Reconfigurable driving wheel type joint module and driving wheel type snakelike robot thereof

Abstract

The reconfigurable driving wheel type joint module comprises a driving joint unit, a longitudinal joint unit and a transverse joint unit, the longitudinal joint unit and the transverse joint unit are arranged at the front end and the rear end of the driving joint unit, and the longitudinal joint unit is arranged at the front end of the driving joint unit. The joint connecting plate groove in the longitudinal joint unit is clamped to the driving bin connecting plate of the driving joint unit, the transverse joint unit is arranged at the rear end of the driving joint unit, and the bin connecting plate in the transverse joint unit is clamped to the driving bin connecting groove of the driving joint unit. All the modules can be flexibly and conveniently assembled and disassembled, meanwhile, propellers can be arranged on the driving wheels, the driving wheels can be flexibly installed and disassembled according to environmental requirements, then the snakelike robot suitable for different complex terrains can be formed, and the snakelike robot has the advantages of being good in sealing performance and high in reconfigurability and environmental adaptability.

Description

technical field [0001] The invention belongs to the technical field of snake robots, in particular to a reconfigurable active wheel joint module and an active wheel snake robot. Background technique [0002] With the characteristics of strong terrain adaptability, it has a wide range of application scenarios in many fields, such as performing various tasks such as combat, security, reconnaissance, and patrol in harsh battlefield environments, searching in the ruins after earthquakes, fires or landslides, and radiation detection in nuclear power plants. , Bridge cable erosion inspection, pipeline flaw detection, etc. The ability of snake robot to avoid obstacles and overcome obstacles is the key to improve its ability to adapt to the environment. In order to improve the ability to avoid obstacles and overcome obstacles, some joint structures can be optimized and improved. [0003] Most of the joint structures of existing snake robots use wheelless joints or slave wheel joint...

AI Technical Summary

Problems solved by technology

[0003] Most of the joint structures of the existing snake robots adopt wheelless joints or slave wheel joints. These robots can have certain obstacle avoidance and obstacle surmounting capabilities. Can avoid and cross some obstacles, but when encountering special obstacles such as steps, ditches, mud, grass, etc., if the joints are stuck by the obstacles or the contact friction of the joints is small, it is easy to lose the ability to move, resulting in the inability to move smoothly. through obstacles

The snake-like robots with active wheels are equipped with active wheels on the basis of wheelless or secondary wheels to improve the drive required for movement. Rugged and hard terrain environments, such as rubble from collapsed buildings, can also climb stairs, holes, pipes, etc., but these snake-like robots have complex mechanism design, difficult control, and low reconfigurability

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