CN204278011U - A kind of snake-shaped robot driven by linkage - Google Patents
A kind of snake-shaped robot driven by linkage Download PDFInfo
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- CN204278011U CN204278011U CN201420715679.8U CN201420715679U CN204278011U CN 204278011 U CN204278011 U CN 204278011U CN 201420715679 U CN201420715679 U CN 201420715679U CN 204278011 U CN204278011 U CN 204278011U
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- connecting rod
- snake
- snake body
- long connecting
- hinged
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Abstract
The utility model relates to a kind of snake-shaped robot driven by linkage, is made up of some root module snake bodies; Described modularization snake body includes: first end section snake body (9), first middle part snake body (10), drive section snake body (11), second middle part snake body (12), the second end section snake body (13), six bar link gears and drive unit (6); It is little that this novel snake-shaped robot has volume, and space can be utilized in snake to increase, and the total quality of snake reduces, the features such as control system simplification, thus it is low to make snake-shaped robot reach cost, quality is light, flexibly, reliable in action, can the diversified object of practical function in motion.
Description
Technical field
The utility model relates to a kind of snake-shaped robot, particularly relates to a kind of snake-shaped robot driven by linkage
Background technology
At present, snake-shaped robot (mechanical snake) is roughly developed to the second generation.
First generation machinery snake is in conjunction with correlation theory, set up the row wave motion model of snake, its model machine solid snake utilizes vertical and that horizontal direction is orthogonal mode to set up its snake body to complete relative motion, the mechanical snake model of a cell cube foundation is formed like this with every two orthogonal joints, its shortcoming is that the free degree of snake is greatly limited, thus makes its action that can realize have significant limitation.
Second generation machinery snake, comprise the U.S., Japan, Israel, some mechanical snakes of the follow-up research and development such as Germany and China, all have employed the form of modularized design, although enhance its smart and mobility largely, make it can realize the action of more complexity, but these are substantially all have employed the connected form of segment snake body, and with the form of a bit of snake body of a servo driving, this just causes the problem in existing machinery snake joint, also result in the phenomenon that whole mechanical snake employs a large amount of steering wheel, this had both added its weight, decrease and space can be utilized also extremely to waste resource, deviate from mutually with our the environmental protection concept in the current whole world.
Summary of the invention
For above-mentioned technological deficiency, the utility model provides a kind of snake-shaped robot driven by linkage.
It is little that this novel snake-shaped robot has volume, and space can be utilized in snake to increase, and the total quality of snake reduces, the features such as control system simplification, thus it is low to make snake-shaped robot reach cost, quality is light, flexibly, reliable in action, can the diversified object of practical function in motion.
To achieve these goals, the technical scheme that the utility model is taked is:
The snake-shaped robot driven by linkage, is characterized in that being made up of some root module snake bodies, described modularization snake body includes: first end section snake body, the first middle part snake body, drives section snake body, the second middle part snake body, the second end section snake body, six bar link gear and drive units, six bar link gears comprise: the first long connecting rod, the second long connecting rod, main long connecting rod, the first short connecting rod, the second short connecting rod and rocking bar, the size of described first long connecting rod, described second long connecting rod and described main long connecting rod is all identical, described first short connecting rod and described second short connecting rod measure-alike, described first long connecting rod two ends respectively with described first end section snake body and described the second end section snake body hinged rotationally, described second long connecting rod two ends respectively with described first end section snake body and described the second end section snake body hinged rotationally, one end and described first long connecting rod of described first short connecting rod are hinged rotationally, the other end and the described first middle part snake body of described first short connecting rod are hinged rotationally, and the hinge hole of the described other end of described first short connecting rod is microscler through hole, to make described first short connecting rod and the hinged device of described first middle part snake body can slide in this microscler through hole, middle part and the described main long connecting rod of described first short connecting rod are hinged, and the described supermedial hinge hole of described first short connecting rod is microscler through hole, to make described first short connecting rod and the hinged device of described main long connecting rod can slide in this microscler through hole, one end and described second long connecting rod of described second short connecting rod are hinged rotationally, the other end and the described second middle part snake body of described second short connecting rod are hinged rotationally, and the hinge hole of the described other end of described second short connecting rod is microscler through hole, to make described second short connecting rod and the hinged device of described second middle part snake body can slide in this microscler through hole, middle part and the described main long connecting rod of described second short connecting rod are hinged, and the described supermedial hinge hole of described second short connecting rod is microscler through hole, to make described second short connecting rod and the hinged device of described main long connecting rod can slide in this microscler through hole, the two ends of described rocking bar respectively with described first long connecting rod and described second long connecting rod hinged rotationally, the middle part of described rocking bar is connected with described drive unit, the rotation of described drive unit to be delivered to described first long connecting rod and described second long connecting rod.
Particularly preferred, described drive unit is steering wheel.
Particularly preferred, described modularization snake body also comprises connecting plate, the two ends of described connecting plate respectively with described first end section snake body and described the second end section snake body hinged rotationally, described drive unit is fixedly mounted on described connecting plate.
Accompanying drawing explanation
Fig. 1 is the structural representation of a root module snake body of snake-shaped robot of the present utility model.
Fig. 2 is the structural perspective of a root module snake body of snake-shaped robot of the present utility model.
Fig. 3 is the structure thumbnail of a root module snake body of snake-shaped robot of the present utility model.
Fig. 4 is the structural representation of six bar link gears.
Wherein: 1, the first long connecting rod, the 2, second long connecting rod, 3, main long connecting rod, 4, the first short connecting rod, 5, the second short connecting rod, 6, steering wheel, 7, connecting plate, 8, rocking bar, 9, first end section snake body, the 10, first middle part snake body, 11, drive section snake body, 12, the second middle part snake body, 13, the second end section snake body.
Specific embodiments
The clear understanding being able to definitely to make innovative point of the present utility model, sets forth the utility model further below in conjunction with accompanying drawing.
Embodiment:
As Figure 1-4, a kind of snake-shaped robot driven by linkage, is made up of some root module snake bodies, described modularization snake body includes: first end section snake body 9, first middle part snake body 10, drives section snake body 11, second middle part snake body 12, the second end section snake body 13, six bar link gear and drive unit 6, six bar link gears comprise: the first long connecting rod 1, second long connecting rod 2, main long connecting rod 3, first short connecting rod 4, second short connecting rod 5 and rocking bar 8, the size of described first long connecting rod 1, described second long connecting rod 2 and described main long connecting rod 3 is all identical, described first short connecting rod 4 and described second short connecting rod 5 measure-alike, described first long connecting rod 1 two ends respectively with described first end section snake body 9 and described the second end section snake body 13 hinged rotationally, described second long connecting rod 2 two ends respectively with described first end section snake body 9 and described the second end section snake body 13 hinged rotationally, one end and described first long connecting rod 1 of described first short connecting rod 4 are hinged rotationally, the other end and the described first middle part snake body 10 of described first short connecting rod 4 are hinged rotationally, and the hinge hole of the described other end of described first short connecting rod 4 is microscler through hole, to make device hinged with described first middle part snake body 10 for described first short connecting rod 4 can slide in this microscler through hole, middle part and the described main long connecting rod 3 of described first short connecting rod 4 are hinged, and the described supermedial hinge hole of described first short connecting rod 4 is microscler through hole, to make device hinged with described main long connecting rod 3 for described first short connecting rod 4 can slide in this microscler through hole, one end and described second long connecting rod 2 of described second short connecting rod 5 are hinged rotationally, the other end and the described second middle part snake body 12 of described second short connecting rod 5 are hinged rotationally, and the hinge hole of the described other end of described second short connecting rod 5 is microscler through hole, to make device hinged with described second middle part snake body 12 for described second short connecting rod 5 can slide in this microscler through hole, middle part and the described main long connecting rod 3 of described second short connecting rod 5 are hinged, and the described supermedial hinge hole of described second short connecting rod 5 is microscler through hole, to make device hinged with described main long connecting rod 3 for described second short connecting rod 5 can slide in this microscler through hole, the two ends of described rocking bar 8 respectively with described first long connecting rod 1 and described second long connecting rod 2 hinged rotationally, the middle part of described rocking bar 8 is connected with described drive unit 6, the rotation of described drive unit 6 to be delivered to described first long connecting rod 1 and described second long connecting rod 2.
Described drive unit 6 can be steering wheel or other forms of drive unit.
Described modularization snake body also comprises connecting plate 7, the two ends of described connecting plate 7 respectively with described first end section snake body 9 and described the second end section snake body 13 hinged rotationally; Described drive unit 6 is fixedly mounted on described connecting plate 7.
Operation principle of the present utility model is as follows: employing be that parallelogram sturcutre is to drive the motion of snake body, first long connecting rod 1, second long connecting rod 2, first end section snake body 9 and the second end section snake body 13 form the basic framework of parallelogram, the rocking bar 8 that first long connecting rod 1, second long connecting rod 2 and steering wheel 6 drive is hinged, is realized the basic twisting of snake by the rotation of steering wheel.First middle part snake body 10, driving section snake body 11, second middle part snake body 12 and the effect of other rod members are that the camber line that snake is twisted is more level and smooth, and attitude is more attractive in appearance.Main long connecting rod 3 is hinged with driving section snake body 11, driving section snake body 11 position is fixed, first short connecting rod 4, second short connecting rod 5 all has chute simultaneously, making the first middle part snake body 10 and the first middle part snake body 12 when swinging at parallelogram, having corresponding angle to change.One end of first short connecting rod 4 and the second short connecting rod 5 respectively with the first long connecting rod 1 and the second long connecting rod 2 hinged, centre has microscler through hole to be connected with main long connecting rod 3, the other end is connected with the first middle part snake body 12 with the first middle part snake body 10, control the attitude of these two sections of snake bodies, first end section snake body 9, first middle part snake body 10, drives section snake body 11, second middle part snake body 12, the second end section snake body 13 constitutes the arc line shaped in whole section of snake motion jointly.
Claims (3)
1. the snake-shaped robot driven by linkage, is characterized in that being made up of some root module snake bodies, described modularization snake body includes: first end section snake body (9), first middle part snake body (10), drive section snake body (11), second middle part snake body (12), the second end section snake body (13), six bar link gears and drive unit (6), described six bar link gears comprise: the first long connecting rod (1), the second long connecting rod (2), main long connecting rod (3), the first short connecting rod (4), the second short connecting rod (5) and rocking bar (8), the size of described first long connecting rod (1), described second long connecting rod (2) and described main long connecting rod (3) is all identical, described first short connecting rod (4) and described second short connecting rod (5) measure-alike, described first long connecting rod (1) two ends respectively with described first end section snake body (9) and described the second end section snake body (13) hinged rotationally, described second long connecting rod (2) two ends respectively with described first end section snake body (9) and described the second end section snake body (13) hinged rotationally, one end and described first long connecting rod (1) of described first short connecting rod (4) are hinged rotationally, the other end and the described first middle part snake body (10) of described first short connecting rod (4) are hinged rotationally, and the hinge hole of the described other end of described first short connecting rod (4) is microscler through hole, to make device hinged to described first short connecting rod (4) and described first middle part snake body (10) can slide in this microscler through hole, middle part and the described main long connecting rod (3) of described first short connecting rod (4) are hinged, and the described supermedial hinge hole of described first short connecting rod (4) is microscler through hole, to make device hinged to described first short connecting rod (4) and described main long connecting rod (3) can slide in this microscler through hole, one end and described second long connecting rod (2) of described second short connecting rod (5) are hinged rotationally, the other end and the described second middle part snake body (12) of described second short connecting rod (5) are hinged rotationally, and the hinge hole of the described other end of described second short connecting rod (5) is microscler through hole, to make device hinged to described second short connecting rod (5) and described second middle part snake body (12) can slide in this microscler through hole, middle part and the described main long connecting rod (3) of described second short connecting rod (5) are hinged, and the described supermedial hinge hole of described second short connecting rod (5) is microscler through hole, to make device hinged to described second short connecting rod (5) and described main long connecting rod (3) can slide in this microscler through hole, the two ends of described rocking bar (8) respectively with described first long connecting rod (1) and described second long connecting rod (2) hinged rotationally, the middle part of described rocking bar (8) is fixedly connected with described drive unit (6), so that the rotation of described drive unit (6) is delivered to described first long connecting rod (1) and described second long connecting rod (2).
2. snake-shaped robot as claimed in claim 1, is characterized in that: described drive unit (6) is steering wheel.
3. snake-shaped robot as claimed in claim 1 or 2, it is characterized in that: described modularization snake body also comprises connecting plate (7), the two ends of described connecting plate (7) respectively with described first end section snake body (9) and described the second end section snake body (13) hinged rotationally; Described drive unit (6) is fixedly mounted on described connecting plate (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420715679.8U CN204278011U (en) | 2014-11-25 | 2014-11-25 | A kind of snake-shaped robot driven by linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420715679.8U CN204278011U (en) | 2014-11-25 | 2014-11-25 | A kind of snake-shaped robot driven by linkage |
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| Publication Number | Publication Date |
|---|---|
| CN204278011U true CN204278011U (en) | 2015-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420715679.8U Expired - Fee Related CN204278011U (en) | 2014-11-25 | 2014-11-25 | A kind of snake-shaped robot driven by linkage |
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| CN (1) | CN204278011U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787141A (en) * | 2015-04-28 | 2015-07-22 | 上海大学 | Snake-shaped robot |
| CN107486849A (en) * | 2017-08-30 | 2017-12-19 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
| CN107585298A (en) * | 2016-07-06 | 2018-01-16 | 珠海天空速递有限公司 | Aerial deformable multi-rotor unmanned aerial vehicle |
-
2014
- 2014-11-25 CN CN201420715679.8U patent/CN204278011U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787141A (en) * | 2015-04-28 | 2015-07-22 | 上海大学 | Snake-shaped robot |
| CN104787141B (en) * | 2015-04-28 | 2018-03-06 | 上海大学 | A kind of snake-shaped robot |
| CN107585298A (en) * | 2016-07-06 | 2018-01-16 | 珠海天空速递有限公司 | Aerial deformable multi-rotor unmanned aerial vehicle |
| CN107486849A (en) * | 2017-08-30 | 2017-12-19 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150422 Termination date: 20171125 |
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| CF01 | Termination of patent right due to non-payment of annual fee |