Metamorphic knuckle mechanism of snake-imitation rescuing robot

A robot and joint technology, which is applied in the field of robot research and engineering, can solve the problem of single joint mechanism and other problems, and achieve the effect of not easy to damage the mechanical structure, high bearing capacity and reduced force
CN105058413AActive Publication Date: 2015-11-18BEIJING UNIV OF CHEM TECH
8 Cites 9 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING UNIV OF CHEM TECH
Publication Date
2015-11-18

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

A metamorphic knuckle mechanism of a snake-imitation rescuing robot comprises a knuckle left end cover, a knuckle right end cover, two RRPRR branches and one RRPRR metamorphic branch. Metamorphic knuckles have two mechanism forms, and the work space and mobility can be changed. In the mechanism form I, a movable pair P in the RRPRR metamorphic branch is in an active moving state, a rotation pair R is in a following state, and then the knuckles have one moving freedom degree and two rotating freedom degrees. In the mechanism form II, the movable pair P in the RRPRR metamorphic branch is in a minimum displacement and locking state, the rotation pair R is in an active state, the knuckles are changed into parallel spherical knuckles in a metamorphic manner, and three rotation freedom degrees are achieved. The metamorphic knuckle mechanism has the beneficial effects of being good in flexibility, high in bearing capability and good in structural robustness and is suitable for the snake-imitation rescuing robot. By means of mutual cooperation of the two mechanism forms of the multiple metamorphic knuckles, the flexibility and adaptability of the snake-imitation rescuing robot under different environments can be effectively improved.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the field of robot research and engineering, in particular to a metamorphic joint mechanism of a snake-like search and rescue robot. technical background

[0002] The slender body structure of the snake-like robot and its limbless movement mode make it have good stability and adaptability in disaster search and rescue tasks. Disaster scenes often contain various terrain environments such as gaps, ravines, and steps. However, at present, snake-like search and rescue robots mostly use joints with a single mechanism, with a fixed working space and constant motion performance. Ability to perform tasks in the environment.

[0003] The metamorphic mechanism is a new type of mechanism that was discovered in the mechanism of the reconfigurable packaging automation line and was formally proposed at the 25th ASME Mechanism and Robotics Biennial Conference at the end of 1998. This type of new mechanism can carry out self-reorganization ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More