Modularized reconfigurable snakelike robot

Abstract

The utility model relates to the technical field of snakelike robots, in particular to a modular reconfigurable snakelike robot, which comprises a head box body, a control module, a power supply module and a power supply module, the fishtailing is located at the rear end of the snake-shaped robot; the swinging joints are located between the head box body and the swinging tail, the number of the swinging joints is multiple, and the swinging joints are connected in series front and back; wherein quick release structures are respectively formed between the head box body and the swinging joints, between the swinging joints and between the swinging tail and the swinging joints; the head box body and the swing joints, the swing tails and the swing joints and the two adjacent swing joints are detachably connected through the quick release structures respectively. According to the scheme of the modularized reconfigurable snakelike robot, the snakelike robot can have a reconfiguration function, so that a user can simply reconfigure the snakelike robot with a proper working length according to actual use requirements, and the modularized reconfigurable snakelike robot is more flexible and convenient to use.

Description

Technical Field

[0001] The utility model relates to the technical field of snake-like robots, in particular to a modular reconfigurable snake-like robot. Background Art

[0002] With the emergence of bionic mechanical science, bionic mechanical snakes that imitate biological snakes will gradually possess these characteristics. The bionic mechanical snake is a highly redundant mobile robot with more degrees of freedom than those required to determine the robot's spatial position and posture, which enables it to imitate the motion state of biological snakes and has broad application prospects in many fields. In the military field, it can be an important reconnaissance, surveillance and attack weapon on the battlefield in the future, and can perform certain valuable tasks at an acceptable cost: it can also be used for war risk estimation, target search, communication relay, monitoring of chemical, nuclear or biological weapons, reconnaissance of the internal conditions of buildings, etc., and can be applied to a variety of combat environments such as cities, jungles, deserts and even oceans. In the civilian field, compared with traditional robots that use wheels or "mechanical legs" as walking tools, the bionic mechanical snake can show stronger adaptability when detecting areas with soft soil because its body weight is distributed over a larger support area, and is suitable for exploring unknown areas. For example, it can conduct reconnaissance in radiation, dust and toxic environments, search for sources of toxic gases or chemicals; search for disaster survivors in the ruins after earthquakes, landslides and fires; detect and clear pipelines under narrow and dangerous conditions, etc. In terms of technology, when conducting exploration in outer space, the bionic robot snake is flexible and sturdy. It can perform maintenance work outside the aircraft, and can also move freely in the rugged terrain of other planets for exploration and sampling. At the same time, in the laboratory, it can also provide an experimental platform for people to study mathematics, mechanics, control theory, and artificial intelligence.

[0003] At present, there are many snake-like robots with different structures in the prior art. For example, the Chinese utility model patent with patent number CN215318686U discloses a snake-like robot joint unit and a snake-like robot. Although the snake-like robot with this structure can cope with work tasks in specific scenarios, its structural appearance is often pre-determined before leaving the factory and cannot be disassembled and reconstructed. However, snake-like robots with different working lengths are often required in different usage scenarios. At this time, it is difficult for users to reconstruct a snake-like robot with a working length that meets actual usage needs. In short, since the snake-like robot in the prior art lacks the reconstruction function, the working length of the snake-like robot cannot be flexibly adjusted according to actual usage needs, and it is still inconvenient to use. Utility Model Content

[0004] In order to solve the technical problems existing in the prior art to a certain extent as much as possible, the utility model provides a modular reconfigurable snake-like robot solution, which can enable the snake-like robot to have a reconstruction function, so that the user can easily reconstruct a snake-like robot with a suitable working length according to actual usage needs, which is more flexible and convenient to use.

[0005] The utility model provides a modular reconfigurable snake-like robot, comprising:

[0006] A head box, located at the front end of the snake robot and used to set up the controller;

[0007] The tail swing, located at the rear end of the snake robot;

[0008] A swing joint is located between the head box and the swing tail, and the number of the swing joints is several and the swing joints are connected in series front and back to each other;

[0009] Wherein, a quick-release structure is respectively formed between the head box body and the swing joint, between each swing joint, and between the swing tail and the swing joint;

[0010] The head box body and the swing joint, the swing tail and the swing joint, and two adjacent swing joints are detachably connected to each other through the quick-release structure.

[0011] According to the modular reconfigurable snake-like robot according to claim, the quick-disassembly structure comprises:

[0012] A T-shaped slot, integrally formed at the end of the head box or the tail or swing joint;

[0013] A T-shaped clamping block fixed to the end of the head box or the tail swing or swing joint;

[0014] Wherein, the T-shaped card slot and the T-shaped card block are mutually engaged between the head box body and the swing joint;

[0015] The T-shaped slot and the T-shaped block are mutually engaged between the tail and the swing joint;

[0016] The T-shaped clamping groove and the T-shaped clamping block are clamped with each other between two adjacent swing joints.

[0017] According to the modular reconfigurable snake-like robot according to claim, the T-shaped block is interference fit in the T-shaped slot.

[0018] According to the modular reconfigurable snake-like robot of claim 1, a plurality of the swing joints respectively comprise dual-axis servos, wherein a portion of the swing joints are respectively provided with unidirectional joint connectors;

[0019] The front and rear sides of the one-way joint connecting member are respectively integrally formed with a first U-shaped seat and a fixed docking plate;

[0020] The outer shell of one of the two adjacent dual-axis steering gears is detachably connected to the fixed docking plate through the quick-release structure, and the metal steering discs on opposite sides of the other dual-axis steering gear are vertically clamped in the first U-shaped seat.

[0021] The modular reconfigurable snake-like robot according to claim further comprises a bidirectional joint connection;

[0022] The front and rear sides of the bidirectional joint connection member are respectively integrally formed with a second C-shaped seat and the first C-shaped seat;

[0023] In at least one group of two adjacent dual-axis steering gears, the metal steering discs on opposite sides of one dual-axis steering gear are vertically clamped in the first C-shaped seat, and the metal steering discs on opposite sides of the other dual-axis steering gear are horizontally clamped in the second C-shaped seat.

[0024] According to the modular reconfigurable snake-like robot according to the claim, a curved portion is formed at the end portion of the tail.

[0025] According to the modular reconfigurable snake-like robot according to the claim, a triangular end is formed at the front end of the head box.

[0026] According to the modular reconfigurable snake-like robot according to the claim, a plurality of T-shaped card blocks are provided on the top of the head box body, and the T-shaped card blocks on the top of the head box body are used for detachably connecting a controller or a power supply or a sensor.

[0027] According to the modular reconfigurable snake-like robot according to the claim, the interior of the head box is suitable for integrating a controller or a power supply or a sensor.

[0028] According to the modular reconfigurable snake-like robot according to the claim, the T-shaped card block is made of an elastic material, and when the T-shaped card block is sleeved in the inner cavity of the T-shaped card slot, the T-shaped card block made of the elastic material is elastically squeezed against the inner wall of the T-shaped card slot.

[0029] A modular reconfigurable snake-like robot of the utility model arranges the swing joints in the snake-like robot into a plurality of swing joints, and the swing joints are connected in series front and back to each other, and quick-release structures are respectively formed between the head box body and the swing joint, between the swing joints, and between the tail and the swing joint. When the snake-like robot is installed, the head box body and the swing joint, the tail and the swing joint, and two adjacent swing joints are respectively detachably connected to each other through the quick-release structures. Due to this structure, a suitable number of swing joints can be selected according to actual use needs, and then two adjacent swing joints can be easily connected to each other through the quick-release structure, so that each swing joint after being connected to each other can reach a suitable working length, and then one of the swing joints can be easily connected to the head box body of the snake-like robot by using the quick-release structure, and the tail of the snake-like robot can also be easily connected to one of the swing joints by using the quick-release structure. The construction process of the entire snake-like robot is simple. On the contrary, as long as the quick-release structures are disassembled, the head box, tail and various swing joints can be easily separated from each other. Later, the quick-release structures can be used to reconnect the head box, tail and various swing joints of the snake robot according to different actual usage needs, thereby easily realizing the modular reconstruction of the snake robot and giving the snake robot a reconstruction function. Therefore, users can easily reconstruct a snake robot with a suitable working length according to actual usage needs, which is more flexible and convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is the overall structure diagram of the utility model;

[0032] Figure 2 It is a partial structural diagram of the utility model;

[0033] Figure 3 It is a partial structural diagram of the utility model;

[0034] Figure 4 It is a partial structural diagram of the utility model;

[0035] Figure 5 It is a partial structural diagram of the utility model;

[0036] Figure 6 It is the overall structure diagram of the utility model;

[0037] Figure 7 It is a partial structural diagram of the utility model;

[0038] Figure 8 It is a partial structural diagram of the utility model;

[0039] Fig. 9 It is a structural schematic diagram of the utility model with a controller or a power supply or a sensor added.

[0040] Reference numerals:

[0041] 1. Head box, 2. Tail swing, 3. Swing joint, 4. T-shaped slot, 5. T-shaped block, 6. Dual-axis servo, 7. One-way joint connector, 8. First C-shaped seat, 9. Fixed docking plate, 10. Two-way joint connector, 11. Second C-shaped seat, 12. Bending part. DETAILED DESCRIPTION

[0042] The embodiments of the utility model are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the utility model, and cannot be understood as limitations on the utility model. In the description of the utility model, it is necessary to understand that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limitations on the utility model.

[0043] like Figures 1 to 8 As shown, a modular reconfigurable snake-like robot of this embodiment includes a head box body 1, a swinging tail 2, and a plurality of swinging joints 3. The head box body 1 is located at the front end of the snake-like robot and is used to install the controller of the snake-like robot. The swinging tail 2 is located at the rear end of the snake-like robot. Each swinging joint 3 is located between the head box body 1 and the swinging tail 2 and is connected in series with each other. It also includes a plurality of quick-release structures, each of which is respectively formed between the head box body 1 and the swinging joint 3, between the swinging tail 2 and the swinging joint 3, and between each swinging joint 3. When installing, the head box body 1 and the swinging joint 3, the swinging tail 2 and the swinging joint 3, and two adjacent swinging joints 3 are detachably connected to each other through the quick-release structures.

[0044] It can be understood that in this embodiment, the swing joints 3 in the snake-like robot are arranged to be multiple and each swing joint 3 is connected in series front and back to each other, and quick-release structures are respectively formed between the head box body 1 and the swing joint 3, between each swing joint 3, and between the tail 2 and the swing joint 3. When installing the snake-like robot, the head box body 1 and the swing joint 3, the tail 2 and the swing joint 3, and two adjacent swing joints 3 are respectively detachably connected to each other through the quick-release structure. Due to this structure, a suitable number of swing joints 3 can be selected according to actual usage needs, and then two adjacent swing joints 3 can be easily connected to each other through the quick-release structure, so that each swing joint 3 after being connected to each other can reach a suitable working length, and then one of the swing joints 3 can be easily connected to the head box body 1 of the snake-like robot by using the quick-release structure, and the tail 2 of the snake-like robot can also be easily connected to one of the swing joints 3 by using the quick-release structure. The construction process of the entire snake-like robot is simple. On the contrary, the head box 1, the tail 2 and the swing joints 3 can be easily separated from each other by simply disassembling the quick-release structures. The head box 1, the tail 2 and the swing joints 3 of the snake-like robot can then be reconnected using the quick-release structures according to different actual usage needs, thereby easily realizing modular reconstruction of the snake-like robot and providing the snake-like robot with a reconstruction function. Therefore, the user can easily reconstruct a snake-like robot of a suitable working length according to actual usage needs, making it more flexible and convenient to use.

[0045] The structure of the quick-release structure includes a T-shaped slot 4 and a T-shaped block 5 that cooperate with each other, and an opening is formed on one side of the T-shaped slot 4 to facilitate the entry of the T-shaped block 5, so that the T-shaped block 5 can be matched and connected in the T-shaped slot 4. This structure can facilitate the rapid connection and rapid disassembly of various parts of the snake-like robot, and the reconstruction is simpler and more convenient. The T-shaped slot 4 and the T-shaped block 5 can be respectively arranged at the end of the head box body 1 or the tail 2 or the swing joint 3, and in this embodiment, optionally, a T-shaped The card block 5 is fixed to the front side of the tail 2, and the swing joint 3 connected to the head box body 1 and the tail 2 is provided with a T-shaped card slot, so the T-shaped card slot 4 and the T-shaped card block 5 are mutually engaged between the head box body 1 and the swing joint 3, and the T-shaped card slot 4 and the T-shaped card block 5 are mutually engaged between the tail 2 and the swing joint 3, and most of the swing joints 3 are mutually detachably connected through the cooperation of the T-shaped card slot 4 and the T-shaped card block 5, so the T-shaped card slot 4 and the T-shaped card block 5 are mutually engaged between two adjacent swing joints 3. Through the above structure, the connection of various parts of the snake-like robot can be easily realized, so that the snake-like robot has a reconstruction function, and a snake-like robot with a suitable working length can be conveniently reconstructed, which is more flexible and convenient to use. And the T-shaped card block 5 is interference-fitted in the T-shaped card slot 4, so that the T-shaped card block 5 is not easy to be separated from the T-shaped card slot 4, thereby ensuring the stable connection of various parts of the snake-like robot.

[0046] In the present embodiment, the number of the swing joints 3 is five, and each of the swing joints 3 includes a biaxial steering gear 6. Among the biaxial steering gears 6 of each swing joint of the snake-like robot, the front ends of the second and third biaxial steering gears 6 are respectively provided with a one-way joint connecting piece 7, and the front and rear sides of the one-way joint connecting piece 7 are respectively integrally formed with a first U-shaped seat 8 and a fixed docking plate 9. The front end of the shell of the first biaxial steering gear 6 is integrally formed with a T-shaped slot 4, and the rear side of the head box body 1 is fixed with a T-shaped block 5, so the front side of the first biaxial steering gear 6 and the rear side of the head box body 1 can be quickly connected to each other, and the rear end of the first biaxial steering gear 6 is a power output end, and the power output end of the biaxial steering gear 6 is provided with a metal steering disc on both sides (the biaxial steering gear belongs to the prior art, so the biaxial steering gear and The specific structure of its metal steering disc), the metal steering discs on the opposite sides of the first double-axis steering gear 6 are vertically clamped in the first U-shaped seat 8, and the front side of the shell of the second double-axis steering gear 6 and the fixed docking plate 9 are detachably connected to each other through a quick-release structure (i.e., the mutual clamping structure of the T-shaped clamping block 5 and the T-shaped clamping groove 4), so that when the first double-axis steering gear 6 rotates, the first swing joint and the second swing joint of the snake-like robot can be swung left and right relative to each other. According to the above connection structure, the second swing joint and the third swing joint of the snake-like robot can also be swung left and right relative to each other, and the fourth swing joint and the fifth swing joint of the snake-like robot can also be swung left and right relative to each other, and the tail 2 can also produce a left and right swinging action to assist in driving the movement of the snake-like robot.

[0047] In this embodiment, a bidirectional joint connection member 10 is connected between the third and fourth biaxial servos 6 of the snake-like robot, and a second C-shaped seat 11 and a first C-shaped seat 8 are formed integrally on the front and rear sides of the bidirectional joint connection member 10, respectively. The metal steering discs on the two sides of the front end of the fourth biaxial servo 6 are vertically clamped in the first C-shaped seat 8, and the metal steering discs on the two sides of the rear end of the third biaxial servo 6 are horizontally clamped in the second C-shaped seat 11. This structure can realize the left-right relative swing of the fourth swing joint of the snake-like robot and the bidirectional joint connection member 10, and can also realize the up-and-down relative swing of the third swing joint of the snake-like robot and the bidirectional joint connection member 10, so that the snake-like robot can not only swing horizontally, but also swing up and down, thereby improving the freedom of movement of the snake-like robot, making it more active and having a wider range of activities.

[0048] Preferably, a curved portion 12 is formed at the end of the tail 2. The curved portion 12 can help drive the snake-like robot to move forward more powerfully as the tail 2 swings.

[0049] Preferably, a triangular end is formed at the front end of the head box body 1, so that the resistance of the snake-like robot during its forward movement can be reduced and, to a certain extent, it will not be easily blocked by obstacles in front.

[0050] Preferably, combined Figure 3 and Fig. 9 As shown, a plurality of T-shaped card blocks 5 are arranged on the top of the head box body 1. The T-shaped card blocks 5 on the top of the head box body 1 are used to detachably connect the controller or power supply or sensor. That is to say, as long as a T-shaped card slot is added at the bottom of the controller or power supply or sensor, it can be easily and conveniently connected to the head box body 1 of the snake-like robot, simplifying the installation process when adding related devices to the snake-like robot. The controller or power supply or sensor installed on the top of the head box body 1 can be connected to the dual-axis servos of each swing joint of the snake-like robot by wire or wireless signal. This type of structure can be realized by those skilled in the art without creative labor, so it will not be described in detail here.

[0051] Optionally, unlike the above structure, the controller or power supply or sensor can also be integrated inside the head box 1 at the front end of the snake-like robot to make the appearance structure of the snake-like robot more streamlined and more reasonable, ensuring that the snake-like robot can move forward smoothly in the relatively narrow space above.

[0052] Optionally, the T-shaped block 5 is made of elastic material, such as silicone material. When the T-shaped block 5 is sleeved in the inner cavity of the T-shaped slot 4, the elastic T-shaped block 5 is elastically squeezed against the inner wall of the T-shaped slot 4. This structure makes it easier to install and disassemble the various parts of the snake-like robot, and the connection is also stable.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A modular reconfigurable snake-like robot, characterized in that: include: A head box (1), located at the front end of the snake-like robot and used to set the controller; Tail (2), located at the rear end of the snake-like robot; A swing joint (3) is located between the head box body (1) and the swing tail (2), the number of the swing joints (3) is multiple and the swing joints (3) are connected in series front and back to each other; Wherein, quick-release structures are respectively formed between the head box body (1) and the swing joint (3), between each swing joint (3), and between the swing tail (2) and the swing joint (3); The head box body (1) and the swing joint (3), the swing tail (2) and the swing joint (3), and two adjacent swing joints (3) are detachably connected to each other via the quick-release structure.

2. The modular reconfigurable snake-like robot according to claim 1, characterized in that: The quick-release structure comprises: A T-shaped slot (4) is integrally formed at the end of the head box body (1) or the swing tail (2) or the swing joint (3); A T-shaped clamping block (5) is fixed to the end of the head box body (1) or the swing tail (2) or the swing joint (3); Wherein, the T-shaped slot (4) and the T-shaped block (5) are mutually engaged between the head box body (1) and the swing joint (3); The T-shaped clamping groove (4) and the T-shaped clamping block (5) are mutually clamped between the swing tail (2) and the swing joint (3); The T-shaped clamping groove (4) and the T-shaped clamping block (5) are clamped to each other between two adjacent swing joints (3).

3. The modular reconfigurable snake-like robot according to claim 2, characterized in that: The T-shaped clamping block (5) is interference-fitted in the T-shaped clamping groove (4).

4. The modular reconfigurable snake-like robot according to claim 1, characterized in that: A plurality of the swing joints (3) respectively include a dual-axis steering gear (6), wherein a portion of the swing joints (3) are respectively provided with a one-way joint connecting piece (7); The front and rear sides of the one-way joint connecting member (7) are respectively integrally formed with a first U-shaped seat (8) and a fixed docking plate (9); The outer shell of one of the two adjacent dual-axis steering gears (6) is detachably connected to the fixed docking plate (9) via the quick-release structure, and the metal steering discs on opposite sides of the other dual-axis steering gear are vertically clamped in the first U-shaped seat (8).

5. The modular reconfigurable snake-like robot according to claim 4, characterized in that: Also includes a bidirectional joint connection member (10); The front and rear sides of the bidirectional joint connection member (10) are respectively integrally formed with a second C-shaped seat (11) and the first C-shaped seat (8); In at least one group of two adjacent dual-axis steering gears (6), the metal steering discs on opposite sides of one dual-axis steering gear are vertically clamped in the first C-shaped seat (8), and the metal steering discs on opposite sides of the other dual-axis steering gear are horizontally clamped in the second C-shaped seat (11).

6. The modular reconfigurable snake-like robot according to claim 1, characterized in that: A curved portion (12) is formed at the end portion of the swing tail (2).

7. The modular reconfigurable snake-like robot according to claim 1, characterized in that: The front end of the head box body (1) is formed with a triangular end.

8. The modular reconfigurable snake-like robot according to claim 2, characterized in that: A plurality of T-shaped card blocks (5) are arranged on the top of the head box body (1), and the T-shaped card blocks (5) on the top of the head box body (1) are used for detachably connecting a controller or a power supply or a sensor.

9. The modular reconfigurable snake-like robot according to claim 1, characterized in that: The interior of the head box body (1) is suitable for integrating a controller, a power supply or a sensor.

10. The modular reconfigurable snake-like robot according to claim 2, characterized in that: The T-shaped card block (5) is made of elastic material. When the T-shaped card block (5) is sleeved in the inner cavity of the T-shaped card slot (4), the T-shaped card block (5) made of elastic material is elastically pressed against the inner wall of the T-shaped card slot (4).

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