Rope robot with serial driving wheels

Abstract

The invention discloses a rope robot with serial driving wheels, which comprises a movement module, an environment sensing module and a communication module, wherein the movement module is formed by connecting a plurality of driving wheels in series and can be driven by an internal electromechanical device to continuously rotate around the axial direction, the adjacent driving wheels are connected by an active joint with two degrees of freedom and are capable of relatively deflecting around two directions; flexible materials with inclined strips are covered on the outer surfaces of the driving wheels, and the inclination directions of the strips on the surfaces of the adjacent driving wheels are opposite; the two ends of each of the driving wheels are supported by waterproof bearings, anda waterproof rubber film is covered outside the joint with two degrees of freedom; the rope robot can walk on land, underwater and in debris flow and climb along the outer wall of a pipeline or move in the pipeline; the environment sensing module is provided with a laser radar to achieve tridimensional space large angle detection by rotation; and the communication module is capable of automatically recovering a vertical posture through a mechanical device under the gravity action.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a rope-shaped robot that integrates the advantages of a wheeled mobile robot and a snake-shaped robot, and has the ability to quickly pass through complex ground and amphibious capabilities. technical background [0002] Among the driving methods of mobile robots, wheeled driving has the advantages of simple structure and fast walking speed. However, in the face of rough or muddy terrain, the effect of wheeled driving is not satisfactory. Therefore, people have invented the crawler-type driving method. The advantage is that the ground unit pressure is small, and it is suitable for sports on soft or smooth ground such as deserts, swamps, and snow, so it is widely used in off-road fields. However, the track itself has a complex structure, high mass, serious mechanical wear, short service life, and most of the high-speed motion performance cannot be compared with wheel ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a driving wheel tandem rope robot, which solves the insufficient off-road capability of traditional wheeled robots, slow running speed of crawler robots and many inherent defects of snake-shaped robots, and combines wheeled drive with multi-degree-of-freedom Joint combination; with the help of the feature that the outer wall of the motion unit can rotate continuously around the axis, not only can the robot move quickly through wheel drive, but also enable the laser radar to detect the three-dimensional space structure of the environment through spiral scanning; the surface with special functional lines Covering, whole body waterproof seal, and self-restoring antenna device, realize high-speed movement through a variety of attitude description functions, strong environmental adaptability, suitable for complex battlefield environment reconnaissance, chemical pipeline inspection, transmission line maintenance, mine disasters, earthquakes, mudslides, etc. Disaster search and rescue work

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