Snakelike robot with uneven ground adaptability

Abstract

A snakelike robot with uneven ground adaptability is formed by connecting a plurality of joint modules. The snakelike robot comprises a control system. Each joint module comprises a machine body connected with the control system. The machine bodies of the plurality of joint modules are connected. A suspension system is arranged on the lower portion of the machine body and comprises a detection device, the detection device is connected with the control system and a connection rod, and a walking wheel is arranged at the tail end of the connection rod. The structure of the joint module of the snakelike robot is improved, the control mode of the existing snakelike robot is simplified, and the uneven ground adaptability of the snakelike robot is improved.

Description

technical field [0001] The invention belongs to the technical field of machinery and relates to a robot, in particular to a snake-shaped robot capable of crawling on uneven ground and capable of adapting to uneven ground. Background technique [0002] Snake robot has the characteristics of slender body, small cross-section and variable shape, etc. It can walk through narrow spaces with dense obstacles, and can climb and cross obstacles. [0003] Snake robots are generally composed of multiple joint modules, and each joint module is connected to each other. The internal structure of the joint module is hydraulic, pneumatic or electric, and has a single-degree-of-freedom or multi-degree-of-freedom movement mode. The joint module and the ground are in contact with the ground through wheels. Although the internal structures and functions of the joint modules are different, whether the wheels can maintain reliable and stable contact with the ground is the only factor for the suc...

AI Technical Summary

Problems solved by technology

First of all, the angle between the joint modules calculated according to the snake-like motion law needs real-time correction to keep the wheel in contact with the ground. In order to perform this real-time correction calculation, it is not only necessary to use sensors to obtain The computing power of the controller of the snake-shaped robot puts forward high requirements, which increases the complexity of the snake-shaped robot, increases the cost of development and maintenance, and reduces the reliability

Secondly, the size of the contact force between the wheel and the ground also has a great influence on the movement of the snake robot. The current snake robot can only ensure the contact between the wheel and the ground, but cannot effectively control the adjustment wheel and the ground. The size of the contact force, which also limits the ability of the snake robot to move on uneven ground

These limit the application of snake robots on uneven ground

Images