Snake-like robot with uneven ground suitability

Abstract

The invention relates to a snake-like robot with uneven ground suitability. The robot is formed by connecting a plurality of joint modules, and comprises a control system, wherein each joint module comprises a body, each body is connected with the control system, the bodies of the joint modules are mutually connected, the lower part of each body is provided with a suspension system, each suspension system comprises two suspension subsystems, the suspension subsystems are symmetrically arranged at the left and right sides of each body, and respectively comprise a detection device and a guide rod, each guide rod is connected with each detection device, each detection device is connected with the control system, each suspension subsystem comprises a wheel frame which is arranged on each body, each wheel frame is provided with a slide block, each guide rod penetrates into each slide block, and can freely slide in each slide block, the lower ends of the guide rods of the suspension subsystems at the two sides are connected through wheel shafts, and each wheel shaft is provided with a wheel. The robot has the advantages that the structure of the joint modules of the snake-like robot is improved, the control method of the existing snake-like robot is simplified, and the suitability of the snake-like robot on the uneven ground 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 adapting to uneven ground which can be shaped on 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 success...

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

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