Splittable snake-like robot with multiple motion modes

A multi-motion mode, robot technology, applied in manipulators, motor vehicles, transportation and packaging, etc., can solve the problems of snake-shaped robot movement ability limitation, affecting search and rescue and detection ability, limiting snake body movement speed, etc., to achieve a simple shell design , to achieve the effect of diversification and reducing unnecessary wear and tear

Active Publication Date: 2013-09-04
BEIJING INFORMATION SCI & TECH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most of the existing snake-like robot mechanisms are 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 exceed the natural snake. However, compared with four-legged jumping and running or wheeled movement, the traditional snake-like movement limits the speed of the snake body to a certain exten

Method used

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  • Splittable snake-like robot with multiple motion modes
  • Splittable snake-like robot with multiple motion modes
  • Splittable snake-like robot with multiple motion modes

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Embodiment Construction

[0030] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0031] Such as figure 1 As shown, the present invention is composed of a head 1, a torso 2, a split body 3, a joint 4 and a tail 5, wherein the head 1 is mainly used to install sensing devices responsible for environmental information collection, such as cameras, lights, etc. The trunk part 2 is mainly equipped with an independent telescopic wheel-leg composite mechanism 11 and corresponding controllers, batteries, etc., to realize the basic winding, wriggling, sliding, crawling and power supply control of the snake body; the split part 3 relies on the three-leaf arc guide wheel 14 Rotational motion is converted into linear motion to realize the screwing in and out between the telescopic rod 13 and the split connection hole 13-1 to realize the split; the joint part 4 relies on the torsion steering gear 25 and the U The shape rotating connecting plate transmi...

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Abstract

The invention discloses a splittable snake-like robot with multiple motion modes. The snake-like robot comprises a head portion, body portions, a split portion, joint portions and a tail portion. The head portion and the tail portion are in the same cone shape; every body portion is provided with folding independent retractable wheel foot composite structures which are evenly distributed in six directions in an embedded mode, and the top of every body portion is provided with a driving wheel or a driven wheel; the split portion utilizes rod grooves to achieve dual use in one body or self-salvation when broken; and every joint portion utilizes double mutually-perpendicular steering engine housing structures to mount steering engines, thereby achieving the free horizontal and vertical steering of neighboring modules through double degrees of freedom. By adjusting the retraction angle and the retraction length of every wheel foot, the splittable snake-like robot can moves in multiple motion modes such as sliding, crawling and two-dimensional transformation besides snake-like motion modes of creeping, rolling and wiggling, thereby effectively improving the adaptability and the speed of the snake-like robot under various complex land hard terrain conditions.

Description

technical field [0001] The invention relates to a snake-like robot mechanism, in particular to a multi-movement-mode separable snake-like robot with a built-in wheel-leg composite structure and a split mechanism. Background technique [0002] The snake robot has the following advantages: reasonable 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, most of the existing snake-like robot mechanisms are 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 exceed the natural snake. However, compared with four-legged jumping and running or wheeled movement, the traditiona...

Claims

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Application Information

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IPC IPC(8): B62D57/02B25J9/00
Inventor 李彦文李擎刘福朝付国栋
Owner BEIJING INFORMATION SCI & TECH UNIV
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