Multi-mode rigidity and flexibility combined snake-like robot device

A snake-shaped robot, rigid-flexible composite technology, applied in the field of robotics, can solve problems such as difficult to move, unable to use snake-like gait, etc., to achieve the effect of good passability, simple structure, and easy control

Inactive Publication Date: 2016-07-20
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The motion characteristics of this snake-like robot are close to those of a snake, and it has h...

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  • Multi-mode rigidity and flexibility combined snake-like robot device
  • Multi-mode rigidity and flexibility combined snake-like robot device
  • Multi-mode rigidity and flexibility combined snake-like robot device

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Embodiment Construction

[0032] The specific structure, working principle and working process of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0033]A multi-modal rigid-flexible composite snake-like robot device provided by the present invention comprises m snake-like robot unit modules connected in series, two adjacent snake-like robot unit modules are connected together, and the snake-like robot unit modules Including a first skeleton, a second skeleton, a first motor, a second motor, a first transmission mechanism, a second transmission mechanism, a first shaft, a second shaft, n axles and n wheels, the first bushing It is arranged in the first frame, the second shaft is sleeved in the second frame, the first shaft is fixedly connected to the second shaft, the axis of the first shaft and the axis of the second shaft are perpendicular to each other, and the second shaft A motor is fixedly mounted on the first frame, t...

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Abstract

The invention belongs to the technical field of robots and discloses a multi-mode rigidity and flexibility combined snake-like robot device. The multi-mode rigidity and flexibility combined snake-like robot device comprises a plurality of snake-like robot unit modules which are connected in series, every two adjacent snake-like robot unit modules are connected, and each snake-like robot unit module comprises two frameworks, three motors, a plurality of transmission mechanisms, a plurality of shafts, a plurality of wheels, a plurality of sets of belt wheel mechanisms, a plurality of driven wheels provided with one-way bearings, and the like. The multi-mode rigidity and flexibility combined snake-like robot device can travel in multiple modes, not only can directly move like a multi-section car, but also can rapidly move in the narrow terrain by abutting against the wall and rapidly move in a snake-like mode on the wide ground, and is high in terrain adaptability. The multi-mode rigidity and flexibility combined snake-like robot device has a plurality of degrees of freedom, and is good in flexibility, small in cross section, good in trafficability characteristic, simple in structure and easy to control.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to the structural design of a multi-modal rigid-flexible composite snake-shaped robot device. Background technique [0002] Snake robot is a typical bionic robot, which has the characteristics of high redundancy, small cross-section, and modularization. It can adapt to rough, rugged, and complex terrains, and climb obstacles. It has other advantages in flexibility and functionality. The unique advantages that the kind of robot does not have. [0003] Snake robots can be divided into two categories: passive joint active wheel type and active joint passive wheel type according to the source of moving power. Passive joints and active wheeled snake robots rely entirely on the wheels or crawlers on the side of the device to provide power for movement, and their joints can automatically adapt to changes in the environment and terrain. This kind of snake-shaped robot generally...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/08B62D57/024
CPCB25J9/065B25J9/08B62D57/024
Inventor 付琦缘张文增
Owner TSINGHUA UNIV
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