wheel; Transmit than equating, so the purpose that framing system 22 foldings that fly snake can reach spatial spread is imitated in keeping strokes of framing system 22; Framing system is handled through lightweight simultaneously, and is light reliable.
The utility model driving unit 1 is made up of cut part 11 and motor-driven part 12; Be welded with several cutting lumps 13 on the cut part 11, cutting lump 13 is the cut obstruction effectively, and whole cut part is partly driven by motor-driven; This driving block construction is simple; Motivated, can realize tunneling function like a cork, can be used for the ruins survivor's behind snowslide, earthquake, landslide and fire search; And can under narrow and small and dangerous environment, carry out work such as detection and dredging pipeline smoothly.
Figure 11 is the imitative motion principle sketch that flies two adjacent segments of snake bone spatial spread mole of the utility model; Two groups of large and small synchronous pulley A, B and cross axle quadrature syndetons are fixed together; And two groups of synchronous pulley installation sites are quadratures, when driven by motor small synchronous pulley A rotates, through synchronous band transmission; Small synchronous pulley A and big synchronous pulley A engagement; Because big synchronous pulley A is to fix with cross axle quadrature syndeton, can not rotate, so the rotation of motor can realize the joint rotation at small synchronous pulley A place; In like manner; When driven by motor small synchronous pulley B rotates; Through synchronous band transmission, small synchronous pulley B and big synchronous pulley B engagement are because big synchronous pulley B is to fix with cross axle quadrature syndeton; Can not rotate, so the rotation of motor can realize the joint rotation at small synchronous pulley B place.Two big synchronous pulley A, B and cross axle quadrature syndetons are fixed together; And two synchronous pulley installation sites are quadratures; Therefore the rotation of two degree of freedom has just been realized in adjacent joint; And two degree of freedom are quadratures, and these two degree of freedom drive and fly the conversion of snake in land walking and various attitudes.
Obviously, the above-mentioned specific embodiment of the utility model only be for explain clearly that the utility model does for example, and be not to be qualification to the utility model embodiment.For the those of ordinary skill in affiliated field, on the basis of above-mentioned explanation, can also be easy to make other pro forma variation and perhaps substitute, and these change or alternative also will being included within the definite protection domain of the utility model.
Claims (4)
1. imitative snake bone spatial spread mole that flies; Comprise driving unit (1), fly snake rack unit (2) and ophiruid (3) as 3～10 of snake body as head; It is characterized in that: said flying connects through cross axle quadrature syndeton (20) between the snake rack unit; Fly the snake rack unit and have frame body (21), frame body middle part is provided with the framing system (22) that can launch to both sides; The above-mentioned frame body that flies the snake rack unit is provided with transmission component (4) and extension element (5), and above-mentioned transmission component (4) comprises motor (41), travelling gear and the Synchronous Transmission part that is located at frame body front and rear portions respectively; The one-level magnetic drives wheel (52) that said extension element (5) comprises steering wheel (51), cooperate with the steering wheel output and cooperates and be positioned at two secondary magnetic drives wheels (53) of one-level magnetic drives wheel both sides with one-level magnetic drives wheel, above-mentioned secondary magnetic drives wheel is coupled with framing system.
2. the imitative snake bone spatial spread mole that flies according to claim 1; It is characterized in that: bevel pinion (42) and the bevel gear wheel (43) of the travelling gear of above-mentioned transmission component for being connected with motor output end; The Synchronous Transmission part is for taking turns (44) and be arranged on passive and synchronous wheel the (45) on the cross axle quadrature syndeton (20) with the active synchronization of the coaxial setting of bevel gear wheel, and above-mentioned master, the passive and synchronous wheel through synchronous band (46) are in transmission connection.
3. according to claim 2 imitating flies snake bone spatial spread mole, it is characterized in that: above-mentioned driving unit (1) is made up of cut part (11) and motor-driven part (12), is welded with cutting lump (13) on the above-mentioned cut part.
4. the imitative snake bone spatial spread mole that flies according to claim 1; It is characterized in that: pivot pin (20-1) is arranged on the above-mentioned cross axle quadrature syndeton (20); Frame body (21) one end lugs are provided with connecting hole (21-1), and pivot pin and two connecting holes of frame body lug cooperatively interact on the cross axle quadrature syndeton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220085292XU CN202467846U (en) | 2012-03-08 | 2012-03-08 | Imitated flying snake skeleton space expanding and tunneling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220085292XU CN202467846U (en) | 2012-03-08 | 2012-03-08 | Imitated flying snake skeleton space expanding and tunneling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202467846U true CN202467846U (en) | 2012-10-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220085292XU Expired - Lifetime CN202467846U (en) | 2012-03-08 | 2012-03-08 | Imitated flying snake skeleton space expanding and tunneling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202467846U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102587436A (en) * | 2012-03-08 | 2012-07-18 | 中国科学院合肥物质科学研究院 | Expansion and excavation device imitated from bone space of flying snake |
| CN109989751A (en) * | 2019-05-06 | 2019-07-09 | 西安科技大学 | A kind of cross-platform long-range real time kinematics tracking system of three machine of fully mechanized mining and method |
-
2012
- 2012-03-08 CN CN201220085292XU patent/CN202467846U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102587436A (en) * | 2012-03-08 | 2012-07-18 | 中国科学院合肥物质科学研究院 | Expansion and excavation device imitated from bone space of flying snake |
| CN109989751A (en) * | 2019-05-06 | 2019-07-09 | 西安科技大学 | A kind of cross-platform long-range real time kinematics tracking system of three machine of fully mechanized mining and method |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121003 |