Attitude control method for snake-like robot on flat road
A snake-like robot and attitude control technology, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of high power consumption and low efficiency
Active Publication Date: 2016-06-08
泰华宏业(天津)智能科技有限责任公司
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Problems solved by technology
[0002] The current existing snake-like robots are basically composed of mutually perpendicular steering gears to form a snake-like robot with an orthogonal universal structure. Such a combination of motion, such as patent CN201320573824.9, provides this type of snake robot, but it has the disadvantages of low efficiency and high power consumption
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[0016] figure 1 It intuitively shows the structure, function and control mode of the snake robot. The controller sends control signals to control the joints and the spiral shell to enter different postures and motion states, so that the whole snake robot can realize various shapes and motion modes, so as to move efficiently in different environments. figure 1 Listed are 4 kinds of postures that the snake robot can produce by controlling the joints to adapt to 4 typical environments. In addition, through the appropriate transformation of posture and movement, more functions such as climbing stairs and overcoming obstacles are realized.
[0017] The key parts of the whole snake-shaped robot are: the steering gear 4 is fixedly installed on the steering gear bracket 11, the steering gear disc 2 is fixed on one end of the U-shaped connecting rod 12, and the steering gear disc 2 is fixed on the rotating shaft of the steering gear 4, The other end of the U-shaped connecting rod 12 h...
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The invention relates to a snake-shaped robot flat road travelling posture control method. A snake-shaped robot comprises 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). The method includes under the control of two steering engines (4), allowing each pair of the adjacent spiral shells (1) of two sides of the universal joint to locate on different levels perpendicularly, and allowing the rotating directions of spiral teeth of the two spiral shells (1) which are grounded parallelly to be the same. The control method is convenient and fast to change the shape, and the snake-shaped robot is capable of advancing on the flat road in a vehicle shape.
Description
technical field [0001] The patent of the invention belongs to the field of special robots, and specifically relates to a snake-shaped robot. Background technique [0002] The current existing snake-like robots are basically composed of mutually perpendicular steering gears to form a snake-like robot with an orthogonal universal structure. Such a combination of motion, such as patent CN201320573824.9, provides this type of snake robot, but has the disadvantages of low efficiency and high power consumption. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art, based on a newly proposed snake-like robot, it proposes a fast and easy shape on a flat road surface, and an attitude control method for moving forward efficiently. Compared with the previous snake-like robot and attitude control method, it can reduce power consumption and adapt to high-efficiency travel on flat ground. Technical sche...
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IPC IPC(8): B25J9/06B25J13/00
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