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Metamorphic knuckle mechanism of snake-imitation rescuing robot

A robot and joint technology, which is applied in the field of robot research and engineering, can solve the problem of single joint mechanism and other problems, and achieve the effect of not easy to damage the mechanical structure, high bearing capacity and reduced force

Active Publication Date: 2015-11-18
BEIJING UNIV OF CHEM TECH
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Problems solved by technology

[0004] The purpose of the present invention is to provide a metamorphic joint mechanism, which has two types of mechanisms, is suitable for snake-like search and rescue robots, and can solve the problem of single joint mechanism of existing snake-like search and rescue robots

Method used

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  • Metamorphic knuckle mechanism of snake-imitation rescuing robot
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  • Metamorphic knuckle mechanism of snake-imitation rescuing robot

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] see figure 1 The modified joint mechanism provided by the present invention includes the first kinematic branch chain 1, the second kinematic branch chain 2, the third kinematic branch chain 3, the left end cover of the joint 4, the right end cover 5 of the joint, and the left ends of the first to third kinematic branch chains. The first to third revolving pairs are respectively connected with the first to third brackets in the left end cover 4 of the joint, and the tenth to twelfth revolving pairs at the right end of the first to third kinematic branches are respectively connected to the fourth to sixth brackets in the right end cover 5 of the joint connected.

[0029] see figure 2 , the joint left end cover 4 is composed of a circular end cover and the first to third supports, the first to third supports are three identical pentagonal supports 6, and the fi...

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Abstract

A metamorphic knuckle mechanism of a snake-imitation rescuing robot comprises a knuckle left end cover, a knuckle right end cover, two RRPRR branches and one RRPRR metamorphic branch. Metamorphic knuckles have two mechanism forms, and the work space and mobility can be changed. In the mechanism form I, a movable pair P in the RRPRR metamorphic branch is in an active moving state, a rotation pair R is in a following state, and then the knuckles have one moving freedom degree and two rotating freedom degrees. In the mechanism form II, the movable pair P in the RRPRR metamorphic branch is in a minimum displacement and locking state, the rotation pair R is in an active state, the knuckles are changed into parallel spherical knuckles in a metamorphic manner, and three rotation freedom degrees are achieved. The metamorphic knuckle mechanism has the beneficial effects of being good in flexibility, high in bearing capability and good in structural robustness and is suitable for the snake-imitation rescuing robot. By means of mutual cooperation of the two mechanism forms of the multiple metamorphic knuckles, the flexibility and adaptability of the snake-imitation rescuing robot under different environments can be effectively improved.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a metamorphic joint mechanism of a snake-like search and rescue robot. technical background [0002] The slender body structure of the snake-like robot and its limbless movement mode make it have good stability and adaptability in disaster search and rescue tasks. Disaster scenes often contain various terrain environments such as gaps, ravines, and steps. However, at present, snake-like search and rescue robots mostly use joints with a single mechanism, with a fixed working space and constant motion performance. Ability to perform tasks in the environment. [0003] The metamorphic mechanism is a new type of mechanism that was discovered in the mechanism of the reconfigurable packaging automation line and was formally proposed at the 25th ASME Mechanism and Robotics Biennial Conference at the end of 1998. This type of new mechanism can carry out self-reorganization ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J11/00
Inventor 曹政才吴春成戴建生付宜利刘天龙赵琪
Owner BEIJING UNIV OF CHEM TECH
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