Imitation snake search and rescue robot joint mechanism

A technology of robot joints and joints, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of insufficient adaptability, slow speed of crawler snake robots, and poor flexibility of steering gear snake robots, etc., to achieve easy design and optimization, high efficiency The effect of inspection and maintenance and enhancing environmental adaptability

Active Publication Date: 2017-01-04
BEIJING UNIV OF CHEM TECH
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  • Application Information

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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

Method used

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  • Imitation snake search and rescue robot joint mechanism
  • Imitation snake search and rescue robot joint mechanism
  • Imitation snake search and rescue robot joint mechanism

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Embodiment Construction

[0032] The following figures will further illustrate the present invention in conjunction with the accompanying drawings.

[0033] see figure 1 , the joint mechanism of the snake-like search and rescue robot provided by the present invention includes an upper omnidirectional wheel I, a parallel joint group II, and a lower omnidirectional wheel III. The connecting shaft 23 of the upper omnidirectional wheel and the connecting shaft 24 of the lower omnidirectional wheel are respectively connected with the parallel joint The circular end cover base 5 of the group is fixedly connected with the circular end cover base 1 of the fixed platform.

[0034] see figure 2 , the omnidirectional wheel I is composed of two omnidirectional wheel support wheels and an omnidirectional wheel connecting shaft 23, each omnidirectional wheel support wheel is composed of an omnidirectional wheel axle 20 and eight driven wheels 19, and the driven wheels 19 The fourteenth rotary pair R14 on the top ...

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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...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0275
Inventor 曹政才张东李萌肖清赵利美
Owner BEIJING UNIV OF CHEM TECH
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