Spiral propulsion variable form snake-shaped robot

A snake-like robot and spiral propulsion technology, applied in manipulators, program-controlled manipulators, joints, etc., can solve the problems of low efficiency and high power consumption, and achieve the effects of prolonging working time, strong passability, and less energy

Active Publication Date: 2015-06-03
泰华宏业(天津)智能科技有限责任公司
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  • Abstract
  • Description
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Problems solved by technology

The adaptation to some complex terrains has certain l

Method used

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  • Spiral propulsion variable form snake-shaped robot
  • Spiral propulsion variable form snake-shaped robot
  • Spiral propulsion variable form snake-shaped robot

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0015] figure 1 The structure, function and control method of the snake-shaped robot are intuitively displayed. The controller sends out control signals to control the joints and the spiral shell to enter different postures and motion states, so that the entire snake-shaped robot can realize various shapes and motion modes, so as to move efficiently in different environments. figure 1 Four kinds of postures are listed for the snake-like robot to be generated by the control joints to adapt to four typical environments. In addition, through the appropriate transformation of postures and motions, it can achieve more functions such as climbing stairs and climbing obstacles.

[0016] The key components of the whole snake-shaped robot are: a steering gear 4 is fixedly installed on the steering gear bracket 11, one end of the U-shaped connecting rod 12 is fixed with a steering gear disk 2, and the steering gear disk 2 is fixed on the rotating shaft of the steering gear 4, The other ...

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Abstract

The invention relates to a spiral propulsion variable form snake-shaped robot comprising spiral shells (1). Four spiral shells (1) are in one group; spiral teeth are arranged on each spiral shell; the rotating directions of spiral teeth of the two spiral shells (1) of two sides are the same and are opposite to those of the two spiral shells (1) of the middle; a universal joint is arranged between two adjacent spiral shells (1); a hollow shaft (9) is arranged in each spiral shell (1), and the ends of the hollow shafts (9) are connected to steering engine supports (11) through hollow connecting shafts (10); reducing motors (7) are fixed to the hollow shafts (9), outer gears (6) driven by the reducing motors (7) are engaged with inner gears (8) fixed to the inner walls of the spiral shells (1). The robot is capable of operating in different environments, the high passing ability is provided, and the consumed energy is reduced.

Description

technical field [0001] The invention belongs to the field of special robots, in particular to a snake-shaped robot. Background technique [0002] The existing snake-shaped robots are basically composed of mutually perpendicular steering gears to form a snake-shaped robot with an orthogonal universal structure. Patent CN201320573824.9 provides this type of snake robot. The adaptation to some complex terrain has certain limitations, the efficiency is low, and the power consumption is large. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, and to provide a snake-shaped robot that can move flexibly and efficiently in various complex environments. Compared with the previous snake-shaped robot, the robot provided by the present invention can reduce power consumption and adapt to the high-efficiency traveling of holes and flat ground. The technical scheme of the present invention is as foll...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J17/00
Inventor 丁承君马汶锴刘咏名
Owner 泰华宏业(天津)智能科技有限责任公司
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