CN103878784A - Joint module of underwater snakelike robot - Google Patents
Joint module of underwater snakelike robot Download PDFInfo
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- CN103878784A CN103878784A CN201410102205.0A CN201410102205A CN103878784A CN 103878784 A CN103878784 A CN 103878784A CN 201410102205 A CN201410102205 A CN 201410102205A CN 103878784 A CN103878784 A CN 103878784A
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- snake
- under water
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Abstract
The invention discloses a joint module of an underwater snakelike robot. The joint module of the underwater snakelike robot comprises a body and connection portions, wherein the body can deflect in multiple directions, and the connection portions are arranged at the two ends of the body; a waterproof protective jacket is wrapped on the outer surface of the body and the outer surfaces of the connection portions, the body comprises a plurality of hollow rings which are respectively provided with four movable connection points, two opposite movable connection points of each hollow ring are arranged on the upper surface of the corresponding hollow ring, the other two movable connection points of each hollow ring are arranged on the lower surface of the corresponding hollow ring, and every two adjacent hollow rings are movably connected through the corresponding movable connection points. The joint module of the underwater snakelike robot has the multi-directional flexible deflecting and twisting capability, and is very suitable for working underwater.
Description
Technical field
The present invention relates to robot architecture field, relate in particular to one snake-shaped robot joint module under water.
Background technology
Snake-shaped robot, with the adaptive capacity to environment of its height, becomes study hotspot in recent years.In detection and investigation tasks, need snake-shaped robot to have in hydrogymnastic ability, thereby snake-shaped robot have long-range using value and Research Significance under water in the wild.
In the prior art, relate to snake-shaped robot under water as Shenyang automation research the person's of being detected III, be that the patent No. is 200810229974.1 the disclosed a kind of Amphibious snake-like robot of Chinese patent, formed by multiple modules, each module is connected rotatably, another horizontal deflection and an elevating movement relatively in two adjacent blocks, each module is made up of two motor and reduction gearing and bevel gear, and each module has two frees degree.But the individual module of above-mentioned amphibious robot be rigidity can not be bending, freely move about though can realize in water, because individual module is relatively long, can not realize submissive flexible motion.
Summary of the invention
Object of the present invention overcomes the deficiency of existing snake-shaped robot module, proposes a kind of joint module of snake-shaped robot under water with very strong flexibility ratio.
To achieve the above object of the invention, the technical solution used in the present invention is: one is snake-shaped robot joint module under water, comprise the body of multi-directionally deflection and be arranged on the connecting portion at described body both ends, described body and described connecting portion outer surface are coated with water-proof jacket.
Described body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein two relative described flexible connection points are arranged on described cavity ring upper surface, another two described flexible connection points are arranged on described cavity ring lower surface, and described adjacent cavity ring is flexibly connected by described flexible connection point;
Described connecting portion comprises shell, be arranged on servomotor in described shell, the reel with two winding slots by described driven by servomotor, be wrapped in rope yarn in described winding slot, be fixedly installed on two wire columns of described enclosure, described wire column end is provided with through hole, described through hole center line is crossing with described reel center line, described rope yarn one end is wrapped on described reel, the other end of described rope yarn is fixed on described body tip by described through hole and body, and two rope yarns on described reel are around on the contrary.
In technique scheme, two connecting portion ports that are arranged on body both ends can engage mutually, and respectively have a capping in port two sides, and the assembling of being convenient to bearing block has kept the approximate circle cylinder of case surface simultaneously.
Further technical scheme, is equipped with four wire guides on described cavity ring medial surface, and described wire guide is arranged on described flexible connection point below.
Described rope yarn is through each described wire guide.
In technique scheme, shell inward flange is also provided with two bullports, the through hole of two wire columns is respectively just to two winding slots, and two rope yarns on winding slot are finally fixed in the cavity ring of least significant end through the wire guide in each cavity ring through each corresponding through hole, bullport respectively again.
Further technical scheme, described servomotor is by reel described in Worm Wheel System, and described reel is coaxially connected with described worm gear.
Further technical scheme, described shell is cylindrical.
Operation principle of the present invention, in module, be provided with body and two connecting portions, in connecting portion, be provided with servomotor and reel, servomotor drives reel rotation, due to two rope yarns on reel around on the contrary, in the time that reel rotates, a rope yarn is strained another rope yarn and is loosened, and can make body draw deflection in to a side of rope yarn tension; And in module, be provided with two connecting portions, and in body, be altogether evenly equipped with 4 rope yarns, can make the multi-direction deflection twisting of body by servomotor to the control of reel.
Because technique scheme is used, the present invention compared with prior art has following advantages:
1, the present invention itself can twist in multi-direction deflection, and flexibility is very strong;
2, entirety of the present invention is cylindrical, and in the time of underwater exercise, current are less to its resistance, can move more flexibly;
3, the present invention drives reel to rotate by servomotor, controls more accurately, makes the deflection of body more flexible by control.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is connecting portion structural representation one of the present invention;
Fig. 3 is connecting portion structural representation two of the present invention;
Fig. 4 is connecting portion structural representation three of the present invention;
Fig. 5 is for being shell mechanism schematic diagram of the present invention.
Wherein: 1, body; 2, connecting portion; 11, cavity ring; 12, be flexibly connected point; 13, wire guide; 21, shell; 22, servomotor; 23, reel; 24, wire column; 25, capping; 26, bullport; 27, worm gear; 28, worm screw; 231, winding slot; 241, through hole.
The specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described:
Embodiment mono-:
As Figure 1-5, one is snake-shaped robot joint module under water, comprises the body 1 of multi-directionally deflection and is arranged on the connecting portion 2 at body 1 both ends.
Connecting portion 2 comprises shell 21, be arranged on servomotor 22, the reel with two winding slots 231 23 driving by servomotor 22 in shell 21, be wrapped in rope yarn 34 in winding slot 231, be fixedly installed on two wire columns 24 of shell 21 inside, wire column 24 ends are provided with through hole 241, through hole 241 center lines are crossing with reel 23 center lines, rope yarn 34 one end are wrapped on reel 23, the other end of rope yarn 34 is fixed on body 1 end by through hole 241 and body 1, and two rope yarns 34 on reel 23 are around on the contrary.
Shell 21 is cylindrical.
Two connecting portion 2 ports that are arranged on body 1 both ends can engage mutually, and respectively have a capping 25 in port two sides, and the assembling of being convenient to bearing block has kept the approximate circle cylinder on shell 21 surfaces simultaneously.
On cavity ring 11 medial surfaces, be equipped with four wire guides 13, wire guide 13 is arranged on and is flexibly connected point 12 belows.
Rope yarn 34 is through each wire guide 13.
Servomotor 22 is by worm and gear 28 transmission reels 23, and reel 23 is coaxially connected with worm gear 27.
The operation principle of snake-shaped robot under water, in module 1, be provided with body 1 and two connecting portions 2, in connecting portion 2, be provided with servomotor 22 and reel 23, servomotor 22 drives reel 23 to rotate, due to two rope yarns on reel 23 around on the contrary, in the time that reel 23 rotates, a rope yarn is strained another rope yarn and is loosened, and can make body 1 draw deflection in to a side of rope yarn tension; And in module 1, be provided with two connecting portions 2, and in body 1, be altogether evenly equipped with 4 rope yarns, can make the multi-direction deflection twisting of body 1 by servomotor 22 to the control of reel 23.
Claims (5)
1. a snake-shaped robot joint module under water, it is characterized in that: comprise the body of multi-directionally deflection and be arranged on the connecting portion at described body both ends, described body and described connecting portion outer surface are coated with water-proof jacket, described body comprises multiple cavity ring, described cavity ring is equipped with four and is flexibly connected point, wherein two relative described flexible connection points are arranged on described cavity ring upper surface, another two described flexible connection points are arranged on described cavity ring lower surface, and described adjacent cavity ring is flexibly connected by described flexible connection point;
Described connecting portion comprises shell, be arranged on servomotor in described shell, the reel with two winding slots by described driven by servomotor, be wrapped in rope yarn in described winding slot, be fixedly installed on two wire columns of described enclosure, described wire column end is provided with through hole, described through hole center line is crossing with described reel center line, described rope yarn one end is wrapped on described reel, the other end of described rope yarn is fixed on described body tip by described through hole and body, and two rope yarns on described reel are around on the contrary.
2. one according to claim 1 snake-shaped robot joint module under water, is characterized in that: on described cavity ring medial surface, be equipped with four wire guides, described wire guide is arranged on described flexible connection point below.
3. one according to claim 2 snake-shaped robot joint module under water, is characterized in that: described rope yarn is through each described wire guide.
4. one according to claim 1 snake-shaped robot joint module under water, is characterized in that: described servomotor is by reel described in Worm Wheel System, and described reel is coaxially connected with described worm gear.
5. one according to claim 1 snake-shaped robot joint module under water, is characterized in that: described shell is cylindrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102205.0A CN103878784B (en) | 2014-03-19 | 2014-03-19 | One is snake-shaped robot joint module under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410102205.0A CN103878784B (en) | 2014-03-19 | 2014-03-19 | One is snake-shaped robot joint module under water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103878784A true CN103878784A (en) | 2014-06-25 |
| CN103878784B CN103878784B (en) | 2016-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410102205.0A Expired - Fee Related CN103878784B (en) | 2014-03-19 | 2014-03-19 | One is snake-shaped robot joint module under water |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260105A (en) * | 2014-08-29 | 2015-01-07 | 福建工程学院 | Extensible joint based on torsional transmission |
| CN104760055A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学深圳研究生院 | Turtle robot and flexible neck device thereof |
| CN106272527A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | Band edge strip connector |
| CN107813304A (en) * | 2017-11-22 | 2018-03-20 | 华南农业大学 | A kind of bionical snake-shaped robot multi-freedom joint module |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
Citations (7)
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| US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
| CN1850456A (en) * | 2005-04-22 | 2006-10-25 | 川崎重工业株式会社 | Deformable structure and cable support system |
| US20090099420A1 (en) * | 2007-10-11 | 2009-04-16 | Neoguide Systems, Inc. | System for managing bowden cables in articulating instruments |
| CN201894627U (en) * | 2010-10-26 | 2011-07-13 | 合肥华信电动科技发展有限公司 | Snake-bone structure capable of freely rotating |
| WO2012059791A1 (en) * | 2010-11-05 | 2012-05-10 | Rīgas Tehniskā Universitāte | Robotic snake-like movement device |
| US20130289478A1 (en) * | 2012-03-30 | 2013-10-31 | Samsung Electronics Co., Ltd. | Variably flexible pipe and manipulator |
| CN203779496U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Underwater snake-like robot |
-
2014
- 2014-03-19 CN CN201410102205.0A patent/CN103878784B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
| CN1850456A (en) * | 2005-04-22 | 2006-10-25 | 川崎重工业株式会社 | Deformable structure and cable support system |
| US20090099420A1 (en) * | 2007-10-11 | 2009-04-16 | Neoguide Systems, Inc. | System for managing bowden cables in articulating instruments |
| CN201894627U (en) * | 2010-10-26 | 2011-07-13 | 合肥华信电动科技发展有限公司 | Snake-bone structure capable of freely rotating |
| WO2012059791A1 (en) * | 2010-11-05 | 2012-05-10 | Rīgas Tehniskā Universitāte | Robotic snake-like movement device |
| US20130289478A1 (en) * | 2012-03-30 | 2013-10-31 | Samsung Electronics Co., Ltd. | Variably flexible pipe and manipulator |
| CN203779496U (en) * | 2014-03-19 | 2014-08-20 | 苏州大学 | Underwater snake-like robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260105A (en) * | 2014-08-29 | 2015-01-07 | 福建工程学院 | Extensible joint based on torsional transmission |
| CN104260105B (en) * | 2014-08-29 | 2015-12-09 | 福建工程学院 | A kind ofly bend and stretch joint based on torque drive |
| CN104760055A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学深圳研究生院 | Turtle robot and flexible neck device thereof |
| CN106272527A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | Band edge strip connector |
| CN107813304A (en) * | 2017-11-22 | 2018-03-20 | 华南农业大学 | A kind of bionical snake-shaped robot multi-freedom joint module |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103878784B (en) | 2016-03-09 |
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Granted publication date: 20160309 Termination date: 20190319 |