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Snake robot with orthogonal joint structure

A snake-shaped robot and joint structure technology, applied in the field of bionic robots, can solve problems such as insufficient spatial freedom, unreasonable structural design, uneven mass distribution, etc., to improve flexibility and operability, improve passability and Controllability and the effect of reducing the difficulty of maintenance

Inactive Publication Date: 2017-09-05
CHENGDU UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, existing snake-like robots usually have defects such as unreasonable structural design, uneven mass distribution, bulky size, insufficient flexibility, insufficient spatial freedom, and insufficient redundancy.

Method used

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  • Snake robot with orthogonal joint structure
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  • Snake robot with orthogonal joint structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] This embodiment provides a specific implementation of a snake-like robot with an orthogonal joint structure.

[0041] Such as figure 1 As shown, it is a snake-like robot with an orthogonal joint structure, including a snake head joint 1 , a plurality of snake body joints 2 and a snake tail joint 3 sequentially connected end to end by a plurality of joint connectors 4 . The snake head joint 1, snake body joint 2 and snake tail joint 3 are all approximately cuboid structures, and the longitudinal sections of the joints along the direction perpendicular to the snake body have basically the same shape, which are square or rectangular, so as to ensure the passability in narrow spaces. Preferably, in order to maintain stability and reduce rollover, the section is a rectangle whose width is greater than the height.

[0042] Such as Figures 2 to 5 As shown, the snake body bracket 21 of the snake body joint 2 is provided with a horizontal steering gear 51 for horizontal rotat...

Embodiment 2

[0048] According to the snake robot described in Embodiment 1, this embodiment provides a further embodiment of the snake body joint.

[0049] Such as Figures 2 to 7 As shown, a snake body joint of a snake robot includes a horizontal steering gear 51 arranged on the snake body bracket 21 for connecting with the front adjacent joint, a longitudinal steering gear 52 connected with the rear adjacent joint, and a A battery 6 for power supply and a circuit board 7 for control. The battery 6 is electrically connected to the circuit board 7 , and the circuit board 7 is electrically connected to the horizontal steering gear 51 and the longitudinal steering gear 52 .

[0050] Such as Figure 6 As shown, the snake body bracket 21 is a cubic frame structure with front and rear openings, and the first warehouse body 211 of a rectangular structure for installing the horizontal steering gear 51, the battery 6 and the circuit board 7 is provided at the center position, and the rear positi...

Embodiment 3

[0054] According to the snake robot described in Embodiment 1, this embodiment provides a further embodiment of the snake head joint structure.

[0055] Such as Figures 12 to 17 As shown, the snake head joint of the snake robot includes a longitudinal steering gear 52 arranged on the snake head bracket 11 for connecting with the rear adjacent joints, a battery 6 for power supply and a circuit board 7 for control, and is arranged on the The snake head cover 12 of snake head support 11 front ends. The battery 6 is electrically connected to the circuit board 7 , and the circuit board 7 is electrically connected to the longitudinal steering gear 52 .

[0056] Such as Figure 16 As shown, the head support 11 is a cubic frame structure with front and rear openings, the front part is provided with a third warehouse body 111 of a rectangular structure for installing the battery 6 and the circuit board 7 and connecting the snake head cover 12, and the rear part is provided with a T...

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Abstract

A snake robot with an orthogonal joint structure comprises a snake head joint, multiple snake body joints and a snake nail joint which are sequentially connected in a head-to-tail manner through multiple joint connecting parts, and each snake body joint is provided with a horizontal rotating output transverse steering engine and a vertical rotating output longitudinal steering engine. The snake robot with the orthogonal joint structure is characterized in that the joints are of an orthogonal drive structure, flexibility and maneuverability of the snake robot can be improved, and serpentine motion and peristaltic movement can be carried out at the same time; the snake body joints are of a dual-steering-engine orthogonal drive structure, the size is small and exquisite, motion is flexible, and passing performance and controllability of the complex environment can be improved; modular design is adopted in the snake robot, the number of snake body modules can be increased or decreased freely, and the application range of the snake robot can be expanded; same components of steering engines, joint connecting parts and the like are adopted in the different joint components, and the maintaining difficulty is reduced.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and relates to a snake-like robot, in particular to a snake-like robot with an orthogonal joint structure. Background technique [0002] Snake robots have the characteristics of easy camouflage, strong concealment, strong ability to pass through complex terrain, and can replace or partially replace operators to complete dangerous tasks, such as investigation, search and rescue, patrol, pipeline inspection and space exploration. However, existing snake-like robots usually have defects such as unreasonable structural design, uneven mass distribution, bulky size, insufficient flexibility, insufficient spatial freedom, and insufficient redundancy. Contents of the invention [0003] The object of the present invention is to overcome the defects of the prior art, and provide a snake-like robot with an orthogonal joint structure, which is compact in size, simple in structure, simple in operation...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J17/02
CPCB25J9/065B25J17/0266
Inventor 刘明哲柳炳琦王兴庹先国赵仕波成毅余洪坤
Owner CHENGDU UNIVERSITY OF TECHNOLOGY
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