Connecting structure and multi-joint snakelike robot comprising same

Abstract

The invention relates to the technical field of bionic snakelike robots, and discloses a connecting structure and a multi-joint snakelike robot comprising the same, and the connecting structure is characterized in that the side wall of a shell is open, and the top and the bottom of the open side of the shell are both provided with through grooves penetrating up and down; the connecting piece is provided with a hook column which is longitudinally arranged, and the hook column is embedded into the two through grooves; the transverse steering engine is connected with the connecting piece; the U-shaped spring bolt is horizontally arranged in the shell, the end, away from a U-shaped opening, of the U-shaped spring bolt is rotationally connected into the shell, and the hook column is located in the U-shaped spring bolt. The U-shaped spring bolt is used for locking the hook column in the two through grooves; the locking piece is arranged in the shell and connected with the U-shaped spring bolt, and the locking piece is used for limiting rotation of the U-shaped spring bolt; the limiting piece is arranged on the shell and connected with the connecting piece, and the longitudinal steering engine is connected with the limiting piece; the connecting structure not only solves the problems that the steering engine is tedious in connection and large in disassembly difficulty, but also does not affect bending movement or standing of the snakelike robot, and is suitable for the robot composed of multiple modules.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic snake robots, and particularly to a connection structure and a multi-joint snake robot including this structure. Background Art

[0002] Snake robots are a new type of robot that can imitate the movement mode of snakes. Compared with traditional robots, they have high flexibility and can move efficiently in complex environments, such as passing through narrow spaces, climbing slopes, bypassing obstacles, etc., showing excellent environmental adaptability. Based on these characteristics, snake robots have broad application prospects in multiple fields. In the post-earthquake ruins rescue scenario, it can penetrate into dangerous areas, search for trapped people and provide accurate location information for rescue workers; in pipeline inspection work, snake robots can crawl inside pipelines to detect whether there are problems such as corrosion, leakage, and blockage in the pipelines, and discover and warn of potential safety hazards in a timely manner.

[0003] Currently, snake robots mainly rely on the main board to control multiple servos, motors, and Mecanum wheels to achieve the purpose of imitating snake flexibility and being able to adapt to multi-terrain movement. Snake robots adopt a modular design and are composed of multiple modules. Each joint module is required to have a high degree of freedom. Since different application scenarios have different functional requirements for robots, it is often necessary to add or subtract different sensor modules to adjust the functions of the robots. However, the existing connection methods of each joint module of snake robots have obvious deficiencies. Not only are the disassembly and installation operations inconvenient, but also the flexibility is insufficient. Summary of the Invention

[0004] The present invention proposes a connection structure and a multi-joint snake robot including this structure to solve the above deficiencies in the prior art. This connection structure not only solves the problems of cumbersome connection and difficult disassembly between the joint modules of snake robots, but also does not affect the bending movement or standing upright of snake robots, and is applicable to robots composed of multiple modules.

[0005] In a first aspect, a connection structure proposed by the present invention includes a lateral servo and a longitudinal servo, and further includes: The side wall of the housing is open, and through slots penetrating up and down are provided at the top and bottom of the open side of the housing, and both through slots are arc-shaped slots; The connecting member has a hook post arranged longitudinally, and the hook post is embedded in the two through slots; the lateral servo is connected to the connecting member, and the lateral servo is used to drive the housing and the connecting member to stand upright, thereby realizing the front end of the snake robot standing upright; A U-shaped locking tongue is horizontally arranged in the housing. One end of the U-shaped locking tongue away from the U-shaped opening is rotatably connected in the housing, and the hook post is located inside the U-shaped locking tongue; the U-shaped locking tongue is used to lock the hook post in the two through slots; The locking member is arranged inside the housing. The locking member is connected to the U-shaped locking tongue, and the locking member is used to limit the rotation of the U-shaped locking tongue. The limiting member is arranged on the housing. The limiting member is connected to the connecting member, and the longitudinal servo is connected to the limiting member. The limiting member is used to be clamped with the connecting member under the drive of the longitudinal servo to limit the rotation of the housing during the upright process, thereby limiting the left-right rotation of the robot during the upright process.

[0006] In at least one embodiment of the present invention, the connecting member is U-shaped. The hook post is arranged inside the connecting member. The housing is located inside the U-shaped opening of the connecting member. An installation groove is provided at one end of the housing away from the open side. The limiting member includes: two racks and two gears. The tooth surfaces of the two racks face each other and are longitudinally slidably connected in the installation groove. The two gears are both arranged between the two racks in the installation groove. The two gears are respectively engaged with the two racks, and the two gears are engaged with each other. The rotating shaft of the longitudinal servo is connected to one of the gears. The longitudinal servo drives the gear to rotate, so that the two engaged gears drive the two racks to move down or up, so as to limit or release the limit of the connecting member.

[0007] In at least one embodiment of the present invention, a first card slot is provided at the bottom of the inner cavity of the housing. A second card slot is provided at one end of the U-shaped locking tongue away from the U-shaped opening. The locking member includes: a column body, a first clamping block and a second clamping block. The column body is longitudinally arranged inside the housing. A part of the column body penetrates through the top end of the housing and is slidably connected to the housing. The first clamping block and the second clamping block are both arranged on the column body inside the housing. The first clamping block is clamped with the first card slot, and the second clamping block is clamped with the second card slot.

[0008] In at least one embodiment of the present invention, a first U-shaped connecting portion is provided on one side of the connecting member away from the open end. The rotating shaft of the transverse servo is connected to the first U-shaped connecting portion, and a second U-shaped connecting portion is connected to the transverse servo.

[0009] In at least one embodiment of the present invention, the hook post is cylindrical, and the width of the opening of the U-shaped locking tongue is greater than the diameter of the hook post.

[0010] In at least one embodiment of the present invention, a mounting hole is provided at the top of the housing. A pin is inserted through the mounting hole. A connecting hole for the pin to pass through is provided at one end of the U-shaped locking tongue away from the U-shaped opening.

[0011] In at least one embodiment of the present invention, limiting blocks are provided on the opposite surfaces of the two racks.

[0012] In at least one embodiment of the present invention, a through groove for the pin to pass through is provided on the opposite surface of the connecting member and the top of the housing.

[0013] In a second aspect, a multi-joint snake robot proposed by the present invention includes the connection structure described in any one of the first aspects.

[0014] Compared with the current technology, the beneficial effects of the present invention are as follows: 1. In the present invention, by providing a housing with an open side wall, a connecting member with a hook post, a U-shaped locking tongue for locking the hook post and rotatably connected inside the housing, a locking member for restricting the rotation of the U-shaped locking tongue, and a limiting member for restricting the left-right rotation of the robot, when assembling the connection structure, the opening of the U-shaped locking tongue faces outward of the housing. The hook post of the connecting member impacts inside the U-shaped locking tongue to make the U-shaped locking tongue rotate into the housing, thereby restricting the hook post in two through grooves on the housing. Subsequently, by restricting the rotation of the U-shaped locking tongue through the locking member, the assembly of the connection structure can be quickly completed. When the connection structure needs to be disassembled, the restriction on the rotation of the U-shaped locking tongue is released through the locking member, and then the connecting member is pulled to complete the separation of the hook post from the housing, thereby realizing the separation of the two modules. Moreover, the transverse servo motor provided on the connecting member can drive the front end of the snake robot to stand upright, and the limiting member driven by the longitudinal servo motor provided on the housing can restrict the left-right rotation of the snake robot during the snake-shaped movement. This connection structure not only solves the problems of cumbersome connection and difficult disassembly between joint modules, but also does not affect the bending movement or standing upright of the snake robot. And this connection method greatly improves the assembly efficiency of the robot, is more convenient to operate, saves assembly time and labor costs. At the same time, it makes the movement of the joints of the snake robot more flexible, further enhances the movement performance of the robot in complex environments, and is applicable to robots composed of multiple modules.

[0015] 2. In the present invention, by setting the width of the opening of the U-shaped locking tongue to be greater than the diameter of the hook post, when the snake robot starts, brakes or generates impacts during driving, the hook post can move slightly in the gap with the opening of the U-shaped locking tongue to buffer part of the impact force, avoid rigid collision, effectively reduce mechanical wear caused by vibration, extend the service life of the robot, and reduce maintenance costs.

[0016] 3. With its relatively simple design, this mechanical structure realizes diversified functions, and the cost is well controlled, showing extremely high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall assembly structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the housing structure of the present invention.

[0019] Figure 3 It is a schematic diagram of the connection structure of the present invention.

[0020] Figure 4 It is a schematic diagram of the internal detailed structure of the housing of the present invention.

[0021] Figure 5 This is a schematic diagram of the U-shaped locking tongue structure of the present invention.

[0022] Figure 6 This is a schematic diagram of the connecting member structure of the present invention.

[0023] Figure 7 This is a schematic diagram of the assembly structure of the limiting member of the present invention.

[0024] Figure 8 This is a schematic diagram of the housing and the U-shaped locking tongue structure of the present invention.

[0025] Explanation of reference numerals in the drawings: 1. Horizontal servo; 11. First U-shaped connecting portion; 12. Second U-shaped connecting portion; 2. Vertical servo; 3. Housing; 31. Through groove; 32. Installation groove; 33. First card slot; 4. Connecting member; 41. Hook post; 5. U-shaped locking tongue; 51. Second card slot; 52. Connection hole; 6. Locking member; 61. Column body; 62. First card block; 63. Second card block; 7. Limiting member; 71. Rack; 72. Gear; 8. Pin. Detailed implementation manners

[0026] The drawings in the present invention are not strictly drawn according to the actual proportion, and the specific dimensions and quantities of each structure can be determined according to actual needs. The drawings described in the present invention are only schematic diagrams of the structure.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0028] Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention belongs. The "first", "second", and similar terms used in the present invention do not denote any order, quantity, or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "inside", "outside", "above", "below", "far", "near", "front", "rear", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0029] Currently, snake robots mainly rely on the main board to control multiple servos, motors, and mecanum wheels to achieve the purpose of mimicking snakes to move flexibly and adapt to various terrains. Snake robots adopt a modular design and are composed of multiple modules. Each joint module is required to have a high degree of freedom. Since different application scenarios have different functional requirements for the robot, it is often necessary to add or remove different sensor modules to adjust the functions of the robot. However, the existing servo connection methods have obvious deficiencies. Not only are the disassembly and installation operations inconvenient, but also the flexibility is insufficient, and the fastening strength of the connection needs to be improved.

[0030] In view of this, the present invention proposes a connection structure, which solves the problems of cumbersome servo connection and difficult disassembly, and does not affect the bending movement or upright posture of the snake robot. It is applicable to robots composed of multiple modules. The present invention provides a theoretical guidance and experimental basis for the portable assembly of snake robots.

[0031] Combined with Figures 1 to 8 As shown in the figure, a connection structure includes a horizontal servo 1 and a vertical servo 2, and further includes: The side wall of the housing 3 is open. At the top and bottom of the open side of the housing 3, there are through slots 31 that penetrate up and down. Both of the two through slots 31 are arc-shaped slots.

[0032] The connecting member 4 has a hook column 41 arranged longitudinally. The hook column 41 is embedded in the two through slots 31. The horizontal servo 1 is connected to the connecting member 4. The horizontal servo 1 is used to drive the housing 3 and the connecting member 4 to stand upright, thereby realizing the front end of the snake robot to stand upright.

[0033] The U-shaped locking tongue 5 is horizontally arranged in the housing 3. One end of the U-shaped locking tongue 5 away from the U-shaped opening is rotatably connected in the housing 3. The hook column 41 is located inside the U-shaped locking tongue 5. The U-shaped locking tongue 5 is used to lock the hook column 41 in the two through slots 31.

[0034] The locking member 6 is arranged in the housing 3. The locking member 6 is connected to the U-shaped locking tongue 5. The locking member 6 is used to limit the rotation of the U-shaped locking tongue 5 to ensure that the U-shaped locking tongue 5 stably clamps the hook column 41 in the through slot 31 on the housing 3.

[0035] The limiting member 7 is arranged on the housing 3. The limiting member 7 is connected to the connecting member 4. The vertical servo 2 is connected to the limiting member 7. The limiting member 7 is used to be clamped with the connecting member 4 under the drive of the vertical servo 2 to limit the rotation of the housing 3 during the upright process, and further limit the left-right rotation of the robot during the upright process.

[0036] As an alternative embodiment, the connecting member 4 is U-shaped, the hook post 41 is arranged inside the connecting member 4, the housing 3 is located inside the U-shaped opening of the connecting member 4, an installation groove 32 is arranged at one end of the housing 3 away from the open side, and the limiting member 7 includes: two racks 71 and two gears 72. The teeth of the two racks 71 face each other and are longitudinally slidably connected in the installation groove 32. The two gears 72 are both arranged between the two racks 71 in the installation groove 32. The two gears 72 are respectively engaged with the two racks 71, and the two gears 72 are engaged with each other. The rotating shaft of the longitudinal servo 2 is connected to one of the gears 72. The longitudinal servo 2 drives the gear 72 to rotate, so that the two engaged gears 72 drive the two racks 71 to move downwards or upwards, so as to limit or release the limit on the connecting member 4.

[0037] As an alternative embodiment, a first clamping groove 33 is arranged at the bottom of the inner cavity of the housing 3, and a second clamping groove 51 is arranged at one end of the U-shaped locking tongue 5 away from the U-shaped opening. The locking member 6 includes: a column body 61, a first clamping block 62 and a second clamping block 63. The column body 61 is longitudinally arranged inside the housing 3, a part of the column body 61 passes through the top end of the housing 3 and is slidably connected to the housing 3. The first clamping block 62 and the second clamping block 63 are both arranged on the column body 61 inside the housing 3. The first clamping block 62 is clamped with the first clamping groove 33, and the second clamping block 63 is clamped with the second clamping groove 51. When it is necessary to separate the two modules, only need to pull out the column body 61 upwards to release the locking of the second clamping block 63 on the U-shaped locking tongue 5, and then pull the connecting member 4, then the hook post 41 can be taken out, and thus the separation work of the two modules can be completed.

[0038] As an alternative embodiment, a first U-shaped connecting portion 11 is arranged on one side of the connecting member 4 away from the opening end, the rotating shaft of the transverse servo 1 is connected to the first U-shaped connecting portion 11, and a second U-shaped connecting portion 12 is connected to the transverse servo 1. When the snake-shaped robot needs to stand upright at the front end, by starting the transverse servo 1, the rotation of the transverse servo 1 drives the first U-shaped connecting portion 11 to rotate, and then drives the connecting member 4 and the housing 3 to deflect upwards through the first U-shaped connecting portion 11 to achieve the purpose of standing upright.

[0039] As an alternative embodiment, limiting blocks are arranged on the opposite sides of the two racks 71 to ensure that the limiting blocks can limit the rotation of the connecting member 4 with respect to the hook post 41, thereby restricting the left and right rotation of the robot during the upright process. When the two racks 71 drive the limiting blocks to move upwards, the rotation of the connecting member 4 is not interfered by the limiting blocks and the racks 71, thereby ensuring that the connecting member 4 can rotate around the hook post 41.

[0040] As an alternative embodiment, the hook column 41 is cylindrical, and the width of the opening of the U-shaped lock tongue 5 is larger than the diameter of the hook column 41; there is a certain gap between the opening of the U-shaped lock tongue 5 and the hook column 41. When an impact occurs during starting, braking or driving, the connection can move slightly through this gap to buffer part of the impact force and avoid rigid collision.

[0041] As an alternative embodiment, a mounting hole is provided on the top of the shell 3, a pin 8 is passed through the mounting hole, and a connecting hole 52 for the pin 8 to pass through is provided at the end of the U-shaped lock tongue 5 away from the U-shaped opening; the U-shaped lock tongue 5 can be quickly connected and separated from the shell 3 through the pin 8.

[0042] As an alternative embodiment, a through groove for the pin 8 to pass through is provided on the opposite side of the connecting member 4 and the top of the shell 3. The setting of the through groove can prevent the pin 8 from interfering with the rotation of the connecting member 4. During the rotation of the connecting member 4, the pin 8 passes through the through groove.

[0043] Working principle and usage of this embodiment: The present invention provides a connection structure. When assembling the connection structure, the pin 8 is first used to rotate and connect the U-shaped lock tongue 5 in the shell 3, and the opening of the U-shaped lock tongue 5 is directed to the outside of the shell 3. Then, the hook column 41 of the connecting member 4 is used to hit the U-shaped lock tongue 5, so that the U-shaped lock tongue 5 rotates around the pin 8. When the U-shaped lock tongue 5 rotates into the shell 3 and the hook column 41 is embedded in the two through grooves 31, the column 61 slides downward, and the column 61 drives the first clamping block 62 to be clamped into the first clamping groove 33, and at the same time drives the second clamping block 63 to be clamped into the second clamping groove 51, so as to complete the fixation of the U-shaped lock tongue 5, thereby realizing the fastening connection of the two modules.

[0044] When it is necessary to restrict the robot from rotating left and right during the upright process, the longitudinal servo 2 is started, so that the longitudinal servo 2 drives the two gears 72 to rotate, and the two gears 72 drive the rack 71 to move downward, so that the connecting member 4 is stuck between the two limit blocks, thereby restricting the robot from rotating left and right during the upright process; when the restriction needs to be released, the longitudinal servo 2 is started to reverse, as in the above principle, to drive the two racks 71 to move upward, so that the connecting member 4 is not restricted by the limit blocks, thereby releasing the restriction on the rotation of the connecting member 4.

[0045] To separate the two modules, the column 61 is simply pulled upward to release the locking of the second block 63 on the U-shaped locking tongue 5, and then the connecting member 4 is pulled to remove the hook column 41 to complete the disassembly operation.

[0046] The above embodiments are only specific implementation manners of the present invention patent, which are used to illustrate the technical solutions of the present invention patent, rather than limiting it. The protection scope of the present invention patent is not limited thereto. Although the present invention patent has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments, or can easily think of changes, or make equivalent replacements for some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions implemented by the present invention patent, and should all be covered within the protection scope of the present invention.

Claims

1. A connection structure, comprising a lateral servo (1) and a longitudinal servo (2), characterized in that, Further included are: A housing (3) with open side walls, and through slots (31) penetrating vertically are provided at both the top and bottom of the open side of the housing (3); A connecting member (4) having a hook post (41) arranged longitudinally, and the hook post (41) is embedded in the two through slots (31); the lateral servo (1) is connected to the connecting member (4), and the lateral servo (1) is used to drive the housing (3) and the connecting member (4) to stand upright; A U-shaped locking tongue (5) horizontally arranged in the housing (3), one end of the U-shaped locking tongue (5) away from the U-shaped opening is rotatably connected in the housing (3), and the hook post (41) is located within the U-shaped locking tongue (5); the U-shaped locking tongue (5) is used to lock the hook post (41) in the two through slots (31); A locking member (6) arranged in the housing (3), connected to the U-shaped locking tongue (5), and used to restrict the rotation of the U-shaped locking tongue (5); A limiting member (7) arranged on the housing (3), connected to the connecting member (4), and the longitudinal servo (2) is connected to the limiting member (7); the limiting member (7) is used to be clamped with the connecting member (4) under the drive of the longitudinal servo (2) to restrict the rotation of the housing (3) during the upright process.

2. The connection structure according to claim 1, wherein The connecting member (4) is U-shaped, the hook post (41) is arranged within the connecting member (4), the housing (3) is located within the U-shaped opening of the connecting member (4), and an installation slot (32) is provided at one end of the housing (3) away from the open side. The limiting member (7) includes: two racks (71) and two gears (72). The two racks (71) are longitudinally slidably connected in the installation slot (32) with their teeth facing each other, the two gears (72) are both arranged within the installation slot (32) between the two racks (71), the two gears (72) are meshed with each other respectively, and the rotating shaft of the longitudinal servo (2) is connected to one of the gears (72).

3. A connection structure according to claim 1, characterized in that, A first card slot (33) is provided at the bottom of the inner cavity of the housing (3), and a second card slot (51) is provided at one end of the U-shaped locking tongue (5) away from the U-shaped opening. The locking member (6) includes: a cylinder (61), a first clamping block (62), and a second clamping block (63). The cylinder (61) is longitudinally arranged in the housing (3), a part of the cylinder (61) penetrates through the top end of the housing (3) and is slidably connected to the housing (3). The first clamping block (62) and the second clamping block (63) are both arranged on the cylinder (61) within the housing (3). The first clamping block (62) is clamped with the first card slot (33), and the second clamping block (63) is clamped with the second card slot (51).

4. A connection structure according to claim 2, characterized in that A first U-shaped connection portion (11) is provided on one side of the connecting member (4) away from the open end, the rotating shaft of the lateral servo (1) is connected to the first U-shaped connection portion (11), and a second U-shaped connection portion (12) is connected to the lateral servo (1).

5. A connection structure as claimed in claim 1, wherein, The hook post (41) is cylindrical, and the width of the opening of the U-shaped locking tongue (5) is greater than the diameter of the hook post (41).

6. The connection structure according to claim 1, characterized in that The top of the housing (3) is provided with a mounting hole, and a pin (8) is inserted through the mounting hole. A connection hole (52) for the pin (8) to pass through is provided at one end of the U-shaped locking tongue (5) away from the U-shaped opening.

7. A connection structure according to claim 6, characterized in that, A through groove for the pin (8) to pass through is provided on the opposite side of the connecting member (4) and the top of the housing (3).

8. A multi-joint snake robot, characterized in that, It includes the connection structure according to any one of claims 1-7.

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