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Snake-shaped robot

A snake-shaped robot and snake-tail technology, applied in the field of bionic robots, can solve problems such as service life limitation, difficulty and complexity of ball-pair connection drive

Inactive Publication Date: 2019-05-10
林勤鑫
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are many kinds of modular joint designs for snake-like robots, but there are the following disadvantages: 1. The parallel connection method is only suitable for two-dimensional in-plane motion; 2. The ball joint connection method is difficult and complicated to drive; 3. Wear and tear when interacting with the environment Seriously, the internal structure is disturbed by the environment and the service life is limited

Method used

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Embodiment Construction

[0015] Such as figure 1 As shown, the snake-like robot described includes a joint module 1, a snake tail 2 and a snake head 3, the joint modules 1 have a plurality connected in series, the snake head 3 is installed at the end of the joint module 1 in the direction of travel, and the snake tail 2 is installed on The end of the joint module 1; the snake tail 2 is in the shape of a dome, and the snake tail 2 is in the shape of a fish fin, which is better adapted to travel.

[0016] Such as figure 2 As shown, the joint module 1 includes a connecting joint 11, a first steering gear 12, a first transmission shaft 13, a first gear set 14, a second steering gear 15, a second transmission shaft 16, a second gear set 17, Cross connector 18, bellows 19 and side pulley block 10; connecting joint 11 includes connecting bracket 111, vertical connecting plate 112 and transverse connecting plate 113, vertical connecting plate 112 and transverse connecting plate 113 are fixedly arranged on c...

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Abstract

The invention relates to the technical field of bionic robots, in particular to a snake-shaped robot. The snake-shaped robot comprises joint modules, a snake tail and a snake head, wherein the joint modules are in series connection; the snake head is mounted at the end portion of the joint modules in a traveling direction; the snake tail is mounted at the rear end of the joint modules; the joint modules include joints, a first steering gear, a first transmission shaft, a first gear set, a second steering gear, a second transmission shaft, a second gear set, a cross connector, a bellows and a side pulley set; the first steering gear (12) drives the first transmission shaft (13) to rotate around a connecting hole of a transverse connecting plate (113); and the second steering gear (15) drives the second transmission shaft (16) to rotate around a connecting hole of a vertical connecting plate (112). The snake-shaped robot is more flexible and applicable to various working fields, and achieves various movements; the bellows and the side pulley set are arranged, and the pulley protrudes from the bellows to reduce the forward resistance while protecting an internal mechanism.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a snake-like robot. Background technique [0002] Biological snakes can survive in diverse natural environments such as forests, deserts, lakes and even swamps. Biological snakes walk in various poses, such as walking in a straight line or winding forward. Its unique winding and crawling movement can make it move freely. It can not only crawl like flying on flat ground or rugged mountain roads, but also in deserts , Winding forward in the swamp. The body of the biological snake is soft, and it can control itself to achieve various postures and easily enter narrow spaces. In the field of bionic robots, snake-like robots have emerged as the times require, imitating the super adaptability of biological snakes. Snake robot is a high-redundancy system composed of multiple joint modules, which can adapt to complex and changeable environments. There are many kinds of modular j...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/10B25J17/02
Inventor 林勤鑫魏星
Owner 林勤鑫
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