CN203779495U - Snake-like search and rescue robot - Google Patents
Snake-like search and rescue robot Download PDFInfo
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- CN203779495U CN203779495U CN201420124660.6U CN201420124660U CN203779495U CN 203779495 U CN203779495 U CN 203779495U CN 201420124660 U CN201420124660 U CN 201420124660U CN 203779495 U CN203779495 U CN 203779495U
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- search
- rescue robot
- reel
- cavity ring
- robot
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Abstract
The utility model discloses a snake-like search and rescue robot. The snake-like search and rescue robot consists of a plurality of modules, wherein various modules are connected end to end; a camera and a light source are arranged at the head end of a module positioned at the head part; each module comprises a body capable of defecting in multiple directions and connecting parts arranged at two end parts of the body; the body comprises a plurality of hollow rings; each hollow ring is provided with four movable connecting points; two opposite movable connecting points are arranged on the upper surface of each hollow ring; another two movable connecting points are arranged on the lower surface of each hollow ring; adjacent hollow rings are movably connected through the movable connecting points. According to the snake-like search and rescue robot disclosed by the utility model, the modules can defect in the multiple directions, so that the snake-like robot operates in various environments more flexibly; each moduleis integrally wrapped with a protecting net and a waterproof projecting jacket, so that the service life of the robot can be effectively prolonged while a waterproof function is realized.
Description
Technical field
The utility model relates to a kind of robot architecture, relates in particular to a kind of snakelike search and rescue robot.
Background technology
Snake-shaped robot is the study hotspot in bio-robot field in recent years, there is structure uniqueness, control flexibly, the advantage such as dependable performance, extensibility are strong, strong adaptability, snake-shaped robot is because the feature of himself shape and motion mode is suitable at small space and long and narrow pipeline and various ground motion it, it can enter and carry out the tasks such as search and rescue because the disaster such as earthquake or fire collapsed building is inner, not only make people safer, also make search-and-rescue work more effective.
In the prior art, relate to snake-shaped robot under water as Shenyang automation research the person's of being detected III, be that the patent No. is 200810229974.1 the disclosed a kind of Amphibious snake-like robot of Chinese patent, formed by multiple modules, each module is connected rotatably, another horizontal deflection and an elevating movement relatively in two adjacent blocks, each module is made up of two motor and reduction gearing and bevel gear, and each module has two frees degree.But the individual module of above-mentioned amphibious robot be rigidity can not be bending, freely move about though can realize in water, because individual module is relatively long, cause its motion submissive not flexibly, and drives structure complexity, manufacture difficult.
Summary of the invention
The purpose of this utility model be to provide a kind of can be in various environment the snakelike search and rescue robot of flexible motion.
For achieving the above object, the technical solution adopted in the utility model is: a kind of snakelike search and rescue robot, formed by multiple modules, each described module joins end to end, the described module head end that is positioned at stem is provided with camera and light source, and described module comprises the body of multi-directionally deflection and is arranged on the connecting portion at described body both ends.
In technique scheme, two connecting portion ports that are arranged on body both ends can engage mutually, and respectively have a capping in port two sides, and the assembling of being convenient to bearing block has kept the approximate circle cylinder of case surface simultaneously; In the module of stem, guider can also be set, realize the direction control to snakelike search and rescue robot by Remote.
Preferred technical scheme, described body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein two relative described flexible connection points are arranged on described cavity ring upper surface, another two described flexible connection points are arranged on described cavity ring lower surface, and described adjacent cavity ring is flexibly connected by described flexible connection point;
Described connecting portion comprises shell, be arranged on servomotor in described shell, the reel with two winding slots by described driven by servomotor, be wrapped in rope yarn in described winding slot, be fixedly installed on two wire columns of described enclosure, described wire column end is provided with guide roller, described rope yarn one end is wrapped on described reel, the other end of described rope yarn is fixed on described body tip by described guide roller and body, and two rope yarns on described reel are around on the contrary.
Further technical scheme, is equipped with four wire guides on described cavity ring medial surface, and described wire guide is arranged on described flexible connection point below.
Described rope yarn is through each described wire guide.
In technique scheme, shell inward flange is also provided with two bullports, the guide roller of two wire columns is respectively just to two winding slots, and two rope yarns on winding slot are finally fixed in the cavity ring of least significant end through the wire guide in each cavity ring through each corresponding guide roller, bullport respectively again.
Preferred technical scheme, described servomotor is by reel described in gear reduction unit transmission, and described reel is coaxially connected with described gear reduction unit.
Preferred technical scheme, described shell is cylindrical.
Preferred technical scheme, described module outer surface is coated with catch net and water-proof jacket.
Operation principle of the present utility model, on individual module, be provided with body and two connecting portions, in connecting portion, be provided with servomotor and reel, servomotor drives reel rotation, due to two rope yarns on reel around on the contrary, in the time that reel rotates, a rope yarn is strained another rope yarn and is loosened, and can make body draw deflection in to a side of rope yarn tension; And on individual module, be provided with two connecting portions, and in body, be altogether evenly equipped with 4 rope yarns, can make the multi-direction deflection twisting of body by servomotor to the control of reel.
Because technique scheme is used, the utility model compared with prior art has following advantages:
1, module of the present utility model itself can multi-direction deflection, has increased the flexibility of snakelike search and rescue robot, can in rugged environment, advance flexibly;
2, the utility model entirety is cylindrical, and the resistance being subject in when motion is less, is also not easy to be highlighted thing and catches on and cause advancing;
3, the utility model drives reel to rotate by servomotor, controls more accurately, makes the deflection of body more flexible by control;
4, the described module head end that the utility model is positioned at stem is provided with camera and light source, can be at light continues search-and-rescue work in very poor or rayless environment, and real-time imaging can be transmitted out, is more conducive to search-and-rescue work.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is modular structure schematic diagram;
Fig. 3 is connecting portion schematic diagram;
Fig. 4 is cavity ring schematic diagram.
Wherein: 1, module; 2, body; 3, connecting portion; 4, camera; 5, LED lamp; 6, screw; Catch net; 12, water-proof jacket; 21, cavity ring; 22, be flexibly connected point; 23, wire guide; 31, shell; 32, servomotor; 33, reel; 35, wire column; 37, bullport; 331, winding slot.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described:
Embodiment mono-:
As Figure 1-4, a kind of snakelike search and rescue robot, is made up of multiple modules 1, and each module 1 joins end to end, module 1 head end that is positioned at stem is provided with camera 4 and light source, and module 1 comprises the body 2 of multi-directionally deflection and is arranged on the connecting portion 3 at body 2 both ends.
Light source is taked water-proof LED lamp 5, and adjacent two connecting portions 3 are fixing by screw 6.
Two connecting portion 3 ports that are arranged on body 2 both ends can engage mutually; In the module 1 of stem, guider can also be set, realize the direction control to snakelike search and rescue robot by Remote.
Body 2 comprises multiple cavity ring 21, cavity ring 21 is equipped with four and is flexibly connected point 22, wherein two relative flexible connection points 22 are arranged on cavity ring 21 upper surfaces, and another two flexible connection points 22 are arranged on cavity ring 21 lower surfaces, and adjacent cavity ring 21 is put 22 by flexible connection and is flexibly connected;
Connecting portion 3 comprises shell 31, be arranged on servomotor 32, the reel with two winding slots 331 33 driving by servomotor 32 in shell 31, be wrapped in rope yarn in winding slot 331, be fixedly installed on two wire columns 35 of shell 31 inside, wire column 35 ends are provided with guide roller, rope yarn one end is wrapped on reel 33, the other end of rope yarn is fixed on body 2 ends by guide roller and body 2, and two rope yarns on reel 33 are around on the contrary.
On cavity ring 21 medial surfaces, be equipped with four wire guides 23, wire guide 23 is arranged on and is flexibly connected point 22 belows.
Rope yarn is through each wire guide 23.
Shell 31 inward flanges are also provided with two bullports 37, the guide roller of two wire columns 35 is respectively just to two winding slots 331, and two rope yarns on winding slot 331 are finally fixed in the cavity ring 21 of least significant end through the wire guide 23 in each cavity ring 21 through each corresponding guide roller, bullport 37 respectively again.
Servomotor 32 is by gear reduction unit transmission reel 33, and reel 33 is coaxially connected with gear reduction unit.
Shell 31 is cylindrical.
Module 1 outer surface is coated with catch net 11 and water-proof jacket 12.
The operation principle of snakelike search and rescue robot, on individual module 1, be provided with body 2 and two connecting portions 3, in connecting portion 3, be provided with servomotor 32 and reel 33, servomotor 32 drives reel 33 to rotate, due to two rope yarns on reel 33 around on the contrary, in the time that reel 33 rotates, a rope yarn is strained another rope yarn and is loosened, and can make body 2 draw deflection in to a side of rope yarn tension; And on individual module 1, be provided with two connecting portions 3, and in body 2, be altogether evenly equipped with 4 rope yarns, can make the multi-direction deflection twisting of body 2 by servomotor 32 to the control of reel 33.
Claims (6)
1. a snakelike search and rescue robot, formed by multiple modules, it is characterized in that: each described module joins end to end, the described module head end that is positioned at stem is provided with camera and light source, described module comprises the body of multi-directionally deflection and is arranged on the connecting portion at described body both ends, described body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein two relative described flexible connection points are arranged on described cavity ring upper surface, another two described flexible connection points are arranged on described cavity ring lower surface, described adjacent cavity ring is flexibly connected by described flexible connection point,
Described connecting portion comprises shell, be arranged on servomotor in described shell, the reel with two winding slots by described driven by servomotor, be wrapped in rope yarn in described winding slot, be fixedly installed on two wire columns of described enclosure, described wire column end is provided with guide roller, described rope yarn one end is wrapped on described reel, the other end of described rope yarn is fixed on described body tip by described guide roller and body, and two rope yarns on described reel are around on the contrary.
2. the snakelike search and rescue robot of one according to claim 1, is characterized in that: on described cavity ring medial surface, be equipped with four wire guides, described wire guide is arranged on described flexible connection point below.
3. the snakelike search and rescue robot of one according to claim 2, is characterized in that: described rope yarn is through each described wire guide.
4. the snakelike search and rescue robot of one according to claim 1, is characterized in that: described servomotor is by reel described in gear reduction unit transmission, and described reel is coaxially connected with described gear reduction unit.
5. the snakelike search and rescue robot of one according to claim 1, is characterized in that: described shell is cylindrical.
6. the snakelike search and rescue robot of one according to claim 1, is characterized in that: described module outer surface is coated with catch net and water-proof jacket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420124660.6U CN203779495U (en) | 2014-03-19 | 2014-03-19 | Snake-like search and rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420124660.6U CN203779495U (en) | 2014-03-19 | 2014-03-19 | Snake-like search and rescue robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203779495U true CN203779495U (en) | 2014-08-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420124660.6U Expired - Fee Related CN203779495U (en) | 2014-03-19 | 2014-03-19 | Snake-like search and rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203779495U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103878768A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Snakelike search-and-rescue robot |
-
2014
- 2014-03-19 CN CN201420124660.6U patent/CN203779495U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103878768A (en) * | 2014-03-19 | 2014-06-25 | 苏州大学 | Snakelike search-and-rescue robot |
| CN103878768B (en) * | 2014-03-19 | 2016-04-20 | 苏州大学 | A kind of snakelike search and rescue robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140820 Termination date: 20160319 |