Multifunctional actuator at tail end of mechanical snake

Abstract

The utility model relates to the technical field of actuators, in particular to a mechanical snake tail end multifunctional actuator which comprises a second driving assembly, the second driving assembly comprises a connecting piece, a plurality of first driving assemblies are connected to the lower portion of the connecting piece through rotating structures, and each first driving assembly comprises a fixing plate. And flexible clamping jaws are rotationally mounted on the two sides of the fixing plate through mounting plates. The driving structure is used for driving the mounting plate to rotate, the included angle between the side faces of the two flexible clamping jaws on the same side can be changed, the side faces of the flexible clamping jaws can be used for clamping objects, and rigid clamping is achieved; the first driving assembly is driven by the second driving assembly to rotate, the included angle of the front faces of the flexible clamping jaws on the two sides can be changed, and flexible clamping of an object is achieved. Objects are recognized through the camera shooting assembly, the angles of the four flexible clamping jaws can be changed through cooperation of the first driving assembly and the second driving assembly, and the objects of different shapes can be effectively clamped.

Description

Technical Field

[0001] This utility model relates to the field of actuator technology, specifically a multi-functional actuator for the end effector of a mechanical snake. Background Technology

[0002] A mechanical snake, also known as a snake-like robot, is a new type of biomimetic robot that can mimic the movement of a biological snake. It can move without limbs like a snake, adapt to complex terrain, and meet the needs of various tasks such as exploration and reconnaissance. An end effector, installed on the periphery of the mechanical snake, is a tool with specific functions, including but not limited to grasping, cutting, and adsorption; it is considered an accessory to the mechanical snake.

[0003] In existing technologies, end effectors are typically rigid or flexible grippers. Flexible grippers can adapt to the shape of different objects through deformation, reducing damage to the object's surface while ensuring gripping stability. The initial structure of a flexible gripper determines its emphasis on gripping different objects; two-jaw grippers are better at gripping cylindrical objects, while three- or four-jaw grippers are better at gripping blocky and irregular objects. Pre-installed grippers have a fixed structure and cannot autonomously adjust their shape and function according to task requirements. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a multi-functional actuator for the end effector of a mechanical snake.

[0005] The technical solution of this utility model is:

[0006] A multi-functional actuator for the end effector of a mechanical snake, comprising:

[0007] The second drive assembly includes a connector. A plurality of first drive assemblies are connected below the connector via a rotating structure. The rotating structure is used to drive the first drive assemblies to rotate toward the center of the second drive assembly. The first drive assembly includes a fixed plate. Flexible grippers are rotatably mounted on both sides of the fixed plate via mounting plates. The two flexible grippers face each other. A drive structure is mounted above the fixed plate and the mounting plate. The drive structure is used to drive the mounting plate to rotate.

[0008] Preferably, the drive structure includes a lifting frame, which is slidably mounted on the top surface of the fixed plate via a guide structure, and the two ends of the bottom surface of the lifting frame are rotatably connected to the mounting plate via a first connecting rod.

[0009] Preferably, the top surface of the fixed plate is provided with a first power source, which is connected to the lifting frame through a transmission structure and is used to drive the lifting frame to move up and down.

[0010] Preferably, the connector is used to connect to the main body of the mechanical snake.

[0011] Preferably, the rotating structure includes a rotating plate, which is used for rotatable connection between the connector and the outer side of the top of the first drive assembly.

[0012] Preferably, the bottom surface of the connector is provided with a second power source, and the second power source is connected to a lifting plate through a second transmission structure for driving the lifting plate to rise and fall. The two ends of the lifting plate are rotatably connected to the fixed plate.

[0013] Preferably, a camera assembly is provided at the center of the bottom surface of the lifting plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] This invention utilizes a drive structure to rotate the mounting plate, which changes the included angle between the two flexible grippers on the same side, allowing for rigid gripping of objects by using the sides of the flexible grippers. A second drive assembly drives the first drive assembly to rotate, changing the included angle between the front faces of the two flexible grippers, thus achieving flexible gripping of objects. A camera assembly identifies the object, and through the cooperation of the first and second drive assemblies, the angles of the four flexible grippers can be changed, enabling effective gripping of objects of different shapes. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a second schematic diagram of the overall structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the first driving component in this utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the second drive component in this utility model.

[0020] The meanings of the labels in the diagram are as follows:

[0021] 1. Flexible gripper; 11. Mounting section; 12. Longitudinal frame; 13. Transverse frame;

[0022] 2. First drive assembly; 21. Fixing plate; 22. Mounting plate; 23. Slide rod; 24. Top plate; 25. Lifting frame; 26. First connecting rod; 27. First power source; 28. Eccentric rod; 29. ​​Second connecting rod;

[0023] 3. Second drive assembly; 31. Connector; 32. Rotating plate; 33. Second power source; 34. First screw; 35. Threaded sleeve; 36. Lifting plate;

[0024] 4. Camera components. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0026] Please see Figure 1-4 The present invention will describe the above technical solution in detail through the following embodiments:

[0027] A multi-functional actuator for the end effector of a mechanical snake, comprising:

[0028] The second drive assembly 3 includes a connector 31. Two first drive assemblies 2 are connected below the connector 31 via a rotating structure. The rotating structure is used to drive the first drive assemblies 2 to rotate toward the center of the second drive assembly 3. The first drive assembly 2 includes a fixed plate 21. Flexible grippers 1 are rotatably mounted on both sides of the fixed plate 21 via mounting plates 22. The two flexible grippers 1 face each other. A drive structure is mounted above the fixed plate 21 and the mounting plate 22. The drive structure is used to drive the mounting plate 22 to rotate.

[0029] The flexible gripper 1 is a gripper based on the fin effect. The flexible gripper 1 includes a mounting section 11, which is snapped into the mounting plate 22. Both ends of the mounting section 11 are connected to longitudinal skeletons 12, and the bottom ends of the longitudinal skeletons 12 are connected together. The longitudinal skeletons 12 and the mounting section 11 form an acute triangle. Several transverse skeletons 13 are provided on the inner side of the longitudinal skeletons 12.

[0030] The gripper based on the fin effect can bend in the direction of the applied force when the gripping surface is subjected to force, thereby wrapping the object.

[0031] The drive structure includes a lifting frame 25, which is slidably mounted on the top surface of the fixed plate 21 via a guide structure. The two ends of the bottom surface of the lifting frame 25 are rotatably connected to the mounting plate 22 via a first connecting rod 26.

[0032] The guide structure includes several slide rods 23, which are fixedly installed on the top surface of the fixed plate 21 by screws. The lifting frame 25 is slidably connected to the slide rods 23, and the slide rods 23 are used to limit the movement direction of the lifting frame 25.

[0033] A top plate 24 is fixedly installed on the top surface of the slide bar 23 using screws. The top plate 24 is used to limit the movement distance of the lifting frame 25.

[0034] When the lifting frame 25 slides along the axis of the slide bar 23, it can drive the mounting plate 22 to rotate through the first connecting rod 26, thereby driving the flexible gripper 1 to rotate and changing the included angle between the two flexible grippers 1.

[0035] The top surface of the fixed plate 21 is provided with a first power source 27, which is connected to the lifting frame 25 through a transmission structure and is used to drive the lifting frame 25 to rise and fall.

[0036] The transmission structure includes an eccentric rod 28, with a second connecting rod 29 rotatably connected to the end of the eccentric rod 28, and the upper end of the second connecting rod 29 rotatably connected to the lifting frame 25.

[0037] The first power source 27 uses a servo motor. When the first power source 27 is working, it can drive the eccentric rod 28 to rotate, thereby driving the bottom end of the second connecting rod 29 to perform circular motion around the output shaft of the first power source 27, and thus driving the lifting frame 25 to rise and fall. By controlling the rotation angle of the output shaft of the first power source 27, the moving distance of the lifting frame 25 can be controlled, thereby controlling the rotation angle of the flexible gripper 1.

[0038] Connector 31 is used to connect to the main body of the mechanical snake.

[0039] The rotating structure includes a rotating plate 32, which is used for rotating connection between the connector 31 and the outer side of the top end of the first drive assembly 2.

[0040] The rotating plate 32 is rotatably connected to the outer edge of the top surface of the top plate 24. The top plate 24 can rotate around the bottom of the rotating plate 32, and the rotation axis of the top plate 24 is perpendicular to the rotation axis of the mounting plate 22.

[0041] The bottom surface of the connector 31 is fixedly mounted with a second power source 33 by bolts. The second power source 33 is connected to a lifting plate 36 through a second transmission structure, which is used to drive the lifting plate 36 to rise and fall. The two ends of the lifting plate 36 are rotatably connected to the fixed plate 21.

[0042] The second transmission structure includes a first screw 34, which is engaged with the output shaft of a second power source 33. The second power source 33 can be a servo motor. When the second power source 33 is working, it can drive the first screw 34 to rotate.

[0043] The first screw 34 is externally threaded to a threaded sleeve 35, which is welded and installed at the center of the top of the lifting plate 36. When the first screw 34 rotates, it can drive the threaded sleeve 35 to move along the axial direction, thereby driving the lifting plate 36 to move along the axial direction of the first screw 34.

[0044] Since the rotating plate 32 is rotatably connected to the outer edge of the top surface of the top plate 24, and the two ends of the lifting plate 36 are rotatably connected to the fixed plate 21, when the lifting plate 36 moves along the axis of the first screw 34, it can drive the first driving assembly 2 to rotate. The rotation axis of the first driving assembly 2 is perpendicular to the rotation axis of the mounting plate 22.

[0045] A camera component 4 is located in the center of the bottom surface of the lifting plate 36.

[0046] Camera component 4 is used to identify the shape of objects.

[0047] In this embodiment, when the operator uses this device, the camera component 4 is used to identify the shape of the object.

[0048] Adjust the clamping angle of the four flexible grippers 1 according to the shape of the object.

[0049] Controlling the first power source 27 to operate can drive the eccentric rod 28 to rotate, thereby driving the bottom end of the second connecting rod 29 to perform circular motion around the output shaft of the first power source 27, and thus driving the lifting frame 25 to rise and fall. Controlling the rotation angle of the output shaft of the first power source 27 can control the moving distance of the lifting frame 25, thereby controlling the included angle of the side of the flexible gripper 1.

[0050] The second power source 33 is controlled to work, which can drive the first screw 34 to rotate. When the first screw 34 rotates, it can drive the threaded sleeve 35 to move along the axial direction, thereby driving the lifting plate 36 to move along the axial direction of the first screw 34.

[0051] When the lifting plate 36 moves along the axis of the first screw 34, it can drive the first drive assembly 2 to rotate, thereby changing the angle of the clamping surface of the flexible grippers 1 on both sides.

[0052] By controlling only the first power source 27 to work, the object can be clamped using the side of the flexible gripper 1, achieving rigid clamping.

[0053] Simultaneously controlling the operation of the first power source 27 and the second power source 33 can change the clamping angle of the four flexible grippers 1, thereby enabling the clamping of objects of different shapes.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multi-functional actuator at the end of a mechanical snake, characterized in that, include: The second drive assembly (3) includes a connector (31). Several first drive assemblies (2) are connected below the connector (31) via a rotating structure. The rotating structure is used to drive the first drive assemblies (2) to rotate toward the center of the second drive assembly (3). The first drive assembly (2) includes a fixed plate (21). Flexible grippers (1) are rotatably mounted on both sides of the fixed plate (21) via mounting plates (22). The two flexible grippers (1) face each other. A drive structure is mounted above the fixed plate (21) and the mounting plate (22). The drive structure is used to drive the mounting plate (22) to rotate.

2. The multi-functional actuator at the end of a mechanical snake as described in claim 1, characterized in that: The drive structure includes a lifting frame (25), which is slidably mounted on the top surface of the fixed plate (21) through a guide structure. The two ends of the bottom surface of the lifting frame (25) are rotatably connected to the mounting plate (22) through a first connecting rod (26).

3. The multi-functional actuator at the end of a mechanical snake as described in claim 2, characterized in that: The top surface of the fixed plate (21) is provided with a first power source (27), which is connected to the lifting frame (25) through a transmission structure and is used to drive the lifting frame (25) to rise and fall.

4. The multi-functional actuator at the end of a mechanical snake as described in claim 3, characterized in that: The connector (31) is used to connect with the main body of the mechanical snake.

5. A multi-functional actuator for the end effector of a mechanical snake as described in claim 4, characterized in that: The rotating structure includes a rotating plate (32), which is used for rotating connection between the connector (31) and the outer side of the top of the first drive assembly (2).

6. The multi-functional actuator at the end of a mechanical snake as described in claim 5, characterized in that: The bottom surface of the connector (31) is provided with a second power source (33), which is connected to a lifting plate (36) through a second transmission structure to drive the lifting plate (36) to rise and fall. The two ends of the lifting plate (36) are rotatably connected to the fixed plate (21).

7. A multi-functional actuator for the end effector of a mechanical snake as described in claim 6, characterized in that: A camera assembly (4) is provided at the center of the bottom surface of the lifting plate (36).

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