Magnetic drive micro-motion amplifying snake robot

Abstract

The invention discloses a magnetic drive micro-motion amplifying snake robot. The snake robot comprises a snake head, a snake body and a snake tail, wherein the snake head, the snake body and the snake tail are connected with one another, and the snake head and the snake body as well as the snake body and the snake tail are connected through cross shafts; the snake head comprises a streamline snake head front part, a binocular vision camera arranged on the two sides of the snake head front part, a horizontal snake head top plate connected with the snake head front part, a snake head rear platevertically connected with the rear end of the snake head top plate and a snake head bottom plate vertically connected with the snake head rear plate and located below the snake head top plate, and torsion driving units connected with the snake head rear plate are arranged on the snake head top plate and the snake head bottom plate; the snake body comprises a plurality of snake body mechanisms, the snake body mechanisms are connected with one another through the cross shafts, and comprise snake body driving units and the torsion driving units; and the torsion driving units comprise linear magnetic servers and first micro-motion proportional amplification assemblies, and the snake body driving units comprise linear magnetic server sets and second micro-motion proportional amplifying assemblies. The snake robot has the advantages that the structure is simple and compact, the cost is low, and the snake-shaped movement mode can be realized.

Description

technical field [0001] The invention belongs to the field of mechanical snake design, and in particular relates to a magnetically driven micro-motion amplified mechanical snake. Background technique [0002] Due to its multi-joint, multi-redundant degrees of freedom and other characteristics, the snake-shaped robot can form a variety of motion modes, which is very suitable for search and rescue and investigation in complex environments, such as radiation, dust, poisonous and collapsed buildings , Removal of explosives and other rescue and disaster relief tasks. In addition, with the development of software technology, it can also carry out adaptive deformation with the shape of the environment, so as to smoothly enter the narrow area for operation. New ideas, especially in the field of robot rescue have a broad application space. However, many of the existing robot snakes use motors as the power source, which not only has a large volume, but also has a complicated control ...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the defects and deficiencies in the prior art, the present invention provides a mechanical snake with magnetically driven micro-motion amplification, which overcomes the defects of the existing mechanical snake with complex structure, high cost and technical requirements

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