Imitation snake search and rescue robot joint mechanism

Abstract

Provided is an imitation snake search and rescue robot joint mechanism. The imitation snake search and rescue robot joint mechanism comprises two omnidirectional wheels and a parallel joint group, wherein the parallel joint group comprises a fixed platform, a moving platform, two UPS linear drivers and a PU linear driver. A joint has four degrees of freedom, and the four degrees of freedom are telescoping, pitching, yawing and rotating of omnidirectional wheels around the central axis of the imitation snake search and rescue robot joint. The imitation snake search and rescue robot joint mechanism can effectively combine the advantages of an imitation snake robot with the advantages of a wheel type robot, and the imitation snake search and rescue robot is made to not only have the advantages of having multiple degrees of freedom and being small in size, flexible in movement and high in environmental adaptability of the imitation snake search and rescue robot but also have the advantages of being high in movement speed and easy to control of the wheel type robot, the movement capacity of the imitation snake search and rescue robot is greatly improved, a foundation is laid for expansion of a movement gait of the imitation snake search and rescue robot, and the flexibility and adaptability of the imitation snake search and rescue robot in different environments can be effectively improved.

Description

technical field [0001] The invention relates to the field of robot research and engineering, and specifically refers to a joint mechanism of a snake-like search and rescue robot that combines the advantages of a wheeled robot and a snake-shaped robot and can adapt to complex terrain. [0002] technical background [0003] In recent years, with the rapid development of human economy and science and technology, the process of industrialization has gradually improved, and the scale of production has increased day by day. At the same time, the frequency of production accidents such as chemical explosions and mine collapses has also increased, causing huge casualties and economic losses. loss. On-site rescue immediately after a disaster is very important. However, the environment of the disaster site is complex, and rescuers cannot enter the disaster site, which brings huge challenges to the rescue work. At the same time, the global political landscape is complex, the possibility...

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Problems solved by technology

[0006] In view of the above problems, the object of the present invention is to provide a joint mechanism of a snake-like search and rescue robot to solve the problems of insufficient environmental adaptability of the current wheeled snake-like search and rescue robot, slow speed of crawler snake-like robots, poor flexibility of steering gear snake-like robots, etc.

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