Driven damping device for snake robot, snake robot and complete equipment thereof

Abstract

The present application relates to a kind of driven damping device for snake robot, snake robot and its complete equipment.The driven damping device for snake robot described in the present application, including cylindrical shell, several damping mechanisms, coil mechanism, first power supply, first control mechanism.The driven damping device for snake robot described in the present application, several damping mechanisms are uniformly distributed in the outer periphery of the cylindrical shell, by the two elastic members and magnetic force damper, magnetic force damper is composed of the two magnets and the first coil, the second coil, so that the snake robot can better ground, damping and buffering effect is better, when the driven damping device is used for snake robot, it can make snake robot adapt to complex terrain, flexibly complete like snake movement action.

Description

Technical Field

[0001] This invention relates to the field of snake robot technology, and in particular to a driven shock absorption device for a snake robot, a snake robot, and a complete set of equipment thereof. Background Technology

[0002] Existing wheeled snake robots also suffer from the problem of being easily damaged by bumps when moving on complex terrain.

[0003] For example, Chinese patent CN216913829U discloses a biomimetic snake-like robot, including a snake head, a torso unit, and a snake tail. One end of the torso unit is connected to the snake head, and the other end is connected to the snake tail. The torso unit includes several joint mechanisms connected in series, each having two states: a disconnected state and an integrated state. Each joint mechanism includes a connecting device, a driving device, and a driven device. The driven device includes a shell and several driven wheels. The shell is fixedly connected to the inner shell of the connecting device and is disposed outside the inner shell. The driven wheels are fixedly connected to the shell and are arranged in a circular array around the shell. However, when this biomimetic snake-like robot moves on complex terrain, its driven wheels are easily subjected to bumps due to the complex terrain, which can easily damage the shell and the onboard equipment such as the connecting device and driving device inside the shell.

[0004] For example, Chinese patent application CN114536313A discloses a detachable snake robot, including a torso unit, a head unit, a tail unit, and a control unit. The torso unit includes several connected joints; each joint includes a connecting mechanism and a driving mechanism. The patent application also discloses that each joint includes a driven unit, which includes a shell and driven wheels. One end of the shell is connected to the inner shell, and the other end is connected to the inner shell of an adjacent joint. The driven wheels are mounted on the shell. However, the detachable snake robot disclosed in Chinese patent application CN114536313A, as a wheeled snake robot, is prone to damage to its driven wheels when moving on complex terrain due to the bumps caused by the terrain. This damage can easily lead to damage to the shell and the onboard equipment such as the connecting devices and driving devices within the shell. Summary of the Invention

[0005] Based on this, the purpose of this invention is to provide a driven shock absorption device for a snake-like robot, a snake-like robot, and a complete set of equipment thereof. The driven shock absorption device for a snake-like robot described in this invention has excellent shock absorption and buffering effects. When applied to a snake-like robot, compared with previous wheeled snake-like robots, the snake-like robot of this invention has significantly improved movement speed, increased maneuverability, and can adapt to a wider range of terrains.

[0006] A driven shock absorption device for a snake-like robot includes a cylindrical shell, several shock absorption mechanisms, a coil mechanism, a first power supply, and a first control mechanism.

[0007] The cylindrical outer shell has openings at both ends;

[0008] The plurality of damping mechanisms are evenly arranged on the outer periphery of the cylindrical shell; each damping mechanism includes two connecting plates, two first connecting rods, two magnets, a second connecting rod, two guide slides, two elastic elements, and pulleys; the two connecting plates are spaced apart and fixedly connected to the outer periphery of the cylindrical shell; the orientation of the two ends of the two connecting plates is parallel to the axial direction of the cylindrical shell; each end of the two connecting plates is provided with a sliding groove; the two connecting plates are also provided with a plurality of coil holes arranged from one end to the other, the plurality of coil holes being located between the sliding grooves and the cylindrical shell, and the plurality of coil holes being close to the cylindrical shell; the two sides of one end of the two first connecting rods are respectively engaged and slidably hinged with the two sliding grooves at the two ends of the two connecting plates, so that one end of the two first connecting rods can move closer to or further away from each other; the two magnets are respectively embedded in the two first connecting rods. The second connecting rod has two ends hinged to the other ends of the two first connecting rods, and a receiving groove is provided in the middle of the second connecting rod; the two guide slides pass through the second connecting rod and are located between the receiving groove and the two ends of the second connecting rod; one end of the two guide slides is fixedly connected to the cylindrical shell located between the two connecting plates; one end of each of the two guide slides is provided with a first limiting member, which is located on the outside of the cylindrical shell and in contact with the cylindrical shell; the other end of each of the two guide slides is provided with a second limiting member, which is used to restrict the second connecting rod from disengaging from the two guide slides; two elastic members are respectively sleeved on the two guide slides, and the two ends of the elastic members abut against the first limiting member and the second connecting rod respectively; the pulley is provided in the receiving groove of the second connecting rod.

[0009] The coil mechanism includes a first coil and a second coil; the first coil passes through several coil holes at one end of the two connecting plates of the plurality of shock-absorbing mechanisms, and is in contact with the outer periphery of the cylindrical shell located between one end of the cylindrical shell and the first limiting member of the adjacent guide slide; the second coil passes through several coil holes at the other end of the two connecting plates of the plurality of shock-absorbing mechanisms, and is in contact with the outer periphery of the cylindrical shell located between the other end of the cylindrical shell and the first limiting member of the adjacent guide slide.

[0010] The first power source is connected to the first coil and the second coil respectively;

[0011] The first control mechanism can control the magnitude and direction of the current flowing into the first coil and the second coil, respectively.

[0012] The passive shock absorption device for a snake-like robot of the present invention has a pulley mounted on the second connecting rod. The pulley is suspended on the cylindrical outer shell by the connection between the two connecting plates, the two first connecting rods, the two guide slides and the two elastic elements, so that the pulley is separated from the cylindrical outer shell and does not contact the cylindrical outer shell. When the driven shock absorption device for snake robots described in this invention is applied to a snake robot, the pulley conforms to the terrain during the snake robot's movement. If the snake robot is impacted during movement, the pulley of the driven shock absorption device is subjected to force and presses the second connecting rod, causing one end of the two first connecting rods hinged to the two ends of the second connecting rod to engage and slide on the grooves of the two connecting plates, and causing one end of the two first connecting rods to move away from each other on the two connecting plates. At the same time, the two elastic elements are compressed to absorb shock and buffer. Simultaneously, after the first coil and the second coil are energized, they respectively form magnetic dampers with the two magnets to absorb shock and buffer. The second control mechanism controls the magnitude and direction of the current flowing into the first coil and the second coil, thereby changing the magnitude of the magnetic force between the first coil and the second coil and the two magnets, generating a damping force of variable magnitude, which hinders the second connecting rod from pressing down on the two first connecting rods, thereby preventing one end of the first connecting rod from sliding on the grooves of the two first connecting plates, thus absorbing shock and buffering the force pressing on the pulley.

[0013] The passive shock absorption device for a snake-like robot described in this invention comprises several shock absorption mechanisms evenly distributed around the outer circumference of a cylindrical shell. Through the two elastic elements and a magnetic damper (composed of two magnets, a first coil, and a second coil), the snake-like robot can achieve better ground contact, resulting in superior shock absorption and cushioning. When used on a snake-like robot, this passive shock absorption device allows the robot to adapt to complex terrain and flexibly perform snake-like movements. The two elastic elements deform during impact compression or stretching with the terrain, generating spring force. Simultaneously, the two magnets embedded in the two first connecting rods generate damping force under the magnetic force produced by the energized first and second coils on the cylindrical shell, enabling the snake-like robot to operate in complex terrain conditions. The passive shock absorption device for snake robots described in this invention allows the pulley to better conform to the ground in complex terrain environments, preventing the force of the pulley from directly acting on the cylindrical shell due to impacts or terrain bumps, thus preventing damage to the onboard equipment or components inside the cylindrical shell; thereby making the snake robot more adaptable to complex terrain.

[0014] Furthermore, the number of shock absorption mechanisms is six.

[0015] Furthermore, the elastic element is a spring; the elastic element is a progressive spring; the progressive spring has a height of 25mm and a mean diameter of 10mm; wherein, taking the end closest to the first limiting member as the starting end, the spring coil spacing is 2.2mm in the height range of 0-15mm, the spring coil spacing increases linearly from 2.2mm to 4mm in the height range of 15-15.5mm, and the spring coil spacing is 4mm in the height range of 15.5-25mm. This invention independently designs a progressive spring, with the springs closer together at the end near the first limiting member and sparser at the end near the second connecting rod. Through this progressive spring design, the spring's elastic coefficient can be changed, maintaining smooth and stable movement of the snake-like robot. Furthermore, the progressive spring designed in this invention has a moderate elastic coefficient. When the driven damping device for snake-like robots described in this invention is used in snake-like robots, it can prevent the snake-like robot from experiencing excessive vibration frequency, excessive tilt angle, or excessive pitch angle, which could lead to movement imbalance, tipping, or insufficient steering force. Simultaneously, the progressive spring designed in this invention has a moderate deformation, ensuring that the snake-like robot moves close to the ground without the pulley contacting the outer circumference of the cylindrical shell.

[0016] Furthermore, the coil mechanism also includes a third coil, which passes through several coil holes in the middle of the two connecting plates of the plurality of shock-absorbing mechanisms and is fitted to the outer periphery of the cylindrical shell located between the first limiting members of the two guide slides; the first power supply is also connected to the third coil; the first control mechanism is capable of controlling the magnitude of the current flowing into the third coil. The third coil is designed to further enhance the magnetic field strength by energizing the first and second coils to generate a magnetic field. When the driven damping device for the snake robot is used, the first, second, and third coils are simultaneously energized when needed. The first control mechanism controls and changes the magnitude and direction of the current in the first, second, and third coils. By adjusting the current in the driven damping devices of two adjacent joints of the snake robot, the magnetic field strength generated on the cylindrical shell is changed. This results in a variable magnetic force between the two adjacent joints during robot movement. The magnetic field forces of the coils on the cylindrical shell interact between the two adjacent joints, generating auxiliary power between the joints and promoting the accelerated movement of the snake robot.

[0017] Furthermore, the winding directions of the first coil, the second coil, and the third coil are all the same.

[0018] Furthermore, the pulley's axle is disposed on the sidewalls of the second connecting rod on both sides of the receiving groove, such that the two ends of the pulley's axle are relatively perpendicular to the two ends of the second connecting rod; the end of the pulley furthest from the cylindrical shell is the farthest end of the shock-absorbing mechanism from the cylindrical shell; the end of the pulley closest to the cylindrical shell is spaced apart from the cylindrical shell. The end of the pulley furthest from the cylindrical shell is the end in contact with the external terrain surface, and it contacts the external terrain surface during movement; the end of the pulley closest to the cylindrical shell is spaced apart from the cylindrical shell, meaning that the pulley is suspended relative to the cylindrical shell and does not directly contact the cylindrical shell. Through the shock absorption and buffering of the two elastic elements, the two magnets, the first coil, and the second coil, the pulley's end near the cylindrical shell is kept at a distance from the cylindrical shell, preventing direct contact. This prevents the pulley's force from directly acting on the cylindrical shell due to impacts or terrain bumps, thus avoiding damage to the onboard equipment or components inside the cylindrical shell. This makes the snake robot more adaptable to complex terrain.

[0019] Furthermore, the length of the second connecting rod is shorter than the length of the two connecting plates, and the second connecting rod is arranged parallel to the two connecting plates, so that the two connecting plates, the two first connecting rods and the second connecting rod form an isosceles trapezoidal structure.

[0020] Furthermore, the cylindrical outer shell has a five-layer structure, including a first insulating layer, an electromagnetic shielding layer, a second insulating layer, a magnetic core layer, and a third insulating layer from the inside out; the electromagnetic shielding layer is used to shield the magnetic field; and the magnetic core layer is used to enhance the magnetic field strength.

[0021] Furthermore, the electromagnetic shielding layer is made of iron, the magnetic core layer is made of magnet, and the first insulating layer, the second insulating layer, and the third insulating layer are all insulating materials.

[0022] The third insulating layer is a load-bearing structural component, and the first coil, the second coil, the third coil, and the plurality of shock-absorbing mechanisms are all disposed on the outer periphery of the third insulating layer. The magnetic core layer serves as the carrier of the coil of the coil mechanism outside the third insulating layer, and can further enhance the magnetic field strength when the coil is energized. The second insulating layer is non-conductive and non-magnetic, isolating the electromagnetic shielding layer and the magnetic core layer. The electromagnetic shielding layer can shield the magnetic field generated by the coil of the coil mechanism. When the driven shock-absorbing device is used in a snake robot, it can prevent the magnetic field generated by the coil mechanism from interfering with the circuits in the snake robot inside the cylindrical shell, ensuring the normal operation of the snake robot's internal circuits. The first insulating layer isolates the electromagnetic shielding layer and the internal circuits within the first insulating layer.

[0023] A snake-like robot includes any of the aforementioned driven shock-absorbing devices for snake-like robots.

[0024] Furthermore, the snake-like robot includes a torso unit, a head, and a tail; one end of the torso unit is connected to the head and the other end is connected to the tail. The torso unit includes several joint mechanisms connected in series. Each joint mechanism includes a connecting device, a driving device, and any of the aforementioned driven shock-absorbing devices for the snake-like robot. One end of the connecting device is fixedly connected to one end of the driving device, and the other end is fixedly connected to one end of the driving device of the adjacent joint mechanism. The inner wall of the cylindrical shell of any of the aforementioned driven shock-absorbing devices for the snake-like robot is fixedly connected to the outer periphery of the connecting device.

[0025] The snake-like robot of this invention utilizes the driven damping device of this invention, which is installed around the outer periphery of the connecting device in each joint mechanism. The snake-like robot moves by twisting and oscillating with the drive device of each joint mechanism, causing the pulley on the driven damping device around the connecting device to generate a driving force against the terrain. This driven damping device for snake-like robots enables them to achieve lateral movement, rolling, and other snake-like movements. When the driving torque of the drive device is insufficient or overloaded, or when the terrain friction coefficient and the driving torque are mismatched, the snake-like robot of this invention can adjust the current flowing through the coil of the coil mechanism in two adjacent joints to generate a variable magnetic force between the two adjacent joints. This allows it to perform functions including buffering and protecting the connecting device and drive device within the cylindrical shell, as well as assisting in driving the snake-like robot's movement. Through the two elastic elements and magnetic damper of the driven shock absorption device, the magnetic damper is composed of the two magnets and the first coil and the second coil, which enables the snake robot to land better, and the shock absorption and cushioning effect is better. This allows the snake robot to adapt to complex terrain and flexibly complete snake-like movements.

[0026] A complete set of snake robot equipment, comprising any of the snake robots described above and a magnetic acceleration track system;

[0027] The magnetic acceleration track system includes two track belts, a second power supply, and a second control mechanism. The two track belts are arranged in parallel and spaced apart. Each track belt includes several track units, which are arranged to form the track belts. The snake-like robot described above is positioned between the two track belts. Each track unit includes a base, a track core, and a track coil. The track core is positioned on the base, and the two ends of the track core face the same direction as the two ends of the track belt. The track coil is positioned on the outer periphery of the track core. The track coils of the several track units are respectively connected to the second power supply. The second control mechanism can periodically change the magnitude and direction of the current flowing into the track coil.

[0028] The magnetic acceleration track system is applicable to any of the snake-like robots described above. When the snake-like robot moves on the magnetic acceleration track system, the second control mechanism periodically changes the magnitude and direction of the current supplied to the track coils of several track units, thereby changing the direction of the magnetic field strength of the several track units and the north and south pole directions of the track core. By adjusting the first control mechanism of the driven damping device of several joint mechanisms of the snake-like robot, the magnitude of the current supplied to the first coil, the second coil, and the third coil is controlled, so that when the snake-like robot passes through each track unit at each joint mechanism, the preceding track unit generates a pulling force on the cylindrical shell, and the following track unit generates a pushing force on the cylinder. The entire magnetic acceleration track coordinates and controls the magnitude and direction of the current supplied to the track coils of several track units, achieving smooth acceleration of the snake-like robot.

[0029] Furthermore, the winding direction of the track coil is the same as that of the first coil, the second coil, and the third coil.

[0030] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the driven shock absorption device for a snake-like robot according to the present invention;

[0032] Figure 2 for Figure 1 The main view;

[0033] Figure 3 for Figure 2 Schematic diagram of the structure at point A;

[0034] Figure 4 A schematic diagram of a structure in which a single shock-absorbing mechanism is mounted on a cylindrical shell;

[0035] Figure 5 for Figure 4 The main view;

[0036] Figure 6 A schematic diagram of the shock absorption mechanism without the two connecting plates;

[0037] Figure 7 A schematic diagram of a driven shock absorption device installed on the connecting device of a snake-like robot;

[0038] Figure 8 for Figure 7 Schematic diagram of the structure at point B;

[0039] Figure 9 This is a schematic diagram of the snake-like robot.

[0040] Figure 10 Graph of the lateral tumbling motion angle-time function of the joint mechanism;

[0041] Figure 11 A schematic diagram of a snake-like robot mounted on a magnetic acceleration track system;

[0042] Figure 12 A top view of a single track unit;

[0043] Figure 13 A front view of a single track unit;

[0044] Figure 14 A side view of a single track unit. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1

[0047] Please see Figure 1 and Figure 2 A driven shock absorption device 10 for a snake robot includes a cylindrical shell 1, several shock absorption mechanisms 2, a coil mechanism 3, a first power source (not shown), and a first control mechanism (not shown).

[0048] The cylindrical outer shell 1 has openings at both ends.

[0049] Please see Figures 3-6Several damping mechanisms 2 are evenly arranged on the outer periphery of the cylindrical shell 1. Each damping mechanism 2 includes two connecting plates 21, two first connecting rods 22, two magnets 23, a second connecting rod 24, two guide slides 25, two elastic elements 26, and a pulley 27. The two connecting plates 21 are spaced apart and fixedly connected to the outer periphery of the cylindrical shell 1. The orientation of the two ends of the two connecting plates 21 is parallel to the axial direction of the cylindrical shell 1. Each end of the two connecting plates 21 is provided with a sliding groove 211. The two connecting plates 21 are also provided with several coil holes 212 arranged from one end to the other end. The coil holes 212 are located between the sliding grooves 211 and the cylindrical shell 1, and the coil holes 212 are close to the cylindrical shell 1. One end of each of the two first connecting rods 22 is engaged and slidably hinged with the two sliding grooves 211 at both ends of the two connecting plates 21, so that one end of each of the two first connecting rods 22 can move closer or further away from each other; two magnets 23 are respectively embedded in the middle of the two first connecting rods 22; the two ends of the second connecting rod 24 are respectively hinged to the other ends of the two first connecting rods 22, and the middle of the second connecting rod 24 is provided with a receiving groove 241; in this embodiment, the length of the second connecting rod 24 is shorter than the length of the two connecting plates 21, and the second connecting rod 24 is arranged relatively parallel to the two connecting plates 21, so that the two connecting plates 21, the two first connecting rods 22 and the second connecting rod 24 form an isosceles trapezoidal structure. Two guide slide rods 25 pass through the second connecting rod 24 respectively and are located between the two ends of the receiving groove 241 and the second connecting rod 24 respectively; one end of each guide slide rod 25 is fixedly connected to the cylindrical outer shell 1 located between the two connecting plates 21; one end of each guide slide rod 25 is provided with a first limiting member 251, which is located on the outside of the cylindrical outer shell 1 and is in contact with the cylindrical outer shell 1; the other end of each guide slide rod 25 is provided with a second limiting member 252, which is used to restrict the second connecting rod 24 from disengaging from the two guide slide rods 25; two elastic members 26 are respectively sleeved on the two guide slide rods 25, and the two ends of the elastic members 26 abut against the first limiting member 251 and the second connecting rod 24 respectively; a pulley 27 is provided in the receiving groove 241 of the second connecting rod 24.

[0050] Please see Figure 2 and Figure 3 The coil mechanism 30 includes a first coil 31 and a second coil 32. The first coil 31 passes through a plurality of coil holes 212 at one end of two connecting plates 21 of the plurality of shock-absorbing mechanisms 2, and is in contact with the outer periphery of the cylindrical shell 1 located between one end of the cylindrical shell 1 and the first limiting member 251 of the adjacent guide slide 25. The second coil 32 passes through a plurality of coil holes 212 at the other end of the two connecting plates 21 of the plurality of shock-absorbing mechanisms 2, and is in contact with the outer periphery of the cylindrical shell 1 located between the other end of the cylindrical shell and the first limiting member 251 of the adjacent guide slide 25.

[0051] The first power source (not shown) is connected to the first coil 3 and the second coil 4 respectively.

[0052] The first control mechanism (not shown) can control the magnitude of the current flowing into the first coil 3 and the second coil 4 respectively.

[0053] In this embodiment, please refer to Figure 7 There are six shock-absorbing mechanisms 2, which are evenly distributed around the outer periphery of the cylindrical shell 1.

[0054] In this embodiment, magnet 23 is a permanent magnet.

[0055] In this embodiment, the elastic element 26 is a spring; the elastic element 26 is a progressive spring; please refer to Table 1, the height of the progressive spring is 25mm and the mean diameter is 10mm; wherein, taking the end closest to the first limiting element 251 as the starting end, the spring coil spacing is 2.2mm in the height of 0-15mm, the spring coil spacing increases linearly from 2.2mm to 4mm in the height of 15-15.5mm, and the spring coil spacing is 4mm in the height of 15.5-25mm.

[0056] Table 1. Parameters of Progressive Springs

[0057]

[0058] This invention independently designs a progressive spring. The spring is more densely packed near the first limiting member 251 and more sparsely packed near the second link 24. Through the progressive spring design, the spring's elastic coefficient can be changed, which can maintain the smooth and stable movement of the snake robot. In addition, the elastic coefficient of the progressive spring designed in this invention is moderate. When the driven damping device for the snake robot in this embodiment is used in the snake robot, it can prevent the snake robot from having excessive vibration frequency, excessive side tilt angle, and excessive pitch angle, which would lead to movement imbalance, rollover, and insufficient steering force. At the same time, the deformation of the progressive spring designed in this invention is moderate, which can ensure that the snake robot moves close to the ground without the pulley 27 contacting the outer periphery of the cylindrical shell 1.

[0059] In this embodiment, the coil mechanism 3 further includes a third coil 33, which passes through several coil holes 212 in the middle of the two connecting plates 21 of the several damping mechanisms 2, and is attached to the outer periphery of the cylindrical shell 1 located between the first limiting member 251 of the two guide slide rods 25; the first power supply is also connected to the third coil 33; the first control mechanism can control the magnitude of the current flowing into the third coil 33. The third coil 33 is designed to further enhance the magnetic field strength by energizing the third coil 32, building upon the magnetic fields generated by the first and second coils 31 and 32. When the driven damping device for the snake robot is applied, the first, second, and third coils 31, 32, and 33 are simultaneously energized when required. The first control mechanism controls and changes the magnitude and direction of the current in the first, second, and third coils 31, 32, and 33, respectively. By adjusting the magnitude of the current in the driven damping devices 10 of two adjacent joints of the snake robot, the magnetic field strength generated in the cylindrical shell 1 is changed. This results in a variable magnetic force between the two adjacent joints during robot movement. The magnetic field forces of the coil mechanism 3 on the cylindrical shell 1 interact between the two adjacent joints, generating auxiliary power between the joints and promoting the accelerated movement of the snake robot.

[0060] In this embodiment, the winding directions of the first coil 31, the second coil 32, and the third coil 33 are all the same.

[0061] In this embodiment, the axle of pulley 27 is disposed on the sidewalls of the second connecting rod 24 on both sides of the receiving groove 241, such that the two ends of the axle of pulley 27 are perpendicular to the two ends of the second connecting rod 24. The end of pulley 27 away from the cylindrical shell 1 is the farthest end of the shock absorption mechanism 2 from the cylindrical shell 1. The end of pulley 27 close to the cylindrical shell 1 is spaced apart from the cylindrical shell 1. The end of pulley 27 away from the cylindrical shell 1 is the end in contact with the external terrain surface, and it contacts the external terrain surface during movement. The end of pulley 27 close to the cylindrical shell 1 is spaced apart, that is, pulley 27 is suspended relative to the cylindrical shell and does not directly contact the cylindrical shell. Through the shock absorption and buffering of the two elastic elements 26, the two magnets 23, and the first coil 31 and the second coil 32, the pulley 27 can be spaced apart from the cylindrical shell 1 and not in direct contact with it; this prevents the force of the pulley 27 from being directly applied to the cylindrical shell 1 due to impact or terrain bumps, which could damage the onboard equipment or parts inside the cylindrical shell 1; thus making the snake robot more adaptable to complex terrain.

[0062] In this embodiment, please refer to Figure 8The cylindrical outer shell 1 has a five-layer structure, comprising, from the inside out, a first insulating layer 11, an electromagnetic shielding layer 12, a second insulating layer 13, a magnetic core layer 14, and a third insulating layer 15. The electromagnetic shielding layer 12 is used to shield the magnetic field; the magnetic core layer 14 is used to enhance the magnetic field strength 15. The electromagnetic shielding layer 12 is made of iron, and the magnetic core layer 14 is made of a magnet, specifically a permanent magnet. The first insulating layer 11, the second insulating layer 13, and the third insulating layer 15 are all insulating materials. The third insulating layer 15 is a load-bearing structural component, with the first coil 31, the second coil 32, the third coil 33, and several shock-absorbing mechanisms 2 all disposed on the outer periphery of the third insulating layer. The magnetic core layer 14 serves as the carrier for the coils of the coil mechanism 3 outside the third insulating layer 15, further enhancing the magnetic field strength when the coils are energized. The second insulating layer 13 is non-conductive and non-magnetic, isolating the electromagnetic shielding layer 12 and the magnetic core layer 14. The electromagnetic shielding layer 12 can shield the magnetic field generated by the coil of the coil mechanism 2. When the driven damping device is used in the snake robot, it can prevent the magnetic field generated by the coil mechanism 2 from interfering with the circuit inside the cylindrical shell 1, ensuring the normal operation of the internal circuit of the snake robot. The first insulating layer 11 isolates the electromagnetic shielding layer 12 and the internal circuit inside the first insulating layer 11.

[0063] In this embodiment of the driven shock absorption device for a snake-like robot, a pulley 27 is mounted on the second link 24 and suspended on a cylindrical outer shell 1 via two connecting plates 21, two first links 22, two guide slides 25, and two elastic elements 27, thus isolating the pulley 27 from the cylindrical outer shell 1 and preventing contact with it. When this driven shock absorption device for a snake-like robot is applied to the robot, the pulley follows the terrain during the robot's movement. If the robot experiences an impact during movement, the pulley 27 of the driven shock absorption device is stressed and presses against the second link 24, causing one end of the two first links 22, which are hinged to both ends of the second link 24, to engage and slide on the grooves 211 of the two connecting plates 21, and causing one end of the two first links to move away from each other on the two connecting plates 21. Simultaneously, the two elastic elements 26 are compressed to absorb shock and buffer; at the same time, the first coil... 31. After the second coil 32 is energized, it forms a magnetic damper with the two magnets 23 to reduce vibration and buffer. The magnitude and direction of the current flowing into the first coil 31 and the second coil 32 are controlled by the second control mechanism, thereby changing the magnitude of the magnetic force between the first coil 31 and the second coil 32 and the two magnets 23, generating a damping force of variable magnitude, which prevents the second connecting rod 24 from pressing down on the two first connecting rods 22, thereby preventing one end of the first connecting rod 22 from sliding on the groove of the two first connecting plates 21, thus reducing vibration and buffering the force pressing on the pulley 27.

[0064] The driven shock absorption device 10 for the snake-like robot in this embodiment has six shock absorption mechanisms evenly distributed around the outer periphery of the cylindrical shell 1. Through two elastic elements 26 and a magnetic damper (composed of two magnets 23, a first coil 31, and a second coil 32), the snake-like robot can land more effectively, resulting in better shock absorption and cushioning. When the driven shock absorption device 10 is used on the snake-like robot, it allows the robot to adapt to complex terrain and flexibly perform snake-like movements. The two elastic elements 26 deform during the impact compression or stretching process, generating spring force. Simultaneously, the two magnets 23 embedded in the two first connecting rods 22 generate damping force under the magnetic force generated by the energized first coil 31 and second coil 32 on the cylindrical shell 1, enabling the snake-like robot to operate in complex terrain conditions. The passive shock absorption device 10 for snake robots of the present invention, with pulley 27, can better fit the ground in complex terrain environments, preventing the force of the pulley from being directly applied to the cylindrical shell 1 due to impact or terrain bumps, which would cause damage to the onboard equipment or components inside the cylindrical shell 1; thus making the snake robot more adaptable to complex terrain.

[0065] Example 2

[0066] A snake-like robot, please see Figure 9 This includes the driven shock absorber 10 for a snake robot as described in Example 1.

[0067] Specifically, please refer to Figure 9 In this embodiment, a snake-like robot includes a torso unit 1000, a head 2000, and a tail 3000. One end of the torso unit 1000 is connected to the head 2000, and the other end is connected to the tail 3000. The torso unit 1000 includes a plurality of joint mechanisms 100 connected in series. Each joint mechanism 100 includes a connecting device 20, a driving device 30, and any of the aforementioned driven shock-absorbing devices 10 for snake-like robots. One end of the connecting device 20 is fixedly connected to one end of the driving device 30, and the other end is fixedly connected to one end of the driving device 30 of the previous adjacent joint mechanism. The inner wall of the cylindrical outer shell 1 of the driven shock-absorbing device 10 is fixedly connected to the outer periphery of the connecting device 20.

[0068] The snake's head is equipped with sensors, a main control board, and a power supply. The sensors are used to detect the three-dimensional spatial state of the torso unit, and the main control board is used to collect data from the snake's head and to control the operation of each joint mechanism.

[0069] The first control mechanism of the driven damping device 10 can be the main control board of the snake head, which can control the magnitude and direction of the current of the first coil 31, second coil 32, and third coil 33 of the coil mechanism 3 of the driven damping device 10 of several joint structures 100 respectively. Alternatively, a separate first control mechanism can be provided in each joint mechanism 100, and the main control board can control the first control mechanism of the driven damping device 10 of the several joint structures 100 respectively, thereby controlling the magnitude and direction of the current of the first coil 31, second coil 32, and third coil 33.

[0070] Similarly, the first power source of the driven shock absorber 10 can be the power source of the snake head, which is connected to the first coil 31, second coil 32, and third coil 33 of the coil mechanism 3 of the driven shock absorber 10 of several joint structures 100. Alternatively, a separate first power source can be provided in each joint structure 100, connected to the first coil 31, second coil 32, and third coil 33 respectively. The snake robot of this invention, by providing the driven shock absorber 10 of this invention on the outer periphery of the connecting device 20 of each joint structure 100, allows the snake robot to move by twisting and swaying with the drive device 30 of each joint structure 100, causing the pulley 27 on the driven shock absorber 10 on the outer periphery of the connecting device 20 to generate a driving force with the terrain. The driven shock absorber for snake robots described in this invention enables snake robots to achieve lateral movement, rolling, and other snake-like movements.

[0071] The snake-like robot in this embodiment can also perform lateral rolling motion, which can be viewed as a combination of two in-plane motion waveforms. Therefore, the joint angle-time function of the lateral rolling motion is:

[0072]

[0073] In the formula, —The angle (°) between joints in the horizontal and vertical planes;

[0074] —Amplitude (°) of joint rotation angle in the horizontal and vertical planes;

[0075] —Frequency of joint rotation angles in the horizontal and vertical planes (π / s);

[0076] —The phase difference (°) of joint rotation angles within the same plane.

[0077] —Number of joints.

[0078] when and When both are 1, the lateral roll motion angle-time function of joint mechanism 10 can be found in the following text. Figure 10 .

[0079] In achieving basic snake-like movements for the snake robot, when the driving torque of the drive device 30 is insufficient or overloaded, or when the terrain friction coefficient and torque driving force are mismatched, the snake robot of this invention can adjust the magnitude of the current flowing through the coils of the coil mechanism in two adjacent joint mechanisms 100, thereby generating a variable magnetic force between the two adjacent joint mechanisms 100. Simultaneously, through the two elastic elements 26 and the magnetic damper of the driven shock absorption device (the magnetic damper consisting of two magnets 23, the first coil 21, and the second coil 23), the snake robot can better land, achieving better shock absorption and cushioning effects. This allows the snake robot to adapt to complex terrain and flexibly perform snake-like movements. During its movement, if the snake robot is impacted or bumped due to complex terrain or other reasons, the two elastic elements 26 of the driven shock absorption device 10 of several joint mechanisms 100, and the magnetic dampers formed by the two magnets 23 and the first coil 31 and the second coil 32 respectively, enable the snake robot to have a good shock absorption and buffering effect, and will not cause impact to the components of the connecting device 20 and the drive device 30 inside the cylindrical shell 1; at the same time, it enables the pulley 27 to better fit the ground, increase the friction between the pulley 27 and the ground, prevent the wheel from slipping, and improve the movement efficiency of the snake robot.

[0080] When only the magnetic damper needs to function, the snake robot's sensors monitor the robot's posture and feed back to the first control mechanism to control the change in the current supplied to the first coil 31 and the second coil 32, so that the magnetic force between the magnets 23 of the two first links 22 and the first coils 31 and the second coils 32 on the cylindrical shell changes, thereby giving the shock absorption mechanism 2 electromagnetic damping force to adjust the snake robot's posture.

[0081] When there is a demand in the working conditions, current can be simultaneously supplied to the first coil 31, the second coil 32, and the third coil 33. The sensor feeds back the movement status and working conditions of the snake robot. The microcontroller controls the magnitude of the current supplied to the first coil 31, the second coil 32, and the third coil 33 to change the magnetic field strength generated on the cylindrical shell 1. This allows the magnetic forces between two adjacent joint mechanisms 100 to interact and generate auxiliary power during the movement of the snake robot.

[0082] Example 3

[0083] Please refer to a complete set of snake-like robot equipment. Figure 11This includes the snake robot and magnetic acceleration track system of Example 2.

[0084] The magnetic acceleration track system includes two track belts 4000, a second power source (not shown), and a second control mechanism (not shown). The two track belts are arranged in parallel and spaced apart. Each track belt 4000 includes several track units 400, which are arranged to form the track belt 4000. The snake-like robot of Embodiment 2 is positioned between the two track belts 4000. Please refer to... Figures 12-14 Each track unit 400 includes a base 41, a track core 42, and a track coil (not shown). The track core 42 is mounted on the base 41, and the two ends of the track core 42 face the same direction as the two ends of the track belt 4000. The track coil is located on the outer periphery of the track core 42. The track coils of several track units 400 are respectively connected to the second power supply. The second control mechanism can periodically change the magnitude and direction of the current flowing into the track coil.

[0085] The winding direction of the track coil is the same as that of the first coil 31, the second coil 32, and the third coil 33.

[0086] When the snake-like robot is in the magnetic acceleration track system, the first coil 31, the second coil 32, and the third coil 33 of the joint mechanism 100 of the snake-like robot are simultaneously energized; the periodic energization of the track coils of each track unit is coordinated to accelerate the snake-like robot between the two track strips. When the snake-like robot of the above embodiment 2 moves on the magnetic acceleration track system, the second control mechanism periodically changes the magnitude and direction of the current supplied to the track coils of several track units 400, thereby changing the direction of the magnetic field strength of several track units 400 and the north and south pole directions of the track magnetic core 42. By adjusting the first control mechanism of the driven damping device 10 of several joint mechanisms 100 of the snake robot, the magnitude of the current supplied to the first coil 31, the second coil 32, and the third coil 33 is controlled, so that when the snake robot passes through each joint mechanism 100, the previous track unit 400 generates a pulling force on the cylindrical shell 1, and the next track unit 400 generates a pushing force on the cylinder. The entire magnetic acceleration track system coordinates and controls the magnitude and direction of the current supplied to the track coils of several track units 400, thereby achieving smooth acceleration of the snake robot.

[0087] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and the present invention also intends to include these modifications and variations.

Claims

1. A complete set of equipment for a snake-like robot, characterized in that: Including snake-like robots and magnetic acceleration track systems; The snake-like robot includes a driven shock absorption device for the snake-like robot; the driven shock absorption device for the snake-like robot includes a cylindrical shell, several shock absorption mechanisms, a coil mechanism, a first power supply, and a first control mechanism; The cylindrical outer shell has openings at both ends; The plurality of damping mechanisms are evenly arranged on the outer periphery of the cylindrical shell; each damping mechanism includes two connecting plates, two first connecting rods, two magnets, a second connecting rod, two guide slides, two elastic elements, and pulleys; the two connecting plates are spaced apart and fixedly connected to the outer periphery of the cylindrical shell; the orientation of the two ends of the two connecting plates is parallel to the axial direction of the cylindrical shell; each end of the two connecting plates is provided with a sliding groove; the two connecting plates are also provided with a plurality of coil holes arranged from one end to the other, the plurality of coil holes being located between the sliding grooves and the cylindrical shell, and the plurality of coil holes being close to the cylindrical shell; the two sides of one end of the two first connecting rods are respectively engaged and slidably hinged with the two sliding grooves at the two ends of the two connecting plates, so that one end of the two first connecting rods can move closer to or further away from each other; the two magnets are respectively embedded in the two first connecting rods. The second connecting rod has two ends hinged to the other ends of the two first connecting rods, and a receiving groove is provided in the middle of the second connecting rod; the two guide slides pass through the second connecting rod and are located between the receiving groove and the two ends of the second connecting rod; one end of the two guide slides is fixedly connected to the cylindrical shell located between the two connecting plates; one end of each of the two guide slides is provided with a first limiting member, which is located on the outside of the cylindrical shell and in contact with the cylindrical shell; the other end of each of the two guide slides is provided with a second limiting member, which is used to restrict the second connecting rod from disengaging from the two guide slides; two elastic members are respectively sleeved on the two guide slides, and the two ends of the elastic members abut against the first limiting member and the second connecting rod respectively; the pulley is provided in the receiving groove of the second connecting rod. The coil mechanism includes a first coil and a second coil; the first coil passes through several coil holes at one end of the two connecting plates of the plurality of shock-absorbing mechanisms, and is in contact with the outer periphery of the cylindrical shell located between one end of the cylindrical shell and the first limiting member of the adjacent guide slide; the second coil passes through several coil holes at the other end of the two connecting plates of the plurality of shock-absorbing mechanisms, and is in contact with the outer periphery of the cylindrical shell located between the other end of the cylindrical shell and the first limiting member of the adjacent guide slide. The first power source is connected to the first coil and the second coil respectively; The first control mechanism can control the magnitude and direction of the current flowing into the first coil and the second coil, respectively; The magnetic acceleration track system includes two track belts, a second power supply, and a second control mechanism. Each of the two track belts includes several track units, which are arranged to form the track belts. The snake-like robot is positioned between the two track belts. Each track unit includes a base, a track core, and a track coil. The track core is positioned on the base, and the two ends of the track core face the same direction as the two ends of the track belt. The track coil is positioned on the outer periphery of the track core. The track coils of the several track units are respectively connected to the second power supply. The second control mechanism can periodically change the magnitude and direction of the current flowing into the track coil.

2. The complete set of snake-like robot equipment according to claim 1, characterized in that: The passive shock absorption device for the snake robot comprises six shock absorption mechanisms.

3. The complete set of snake-like robot equipment according to claim 1, characterized in that: In the driven shock absorption device for the snake robot, the elastic element is a spring; the elastic element is a progressive spring; the progressive spring has a height of 25mm and a mean diameter of 10mm; wherein, taking the end closest to the first limiting member as the starting end, the spring coil spacing is 2.2mm in the height range of 0-15mm, the spring coil spacing increases linearly from 2.2mm to 4mm in the height range of 15-15.5mm, and the spring coil spacing is 4mm in the height range of 15.5-25mm.

4. The complete set of snake-like robot equipment according to claim 1, characterized in that: In the driven shock absorption device for the snake robot, the coil mechanism further includes a third coil, which passes through several coil holes in the middle of the two connecting plates of the several shock absorption mechanisms and is in contact with the outer periphery of the cylindrical shell located between the first limiting members of the two guide slides; the first power supply is also connected to the third coil; the first control mechanism is capable of controlling the magnitude of the current flowing into the third coil.

5. The complete set of snake-like robot equipment according to claim 1, characterized in that: In the driven shock absorption device for the snake robot, the cylindrical outer shell has a five-layer structure, including a first insulating layer, an electromagnetic shielding layer, a second insulating layer, a magnetic core layer, and a third insulating layer from the inside out; the electromagnetic shielding layer is used to shield the magnetic field; the magnetic core layer is used to enhance the magnetic field strength.

6. The complete set of snake robot equipment according to claim 5, characterized in that: In the passive shock absorption device for snake robots, the electromagnetic shielding layer is made of iron, the magnetic core layer is made of magnets, and the first insulating layer, the second insulating layer, and the third insulating layer are all insulating materials.

7. The complete set of snake robot equipment according to claim 1, characterized in that: The snake-like robot includes a torso unit, a snake head, and a snake tail. One end of the torso unit is connected to the snake head, and the other end is connected to the snake tail. The torso unit includes several joint mechanisms connected in series. Each joint mechanism includes a connecting device, a driving device, and a driven shock absorption device for the snake-like robot. One end of the connecting device is fixedly connected to one end of the driving device, and the other end is fixedly connected to one end of the driving device of the previous adjacent joint mechanism. The inner wall of the cylindrical shell of the driven shock absorption device for the snake robot is fixedly connected to the outer periphery of the connecting device.

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