Stretchy snake-shaped robot

Abstract

The invention discloses a stretchy snake-shaped robot which is composed of 8-15 connection plates of the identical structure and series-connection branches connected with the connection plates. Two adjacent connection plates are connected through three series-connection branches which are of the same structure and are distributed in a triangular mode to form a parallel mechanism unit module, a steering engine of each serial-connection branch is fixedly connected with a steering engine support, the output shafts of the steering engines are fixedly connected with one ends of driving rods, the other ends of the driving rods are connected with one ends of driven rods through rotation pairs, the steering engine supports of the first branches and the steering engine supports of the second branches are fixedly connected with the connection plates, the other ends of the driven rods of the third branches are connected with the connection plates through universal hinges, the other ends of the driven rods of the first branches and the other ends of the driven rods of the second branches are connected with another connection plates through universal hinges, the steering engine supports of the third branches are connected with another connection plates, and the output shafts of the steering engines of the third branches in two adjacent modules are opposite in the arrangement direction. The stretchy snake-shaped robot is simple in structure, has the straight-line stretchy motion function and can flexibly move in the narrow space.

Description

technical field [0001] The invention belongs to the field of bionic robots, in particular to a snake-like robot. Background technique [0002] Snake-shaped robot is a robot device imitating the structure and motion of biological snakes. It has the advantages of good motion stability, strong ability to adapt to terrain, and convenient overall sealing. It has attracted much attention at the beginning of its birth, and its expansion Human activity space: enter the ruins after earthquakes and fires to search for the wounded, complete reconnaissance tasks in environments with harmful substances such as poisonous gas, dust or radiation, and conduct detection or dredge pipelines in narrow and dangerous conditions. [0003] Existing snake-shaped robots are usually composed of 8-15 unit modules with the same structure and only rotation degrees of freedom connected in series. Although the driving methods are different, there are different methods such as direct motor drive, rope drive...

AI Technical Summary

Problems solved by technology

However, due to the fixed length of its unit modules, it cannot achieve linear telescopic motion like pythons and other large snakes. It is difficult to pass through a circular tube or narrow slit environment with the same diameter as its own by means of meandering motion. In addition, its winding force only comes from joints. The rotation makes it more difficult to realize the climbing action of the vertical tree trunk, which leads to the lack of adaptability of the above-mentioned snake-shaped robot to the above-mentioned terrain, and its structure center is a kinematic pair, which is inconvenient to control the layout of the cables.

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