CN103878768B - A kind of snakelike search and rescue robot - Google Patents
A kind of snakelike search and rescue robot Download PDFInfo
- Publication number
- CN103878768B CN103878768B CN201410102214.XA CN201410102214A CN103878768B CN 103878768 B CN103878768 B CN 103878768B CN 201410102214 A CN201410102214 A CN 201410102214A CN 103878768 B CN103878768 B CN 103878768B
- Authority
- CN
- China
- Prior art keywords
- cavity ring
- module
- reel
- flexible connection
- rescue robot
- 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.)
- Expired - Fee Related
Links
Abstract
The invention discloses a kind of snakelike search and rescue robot, be made up of multiple module, each described module joins end to end, the described module head end being 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, two wherein 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.Module of the present invention self can multi-direction deflection make snake-shaped robot run in various environment more flexibly, and module whole is coated with catch net and water-proof jacket, while playing waterproof action, effectively can extend the service life of robot.
Description
Technical field
The present invention relates to a kind of robot architecture, particularly relate 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 makes it be suitable at small space and long and narrow pipeline and various ground motion due to the feature of himself shape and motion mode, it can enter the collapsed building inside because of the disaster such as earthquake or fire and perform the tasks such as search and rescue, 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 of being detected III, namely the patent No. is a kind of Amphibious snake-like robot disclosed in the Chinese patent of 200810229974.1, be made up of multiple module, each module is connected rotatably, one in two adjacent blocks can another horizontal deflection and elevating movement relatively, and 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 is can not bending of rigidity, though can realize freely moving about in water, because individual module is relatively long, cause its motion flexibly submissive not, and drives structure is complicated, manufactures difficulty.
Summary of the invention
The object of this invention is to provide a kind of can in various environment the snakelike search and rescue robot of flexible motion.
To achieve the above object of the invention, the technical solution used in the present invention is: a kind of snakelike search and rescue robot, be made up of multiple module, each described module joins end to end, the described module head end being 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 the connecting portion ports being arranged on body both ends can engage mutually, and respectively have a capping in port two sides, and the assembling being convenient to bearing block maintains the approximate circle cylinder of case surface simultaneously; In the module of stem, can also guider be set, realizes the direction controlling 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, two wherein 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, the servomotor be arranged in described shell, the reel with two winding slots by described driven by servomotor, the rope yarn be wrapped 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 ends wound is 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, described cavity ring medial surface is equipped with four wire guides, 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 each passed through each corresponding guide roller, bullport and are finally fixed in the cavity ring of least significant end through the wire guide in each cavity ring.
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 invention, individual module is provided with body and two connecting portions, servomotor and reel is provided with in connecting portion, servomotor drives reel to rotate, due to two rope yarns on reel around on the contrary, when reel rotates, a rope yarn is strained another rope yarn and is loosened, and body can be made to draw deflection in the side that rope yarn is strained; And individual module is provided with two connecting portions, be altogether evenly equipped with 4 rope yarns in body, the multi-direction deflection twisting of body can be made by servomotor to the control of reel.
Because technique scheme is used, the present invention compared with prior art has following advantages:
1, module of the present invention itself can multi-directionly deflect, and adds the flexibility of snakelike search and rescue robot, can advance flexibly in rugged environment;
2, entirety of the present invention is cylindrical, and when moving, the resistance that is subject to is less, is also not easy to be highlighted thing and catches on and cause advancing;
3, the present invention drives reel to rotate by servomotor, controls more accurate, by controlling to make the deflection of body more flexible;
4, the described module head end that the present invention is positioned at stem is provided with camera and light source, can continue search-and-rescue work, and real-time imaging can be transmitted out, be more conducive to search-and-rescue work at light in very poor or rayless environment.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
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; 6, screw; Catch net; 12, water-proof jacket; 21, cavity ring; 22, point is flexibly connected; 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 invention will be further described:
Embodiment one:
As Figure 1-4, a kind of snakelike search and rescue robot, be made up of multiple module 1, each module 1 joins end to end, module 1 head end being 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 takes water-proof LED lamp 5, and adjacent two connecting portions 3 are fixed by screw 6.
Two connecting portion 3 ports being arranged on body 2 both ends can engage mutually; In the module 1 of stem, can also guider be set, realizes the direction controlling 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 relative two are flexibly connected point 22 and are arranged on cavity ring 21 upper surface, and another two flexible connection points 22 are arranged on cavity ring 21 lower surface, and adjacent cavity ring 21 is by being flexibly connected point 22 flexible connection;
Connecting portion 3 comprises shell 31, the servomotor 32 be arranged in shell 31, the reel 33 with two winding slots 331 driven by servomotor 32, the rope yarn be wrapped in winding slot 331, be fixedly installed on two wire columns 35 of shell 31 inside, wire column 35 end is provided with guide roller, rope yarn one ends wound is on reel 33, the other end of rope yarn is fixed on body 2 end by guide roller and body 2, and two rope yarns on reel 33 are around on the contrary.
Cavity ring 21 medial surface is equipped with four wire guides 23, wire guide 23 is arranged on and is flexibly connected below point 22.
Rope yarn is through each wire guide 23.
Shell 31 inward flange is 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 each passed through each corresponding guide roller, bullport 37 and are finally fixed in the cavity ring 21 of least significant end through the wire guide 23 in each cavity ring 21.
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, individual module 1 is provided with body 2 and two connecting portions 3, servomotor 32 and reel 33 is provided with in connecting portion 3, servomotor 32 drives reel 33 to rotate, due to two rope yarns on reel 33 around on the contrary, when reel 33 rotates, a rope yarn is strained another rope yarn and is loosened, and body 2 can be made to draw deflection in the side that rope yarn is strained; And individual module 1 is provided with two connecting portions 3, be altogether evenly equipped with 4 rope yarns in body 2, the multi-direction deflection twisting of body 2 can be made by the control of servomotor 32 pairs of reels 33.
Claims (5)
1. a snakelike search and rescue robot, be made up of multiple module, it is characterized in that: each described module joins end to end, the described module head end being 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, two wherein 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, adjacent described cavity ring is flexibly connected by described flexible connection point,
Described connecting portion comprises shell, the servomotor be arranged in described shell, the reel with two winding slots by described driven by servomotor, the rope yarn be wrapped 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 ends wound is 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;
Described servomotor is by reel described in gear reduction unit transmission, and described reel is coaxially connected with described gear reduction unit.
2. the snakelike search and rescue robot of one according to claim 1, is characterized in that: described cavity ring medial surface is equipped with four wire guides, and 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 shell is cylindrical.
5. 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 |
|---|---|---|---|
| CN201410102214.XA CN103878768B (en) | 2014-03-19 | 2014-03-19 | A kind of snakelike search and rescue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102214.XA CN103878768B (en) | 2014-03-19 | 2014-03-19 | A kind of snakelike search and rescue robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103878768A CN103878768A (en) | 2014-06-25 |
| CN103878768B true CN103878768B (en) | 2016-04-20 |
Family
ID=50948049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410102214.XA Expired - Fee Related CN103878768B (en) | 2014-03-19 | 2014-03-19 | A kind of snakelike search and rescue robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103878768B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813304A (en) * | 2017-11-22 | 2018-03-20 | 华南农业大学 | A kind of bionical snake-shaped robot multi-freedom joint module |
| CN110686154B (en) * | 2019-09-11 | 2021-02-12 | 苏州热工研究院有限公司 | Probe adjusting device suitable for video inspection robot between pipes |
| WO2021142556A1 (en) * | 2020-01-17 | 2021-07-22 | 南京溧航仿生产业研究院有限公司 | Bionic robot for terrain surveying |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN203779495U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Snake-like search and rescue robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101014346B1 (en) * | 2010-08-11 | 2011-02-15 | (주)엔티렉스 | Snake shape robot |
| JP2012240158A (en) * | 2011-05-19 | 2012-12-10 | Tokyo Institute Of Technology | Rotational wave motion mechanism |
-
2014
- 2014-03-19 CN CN201410102214.XA patent/CN103878768B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN203779495U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Snake-like search and rescue robot |
Non-Patent Citations (1)
| Title |
|---|
| 结肠镜机器人结构设计与通过性研究;胡海燕等;《哈尔滨工程大学学报》;20130228;第233页-第239页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103878768A (en) | 2014-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103878767B (en) | One is snake-shaped robot under water | |
| CN203779496U (en) | Underwater snake-like robot | |
| CN103878768B (en) | A kind of snakelike search and rescue robot | |
| KR101014346B1 (en) | Snake shape robot | |
| CN103878784B (en) | One is snake-shaped robot joint module under water | |
| CN110397820B (en) | Multi-section type spiral dual-drive variable-diameter pipeline detection robot | |
| CN105818161A (en) | Internal-wiring robot revolute joint module | |
| CN203779495U (en) | Snake-like search and rescue robot | |
| CN108223967B (en) | A kind of pipe robot conveniently adapting to different pipelines | |
| CN101870352B (en) | Deformation mechanism for underwater robots | |
| CN203780642U (en) | Joint module for snake-like robot | |
| CN103879469B (en) | A kind of snakelike search and rescue robot joint module | |
| CN107377433B (en) | Cable cleaning device | |
| CN206112401U (en) | Intelligent pipeline inner wall running gear | |
| KR102056049B1 (en) | Large caliber vertical pipe cleaner | |
| CN102363065A (en) | Full fabric skin sensing autonomous flexible deformation search and rescue robot and operating method thereof | |
| CN203779518U (en) | Joint module for underwater snake-like robot | |
| CN204071352U (en) | A kind of lifting mosquito net | |
| CN107139217A (en) | A kind of robot manipulator structure in end visual operation region | |
| CN204071353U (en) | The account body structure controlled is convenient in a kind of lifting | |
| CN109795657B (en) | Bionic robot fish | |
| CN207799165U (en) | Fully automatic multipurpose optical cable bobbin winder device | |
| CN206982741U (en) | A kind of robot manipulator structure in end visual operation region | |
| CN207206406U (en) | A kind of stretching, extension drive mechanism for robot | |
| CN209379501U (en) | A kind of construction with can self-cleaning monitoring 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: 20160420 Termination date: 20190319 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |