Bionic S-shaped moving robot

Abstract

The invention discloses a bionic S-shaped moving robot. The bionic S-shaped moving robot comprises a head, a tail and a plurality of unit modules connected between the head and the tail in series, theadjacent two unit modules are elastically connected, each unit module comprises a shell, a sliding block arranged in the shell in the form capable of reciprocating sliding, a electromagnet used for absorbing the sliding block to slide, and a winding amplification mechanism connected between the sliding block and the shells of the adjacent unit modules, and the winding amplification mechanism comprises a sliding block winding column fixed on the sliding block, a shell winding column fixed on the shell, and a line rope wound between the shell winding column and the sliding block winding columnand forming a closed loop by penetrating through the shells of the adjacent unit modules. The bionic S-shaped moving robot overcomes the shortcoming of small electromagnetic iron action distance through a rope amplification mechanism, and has the advantages that the control is simple, the miniaturization is achieved, and the pure electromagnetic drive is achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an electromagnet-driven, easy-to-control, dual-motion mode bionic snake-shaped mobile robot that can be used in special environments such as reconnaissance and disaster rescue. Background technique [0002] The bionic snake-shaped robot has the characteristics of flexibility, mobility and strong adaptability, and has unique movement advantages in small spaces and complex terrains such as reconnaissance, disaster rescue, and pipeline maintenance. Existing snake-like robots usually consist of multiple units with the same structure. There are different driving methods, which can be roughly divided into: ①The method of twisting and moving forward driven by a motor (mostly using a steering gear), which usually realizes the conversion of the steering gear rotation and the final robot propulsion motion through a mechanism, and often a snake-shaped robot needs many Two motors are driven ...

AI Technical Summary

Problems solved by technology

There are different driving methods, which can be roughly divided into: ①The method of twisting and moving forward driven by a motor (mostly using a steering gear), which usually realizes the conversion of the steering gear rotation and the final robot propulsion motion through a mechanism, and often a snake-shaped robot needs many Two motors are driven together, but the synchronization of the motors is a difficult problem in the current technology, and there are shortcomings such as complex control and difficulty in ensuring that the robot can achieve the desired movement; ②Use crawlers to cover the whole body of the robot, and realize the forward movement of the robot through the friction between the crawlers and the ground. However, its structure is complex and its volume and weight are large; ③ other new drives, such as memory metal, magnetic drive, etc.

The pure memory metal drive makes the robot relatively slow due to the slow heat dissipation speed of the metal wire, while the pure magnetic drive reduces the movement between the joints and reduces the overall movement speed due to the small effective distance of the electromagnet.

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