Snakelike movement mechanism with multiple swing modes

Abstract

The utility model discloses a snakelike motion mechanism with various swing modes, which relates to the technical field of motion mechanisms and comprises a motor, a reduction gearbox is arranged beside the motor, the output end of the motor is in transmission connection with the input end of the reduction gearbox, and a plurality of snakelike joints are arranged at one end, far away from the motor, of the reduction gearbox. The serpentine joints close to the reduction gearbox are rotationally connected with the reduction gearbox, the front end of the screw rod is in transmission connection with a swing expansion assembly, and the screw rod is used for simultaneously driving the multiple serpentine joints to swing in sequence and driving the swing expansion assembly to swing when rotating. When the spiral rod rotates, the multiple snakelike joints can be driven to swing in sequence, so that when the multiple snakelike joints swing in a snakelike mode similar to snakelike motion, the swing expansion assembly can be driven to swing at the same time, the swing modes of the swing expansion assembly are more diversified, and the application range is wider.

Description

Technical Field

[0001] The utility model relates to the technical field of motion devices, in particular to a serpentine motion mechanism with multiple swinging modes. Background Art

[0002] A serpentine motion mechanism is a bionic mechanism that can imitate the motion of a biological snake. It is usually composed of multiple joints connected in series. Adjacent joints achieve relative motion through a specific driving method, so that the entire mechanism exhibits a snake-like winding motion form. This motion mechanism is widely used in various mechanical equipment, such as automated production lines, massage equipment, medical equipment, etc.

[0003] However, although existing serpentine motion mechanisms can provide a swinging power, these mechanisms usually have a relatively single motion mode and are usually only capable of serpentine swinging, resulting in a limited range of applications for these serpentine motion mechanisms. To this end, we propose a serpentine motion mechanism with multiple swinging modes. Utility Model Content

[0004] The purpose of the present invention is to provide a serpentine motion mechanism with multiple swing modes to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a serpentine motion mechanism with multiple swinging modes, including a motor, a reducer is arranged on the side of the motor, the output end of the motor is transmission-connected to the input end of the reducer, a plurality of serpentine joints are arranged at the end of the reducer away from the motor, the serpentine joints close to the reducer are rotationally connected to the reducer, and adjacent serpentine joints are rotationally connected through connecting shafts, a spiral rod is transmission-connected to the output end of the reducer, a driving groove matching the spiral rod structure is opened in the middle of each serpentine joint, and a swing extension assembly is transmission-connected to the front end of the spiral rod, which is used to simultaneously drive multiple serpentine joints to swing in sequence and drive the swing extension assembly to swing when the spiral rod rotates.

[0006] Through the above technical solution, the motor achieves the purpose of deceleration and increasing the output torque under the action of the reducer, and drives the spiral rod to rotate. When the spiral rod rotates, it can drive multiple serpentine joints to swing in sequence, so that multiple serpentine joints can swing in a serpentine manner similar to the movement of snakes. At the same time, it can also drive the swing extension component to swing, and the swinging method of the swing extension component is more diverse and has a wider range of applications.

[0007] Furthermore, a flexible vibration-damping pad is provided on the inner wall of each driving chute.

[0008] The above technical solution can reduce the noise generated by the friction between the spiral rod and the driving slide groove, making the mechanism quieter during operation.

[0009] Furthermore, the swing extension component includes a bent rod, which is transmission-connected to one end of the spiral rod away from the reduction gearbox, and an extended swing head is provided at the other end of the bent rod away from the spiral rod.

[0010] Through the above technical solution, when multiple serpentine joints swing in a serpentine manner similar to the movement of snakes, the extended swing head can also be driven to swing in a circular manner in a trumpet-shaped path.

[0011] Furthermore, the swing extension component includes a connecting bracket, which is connected to the serpentine joint farthest from the motor. A swing extension piece is rotatably connected to the connecting bracket. A drive disk is provided at the end of the spiral rod. An eccentric shaft is eccentrically provided on the drive disk. A toggle groove is provided at one end of the swing extension piece close to the eccentric shaft, and an end of the eccentric shaft away from the drive disk is located inside the toggle groove, and the eccentric shaft cooperates with the swing extension piece structure through the toggle groove.

[0012] Through the above technical solution, when multiple serpentine joints perform serpentine swing in a manner similar to snake movement, the swing extension can also be driven to perform single-action mirror swing with the connecting bracket as the center.

[0013] Furthermore, the swing extension component includes a guide column, a rotating seat is rotatably connected inside the guide column, an annular guide groove is opened on the rotating seat, a limiting axis is slidably connected inside the annular guide groove, and the end of the screw rod is transmission-connected to the rotating seat.

[0014] Furthermore, a sliding mounting seat is slidably connected to the outer wall of the guide column, and one end of the limiting shaft away from the annular guide groove is rotatably connected to the sliding mounting seat.

[0015] Through the above technical solution, when multiple serpentine joints perform serpentine swinging in a manner similar to the movement of snakes, the sliding mounting seat can also be driven to perform reciprocating swinging in a forward and backward movement.

[0016] Furthermore, two limiting shafts are provided, two guide slots are provided on the guide column, and each limiting shaft is slidably connected in one of the guide slots.

[0017] Furthermore, positioning shafts are symmetrically arranged on both sides of the guide column, and each positioning shaft is rotatably connected to a swing claw. Each swing claw is provided with a follower slide groove on the side away from the clamping end, and each drive slide groove corresponds to a limiting shaft, and each limiting shaft extends into the corresponding drive slide groove, and each limiting shaft is slidably matched with the corresponding drive slide groove.

[0018] Through the above technical solution, when multiple serpentine joints perform serpentine swinging in a manner similar to snake movement, the two swing claws can also be driven to perform double-action mirror-image swinging.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] In the utility model, the motor achieves the purpose of deceleration and increasing the output torque under the action of the reducer, and drives the spiral rod to rotate. When the spiral rod rotates, it can drive multiple serpentine joints to swing in sequence, so that the multiple serpentine joints can swing in a serpentine manner similar to the movement of snakes. At the same time, it can also drive the swing extension component to swing, and the swinging mode of the swing extension component is more diverse and has a wider range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of Example 1;

[0022] Figure 2 It is a partial structural diagram of embodiment 1;

[0023] Figure 3 Schematic diagram of the structure of the bent rod in Example 1;

[0024] Figure 4 This is a partial structural diagram of Example 2;

[0025] Figure 5 This is a schematic structural diagram of the connecting bracket in Example 2;

[0026] Figure 6 Schematic diagram of the structure of the eccentric shaft in Example 2;

[0027] Figure 7 This is a schematic diagram of the partial structure of Example 3;

[0028] Figure 8 This is a partial structural cross-sectional diagram of Example 3;

[0029] Figure 9 This is a schematic structural diagram of the rotating seat in Example 3;

[0030] Figure 10 This is a schematic diagram of the partial structure of Example 4;

[0031] Figure 11 It is a partial structural cross-sectional diagram of embodiment 4.

[0032] In the figure: 1. Motor; 2. Reducer; 3. Serpentine joint; 4. Connecting shaft; 5. Screw rod; 6. Bending rod; 7. Extended swing head; 8. Drive slide; 9. Swing extension piece; 10. Connecting bracket; 11. Toggle slot; 12. Drive plate; 13. Eccentric shaft; 14. Guide column; 15. Sliding mounting seat; 16. Rotating seat; 17. Annular guide groove; 18. Limiting shaft; 19. Guide slot; 20. Follow-up slide; 21. Swing claw; 22. Positioning shaft. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] For example 1, please refer to Figure 1-Figure 3 A serpentine motion mechanism with multiple swinging modes includes a motor 1, a reduction gear 2 is provided beside the motor 1, the output end of the motor 1 is transmission-connected to the input end of the reduction gear 2, and a plurality of serpentine joints 3 are arranged at the end of the reduction gear 2 away from the motor 1. The serpentine joints 3 close to the reduction gear 2 are rotationally connected to the reduction gear 2, and adjacent serpentine joints 3 are rotationally connected through a connecting shaft 4. A screw rod 5 is transmission-connected to the output end of the reduction gear 2, and a driving groove 8 that matches the structure of the screw rod 5 is provided in the middle of each serpentine joint 3. The front end of the screw rod 5 is transmission-connected to a swing extension assembly. When the screw rod 5 rotates, it is used to simultaneously drive multiple serpentine joints 3 to swing in sequence and drive the swing extension assembly to swing.

[0035] In the present invention, the motor achieves the purpose of deceleration and increasing the output torque under the action of the reducer, and drives the screw rod 5 to rotate. When the screw rod 5 rotates, it can drive multiple serpentine joints 3 to swing in sequence, so that multiple serpentine joints 3 can swing in a serpentine manner similar to the movement of snakes. At the same time, it can also drive the swing extension component to swing, and the swinging mode of the swing extension component is more diverse and has a wider range of applications.

[0036] A flexible vibration-damping pad is provided on the inner wall of each driving chute 8 (the flexible vibration-damping pad may be made of rubber, which is not shown in the figure).

[0037] By such an arrangement, the noise generated by the friction between the spiral rod 5 and the driving slide groove 8 can be reduced, making the operation of the mechanism quieter.

[0038] See also Figure 1-Figure 3The swing extension component includes a bent rod 6, which is transmission-connected to the end of the spiral rod 5 away from the reduction gear box 2. An extended swing head 7 is provided at the end of the bent rod 6 away from the spiral rod 5. When the multiple serpentine joints 3 swing in a serpentine manner similar to the movement of a snake, the spiral rod 5 can also drive the bent rod 6 to rotate, and then drive the extended swing head 7 to swing in a circular manner in a trumpet-shaped path.

[0039] Embodiment 2, a serpentine motion mechanism with multiple swinging modes, includes a motor 1, a reducer 2 is arranged on the side of the motor 1, the output end of the motor 1 is transmission-connected to the input end of the reducer 2, a plurality of serpentine joints 3 are arranged at the end of the reducer 2 away from the motor 1, the serpentine joints 3 close to the reducer 2 are rotationally connected to the reducer 2, and adjacent serpentine joints 3 are rotationally connected through a connecting shaft 4, a screw rod 5 is transmission-connected to the output end of the reducer 2, a driving groove 8 that matches the structure of the screw rod 5 is opened in the middle of each serpentine joint 3, and a swing extension component is transmission-connected to the front end of the screw rod 5, which is used to drive multiple serpentine joints 3 to swing in sequence and drive the swing extension component to swing when the screw rod 5 rotates, and a flexible vibration-damping pad is provided on the inner wall of each driving groove 8.

[0040] See also Figure 4 Figure 6 The swing extension component includes a connecting bracket 10, which is connected to the serpentine joint 3 farthest from the motor 1. The connecting bracket 10 is rotatably connected to the swing extension member 9. A driving disk 12 is provided at the end of the screw rod 5. An eccentric shaft 13 is eccentrically provided on the driving disk 12. A toggle groove 11 is provided at one end of the swing extension member 9 close to the eccentric shaft 13. The end of the eccentric shaft 13 away from the driving disk 12 is located inside the toggle groove 11, and the eccentric shaft 13 cooperates with the swing extension member 9 structure through the toggle groove 11.

[0041] It should be noted that since the eccentric shaft 13 is eccentrically arranged on the driving disk 12, when the driving disk 12 rotates under the driving action of the spiral rod 5, the eccentric shaft 13 will also rotate around in the toggle groove 11, and then when the multiple serpentine joints 3 swing in a serpentine manner similar to the movement of snakes, it can also drive the swing extension 9 to perform a single-action mirror swing with the connecting bracket 10 as the center. Compared with the swinging method of driving the extended swing head 7 in Example 1, the swinging range of the swing extension 9 in this embodiment is larger.

[0042] Embodiment three, a serpentine motion mechanism with multiple swinging modes, includes a motor 1, a reducer 2 is arranged on the side of the motor 1, the output end of the motor 1 is transmission-connected to the input end of the reducer 2, a plurality of serpentine joints 3 are arranged at the end of the reducer 2 away from the motor 1, the serpentine joints 3 close to the reducer 2 are rotationally connected to the reducer 2, and adjacent serpentine joints 3 are rotationally connected through a connecting shaft 4, a screw rod 5 is transmission-connected to the output end of the reducer 2, a driving groove 8 that matches the structure of the screw rod 5 is opened in the middle of each serpentine joint 3, and a swing extension component is transmission-connected to the front end of the screw rod 5, which is used to drive multiple serpentine joints 3 to swing in sequence and drive the swing extension component to swing when the screw rod 5 rotates, and a flexible vibration-damping pad is provided on the inner wall of each driving groove 8.

[0043] See also Figure 7-Figure 9 The swing extension component includes a guide column 14, which is rotatably connected to a rotating seat 16 in the guide column 14. An annular guide groove 17 is provided on the rotating seat 16. A limiting shaft 18 is slidably connected in the annular guide groove 17. The end of the screw rod 5 is transmission-connected to the rotating seat 16. A sliding mounting seat 15 is slidably connected to the outer wall of the guide column 14, and the end of the limiting shaft 18 away from the annular guide groove 17 is rotatably connected to the sliding mounting seat 15.

[0044] It should be noted that when multiple serpentine joints 3 swing in a serpentine manner similar to snake movement, they will also drive the rotating seat 16 to rotate, and then can be driven by the annular guide groove 17 on the rotating seat 16, so that the sliding mounting seat 15 can be driven by the limiting shaft 18 to perform back and forth reciprocating swing. Compared with the swinging method of the swinging extension component in Examples 1 and 2, the swinging direction of the swinging extension member 9 in this embodiment is different, and can constitute a forward and backward telescopic movement.

[0045] Example 4: This example differs from Example 3 in that: Figure 10 Figure 11 There are two limit shafts 18 , and two guide slots 19 are provided on the guide column 14 . Each limit shaft 18 is slidably connected to one guide slot 19 .

[0046] See also Figure 10-11 , positioning shafts 22 are symmetrically arranged on both sides of the guide column 14, and each positioning shaft 22 is rotatably connected to a swing claw 21. Each swing claw 21 is provided with a follower slide groove 20 on the side away from the clamping end, and each driving slide groove 8 corresponds to a limiting shaft 18, each limiting shaft 18 extends into the corresponding driving slide groove 8, and each limiting shaft 18 is slidably matched with the corresponding driving slide groove 8.

[0047] It is worth mentioning that when multiple serpentine joints 3 swing in a serpentine manner similar to the movement of snakes, the two limit shafts 18 will swing back and forth under the drive of the annular guide groove 17 on the rotating seat 16, thereby driving the two swing claws 21 to perform double-action mirror swing. Compared with the single-action mirror swing in Example 2, this embodiment has an additional group of swing ends, and the two swing claws 21 swing symmetrically, which can form intermittent clamping and releasing movements.

[0048] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include" or "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0049] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A serpentine motion mechanism with multiple swing modes, comprising a motor (1), characterized in that: A reduction box (2) is provided on the side of the motor (1), and the output end of the motor (1) is transmission-connected to the input end of the reduction box (2). A plurality of serpentine joints (3) are arranged at one end of the reduction box (2) away from the motor (1). The serpentine joints (3) close to the reduction box (2) are rotationally connected to the reduction box (2), and adjacent serpentine joints (3) are rotationally connected via a connecting shaft (4). A screw rod (5) is transmission-connected to the output end of the reduction box (2). A driving slot (8) that matches the structure of the screw rod (5) is provided in the middle of each of the serpentine joints (3). The front end of the screw rod (5) is transmission-connected to a swing extension component. When the screw rod (5) rotates, it is used to simultaneously drive the plurality of serpentine joints (3) to swing in sequence and drive the swing extension component to swing.

2. The serpentine motion mechanism with multiple swing modes according to claim 1, characterized in that: A flexible vibration-damping pad is provided on the inner wall of each driving chute (8).

3. The serpentine motion mechanism with multiple swing modes according to claim 2, characterized in that: The swing extension component includes a bent rod (6), the bent rod (6) is transmission-connected to one end of the screw rod (5) away from the reduction box (2), and an extension swing head (7) is provided at the end of the bent rod (6) away from the screw rod (5).

4. The serpentine motion mechanism with multiple swing modes according to claim 2, characterized in that: The swing extension component includes a connecting bracket (10), the connecting bracket (10) is connected to the serpentine joint (3) farthest from the motor (1), the connecting bracket (10) is rotatably connected to a swing extension member (9), a driving disk (12) is provided at the end of the screw rod (5), an eccentric shaft (13) is eccentrically provided on the driving disk (12), a toggle groove (11) is provided at one end of the swing extension member (9) close to the eccentric shaft (13), the end of the eccentric shaft (13) away from the driving disk (12) is located inside the toggle groove (11), and the eccentric shaft (13) is matched with the swing extension member (9) structure through the toggle groove (11).

5. The serpentine motion mechanism with multiple swing modes according to claim 2, characterized in that: The swing expansion assembly includes a guide column (14), a rotating seat (16) is rotatably connected inside the guide column (14), an annular guide groove (17) is provided on the rotating seat (16), a limiting shaft (18) is slidably connected inside the annular guide groove (17), and the end of the screw rod (5) is transmission-connected to the rotating seat (16).

6. The serpentine motion mechanism with multiple swing modes according to claim 5, characterized in that: A sliding mounting seat (15) is slidably connected to the outer wall of the guide column (14), and one end of the limiting shaft (18) away from the annular guide groove (17) is rotatably connected to the sliding mounting seat (15).

7. The serpentine motion mechanism with multiple swing modes according to claim 5, characterized in that: Two limiting shafts (18) are provided, two guide slots (19) are provided on the guide column (14), and each limiting shaft (18) is slidably connected in one guide slot (19).

8. The serpentine motion mechanism with multiple swing modes according to claim 7, characterized in that: Positioning shafts (22) are symmetrically provided on both sides of the guide column (14), and each positioning shaft (22) is rotatably connected to a swing claw (21), and each swing claw (21) is provided with a follower slide groove (20) on the side away from the clamping end, and each driving slide groove (8) corresponds to a limiting shaft (18), and each limiting shaft (18) extends into the corresponding driving slide groove (8), and each limiting shaft (18) is slidably matched with the corresponding driving slide groove (8).

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