Scalable wheel type snake-shaped robot

Abstract

The invention discloses a scalable wheel type snake-shaped robot. The snake-shaped robot consists of a head part, a tail part, body parts and knuckle parts, and can move bi-directionally, wherein the head part and the tail parts have the same structure, a mounting hole is arranged, and corresponding sensors are arranged as required; the body parts can realize gravity induction type independent scalability of wheels by adopting an electromagnetic eight-direction independent scalable wheel structure, the body part close to the head part and the tail part is provided with a driving wheel for providing driving, and other body parts are provided with driven wheels; and the knuckle parts can realize the horizontal and pitching deflection of adjacent modules by adopting a cross-shaped gear structure, and the creeping and peristalsis of the whole snake-shaped body can be realized by reasonably regulating the deflection angles of all knuckles. The wheel type movement and creeping and peristalsis form can be independent from each other and can also be combined, and the adaptability and the traveling speed of the snake-shaped robot can be effectively promoted under complex terrain conditions.

Description

technical field [0001] The invention relates to a snake-like robot mechanism, in particular to a snake-like robot whose wheeled motion can be combined with traditional snake-like motion forms such as meandering and peristalsis, and can also move independently. Background technique [0002] The snake robot has the following advantages: unique structure, flexible control, reliable performance, strong scalability, strong adaptability, etc. Due to its natural multi-joints, multi-degrees of freedom, and multi-redundant degrees of freedom, snake-shaped robots can have a variety of motion modes, thus catering to the needs of some markets. At present, the existing snake-like robot mechanisms are all designed for the traditional snake-like movement. With the advancement of bionic technology and the highly refined structural design, some advanced snake-like robots in the world have been able to reach or even surpass the natural world. Snakes have some athletic ability, but compared w...

AI Technical Summary

Problems solved by technology

At present, the existing snake-like robot mechanisms are all designed for the traditional snake-like movement form. With the advancement of bionic technology and the highly refined structure design, some advanced snake-like robots in the world have been able to reach or even surpass the natural world. Snakes have some movement capabilities, but compared with wheeled movements, traditional snake-like movements limit the movement speed of the snake body to a certain extent, and the ability to operate in complex terrain environments is also limited

Among the existing inventions, the design of the snake-shaped robot is to fix the wheels on the outer edge of the snake to assist the traditional movement of the snake-shaped robot, such as the ACM-R5 amphibious robot of the Tokyo Institute of Technology, designed by the Shenyang Institute of Automation, Chinese Academy of Sciences The amphibious snake robot with patent number 200820231889.4 and the multifunctional snake robot with patent number 200920313939.8 designed by students of Central South University are all designed with fixed wheels, either installed on the airfoil structure on the surface of the snake body, or directly installed on the surface , although this design can increase the speed of the snake body in meandering and other movements, it cannot increase the movement mode of the snake-like robot, but only plays an auxiliary role in the traditional snake-like movement form and will improve the smoothness of the snake-like robot. It is not conducive to special environments such as pipelines

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