Bionic snakelike driving structure

Abstract

The utility model discloses a bionic snakelike driving structure, and relates to the technical field of robots, the bionic snakelike driving structure comprises a snakelike robot, the snakelike robot comprises a snakelike head, a snakelike body and a snakelike tail, the snakelike body comprises a plurality of driving mechanisms connected end to end, and each driving mechanism comprises a joint assembly, a connecting assembly and Mecanum wheels arranged at the two ends of the joint assembly; the joint assembly comprises a second connecting seat, a first connecting seat, a third connecting seat, a first steering engine and a second steering engine, third hinge plates are symmetrically and fixedly mounted at one end of the second connecting seat in the longitudinal direction, and fourth hinge plates are symmetrically and fixedly mounted at one end of the third connecting seat in the vertical direction; a first hinge plate and a second hinge plate are symmetrically and fixedly mounted at the two ends of the first connecting base correspondingly. According to the bionic snakelike driving structure, angle adjustment between the joint assemblies can be achieved, so that the overall shape and the moving mode of the robot are changed, and the robot can adapt to different road conditions and complex environments through the multi-mode driving system.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a bionic snake-shaped driving structure. Background Art

[0002] Snake robots, as highly flexible bionic robots, have been increasingly used in daily life in recent years. With their unique morphology and excellent mobility, they have shown great potential in many fields.

[0003] A modular snake-like robot is disclosed in the Chinese utility model patent application number: CN202322207591.7, the structure of which includes several motion modules, the first connection seat and the second connection seat are respectively installed on both sides of the motion module, the first connection seat and the second connection seat are hinged by a connecting shaft; the motion module is provided with a bearing sleeve, the bearing sleeve is equipped with a rotating shaft, and the rotating shaft is fixedly assembled with the first connection seat. This modular snake-like robot has a single movement mode, such as straight forward or simple turning, lacks diversified movement strategies, and is difficult to cope with complex and changeable scenes. Moreover, due to its structure and driving mode, traditional snake-like robots often seem to be unable to cope with rugged, narrow or obstacle-filled road conditions and find it difficult to effectively complete tasks.

[0004] Therefore, it is necessary to propose a bionic snake-like driving structure to solve the above problems. Utility Model Content

[0005] Technical problem to be solved: The purpose of the utility model is to provide a bionic snake-like driving structure to solve the problem that the existing modular snake-like robots proposed in the above-mentioned background technology have a single movement mode, such as moving in a straight line or simple turning, lack of diversified movement strategies, and are difficult to cope with complex and changing scenes. In addition, due to the limitations of their structure and driving mode, traditional snake-like robots often seem to be unable to cope with rugged, narrow or obstacle-filled road conditions and find it difficult to effectively complete the task.

[0006] Technical solution: To achieve the above purpose, the utility model is implemented by the following technical solution: a bionic snake-like driving structure, including a snake-like robot, the snake-like robot including a snake head, a snake body and a snake tail, the snake body including a plurality of driving mechanisms connected head to tail, the driving mechanism including a joint assembly, a connecting assembly and Mecanum wheels arranged at both ends of the joint assembly; the joint assembly includes a second connecting seat, a first connecting seat, a third connecting seat, a first steering gear and a second steering gear, one end of the second connecting seat is symmetrically fixedly installed with a third hinged plate along the longitudinal direction, and one end of the third connecting seat is symmetrically fixedly installed with a fourth hinged plate along the vertical direction. Articulated plate; the first hinge plate and the second hinge plate are symmetrically fixedly installed at both ends of the first connecting seat, the two second hinge plates are arranged longitudinally and are hinged to the two third hinge plates through connecting components, and the two first hinge plates are arranged vertically and are hinged to the two fourth hinge plates through connecting components; the first servo and the second servo are fixedly installed at both ends of the first connecting seat, and the first servo drives the third connecting seat to rotate around the hinge point of the first hinge plate and the fourth hinge plate through the connecting component, and the second servo drives the second connecting seat to rotate around the hinge point of the second hinge plate and the third hinge plate through the connecting component.

[0007] Preferably, a power supply is installed on the snake's tail, a wireless controller and an infrared camera are provided on the snake's head, the driving device, the wireless controller and the infrared camera are all electrically connected to the power supply, and the driving device and the infrared camera are both control-connected to the wireless controller.

[0008] Preferably, both ends of the axle of the Mecanum wheel are rotatably mounted on the snake head and the second connecting seat, the second connecting seat and the third connecting seat, and the third connecting seat and the snake tail on the adjacent sides through bearings, respectively; a driving motor is installed in the snake tail and the second connecting seat, and one end of the axle of the Mecanum wheel is fixedly connected to the output shaft of the adjacent driving motor.

[0009] Preferably, the two second hinge plates are located between the two third hinge plates, the two fourth hinge plates are located between the two first hinge plates, and the two first hinge plates have mounting grooves on their outer sides away from one end of the first connecting seat, and the two third hinge plates have mounting grooves on their outer sides away from one end of the third connecting seat.

[0010] Preferably, a through hole and a threaded hole are provided on the side wall of the mounting groove facing the corresponding steering gear, the through hole is concentrically arranged with the mounting groove, there are a plurality of threaded holes, and the plurality of threaded holes are evenly distributed along the circumference on the outside of the through hole.

[0011] Preferably, the first servo gear is fixedly installed between the two fourth hinged plates, and the output shaft of the first servo gear is coaxial with the corresponding mounting groove, one of the fourth hinged plates is provided with a mounting hole concentrically arranged with the corresponding mounting groove, and the other fourth hinged plate is provided with a circular blind hole, a limit tube is rotatably installed in the mounting hole through a bearing, a limit hole is provided at the end of the output shaft of the first servo gear, the second servo gear is fixedly installed between the two second hinged plates, and the installation method of the second servo gear between the two second hinged plates is the same as the installation method of the first servo gear between the two fourth hinged plates.

[0012] Preferably, the connecting assembly includes a driving group and a connecting group, the driving group is arranged in a mounting groove close to the limiting tube, and the connecting group is arranged in a mounting groove close to the circular blind hole.

[0013] Preferably, the driving group includes a fixed plate I and a limiting rod, the limiting rod is slidably mounted in the limiting tube, and one end of the limiting rod extends into the limiting hole, and the other end is fixedly connected to the fixed plate I. A plurality of through holes for installing screws I are opened along the circumference of the fixed plate I outside the limiting rod, and the through holes correspond one-to-one to the threaded holes. One end of the screw I passes through the through hole and is threadedly connected to the corresponding threaded hole.

[0014] Preferably, the connection group includes a fixed plate II and a rotating shaft, the rotating shaft is fixedly mounted on the side of the fixed plate II facing the circular blind hole, the rotating shaft is adapted to the circular blind hole, and a plurality of through holes for installing screws II are evenly opened along the circumference on the fixed plate II outside the rotating shaft, the through holes correspond one to one with the threaded holes, and one end of the screw II passes through the through hole and is threadedly connected to the corresponding threaded hole.

[0015] Preferably, a sealing sheet is provided in the installation groove on the outer side of the connecting component, and the sealing sheet is made of rubber material.

[0016] Beneficial effects: Compared with the prior art, the utility model provides a bionic snake-like driving structure with a unique structure. On the one hand, Mecanum wheels are provided at both ends of each joint assembly and driven by a driving motor, thereby providing the snake-like robot with omnidirectional mobility. Through the control of the first servo, the angle adjustment between adjacent joint assemblies in the horizontal direction can be achieved, thereby changing the overall shape and movement mode of the robot, so that the robot can achieve a variety of movement modes such as straight-line forward movement, lateral movement, and rotation on the spot, thereby making the robot's movement mode more diversified; on the other hand, through the control of the second servo, the angle adjustment between adjacent joint assemblies in the vertical direction can be achieved. This ability enables the robot to easily cross various obstacles, such as steps, gullies, etc., and has excellent obstacle crossing performance; in addition, the robot's joint assembly is composed of a second connecting seat, a first connecting seat, a third connecting seat and a connecting assembly. This modular design allows the robot to increase or decrease joint assemblies as needed, and achieves rapid disassembly and assembly and flexible configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic diagram of the structure of the utility model;

[0018] Figure 2 It is a three-dimensional front view schematic diagram of the joint assembly of the utility model;

[0019] Figure 3 It is a three-dimensional side view schematic diagram of the joint assembly of the utility model;

[0020] Figure 4 A three-dimensional schematic diagram of the connecting assembly of the utility model;

[0021] Figure 5 It is a three-dimensional side view schematic diagram of the connection assembly of the utility model;

[0022] Figure 6 For this utility model Figure 4 A magnified schematic diagram of the structure of the middle A area;

[0023] Figure 7 For this utility model Figure 5 A magnified schematic diagram of the structure of region B in the middle.

[0024] In the figure: 1. snake head; 2. joint assembly; 3. Mecanum wheel; 4. snake tail; 5. first connecting seat; 6. first hinge plate; 7. second hinge plate; 8. second connecting seat; 9. third hinge plate; 10. third connecting seat; 11. fourth hinge plate; 12. first servo; 13. second servo; 14. drive motor; 15. mounting groove; 16. through hole; 17. threaded hole; 18. circular blind hole; 19. limiting tube; 20. fixing plate I; 21. screw I; 22. sealing sheet; 23. rotating shaft; 24. limiting rod; 25. fixing plate II; 26. screw II. DETAILED DESCRIPTION

[0025] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Embodiment 1: This embodiment 1 provides a bionic snake-like driving structure, which is directly improved on the existing modular snake-like robot and has a unique structure. Please refer to Figure 1-7 As shown, the snake-like robot includes a snake head 1, a snake body and a snake tail 4, the snake body includes a plurality of drive mechanisms connected head to tail, the drive mechanisms include a joint assembly 2, a connection assembly and Mecanum wheels 3 arranged at both ends of the joint assembly 2; a power supply is installed on the snake tail 4, a wireless controller and an infrared camera are arranged on the snake head 1, the drive device, the wireless controller and the infrared camera are all electrically connected to the power supply, and the drive device and the infrared camera are all controlled and connected to the wireless controller, and the power supply supplies power to the drive motor 14 to drive the Mecanum wheel 3 to rotate.

[0027] The joint assembly 2 includes a second connecting seat 8, a first connecting seat 5, a third connecting seat 10, a first steering gear 12 and a second steering gear 13. A third hinge plate 9 is symmetrically fixedly installed at one end of the second connecting seat 8 along the longitudinal direction, and a fourth hinge plate 11 is symmetrically fixedly installed at one end of the third connecting seat 10 along the vertical direction; a first hinge plate 6 and a second hinge plate 7 are symmetrically fixedly installed at both ends of the first connecting seat 5, respectively. The two second hinge plates 7 are arranged along the longitudinal direction and are respectively hinged to the two third hinge plates 9 through the connecting assembly, and the two first hinge plates 6 are arranged vertically and are respectively hinged to the two fourth hinge plates 11 through the connecting assembly; the first steering gear 12 and the second steering gear 13 are respectively fixedly installed at both ends of the first connecting seat 5, and the first steering gear 12 drives the third connecting seat 10 to rotate around the hinge point of the first hinge plate 6 and the fourth hinge plate 11 through the connecting assembly, and the second steering gear 13 drives the second connecting seat 8 to rotate around the hinge point of the second hinge plate 7 and the third hinge plate 9 through the connecting assembly, and the first steering gear 12 and the second steering gear 13 are both electrically connected to the power supply.

[0028] There are many ways to install the Mecanum wheel 3, for example: the two ends of the wheel axle of the Mecanum wheel 3 are respectively rotatably installed on the snake head 1 and the second connecting seat 8, the second connecting seat 8 and the third connecting seat 10, and the third connecting seat 10 and the snake tail 4 on the adjacent sides through bearings, the snake tail 4 and the second connecting seat 8 are both equipped with a drive motor 14, and one end of the wheel axle of the Mecanum wheel 3 is fixedly connected to the output shaft of the drive motor 14; there are many ways to articulate the first hinge plate 6 and the fourth hinge plate 11 and the second hinge plate 7 and the third hinge plate 9, for example: the two second hinge plates 14 are fixedly connected to the second hinge plate 11 and the second hinge plate 11. The plates 7 are located between the two third hinge plates 9, the two fourth hinge plates 11 are located between the two first hinge plates 6, and the outer surfaces of the two first hinge plates 6 away from the first connecting seat 5 are provided with mounting grooves 15, and the outer surfaces of the two third hinge plates 9 away from the third connecting seat 10 are also provided with mounting grooves 15; a through hole 16 and a threaded hole 17 are provided on the side wall of the mounting groove 15 facing the corresponding steering gear, the through hole 16 is concentrically arranged with the mounting groove 15, there are multiple threaded holes 17, and the multiple threaded holes 17 are evenly distributed on the outside of the through hole 16 along the circumference.

[0029] The first steering gear 12 is fixedly installed between the two fourth hinged plates 11, and the output shaft of the first steering gear 12 is coaxial with the corresponding mounting groove 15, one of the fourth hinged plates 11 is provided with a mounting hole concentrically arranged with the corresponding mounting groove 15, and the other fourth hinged plate 11 is provided with a circular blind hole 18, in which a limit tube 19 is rotatably installed through a bearing in the mounting hole, and a limit hole is provided at the end of the output shaft of the first steering gear 12; the connecting assembly includes a driving group and a connecting group, and the driving group is arranged near the mounting of the limit tube 19 The connecting group is arranged in the mounting groove 15 near the circular blind hole 18; the driving group includes a fixing plate Ⅰ20 and a limiting rod 24, the limiting rod 24 is slidably sleeved in the limiting tube 19, and one end of the limiting rod 24 extends into the limiting hole, and the other end is fixedly connected to the fixing plate Ⅰ20, and a plurality of through holes for installing screws Ⅰ21 are opened along the circumference on the fixing plate Ⅰ20 outside the limiting rod 24, and the through holes correspond to the threaded holes 17 one by one, and one end of the screw Ⅰ21 passes through the through hole and is threadedly connected to the corresponding threaded hole 17.

[0030] The connection group includes a fixed plate II 25 and a rotating shaft 23. The rotating shaft 23 is fixedly installed on the side of the fixed plate II 25 facing the circular blind hole 18. The rotating shaft 23 is adapted to the circular blind hole 18. A plurality of through holes for installing screws II 26 are evenly opened along the circumference on the fixed plate II 25 outside the rotating shaft 23. The through holes correspond to the threaded holes 17 one by one. One end of the screw II 26 passes through the through hole and is threadedly connected to the corresponding threaded hole 17. The second steering gear 13 is fixedly installed between the two second hinged plates 7, and the installation method of the second steering gear 13 between the two second hinged plates 7 is the same as the installation method of the first steering gear 12 between the two fourth hinged plates 11.

[0031] Working principle: When we assemble the snake-like robot, first install the power supply in the snake tail 4, install multiple drive motors 14 in the second connection seat 8 and the snake tail 4 respectively, install the first steering gear 12 between the two fourth hinge plates 11, and install the second steering gear 13 between the two second hinge plates 7, and then insert the two second hinge plates 7 between the two third hinge plates 9, insert the two fourth hinge plates 11 between the two first hinge plates 6, and make the circular blind holes 18 on the fourth hinge plates 11 and the first hinge plates 6 interlock. The mounting groove 15 on the plate 6 is concentric, and the circular blind hole 18 on the second hinged plate 7 is concentric with the mounting groove 15 on the third hinged plate 9, and then the driving group and the connecting group are respectively installed in the corresponding mounting grooves 15, and the screws are tightened. At this time, one end of the limiting rod 24 passes through the limiting tube 19 and extends into the limiting hole, and the rotating shaft 23 is inserted into the circular blind hole 18, so that the first connecting seat 5 is respectively hinged with the second connecting seat 8 and the third connecting seat 10, and when the servo is actuated, the corresponding connecting seats can be driven to rotate respectively.

[0032] After the multiple joint components 2 are assembled, the two ends of the axle of the Mecanum wheel 3 are rotated and fitted between the adjacent snake head 1 and the second connecting seat 8, the second connecting seat 8 and the third connecting seat 10, and the third connecting seat 10 and the snake tail 4, and the output shaft of the drive motor 14 is fixedly connected to the axle of the Mecanum wheel 3 through a coupling, thereby completing the installation of the snake-like robot; when driving the snake-like robot to move, the operator can remotely send a control signal to the robot through a wireless remote controller, and the wireless controller can control the first steering gear 12, the second steering gear 13 and each drive motor 1 after receiving the control signal. 4, the infrared camera on the snake head 1 can transmit the road conditions to the wireless remote control in real time during the movement of the robot, so that the operator can remotely control the robot. In addition, the first steering gear 12 can change the horizontal angle between two adjacent joint components 2 of the snake-like robot, and then drive the Mecanum wheel 3 at the corresponding position to move, so that the movement mode of the snake-like robot is more diversified; the second steering gear 13 can change the vertical angle between two adjacent joint components 2 of the snake-like robot, so that the snake-like robot has excellent obstacle crossing ability and can adapt to different road conditions.

[0033] Embodiment 2: Embodiment 2 is different from Embodiment 1 in that Figure 1-4 As shown, a sealing sheet 22 is provided in the installation groove 15 outside the connecting component. The sealing sheet 22 is made of rubber material and is used to seal the installation groove 15. It is not only waterproof and dustproof, but also makes the snake-like robot more beautiful.

[0034] The electrical devices described in this article are all existing devices. In addition, although the embodiments of the utility model have been shown and described, it can be understood by ordinary technicians in this field that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the utility model. The scope of the utility model is defined by the attached claims and their equivalents.

Claims

1. A bionic snake-like driving structure, comprising a snake-like robot, wherein the snake-like robot comprises a snake head (1), a snake body and a snake tail (4), wherein: The snake body comprises a plurality of drive mechanisms connected head to tail, the drive mechanisms comprising a joint assembly (2), a connection assembly and Mecanum wheels (3) arranged at both ends of the joint assembly (2); the joint assembly (2) comprises a second connection seat (8), a first connection seat (5), a third connection seat (10), a first steering gear (12) and a second steering gear (13); a third hinge plate (9) is symmetrically fixedly mounted on one end of the second connection seat (8) along the longitudinal direction, and a fourth hinge plate (11) is symmetrically fixedly mounted on one end of the third connection seat (10) along the vertical direction; a first hinge plate (6) and a second hinge plate (7) are symmetrically fixedly mounted on both ends of the first connection seat (5) ), the two second hinged plates (7) are arranged longitudinally and are respectively hinged to the two third hinged plates (9) through the connecting components, and the two first hinged plates (6) are arranged vertically and are respectively hinged to the two fourth hinged plates (11) through the connecting components; the first steering gear (12) and the second steering gear (13) are respectively fixedly mounted at the two ends of the first connecting seat (5), and the first steering gear (12) drives the third connecting seat (10) to rotate around the hinge point between the first hinged plate (6) and the fourth hinged plate (11) through the connecting component, and the second steering gear (13) drives the second connecting seat (8) to rotate around the hinge point between the second hinged plate (7) and the third hinged plate (9) through the connecting component.

2. The bionic snake-shaped driving structure according to claim 1, characterized in that: The snake tail (4) is provided with a power supply, the snake head (1) is provided with a wireless controller and an infrared camera, the driving device, the wireless controller and the infrared camera are all electrically connected to the power supply, and the driving device and the infrared camera are both control-connected to the wireless controller.

3. The bionic snake-shaped driving structure according to claim 1, characterized in that: The two ends of the axle of the Mecanum wheel (3) are rotatably mounted on the snake head (1) and the second connecting seat (8), the second connecting seat (8) and the third connecting seat (10), and the third connecting seat (10) and the snake tail (4) on the adjacent sides through bearings, respectively; the snake tail (4) and the second connecting seat (8) are both equipped with a driving motor (14), and one end of the axle of the Mecanum wheel (3) is fixedly connected to the output shaft of the adjacent driving motor (14).

4. The bionic snake-shaped driving structure according to claim 1, characterized in that: The two second hinged plates (7) are located between the two third hinged plates (9), the two fourth hinged plates (11) are located between the two first hinged plates (6), and the outer surfaces of the two first hinged plates (6) at one end away from the first connecting seat (5) are provided with mounting grooves (15), and the outer surfaces of the two third hinged plates (9) at one end away from the third connecting seat (10) are also provided with mounting grooves (15).

5. The bionic snake-shaped driving structure according to claim 4, characterized in that: A through hole (16) and a threaded hole (17) are provided on the side wall of the installation groove (15) facing the corresponding steering gear. The through hole (16) is arranged concentrically with the installation groove (15). There are a plurality of threaded holes (17), and the plurality of threaded holes (17) are evenly distributed along the circumference on the outside of the through hole (16).

6. The bionic snake-shaped driving structure according to claim 4, characterized in that: The first steering gear (12) is fixedly mounted between the two fourth hinged plates (11), and the output shaft of the first steering gear (12) is coaxial with the corresponding mounting groove (15), one of the fourth hinged plates (11) is provided with a mounting hole arranged concentrically with the corresponding mounting groove (15), and the other fourth hinged plate (11) is provided with a circular blind hole (18), a limit tube (19) is rotatably mounted in the mounting hole through a bearing, and a limit hole is provided at the end of the output shaft of the first steering gear (12), and the second steering gear (13) is fixedly mounted between the two second hinged plates (7), and the mounting method of the second steering gear (13) between the two second hinged plates (7) is the same as the mounting method of the first steering gear (12) between the two fourth hinged plates (11).

7. The bionic snake-shaped driving structure according to claim 6, characterized in that: The connection assembly comprises a driving group and a connection group, the driving group is arranged in a mounting groove (15) close to the limiting tube (19), and the connection group is arranged in a mounting groove (15) close to the circular blind hole (18).

8. The bionic snake-shaped driving structure according to claim 7, characterized in that: The driving group comprises a fixing plate I (20) and a limiting rod (24), wherein the limiting rod (24) is slidably mounted in the limiting tube (19), and one end of the limiting rod (24) extends into the limiting hole, and the other end is fixedly connected to the fixing plate I (20), and a plurality of through holes for mounting screws I (21) are provided along the circumference of the fixing plate I (20) outside the limiting rod (24), wherein the through holes correspond to the threaded holes (17) one by one, and one end of the screw I (21) passes through the through holes and is threadedly connected to the corresponding threaded holes (17).

9. The bionic snake-shaped driving structure according to claim 7, characterized in that: The connection group comprises a fixing plate II (25) and a rotating shaft (23). The rotating shaft (23) is fixedly mounted on a side of the fixing plate II (25) facing the circular blind hole (18). The rotating shaft (23) is adapted to the circular blind hole (18). A plurality of through holes for mounting screws II (26) are evenly opened along the circumference on the fixing plate II (25) outside the rotating shaft (23). The through holes correspond to the threaded holes (17) one by one. One end of the screw II (26) passes through the through hole and is threadedly connected to the corresponding threaded hole (17).

10. The bionic snake-shaped driving structure according to claim 4, characterized in that: A sealing sheet (22) is provided in the installation groove (15) on the outside of the connection assembly, and the sealing sheet (22) is made of rubber material.

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