A laterally retractable joint structure and a rescue snake-like robot composed of it

Abstract

The invention discloses a joint structure with a transverse retraction function and a rescue snake-like robot comprising the joint structure. The problems are mainly solved that in the prior art, rescue snake-like robots are small in bending angle and cannot adapt to small-aperture gap rescue. The joint structure includes an upper support lining plate, a right support lining plate, a bottom support lining plate, a left support lining plate, a base, a support liner, a stepping motor, a second retractable rod, a friction wheel, a drive ball, a support ring, a first retractable rod, an electromagnetic brake, a front end rod and a rear end rod; the upper support lining plate, the right support lining plate, the bottom support lining plate, the left support lining plate and snake-body skin areintegrally formed, the base is fixed to the bottom support lining plate, the support liner is connected with the base, the stepping motor is fixed to the support liner, the second retractable rod is connected with the support liner, the friction wheel is arranged on a bearing of the stepping motor, the drive ball is in contact with the friction wheel, the support ring is in rolling contact with the drive ball, the first retractable rod is connected with the support ring, the electromagnetic brake is attached to the support ring, the front end rod is connected with the drive ball, and the rearend rod is connected with the support liner. The joint structure with the transverse retraction function and the rescue snake-like robot comprising the joint structure have the advantages of being simple in structure, large in bending angle, adaptive to small-aperture gaps, convenient to control and the like.

Description

technical field [0001] The invention relates to the technical field of rescue, in particular to a laterally retractable joint structure and a rescue snake-like robot composed of the joint structure. Background technique [0002] Snake robot is a new type of bionic robot that can imitate the movement of biological snakes. It has the advantages of small size and strong flexibility. It has broad market prospects in scientific exploration, disaster rescue, medical detection, aerospace technology and other fields. With the continuous deepening of the research on snake-like robots, higher requirements are put forward for snake-like robots in order to adapt to the harsh environment. Rescue snake-shaped robots are mainly used in emergency rescue and disaster relief sites. Due to the complex terrain of the rescue site and the uneven size of various gaps, it is necessary to use more flexible and changeable rescue snake-shaped robots to cope with harsh environments. At present, tradit...

AI Technical Summary

Problems solved by technology

[0005] In view of the above disadvantages, the purpose of the present invention is to provide a lateral contraction joint structure and a rescue snake robot composed of it, which mainly solves the problems in the prior art that the rescue snake robot has a small bending angle and a fixed snake body diameter. Unable to adapt to problems such as small aperture crevice rescue

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