Snakelike robot splicing joint structure

Abstract

The utility model discloses a splicing joint structure of a snakelike robot, and relates to the technical field of robots. According to the splicing joint structure of the snake-shaped robot, by arranging the first connecting plates, the second connecting plates, the third connecting plates, hollow rods, moving rods, first moving plates, second moving plates, first springs, rotating discs, connecting rods, external threads, third fixing plates and connecting holes, the function of quickly splicing the two first connecting plates is achieved; a third fixing plate drives a connecting rod to rotate, under the action of an external thread, the connecting rod and a second connecting plate are connected together, the bottom of the connecting rod enters a hollow rod, the connecting rod drives a first moving plate, a moving rod and a second moving plate to move while entering the hollow rod, and the moving rod gradually enters a connecting hole in one side of the third connecting plate. The two sets of snake body section shells are connected together, the first springs are compressed when the moving rods are inserted into the connecting holes, reverse elastic force is provided, splicing is tighter, and joints are prevented from loosening.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a snake-shaped robot splicing joint structure. Background Technology

[0002] With the rapid development of robotics technology, biomimetic robots are increasingly becoming a hot topic in scientific research and industrial applications due to their unique locomotion and environmental adaptability. Among them, snake-like robots, with their multiple degrees of freedom, high flexibility, and ability to navigate confined spaces, have shown great application potential in fields such as pipeline inspection, disaster relief, military reconnaissance, and medical surgery. However, most existing snake-like robots use bolt fixing or snap-fit ​​connections, which makes the assembly process cumbersome, difficult to achieve rapid assembly or modular expansion, and prone to loosening of connections after long-term use. Utility Model Content

[0003] To address the shortcomings of existing technologies, this invention provides a snake-like robot splicing joint structure to solve the problems mentioned in the background section.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A snake-like robot joint structure includes a snake-body segment shell. A first connecting plate is symmetrically fixedly connected to one side of each snake-body segment shell. A second connecting plate is fixedly connected to the end of the snake-body segment shell away from and above the first connecting plate. A third connecting plate is fixedly connected to the end of the snake-body segment shell away from the second connecting plate. A connecting rod is threaded into the interior of the second connecting plate. A connecting hole is formed at the top of the third connecting plate. Two sets of first connecting plates are provided, and hollow rods are fixedly connected inside each first connecting plate. The hollow rods slide internally. A first movable plate and a second movable plate are connected. A movable rod is fixedly connected between the bottom of the first movable plate and the second movable plate. A turntable is rotatably connected inside the hollow rod. A first spring is fixedly connected between the top of the turntable and the second movable plate. The bottom of the movable rod extends outward through the bottom of the hollow rod. The movable rod and a connecting hole are used in conjunction. A third fixed plate is fixedly connected to the top of the connecting rod. A ratchet is fixedly connected to the outside of the third fixed plate. A pawl is rotatably connected to the top of the second connecting plate. A torsion spring is provided between the pawl and the second connecting plate.

[0006] Preferably, a connecting ring is symmetrically fixedly connected to the outer side of the hollow rod, a first fixing plate is fixedly connected between one side of the connecting ring and the outer shell of the snake body segment, and a second fixing plate is detachably connected to the side of the hollow rod away from the first fixing plate.

[0007] Preferably, a locking hole is provided on the side of the hollow rod away from the first fixing plate, and a locking block is slidably connected inside the second fixing plate. The locking block is used in conjunction with the locking hole, and a second spring is fixedly connected between one side of the locking block and the second fixing plate.

[0008] Preferably, the snake-body segment shell is fixedly connected to a mounting plate, the bottom of the mounting plate is rotatably connected to an eccentric wheel, and the end of the eccentric wheel away from the mounting plate is rotatably connected to a movable column. The second fixed plate is provided in two sets, and a sliding groove penetrating its surface is opened on one side of the two sets of second fixed plates. The outer sides of both ends of the movable column are slidably connected to the sliding groove.

[0009] Preferably, a motor is fixedly connected to the top of the mounting plate, and the output end of the motor passes through one side of the mounting plate and is fixedly connected to the eccentric wheel.

[0010] Preferably, the upper outer half of the connecting rod is provided with external threads, and the bottom of the snake-body segment housing is provided with casters.

[0011] This invention provides a splicing joint structure for a snake-like robot. Compared with the prior art, it has the following advantages:

[0012] 1. The snake-like robot's splicing joint structure, through the setting of a first connecting plate, snake body segment shell, second connecting plate, third connecting plate, hollow rod, moving rod, first moving plate, second moving plate, first spring, turntable, connecting rod, external thread, third fixing plate, and connecting hole, realizes the function of quickly splicing two sets of first connecting plates. The third fixing plate rotates with the connecting rod. Under the action of the external thread, the connecting rod connects with the second connecting plate. The bottom of the connecting rod enters the hollow rod. As the connecting rod enters the hollow rod, it moves the first moving plate, the moving rod, and the second moving plate. The moving rod gradually enters the connecting hole on one side of the third connecting plate, connecting the two sets of snake body segment shells together. The first spring is compressed when the moving rod is inserted into the connecting hole, providing a reverse elastic force, making the splicing tighter and preventing the joint from loosening.

[0013] 2. The snake-like robot's splicing joint structure, through the setting of snake body segment shells, ratchet, pawl, torsion spring, first fixed plate, second fixed plate, slide, eccentric wheel, motor, moving column, connecting ring, second spring, locking block and locking hole, realizes the function of snake body swinging. When the two sets of snake body segment shells are connected together, the locking block enters the locking hole on one side of the connecting ring, so that the second fixed plate, connecting ring and first fixed plate are connected together. The connecting ring, hollow rod and first fixed plate carry the snake body segment shells to swing back and forth, simulating the side swinging and undulating motion of a snake. The ratchet, pawl and torsion spring cooperate with each other to prevent the connection between the connecting rod and the second connecting plate from loosening during the swinging process. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the internal structure of the present invention;

[0015] Figure 2 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 3 This is a partial structural schematic diagram of the present invention;

[0017] Figure 4 This is a schematic diagram of a partial internal structure of the present invention. Figure 1 ;

[0018] Figure 5 This is a schematic diagram of a partial internal structure of the present invention. Figure 2 ;

[0019] Figure 6 This is an enlarged structural diagram of part A in this utility model.

[0020] In the diagram: 1. Snake-body segment outer shell; 2. First connecting plate; 3. Hollow rod; 4. Connecting ring; 5. Moving rod; 6. First moving plate; 7. Second moving plate; 8. First spring; 9. Turntable; 10. Connecting rod; 11. External thread; 12. Third fixing plate; 13. Ratchet; 14. Second connecting plate; 15. Third connecting plate; 16. Connecting hole; 17. Pawl; 18. Torsion spring; 19. First fixing plate; 20. Second fixing plate; 21. Slide groove; 22. Locking block; 23. Locking hole; 24. Second spring; 25. Moving column; 26. Eccentric wheel; 27. Motor; 28. Mounting plate; 29. ​​Universal wheel. Detailed Implementation

[0021] 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.

[0022] Please see Figures 1-6This utility model provides a technical solution: a snake-shaped robot splicing joint structure, including a snake-body segment shell 1, a first connecting plate 2 symmetrically fixedly connected to one side of the snake-body segment shell 1, a second connecting plate 14 fixedly connected to the end of the snake-body segment shell 1 away from the first connecting plate 2 and located above the first connecting plate 2, and a third connecting plate 15 fixedly connected to the end of the snake-body segment shell 1 away from the second connecting plate 14, the third connecting plate 15 being located below the first connecting plate 2. The first connecting plate 2, the second connecting plate 14 and the third connecting plate 15 cooperate to allow two sets of snake-body segment shells 1 to be connected together, and a connecting rod 1 is internally threaded to the second connecting plate 14. 0. A connecting hole 16 is provided at the top of the third connecting plate 15. The first connecting plate 2 has two sets. A hollow rod 3 is fixedly connected inside the first connecting plate 2. A first moving plate 6 and a second moving plate 7 are slidably connected inside the hollow rod 3. The outer sides of the first moving plate 6 and the second moving plate 7 are in contact with the inner wall of the hollow rod 3. The first moving plate 6 and the second moving plate 7 can rotate inside the hollow rod 3. The first moving plate 6 and the second moving plate 7 move along the inside of the hollow rod 3. A moving rod 5 is fixedly connected between the bottom of the first moving plate 6 and the second moving plate 7. The movement of the first moving plate 6 moves the second moving plate 7 and the moving rod 5. The inside of the hollow rod 3 rotates. A turntable 9 is connected, and a first spring 8 is fixedly connected between the top of the turntable 9 and the second movable plate 7. The movement of the second movable plate 7 compresses the first spring 8, generating elastic force. When the first spring 8 loses its compressive force, under the action of the elastic force, the first spring 8, along with the second movable plate 7, the movable rod 5, and the first movable plate 6, returns to their original positions. The bottom of the movable rod 5 extends outward through the bottom of the hollow rod 3. The movable rod 5 cooperates with the connecting hole 16. The movable rod 5 moves and gradually enters the connecting hole 16, connecting the first connecting plate 2, the second connecting plate 14, and the third connecting plate 15 together. The top of the connecting rod 10 is fixedly connected to the third fixing plate 1. 2. The third fixed plate 12 rotates, causing the connecting rod 10 to rotate as well. A ratchet 13 is fixedly connected to the outer side of the third fixed plate 12. The ratchet 13 rotates as well as the third fixed plate 12 rotates. A pawl 17 is rotatably connected to the top of the second connecting plate 14. A torsion spring 18 is provided between the pawl 17 and the second connecting plate 14. When the third fixed plate 12 rotates with the ratchet 13, the ratchet 13 pushes the pawl 17, causing the pawl 17 to move along with the torsion spring 18. When the pawl 17 loses its pushing force, under the action of the elastic force, the torsion spring 18 moves the pawl 17 back to its original position and locks it between the two sets of teeth on the outer side of the ratchet 13, preventing the ratchet 13 from reversing.

[0023] Furthermore, a connecting ring 4 is symmetrically fixed to the outer side of the hollow rod 3. The rotation of the connecting ring 4 causes the hollow rod 3 to rotate. A first fixing plate 19 is fixedly connected between one side of the connecting ring 4 and the outer shell 1 of the snake body segment. The rotation of the connecting ring 4 causes the outer shell 1 of the snake body segment to swing through the first fixing plate 19. A second fixing plate 20 is detachably connected to the side of the hollow rod 3 away from the first fixing plate 19. The rotation of the second fixing plate 20 causes the connecting ring 4 to rotate.

[0024] Furthermore, a locking hole 23 is provided on the side of the hollow rod 3 away from the first fixing plate 19. A locking block 22 is slidably connected inside the second fixing plate 20. The locking block 22 works in conjunction with the locking hole 23. The locking block 22 enters the locking hole 23 and connects the second fixing plate 20 and the connecting ring 4 together. A second spring 24 is fixedly connected between one side of the locking block 22 and the second fixing plate 20. The movement of the locking block 22 compresses the second spring 24. The second spring 24 generates elastic force when it is compressed. When the second spring 24 loses its compressive force, under the action of the elastic force, the second spring 24 and the locking block 22 return to their original position.

[0025] Furthermore, the snake-body segment shell 1 is fixedly connected to a mounting plate 28. An eccentric wheel 26 is rotatably connected to the bottom of the mounting plate 28. A movable column 25 is rotatably connected to the end of the eccentric wheel 26 away from the mounting plate 28. The mounting plate 28 rotates, causing the movable column 25 to rotate. There are two sets of second fixed plates 20. A sliding groove 21 penetrating the surface of each set of second fixed plates 20 is opened on one side. The outer ends of both ends of the movable column 25 are slidably connected to the sliding groove 21. The movable column 25 moves along the inside of the sliding groove 21 while swinging the second fixed plate 20.

[0026] Furthermore, a motor 27 is fixedly connected to the top of the mounting plate 28. The output end of the motor 27 passes through one side of the mounting plate 28 and is fixedly connected to the eccentric wheel 26. When the motor 27 is turned on, it drives the eccentric wheel 26 to rotate.

[0027] Furthermore, the upper half of the outer side of the connecting rod 10 is provided with an external thread 11, so that the upper half of the connecting rod 10 can be threaded together with the second connecting plate 14. The bottom of the snake body segment housing 1 is provided with a universal wheel 29, which enables the snake robot to move better.

[0028] In use, the first connecting plate 2 on one side of one set of snake-body segment shell 1 is spliced ​​with the second connecting plate 14 and the third connecting plate 15 of another set of snake-body segment shell 1, so that one side of each set of first connecting plates 2 is in contact with the second connecting plate 14 and the third connecting plate 15 respectively. Rotating the third fixing plate 12 causes the connecting rod 10 to rotate. Under the action of the external thread 11, the connecting rod 10 connects with the second connecting plate 14, and the bottom of the connecting rod 10 enters the hollow rod 3. Simultaneously, the connecting rod 10 moves the first moving plate 6, the moving rod 5, and the second moving plate 7. The movement of the second moving plate 7 compresses the first spring 8, and the moving rod 5 gradually enters the connecting hole 16 on one side of the third connecting plate 15, connecting the two sets of snake-body segment shell 1 together. At the same time, the locking block 22 enters the locking hole 23 on one side of the connecting ring 4, causing the second fixing plate 20, the connecting ring 4, and... The first fixing plates 19 are connected together. When the locking block 22 does not accurately enter the locking hole 23, the locking block 22 is squeezed by the connecting ring 4 and moves towards the second spring 24. The two sets of snake body segment shells 1 are rotated, so that the locking hole 23 moves to one side of the locking block 22. After the second spring 24 loses its pressing force, it carries the locking block 22 into the locking hole 23. The motor 27 is turned on, and the motor 27 drives the eccentric wheel 26 to rotate. The longer end of the eccentric wheel 26 drives the moving column 25 to rotate. When the moving column 25 rotates, it moves along the inside of the slide groove 21 and swings back and forth through the slide groove 21. When the connecting rod 10 swings back and forth with the connecting ring 4 as the center, it swings back and forth through the connecting ring 4, the hollow rod 3 and the first fixing plate 19, simulating the side swaying and undulating movement of a snake. The pawl 17 and the torsion spring 18 cooperate with each other to prevent the connection between the connecting rod 10 and the second connecting plate 14 from loosening during the swinging process.

[0029] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0031] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A snake robot joint structure for a snake robot, comprising a snake segment housing (1), characterized in that: A first connecting plate (2) is symmetrically fixedly connected to one side of the snake-body segment shell (1). A second connecting plate (14) is fixedly connected to the end of the snake-body segment shell (1) away from the first connecting plate (2) and above the first connecting plate (2). A third connecting plate (15) is fixedly connected to the end of the snake-body segment shell (1) away from the second connecting plate (14). A connecting rod (10) is threaded inside the second connecting plate (14). A connecting hole (16) is opened at the top of the third connecting plate (15). The first connecting plate (2) has two sets. A hollow rod (3) is fixedly connected inside the first connecting plate (2). A first moving plate (6) and a second moving plate (7) are slidably connected inside the hollow rod (3). A moving rod (5) is fixedly connected between the bottom of the first moving plate (6) and the second moving plate (7). A turntable (9) is rotatably connected inside the hollow rod (3). A first spring (8) is fixedly connected between the top of the turntable (9) and the second moving plate (7). The bottom of the moving rod (5) extends outward through the bottom of the hollow rod (3). The moving rod (5) and the connecting hole (16) are used together. A third fixing plate (12) is fixedly connected to the top of the connecting rod (10). A ratchet (13) is fixedly connected to the outside of the third fixing plate (12). A pawl (17) is rotatably connected to the top of the second connecting plate (14). A torsion spring (18) is provided between the pawl (17) and the second connecting plate (14).

2. The joint structure of a snake robot according to claim 1, wherein: A connecting ring (4) is symmetrically fixed to the outside of the hollow rod (3). A first fixing plate (19) is fixedly connected between one side of the connecting ring (4) and the outer shell (1) of the snake body segment. A second fixing plate (20) is detachably connected to the side of the hollow rod (3) away from the first fixing plate (19).

3. The joint structure of a snake robot according to claim 2, wherein: The hollow rod (3) has a locking hole (23) on the side away from the first fixing plate (19). The second fixing plate (20) has a locking block (22) slidably connected inside. The locking block (22) works in conjunction with the locking hole (23). A second spring (24) is fixedly connected between one side of the locking block (22) and the second fixing plate (20).

4. The joint structure of a snake robot according to claim 2, wherein: The snake-body segment shell (1) is fixedly connected to a mounting plate (28). An eccentric wheel (26) is rotatably connected to the bottom of the mounting plate (28). A movable column (25) is rotatably connected to the end of the eccentric wheel (26) away from the mounting plate (28). The second fixing plate (20) is provided in two sets. A sliding groove (21) penetrating its surface is opened on one side of the two sets of second fixing plates (20). The outer sides of both ends of the movable column (25) are slidably connected to the sliding groove (21).

5. The snake robot joint structure according to claim 4, wherein: A motor (27) is fixedly connected to the top of the mounting plate (28), and the output end of the motor (27) passes through one side of the mounting plate (28) and is fixedly connected to the eccentric wheel (26).

6. The snake robot joint structure according to claim 1, wherein: The upper outer part of the connecting rod (10) is provided with external thread (11), and the bottom of the snake body segment housing (1) is provided with universal wheel (29).

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