Intelligent machine snake universal joint connecting mechanism

Abstract

The application relates to a kind of intelligent machine snake universal joint connecting mechanisms, including rotary support structure, outer frame, limit swing block, gland, connecting block, back to normal base;The first end of the outer frame is fixedly connected with the rotary support structure, the limit swing block is embedded in the opening of the second end of the outer frame, and the first end of the limit swing block is movably connected with the outer frame;The second end of the limit swing block is provided with a steering pin shaft;The second end of the outer frame and the second end of the limit swing block are inserted into the mounting groove of the connecting block;The bottom of the connecting block is provided with a slot, the steering pin shaft extends into the slot and can move along the slot;The back to normal base is located below the outer frame and is provided with two back to normal top beads.The application solves the problems of joint steering, horizontal swing, overturning, lifting and the like, has strong practicability;The structure is simple, the joint part occupies small space, miniaturization design is realized;The energy consumption of the machine snake is reduced, and the endurance mileage of the machine snake is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical structure non-standard design, and relates to an intelligent machine snake universal joint connecting mechanism. BACKGROUND

[0002] At present, most intelligent machine snakes on the market are actually composed of multiple mobile modules through joint connecting mechanisms, and the joint mechanisms realize a combination of functions such as body limiting, turning, yawing, and returning to normal. The key part of mechanical design is the joint. The traditional machine snake joint design is usually composed of multiple rudders or servo motors. The disadvantages are that there are many wirings, the control is complex, the energy consumption is large, the endurance mileage of the machine snake is reduced, and the joint part occupies a large space, which is not conducive to miniaturization design. SUMMARY

[0003] The technical problem solved by the application is to overcome the shortcomings of the prior art and provide an intelligent machine snake universal joint connecting mechanism, which solves the problems of joint turning, yawing, overturning, and lifting, has a simple structure, and is highly practical.

[0004] The technical solution of the application is an intelligent machine snake universal joint connecting mechanism, which comprises a rotary support structure, an outer frame, a limiting swing block, a connecting block, and a turning pin shaft.

[0005] The rotary support structure is a bearing, the first end of the outer frame is fixedly connected with the rotary support structure, the direction of the rotation shaft of the rotary support structure is defined as the Z-axis, and the rotary support structure drives the outer frame to rotate around the Z-axis.

[0006] The second end of the outer frame is a retracted opening structure, the limiting swing block is embedded in the opening, and the first end of the limiting swing block is connected with the second end of the outer frame through a pin shaft, and the direction of the axis of the pin shaft is defined as the X-axis.

[0007] The side surface of the connecting block is provided with an opening, the opening extends inwardly to form a mounting groove, and the second end of the outer frame and the second end of the limiting swing block are inserted into the mounting groove of the connecting block.

[0008] The bottom of the mounting groove of the connecting block is provided with a slot, one end of the turning pin shaft is fixed to the second end of the limiting swing block, and the other end is inserted into the slot. When the turning pin shaft slides along the slot, the second end of the outer frame and the second end of the limiting swing block are inserted into and extracted from the mounting groove.

[0009] The axis direction of the turning pin shaft is defined as the Y-axis, and when the second end of the outer frame and the second end of the limiting swing block are extracted from the mounting groove, the connecting block can rotate around the Y-axis.

[0010] When the second end of the outer frame is inserted into the mounting groove, there is a gap between the top end and the bottom of the mounting groove. When the second end of the outer frame is extracted, the outer frame realizes the swing around the X-axis through the gap.

[0011] Further, the first end of the limit swing block is connected with the second end of the outer frame through a swing pin shaft.

[0012] Further, the first end of the outer frame is fixedly connected with an inner ring of the rotary support structure, and the inner ring of the rotary support structure is a rotating end; an outer ring of the rotary support structure is connected with an external structure, and the outer ring of the rotary support structure is a fixed end.

[0013] Further, the reset base is fixedly connected with the fixed end of the rotary support structure and is located below the outer frame, and the reset base is provided with two reset top beads which are in contact with the first end of the outer frame.

[0014] Further, the reset top bead is internally provided with a spring for providing elastic force for deformation and recovery of the reset top bead.

[0015] Further, the thickness of the second end of the outer frame is reduced along the end, so that gaps are left at the top and bottom of the mounting groove of the connecting block after the second end of the outer frame is inserted into the mounting groove.

[0016] Further, the outer contour of the mounting groove of the connecting block is consistent with the outer contour of the structure formed by the embedded limit swing block and the second end of the outer frame, the depth of the mounting groove of the connecting block is consistent with the thickness of the second end of the limit swing block, and the thickness of the second end of the limit swing block is equal to the maximum thickness of the second end of the outer frame.

[0017] Further, when the universal joint connecting mechanism is turned, the turning pin shaft moves outward along the slot of the connecting block, the second end of the outer frame and the second end of the limit swing block are pulled out of the mounting groove of the connecting block, and an unfolded state is formed, at this time, the connecting block is pivoted on the turning pin shaft and performs a turning action.

[0018] Further, when the joint is in an unfolded state, the second end of the outer frame has a gap in the mounting groove, at this time, the limit swing block is engaged and fixed in the mounting groove of the connecting block, and the outer frame swings around the axis of the swing pin shaft through the gap, thereby realizing an overturning action.

[0019] Further, when the outer frame is driven by the rotary support structure to perform a horizontal swing action, the reset top bead at the corresponding position is pressed down; after the external force is removed, the reset top bead is restored to the original position under the action of the spring itself, thereby driving the outer frame to return to the initial position and realizing a horizontal swing reset action.

[0020] The beneficial effects of the present application compared with the prior art are as follows:

[0021] (1)The present application adopts the turning pin shaft on the limiting swing block to cooperate with the slot on the bottom of the connecting plate to move, so that the joint connecting mechanism has two states of unfolding and closing. The second end of the outer frame is contracted, so that the mounting profile between the outer frame and the connecting plate forms a V-shaped cooperation structure, which ensures that the space between the connecting plate and the outer frame is sufficient to turn around the turning pin shaft as a fulcrum in the unfolded state. The profile of the second end of the outer frame has an inclination, and a gap is formed between the mounting slot, which can realize the swing of the outer frame along the swing pin shaft in the mounting slot, and realize the overturning action. Under the action of the spring of the back-to-normal top bead, the outer frame can realize the horizontal swing and horizontal swing reset action. The present application ingeniously designs the coupling relationship and the movable connection relationship between the structural parts, solves the problems of joint turning, horizontal swing and overturning, has simple structure and strong practicality.

[0022] (2)During the lifting process, the second end of the outer frame is limited by the gland and the connecting block, and the second end of the outer frame cannot realize joint overturning. The second end of the outer frame is limited by the V-shaped mounting slot matched with the inner cavity of the connecting plate, and the second end of the outer frame cannot realize turning. In the joint lifting state, the outer frame is no longer subjected to external force, and the back-to-normal top bead on the back-to-normal base limits the horizontal swing. Thus, the structure realizes the fixation of the whole joint, and the joint is fixed and does not move, thereby achieving the desired effect, and thus solving the problems of joint limiting and lifting.

[0023] (3)The machine snake universal joint connecting mechanism designed by the present application realizes small space occupation of the joint part, avoids the complex combination of multiple rudders or servo motors, realizes miniaturization design, reduces the energy consumption of the machine snake, and improves the endurance mileage of the machine snake. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a whole schematic view of the embodiment universal joint connecting mechanism of the present application.

[0025] Fig. 2(a) is a schematic view of the embodiment universal joint connecting mechanism of the present application in an unfolded state;

[0026] Fig. 2(b) is a schematic view of the embodiment universal joint connecting mechanism of the present application in a closed state;

[0027] Figure 3 It is a schematic view of the embodiment universal joint connecting mechanism of the present application in a turning state;

[0028] Figure 4 It is a schematic view of the embodiment universal joint connecting mechanism of the present application in a horizontal swing state;

[0029] Figure 5 It is a cross-sectional view of the embodiment universal joint connecting mechanism of the present application in an overturning state;

[0030] Fig. 6(a) is a cross-sectional view of the embodiment universal joint connecting mechanism of the present application in a lifting state;

[0031] Figure 6(b) shows the lifting state of the universal joint connecting mechanism of the embodiment of the present application. DETAILED DESCRIPTION

[0032] The present application will be further described in conjunction with the accompanying drawings.

[0033] As shown in Figure 1 , Figure 4 , the intelligent machine snake universal joint connecting mechanism of the present application comprises a rotary support structure 1, an outer frame 2, a limiting swing block 3, a gland 4, a connecting block 5, a swing block pin shaft 6, and a return base 7. In this embodiment, the rotary support structure 1 is preferably a bearing.

[0034] The first end of the outer frame 2 is fixedly connected with the rotary support structure 1, and the rotation axis direction of the rotary support structure 1 is defined as the Z axis, and the rotary support structure 1 drives the outer frame 2 to rotate around the Z axis.

[0035] The second end of the outer frame 2 is a retracted opening structure. The limiting swing block 3 is embedded in the opening, and the first end of the limiting swing block 3 is pin shaft connected with the second end of the outer frame 2; the axis direction of the pin shaft is defined as the X axis.

[0036] The side surface of the connecting block 5 is provided with an opening, which extends inwardly to form a mounting groove, and the second end of the outer frame 2 and the second end of the limiting swing block 3 are inserted into the mounting groove of the connecting block 5.

[0037] The bottom of the mounting groove of the connecting block 5 is provided with a slot, one end of the steering pin shaft 10 is fixed to the second end of the limiting swing block 3, and the other end is inserted into the slot. When the steering pin shaft 10 slides along the slot, the insertion and extraction of the second end of the outer frame 2 and the second end of the limiting swing block 3 in the mounting groove are realized.

[0038] The axis direction of the steering pin shaft 10 is defined as the Y axis. After the second end of the outer frame 2 and the second end of the limiting swing block 3 are extracted from the mounting groove, the connecting block 5 can rotate around the Y axis.

[0039] When the second end of the outer frame 2 is inserted into the mounting groove, there is a gap between the top end and the bottom of the mounting groove. When the second end of the outer frame 2 is extracted, the outer frame 2 realizes the swing around the X axis through this gap.

[0040] Preferably, the first end of the outer frame 2 is fixedly connected with the inner ring of the rotary support structure 1, the inner ring of the rotary support structure 1 is rotatable and serves as the rotating end; the outer ring 9 of the rotary support structure 1 is connected with the external structure, and the outer ring does not rotate and serves as the fixed end; the connecting block 5 is connected with other joints through the connection hole.

[0041] The return base 7 is fixedly connected with the radial end surface of the fixed end of the rotary support structure 1 and is located below the outer frame 2. The return base 7 is provided with two return top beads 8. The return top beads 8 are provided with springs and are used to provide elastic force for deformation and recovery of the return top beads 8. The two return top beads 8 are in contact with the first end of the outer frame 2.

[0042] The cover 4 is arranged at the top end of the mounting groove of the connecting block 5.

[0043] Preferably, the first end of the limiting swing block 3 is connected with the second end of the outer frame 2 through the swing block pin shaft 6, the axis of the swing block pin shaft 6 is along the X direction and is perpendicular to the axis of the steering pin shaft 10.

[0044] In the embodiment, as shown in Figure 1 the first end of the outer frame 2 is in a cubic structure, the two return top beads 8 are in contact with the top points of the bottom right angles of the cubic structure respectively. The thickness of the second end of the outer frame 2 is reduced along the end, so that the second end of the outer frame 2 is inserted into the mounting groove of the connecting block 5 and gaps are left at the top end and the bottom of the mounting groove.

[0045] In the embodiment, the outer contour of the mounting groove of the connecting block 5 is consistent with the outer contour of the structure formed by the second end of the limiting swing block 3 embedded in the second end of the outer frame 2. The depth of the mounting groove of the connecting block 5 is consistent with the thickness of the second end of the limiting swing block 3, wherein the thickness of the second end of the limiting swing block 3 is equal to the maximum thickness of the second end of the outer frame 2. Preferably, the outer contour of the structure formed by the second end of the limiting swing block 3 embedded in the second end of the outer frame 2 is in a trapezoidal shape.

[0046] The universal joint connecting mechanism can realize the steering action of the joint:

[0047] The universal joint connecting mechanism is initially in a closed state, as shown in Fig. 2(b). When the universal joint connecting mechanism needs to be steered, as shown in Fig. 2(a), the steering pin shaft 10 moves along the bottom slot of the connecting block 5, the second end of the outer frame 2 and the second end of the limiting swing block 3 are pulled out of the mounting groove of the connecting block 5, at this time, the connecting block 5 can be rotated around the steering pin shaft 10 to perform the steering action, as shown in Figure 3 .

[0048] The universal joint connecting mechanism can realize the yaw action of the joint:

[0049] In order to adapt to the uneven movement of the ground, the outer frame 2 needs to be able to perform left and right lateral swinging. As Figure 4As shown, the outer ring 9 of the rotary support structure 1 is fixed on the machine shell, the first end of the outer frame 2 is fixed on the inner ring of the rotary support structure 1, and the return base 7 is also fixed on the outer ring 9 of the rotary support structure 1 and is located directly below the outer frame 2; the inner ring of the rotary support structure 1 can rotate. When the machine snake moves on the uneven road surface, the other joints connected by the universal joint connecting mechanism at both ends are deflected, the outer frame 2 is driven to yaw by the rotary support structure 1, and the return top bead 8 at the corresponding position is pressed down; after the external force is removed, the return top bead 8 returns to the original position under the action of the spring, thereby driving the outer frame 2 to return to the initial position, realizing the yaw reset action, and making the angle return to normal.

[0050] The universal joint connecting mechanism of the present application can realize the tilting action of the joint:

[0051] When the front and rear of the ground are uneven, the joint needs to be able to make forward and backward swinging postures according to the road surface. When the joint is in the unfolded state, as shown in Figure 5 As shown, the second end of the outer frame 2 leaves a certain gap in the space formed by the gland 4 and the mounting groove of the connecting block 5, which is used as the space for the upward and downward floating of the outer frame 2 in the connecting block 5; and the limiting swing block 3 is engaged and fixed in the mounting groove of the connecting block 5; therefore, the outer frame 2 can swing within a certain range around the axis of the swing pin 6, realizing the tilting action.

[0052] The universal joint connecting mechanism of the present application can realize the lifting action of the joint:

[0053] The front end of the machine snake is provided with a camera, which is convenient for observing the target in front, and part of the body needs to be lifted, at which time the joint needs to be fixed, otherwise the joint will shake left and right, resulting in the body tilting. In order to realize this function, the joint needs to be retracted to the closed state. When the body on which the universal joint connecting mechanism is located is lifted, the posture of the universal joint connecting mechanism is the vertical posture corresponding to the structure shown in Figure 6(a) after rotating 90° clockwise; at this time, the second end of the outer frame 2 is limited by the gland 4 and the connecting block 5, and cannot realize the joint tilting, as shown in the top view of Figure 6(b), the second end of the outer frame 2 is engaged with the mounting groove of the connecting block 5, and cannot realize the turning, in the lifted state of the joint, the outer frame 2 is no longer subjected to external force, so that the return top bead on the return base 7 limits its yaw, thereby realizing the fixation of the whole joint and achieving the desired effect.

[0054] Although the present application has been disclosed with the above preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application by using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, which does not deviate from the technical solutions of the present application, belongs to the protection scope of the present application.

Claims

1. A universal joint connection mechanism for an intelligent robotic snake, characterized in that... It includes a slewing support structure (1), an outer frame (2), a limiting swing block (3), a connecting block (5), and a steering pin (10); The slewing support structure (1) is a bearing, and the first end of the outer frame (2) is fixedly connected to the slewing support structure (1). The rotation direction of the slewing support structure (1) is defined as the Z-axis. The slewing support structure (1) drives the outer frame (2) to rotate around the Z-axis. The second end of the outer frame (2) is a contracted opening structure, the limiting swing block (3) is embedded in its opening, and the first end of the limiting swing block (3) is connected to the second end of the outer frame (2) by a pin, and the axial direction of the pin is defined as the X-axis; The side of the connecting block (5) has an opening that extends inward to form a mounting groove. The second end of the outer frame (2) and the second end of the limiting swing block (3) are inserted into the mounting groove of the connecting block (5). The bottom of the mounting slot of the connecting block (5) is provided with a slot. One end of the steering pin (10) is fixed to the second end of the limiting swing block (3), and the other end is inserted into the slot. When the steering pin (10) slides along the slot, the second end of the outer frame (2) and the second end of the limiting swing block (3) are inserted and pulled out in the mounting slot. Define the axis direction of the steering pin (10) as the Y-axis. When the second end of the outer frame (2) and the second end of the limit swing block (3) are pulled out from the mounting slot, the connecting block (5) can rotate around the Y-axis. When the second end of the outer frame (2) is inserted into the mounting slot, there is a gap between the top and bottom of the mounting slot. When the second end of the outer frame (2) is pulled out, the outer frame (2) swings around the X-axis through this gap.

2. The intelligent robotic snake universal joint connection mechanism according to claim 1, characterized in that, It also includes a swing block pin (6), and the first end of the limiting swing block (3) and the second end of the outer frame (2) are connected by the swing block pin (6).

3. The intelligent robotic snake universal joint connection mechanism according to claim 1, characterized in that, The first end of the outer frame (2) is fixedly connected to the inner ring of the slewing support structure (1), and the inner ring of the slewing support structure (1) is the rotating end; the outer ring of the slewing support structure (1) is connected to the external structure, and the outer ring of the slewing support structure (1) is the fixed end.

4. The intelligent robotic snake universal joint connection mechanism according to claim 3, characterized in that, It also includes a return base (7), which is fixed to the fixed end of the slewing support structure (1) and located below the outer frame (2). The return base (7) is provided with two return top beads (8), which are in contact with the first end of the outer frame (2).

5. The intelligent robotic snake universal joint connection mechanism according to claim 4, characterized in that, The return ball (8) has a spring inside, which provides elastic force for the return ball (8) to deform and return to its original position.

6. The intelligent robotic snake universal joint connection mechanism according to claim 1, characterized in that, The thickness of the second end of the outer frame (2) decreases along the end, ensuring that after the second end of the outer frame (2) is inserted into the mounting groove of the connecting block (5), there is a gap at the top and bottom of the mounting groove.

7. The intelligent robotic snake universal joint connection mechanism according to claim 1, characterized in that, The outer contour of the mounting groove of the connecting block (5) matches the outer contour of the structure formed by the "limiting swing block (3) embedded in the second end of the outer frame (2)". The depth of the mounting groove of the connecting block (5) matches the thickness of the second end of the limiting swing block (3). The thickness of the second end of the limiting swing block (3) is equal to the maximum thickness of the second end of the outer frame (2).

8. The intelligent robotic snake universal joint connection mechanism according to claim 7, characterized in that, When the universal joint connection mechanism is turned, the steering pin (10) moves outward along the slot of the connecting block (5), and the second end of the outer frame (2) and the second end of the limiting swing block (3) are pulled out from the mounting slot of the connecting block (5) to form an unfolded state. At this time, the connecting block (5) uses the steering pin (10) as the pivot to perform the turning action.

9. The intelligent robotic snake universal joint connection mechanism according to claim 8, characterized in that, When the joint is in the unfolded state, the second end of the outer frame (2) has a gap in the mounting groove. At this time, the limiting swing block (3) is engaged and fixed in the mounting groove of the connecting block (5). The outer frame (2) swings around the axis of the swing pin (6) through the gap to realize the overturning action.

10. The intelligent robotic snake universal joint connection mechanism according to claim 5, characterized in that, When the outer frame (2) swings under the action of the slewing support structure (1), the corresponding return ball (8) is pressed down; when the external force is removed, the return ball (8) returns to its original position under the action of its own spring, driving the outer frame (2) to return to its initial position, thus realizing the swing reset action.

Images