Attitude control method of snake-like robot

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 low efficiency and high power consumption

Active Publication Date: 2015-06-10
泰华宏业(天津)智能科技有限责任公司
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Problems solved by technology

The adaptation to some complex terrains has certain l

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  • Attitude control method of snake-like robot
  • Attitude control method of snake-like robot
  • Attitude control method of snake-like robot

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Embodiment Construction

[0018] figure 1 The structure, function and control mode of the snake-shaped robot adopted in the present invention are intuitively shown. 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.

[0019] 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 othe...

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Abstract

The invention relates to an attitude control method of a snake-like robot. The snake-like robot comprises spiral casings (1) in groups of four, wherein spiral teeth are arranged on each spiral casing (1), the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle are the same, and the rotating directions of the spiral teeth of the two spiral casings (1) located on two sides are opposite to the rotating directions of the spiral teeth of the two spiral casings (1) located in the middle; a universal joint is arranged between two adjacent spiral casings (1). The attitude control method of the snake-like robot is provided aiming at four attitudes including advancing in a hole, advancing on a rough pavement, advancing on a flat pavement and advancing on a column through winding. According to the attitude control method provided for the snake-like robot based on the screw propulsion principle, the snake-like robot can penetrate narrow space; the snake-like robot can change in different motion forms through control of motion of the joints and the spiral casings, so that one robot can move efficiently in different environments and has extremely high passing capacity.

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. The combination of such motions, such as 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 relatively large. Contents of the invention [0003] The purpose of the invention is to overcome the above-mentioned deficiencies of the prior art, based on a newly proposed snake-like robot that can move flexibly and efficiently in various complex environments, and provide its attitude control method in various environments. Technical scheme of the present invention is as follows: [0004] A method for attitude control of...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J13/00
Inventor 丁承君刘咏名马汶锴
Owner 泰华宏业(天津)智能科技有限责任公司
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