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Gas transmission snake-shaped robot

A snake-shaped robot and fluid transmission technology, applied in the field of bionic robots, can solve the problems of the snake-shaped robot being cumbersome, inflexible, and unable to move in the opposite direction, and achieve the effects of light weight, convenient transportation and flexible movement direction.

Pending Publication Date: 2021-08-13
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In recent years, bionic robotics is occupying an increasingly important position in the field of robotics. Snake robots have become a research hotspot in the field of bionics due to their special structure. Traditional snake robots use metal mechanical structures such as parallel joints , Orthogonal joints, universal joint joints, P-R joints, etc. to control the direction of motion, this snake-like robot is not only bulky but also inflexible, and the existing snake-like robots cannot move in reverse

Method used

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specific Embodiment approach 1

[0020] Specific implementation mode one: as Figure 1~Figure 2 As shown, the present invention discloses a gas-driven snake-like robot, which includes a flexible material bag 1, a partition gas membrane 2, a partition gas device 3, a retractable flexible bag cylinder 4, a charging and pumping gas drive device 5, and a belt drive device 6 ;

[0021] The outside of the gas-driven snake robot is surrounded by the flexible material bag 1. The flexible material bag 1 is made of a foldable flexible material, has a cylindrical shape and is sealed and filled with a certain amount of gas inside. The flexible material bag 1 The outer surface of the bag 1 has a certain frictional force, so that the gas transmission snake-shaped robot generates frictional force with the ground to convert it into a forward driving force. The flexible material bag 1 is composed of the head ball 31 and the inner Supported by gas, it passes through the retractable flexible bag cylinder 4 after folding and sh...

specific Embodiment approach 2

[0023] Specific implementation mode two: as Figure 4 , Figure 5 As shown, this embodiment is a further description of Embodiment 1. The charging and pumping gas driving device 5 includes a charging and pumping gas part device 51, and the charging and pumping gas part device 51 includes a cylinder 511, and the cylinder body 511 The upper end pressure vent 510 is made of rubber with a cross-shaped opening. When the charging and pumping gas drive device 5 is working, a large amount of gas is rushed into the cylinder 511 and the internal pressure is too high or a large amount of gas is drawn out. When it is too small, the pressure vent 510 is opened to discharge or fill the gas. The inside of the cylinder 511 includes a front baffle 513, a sealing rubber ring 516, and a rear baffle 517. The sealing rubber ring 516 is connected to the The inner wall of the cylinder body 511 is in contact, and the front baffle plate 513 and the rear baffle plate 517 leave a certain gap with the i...

specific Embodiment approach 3

[0026] Specific implementation mode three: as Figure 6 As shown, this embodiment is a further description of the second specific embodiment. The charging and pumping gas driving device 5 is characterized in that the charging and pumping gas driving device 5 includes a charging and pumping gas part device 51, a bar-shaped Gear 52, the tooth surface of described bar gear 52 is in contact with the tooth surface of two intermittent gears 53, and two described intermittent gears 53 are coaxial with driven gear 54 and driving gear 55 respectively, and described driving gear 55 passes shaft 56 links to each other with motor 57. Described motor 57 drives shaft 56, driving gear 55, intermittent gear 53 rotations, and driving gear 55 is externally meshed with driven gear 54, drives described driven gear and intermittent gear 53 to rotate, two described intermittent gears 53 and described The bar gear 52 is externally meshed so that the bar gear 52 reciprocates.

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Abstract

The invention discloses a gas transmission snake-shaped robot, and belongs to the technical field of bionic robots. The gas transmission robot comprises a flexible material bag, a gas separation film, a gas separation device, a flexible bag retracting and releasing cylinder, a gas inflation and exhaust driving device and a belt driving device. The flexible material bag is made of a foldable flexible material, is cylindrical and has leakproofness, a certain amount of gas is filled in the flexible material bag, the flexible material bag is divided into eight closed spaces by the internal gas separation film and the gas separation device, the front closed space and the rear closed space form a group, and four groups are formed. The expansion and contraction speeds of the four groups of closed spaces are controlled by separately controlling the power of four gas inflation and exhaust devices, so that the movement speed and the movement direction of the snake-shaped robot are controlled, and the snake-shaped robot can further be controlled to move forwards or backwards. According to the gas transmission snake-shaped robot, the weight is greatly reduced by using the flexible material bag; when meeting a complex and narrow space environment, the robot can cross obstacles by changing the area of the cross section; and the robot can move forwards or backwards.

Description

technical field [0001] The invention relates to a gas-driven snake-like robot, which belongs to the technical field of bionic robots. Background technique [0002] In recent years, bionic robotics is occupying an increasingly important position in the field of robotics. Snake robots have become a research hotspot in the field of bionics due to their special structure. Traditional snake robots use metal mechanical structures such as parallel joints , Orthogonal connection joints, universal joint connection joints, P-R joints, etc. control the direction of motion. This snake-like robot is not only heavy but also inflexible, and the existing snake-like robots cannot reverse motion. Contents of the invention [0003] The object of the present invention is to provide a gas-driven snake-shaped robot, which is used in complex, narrow and dangerous environments such as exploration, rescue and medical treatment. [0004] To achieve the above object, the present invention adopts th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/14
CPCB25J9/065B25J9/142
Inventor 周成宇于广滨毛汉成
Owner HARBIN UNIV OF SCI & TECH
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