A Bionic Snake Robot and Its Control System with Switchable Gear Connection

A control system and robot technology, applied in the field of bionic robots, can solve the problems of loss of reconnaissance, complex joints, lack of adaptability and flexibility, etc., and achieve the effect of reducing development difficulty, simple unit structure, and strong developability

Active Publication Date: 2021-09-17
SOUTHWEST JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most of the research and development of snake-like robots at home and abroad are in the single-step simulation and debugging stage. The structure of the robot is relatively complicated, and the connection mode between the steering gear cannot be converted, and it can only meet specific working conditions and working environments. lack of adaptability and flexibility
Moreover, most of the existing snake-shaped robots have complex joints and require a variety of mechanical structures to achieve a series effect, which makes the overall size of the robot larger and loses the function of reconnaissance in narrow spaces

Method used

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  • A Bionic Snake Robot and Its Control System with Switchable Gear Connection
  • A Bionic Snake Robot and Its Control System with Switchable Gear Connection
  • A Bionic Snake Robot and Its Control System with Switchable Gear Connection

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Embodiment Construction

[0045] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation methods.

[0046] The structural part of a kind of bionic snake-shaped robot that can be shifted and connected is as follows: figure 1 , figure 2 Shown: several steering gears 1 are connected end to end by conversion connectors to form the main body of the robot. The conversion connector includes a head connector 3 and a tail connector 2, the head connector 3 is fixedly connected to the head of the steering gear 1, and the head connector 3 has a built-in protruding shaft; the tail connector 2 is connected to the tail of the steering gear 1, and the tail The connecting piece 2 has a built-in gear 21; the tail connecting piece 2 and the head connecting piece 3 of the adjacent steering gear 1 are axially fixed by the bolt 6.

[0047] Such as image 3 As shown, there is a small hole on the top of the head connector 3 for installing th...

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Abstract

The invention discloses a bionic snake-shaped robot and a control system capable of shifting and connecting. Each steering gear and two connectors at the head and the tail are combined to form a motion unit, and a gear inside the connector is used to cooperate with a spring-ball assembly. , so that the robot can freely switch between the orthogonal connection and the parallel connection; the gait code is based on the meandering motion, and expands a variety of gaits such as U-shaped flip, sideways motion, traveling wave motion, and spiral rise. The invention can realize gear switching and gait selection under the premise of small size, and is used to improve the overall efficiency of the robot.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a bionic snake robot and a control system capable of shifting and connecting. Background technique [0002] With the vigorous development of the field of bionic technology, research and development of bionic robots has become an important branch of robot development. The snake-like robot can realize "limbless movement" like a biological snake, so it is called "the most modern robot" by the international robotics industry. At present, most of the research and development of snake-like robots at home and abroad are in the single-step simulation and debugging stage. The structure of the robot is relatively complicated, and the connection mode between the steering gear cannot be converted, and it can only meet specific working conditions and working environments. Lack of adaptability and flexibility. Moreover, most of the existing snake-shaped robots have relative...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/16B25J17/00
CPCB25J9/065B25J9/1602B25J9/1664B25J17/00
Inventor 宋兴国周士祺唐绍武李泳江江文谦赵旭东
Owner SOUTHWEST JIAOTONG UNIV
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