Scale structure and snakelike robot

Abstract

The invention discloses a scale structure and a snakelike robot. The scale structure comprises a first scale unit and a second scale unit which are parallel to each other and connected in sequence. A first rotating section is arranged on the side, close to the second scale unit, of the first scale unit, the first scale unit is connected with the second scale unit through the first rotating section, and a first hollow area is arranged at the position, located on one side of the first rotating section, of the first scale unit; a second rotating section in the length direction of the second scale unit is arranged at the position, close to the first scale unit, of the second scale unit, and a second hollow area is arranged at the position, between the second rotating section and the first rotating section, of the second scale unit; deformation of the scale structure can be directly and passively triggered by ground acting force without depending on additional control signal input, natural feedback from the environment to the robot structure is achieved, the overall complexity of the system is remarkably reduced, and adaptability and interaction efficiency of the robot to the complex environment are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a scale structure and a snake-shaped robot. Background Art

[0002] Snake-shaped robots are known for their unique continuous motion characteristics, which require the drive unit to provide sufficient redundant degrees of freedom to cope with complex and variable motion requirements; therefore, a multi-driver modular design has become the preferred solution to achieve this goal; however, in order to ensure that the snake-shaped robot can maintain a stable and effective relative motion when interacting with various environments, an efficient force interaction mechanism is particularly important.

[0003] In view of the anisotropy and dynamic characteristics during the motion process, the interaction force between the robot and the ground must be able to be adjusted in real time and flexibly; in the prior art, some solutions adjust the relative acting force by introducing mechanical structures such as wheels, and this design enhances the adaptability of the robot to the environment to a certain extent; other solutions are more ingenious, and they achieve fine adjustment of the interaction force by installing actively controllable scales on the surface of the robot and precisely controlling the opening and closing angles of the scales.

[0004] However, these existing solutions also expose some significant defects; firstly, whether it is a wheeled structure or active scale control, it is necessary to increase the degrees of freedom of the robot, which will undoubtedly lead to a significant increase in the weight and complexity of the structure and hardware; secondly, these active control structures must be able to adapt to the motion state of the robot in real time and accurately, which poses extremely high requirements on the accuracy of the feedback system and the efficiency of the planning algorithm; therefore, in future research, we need to explore a more lightweight, efficient and easy-to-control force interaction mechanism to further improve the environmental adaptability and motion performance of the snake-shaped robot. Summary of the Invention

[0005] The purpose of the present invention is to provide a scale structure and a snake-shaped robot for the above problems in the prior art, and thus solve all or one of the above problems existing in the prior art.

[0006] To solve the above technical problems, the specific technical solutions of the present invention are as follows: On the one hand, the present invention provides a scale structure, including: A first scale unit and a second scale unit that are parallel to each other and connected in sequence; A first rotation section is provided on one side of the first scale unit close to the second scale unit, and the first scale unit is connected to the second scale unit through the first rotation section. A first hollowed-out area is provided at a position on the first scale unit on one side of the first rotation section; A second rotation section extending in the length direction of the second scale unit is provided at a position on the second scale unit close to the first scale unit, and a second hollow area is provided at a position on the second scale unit between the second rotation section and the first rotation section; The length of the first scale unit matches the length of the second scale unit, and the width of the first scale unit is smaller than the width of the second scale unit; when a force is applied to the scale structure in the width direction of the scale structure, the first scale unit rotates with the two ends of the first rotation section as turning points, and drives the second scale unit to rotate with the two ends of the second rotation section as inflection points; when the first scale unit and the second scale unit rotate, they respectively drive the deformation of the first hollow area and the second hollow area; the first scale unit and the second scale unit recover the deformation with the disappearance of the force applied in the width direction of the scale structure.

[0007] As an improved solution, the first scale unit includes: a first scale sub-unit and a second scale sub-unit that are parallel to each other and connected in sequence; The two ends of the first scale sub-unit in the length direction are respectively a first connection section and a second connection section, and the area on the first scale sub-unit between the first connection section and the second connection section is the first hollow area; The first rotation section is provided on one side of the second scale sub-unit, and the second scale sub-unit is connected to the first connection section and the second connection section on the same side as the first hollow area on the other side; The length of the first scale sub-unit is equal to the length of the second scale sub-unit, and the length of the first rotation section is smaller than the length of the first scale unit.

[0008] As an improved solution, a pair of serrated areas are further provided at the same side position of the second scale sub-unit where the first rotation section is located, and the pair of serrated areas are respectively located at the upper and lower ends of the first rotation section.

[0009] As an improved solution, the second scale unit includes: a third scale group having the same structure as the first scale unit, and a fifth scale sub-unit having the same structure as the first scale sub-unit; The third scale group is arranged close to the first scale unit, the orientation of the third scale group is the same as that of the first scale unit, and one side of the third scale group close to the first scale unit is connected to the first rotation section of the first scale unit; the non-first rotation section side of the second scale sub-unit of the third scale group is the second rotation section, and the area between the first scale sub-unit of the third scale group and the second rotation section is the second hollow area; A side of the fifth scale subunit that is not in the first hollowed-out area is connected to the first rotating section of the third scale group.

[0010] As an improved solution, the third scale group includes: a third scale sub-unit and a fourth scale sub-unit; The third scale sub-unit has the same structure as the first scale sub-unit, and the fourth scale sub-unit has the same structure as the second scale sub-unit; The two ends of the third scale subunit in the length direction are respectively a third connecting section and a fourth connecting section; The area between the third connecting segment and the fourth connecting segment on the third scale subunit is the second hollow area; The second rotating segment of the fourth scale sub-unit is connected to the third connecting segment and the fourth connecting segment on the same side of the second hollow area.

[0011] As an improved solution, the side of the fourth scale subunit that is not provided with the second rotation segment is the first rotation segment side of the fourth scale subunit, and the first rotation segment side of the fourth scale subunit is the fifth connecting segment; One side of the fifth scale subunit is connected to the fifth connecting segment, and two ends of the other side of the fifth scale subunit in the length direction are respectively the sixth connecting segment and the seventh connecting segment; The upper and lower ends of the fourth scale sub-unit located on the same side of the fifth connecting segment are respectively a pair of sawtooth regions, and the area between the sixth connecting segment and the seventh connecting segment on the fifth scale sub-unit is the sawtooth region.

[0012] As an improved solution, the length of the third scale subunit, the length of the fourth scale subunit and the length of the fifth scale subunit are all the same as those of the first scale subunit; The length of the second rotating section is smaller than the length of the second scale unit and the length of the second rotating section is larger than the length of the first rotating section.

[0013] As an improved solution, the first hollow area and the second hollow area respectively include: a sawtooth hollow area; A plurality of sawtooth structures are respectively disposed in the sawtooth-shaped hollow area and the sawtooth area, and the directions of the plurality of sawtooth structures are the same.

[0014] As an improved solution, the first scale unit and the second scale unit are both made of stainless steel; The sawtooth structure adopts a stainless steel pick structure.

[0015] On the other hand, the present invention also provides a snake-shaped robot, which includes a plurality of serially connected driving units, and each of the driving units includes the scale structure described above.

[0016] The beneficial effects of the technical solution of the present invention are as follows: For the scale structure and the snake-shaped robot of the present invention, the deformation of the scale structure is directly triggered passively by the ground acting force, without relying on additional control signal input, realizing the natural feedback from the environment to the robot structure, and significantly reducing the overall complexity of the system; the scale structure can respond to the ground reaction force and autonomously adjust its shape to adapt to different terrain conditions, reducing the dependence on external control signals, improving the robot's instant response ability to the environment, reducing energy consumption, contributing to enhancing the overall stability and reliability of the system, and enhancing the robot's adaptability and interaction efficiency in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of a scale structure according to Embodiment 1 of the present application; Figure 2 It is a schematic structural diagram of the first scale unit in a scale structure according to Embodiment 1 of the present application; Figure 3 It is a schematic structural diagram of the second scale unit in a scale structure according to Embodiment 1 of the present application; Figure 4 It is a schematic diagram of the force on a scale structure according to Embodiment 1 of the present application; Figure 5 It is a schematic structural diagram of a snake-shaped robot according to Embodiment 2 of the present application; Figure 6 It is a schematic structural diagram of the scale structure in an open state in a snake-shaped robot according to Embodiment 2 of the present application; The reference numerals in the drawings are explained as follows: 1. Driving unit; 20. Driving module; 10. Scale structure; 11. First scale unit; 12. Second scale unit; 11a. First scale sub-unit; 11b. Second scale sub-unit; 12a. Third scale sub-unit; 12b. Fourth scale sub-unit; 12c. Fifth scale sub-unit; 111. The first rotating section; 112. The first connecting section; 113. The second connecting section; 121. The second rotating section; 122. The third connecting section; 123. The fourth connecting section; 124. The fifth connecting section; 125. The sixth connecting section; 126. The seventh connecting section; R1. The first endpoint; R2. The second endpoint; R3. The third endpoint; R4. The fourth endpoint. Detailed implementation manners

[0019] The following elaborates on the preferred embodiments of the present invention in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0020] In the description of the present invention, it should be noted that the embodiments described in the present invention are part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0021] The terms "first", "second", etc. in the specification and claims of this article and the above accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0022] In the description of the present invention, it should be noted that specific details such as a specific system structure and technology are proposed in order to thoroughly understand the embodiments of the present application, and these embodiments are used for illustration rather than limitation. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, the detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0023] In the description of the present invention, it should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0024] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0025] Reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that specific features, structures or characteristics described in connection with that embodiment are included in one or more embodiments of the present application. Thus, statements such as "in some embodiments", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. that appear at different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all of the embodiments", unless otherwise specifically emphasized in another way.

[0026] Embodiment 1. This embodiment provides a scale structure, as Figures 1 to 4 shown. The scale structure 10 includes: a first scale unit 11 and a second scale unit 12 connected in sequence. The following will respectively give a detailed description of the structure and function of the first scale unit 11 and the second scale unit 12: (1) The first scale unit 11: Specifically as Figure 1 shown, the first scale unit 11 is connected to the second scale unit 12 through a first rotation section 111 located on the right side of the first scale unit 11; it should be noted that Figure 1 the dotted line at the connection between the first scale unit 11 and the second scale unit 12 in Figure 1 is only for indicating the connection between the two, and does not exist in the actual structure; in specific implementation, the first scale unit 11 and the second scale unit 12 are integrally formed; when performing a force analysis on the scale structure 10 subsequently, the virtual line segment at the connection between the first scale unit 11 and the second scale unit 12 in Figure 2 can be indicated by the first rotation section 111 in

[0027] Specifically as Figure 1 shown, the length of the first scale unit 11 is equal to the length of the second scale unit 12, and the width of the first scale unit 11 is less than the width of the second scale unit 12.

[0028] Specifically as Figure 2As shown in the figure, the first scale unit 11 consists of a first sub-scale unit 11a and a second sub-scale unit 11b; the first sub-scale unit 11a is connected to the side of the second sub-scale unit 11b where the first rotation segment 111 is not provided through a first connection segment 112 and a second connection segment 113 respectively located at both ends of the first sub-scale unit 11a in the length direction, and the side of the second sub-scale unit 11b where the first rotation segment 111 is provided is connected to the second scale unit 12 through the first rotation segment 111; wherein, the length of the first sub-scale unit 11a is equal to the length of the second sub-scale unit 11b; in this embodiment, in order to more clearly show the division boundary between the first sub-scale unit 11a and the second sub-scale unit 11b, in Figure 2 the first connection segment 112 and the second connection segment 113 that do not exist in the actual scale structure are added, and in Figure 2 the first connection segment 112 and the second connection segment 113 are shown in dotted lines; wherein, the area of the first sub-scale unit 11a located between the first connection segment 112 and the second connection segment 113; in specific implementation, it can be set to a structure that facilitates the rotation of the first sub-scale unit 11a.

[0029] Specifically, as Figure 2 shown, the area between the first connection segment 112 and the second connection segment 113 is a hollow structure or has a plurality of serrated structures; the area between the first end of the side of the second sub-scale unit 11b where the first rotation segment 111 is provided and the first rotation segment 111, and the area between the second end of the side of the second sub-scale unit 11b where the first rotation segment 111 is provided and the first rotation segment 111 are both hollow structures or have a plurality of serrated structures; the length of the first rotation segment 111 is less than the length of the first scale unit 10; In addition, it should be noted that taking the lower left corner vertex of the first sub-scale unit 11a in Figure 2 as the origin of the rectangular coordinate system, taking the connection line between its lower left corner vertex and the upper left corner vertex as the vertical axis of the rectangular coordinate system, and taking the connection line between its lower left corner vertex and the lower right corner vertex of the second sub-scale unit 11b as the horizontal axis of the rectangular coordinate system, a rectangular coordinate system is constructed; in this rectangular coordinate system, if the lengths of the first sub-scale unit 11a and the second sub-scale unit 11b are both defined as b, the length of the first sub-scale unit 11a is a1 and the length of the second sub-scale unit 11b is a2, then: (i) The area with the abscissa range of [L 11 , a1] and the ordinate range of [L 112 , b - L 113 is determined as the area between the first connection segment 112 and the second connection segment 113; wherein, L 11 is the first preset width (which is a width value less than a1), L 112 is the length of the first connection segment 112, L113 is the length of the second connecting segment 113 (L 112 and L 113 are both length values less than b); in the region between the first connecting segment 112 and the second connecting segment 113, the structural design can either adopt a hollow structure or a serrated structure with multiple intervals set at a preset interval distance, etc.

[0030] (ii) Determine the region with the abscissa range of [L 21 , a1 + a2] and the ordinate range of [L R1 , b] as the region between the first end on the side where the first rotating segment 111 is provided and the first rotating segment 111 in the second scale sub-unit 11b; determine the region with the abscissa range of [L 21 , a1 + a2] and the ordinate range of [0, L R2 as the region between the first end on the side where the first rotating segment 111 is provided and the first rotating segment 111 in the second scale sub-unit 11b; where, L 21 is the first preset width (which is a width value greater than a1 and less than a1 + a2), L R2 is the ordinate value of the second end point R2, L R1 is the ordinate value of the first end point R1; in the second scale sub-unit 11b, the region between the first end on the side where the first rotating segment 111 is provided and the first rotating segment 111, and the region between the second end on the side where the first rotating segment 111 is provided and the first rotating segment 111 can either adopt a hollow structure or a serrated structure with multiple intervals set at a preset interval distance, etc.

[0031] Based on the first scale unit with the above structure, flexible rotation and recovery of deformation can be achieved.

[0032] (2) The second scale unit 12: Specifically as Figure 1 shown, the second scale unit 12 has a second rotating segment 121 along the length direction; the distance between the second rotating segment 121 and the first rotating segment 111 is greater than 0, the length of the second rotating segment 121 is less than the length of the second scale unit 12 and the length of the second rotating segment 121 is greater than the length of the first rotating segment 111.

[0033] Specifically as Figures 2 to 3 shown, the second scale unit 12 consists of: a third scale sub-unit 12a, a fourth scale sub-unit 12b, and a fifth scale sub-unit 12c; in order to more clearly indicate the division boundary between the third scale sub-unit 12a and the fourth scale sub-unit 12b in the second scale unit 12, a third connecting segment 122 and a fourth connecting segment 123 that do not exist in the actual scale structure are added in Figure 3 , and in Figure 3The third connecting section 122 and the fourth connecting section 123 are shown in dashed lines; in order to more clearly indicate the dividing boundary between the fourth scale sub-unit 12b and the fifth scale sub-unit 12c in the second scale unit 12, Figure 3 a fifth connecting section 124 that does not exist in the actual scale structure is added in Figure 3 and the fifth connecting section 124 is shown in dashed lines in

[0034] Specifically, as Figure 3 shown, the lengths of the third scale sub-unit 12a, the fourth scale sub-unit 12b, and the fifth scale sub-unit 12c are all equal, and the length of the fifth connecting section 124 is equal to the length of the first rotating section 111; the shapes of the third scale sub-unit 12a and the fifth scale sub-unit 12c are both set to be substantially the same as the shape of the first scale sub-unit 11a (substantially the same shape can be understood as that except for the absence of the same openings as on the first scale sub-unit 11a on the third scale sub-unit 12a, the remaining structures are the same; except for the absence of the same openings as on the first scale sub-unit 11a at the same positions on the fifth scale sub-unit 12c, the remaining structures are the same); when the shapes of the third scale sub-unit 12a and the fifth scale sub-unit 12c are both set to be substantially the same as the shape of the first scale sub-unit 11a, the connection method between the first scale sub-unit 11a and the second scale sub-unit 11b can also be referred to, that is, the side of the fourth scale sub-unit 12b without the second rotating section 121 is connected to the fifth scale sub-unit 12c through the fifth connecting section 124.

[0035] Specifically, as Figure 3 shown, the area between the third connecting section 122 and the fourth connecting section 123 is a hollow structure or has a plurality of serrated structures; the areas between the first end of the side of the fourth scale sub-unit 12b with the fifth connecting section 124 and the fifth connecting section 124, and between the second end of the side of the fourth scale sub-unit 12b with the fifth connecting section 124 and the fifth connecting section 124 are both hollow structures or have a plurality of serrated structures; among them, at both ends of the side of the fifth scale sub-unit 12c away from the fifth connecting section 124 in the length direction, a sixth connecting section 125 and a seventh connecting section 126 are respectively provided, and the area between the sixth connecting section 125 and the seventh connecting section 126 is a hollow structure or has a plurality of serrated structures.

[0036] In other alternative embodiments, the width of the third scale sub-unit 12a can be set to be equal to the width of the first scale sub-unit 11a, the width of the fourth scale sub-unit 12b can be set to be equal to the width of the second scale sub-unit 11b, and the width of the fifth scale sub-unit 12c can be set to be equal to the width of the first scale sub-unit 11a.

[0037] In other alternative embodiments, both the first scale unit 11 and the second scale unit 12 are made of stainless steel paddles; specifically, the main bodies of the first scale unit 11 and the second scale unit 12 in each scale structure are made of lightweight and high-strength materials (such as stainless steel paddles) to balance durability and flexibility; in practical applications, high-friction materials (such as rubber layers) can be added to the bottoms of the main bodies of the first scale unit 11 and the second scale unit 12, thereby improving their anti-slip performance on smooth ground.

[0038] In summary, the working principle of this structure is as follows: When the scale structure 10 is subjected to a force in the width direction, it rotates with the two ends of the first rotation section 111 on the first scale unit 11 as the turning points, and drives the second scale unit 12 to rotate with the two ends of the second rotation section 121 as the inflection points; when the force applied to the scale structure 10 is withdrawn, both the first scale unit 11 and the second scale unit 12 return to their deformed states. Specifically, when the scale structure 10 is arranged on the driving module of the snake-shaped robot, it is specifically arranged around the outer wall of the driving module; there are several driving modules on the snake-shaped robot, and each driving module can perform movements such as elongation, contraction, and bending in all directions, and each driving module can be regarded as a multi-degree-of-freedom driving module; when the driving module performs an elongation or contraction movement and the scale structure is subjected to opposite forces on the x-axis, the force applied thereto will cause the scale structure to open; if the scale structure is in contact with a hard ground, the scale structure will stand up within a small range through each scale unit, increasing the contact angle with the ground and enhancing the friction; if the scale structure is in contact with sand, the scale structure can adapt to the terrain through its own elastic deformation, and its edge structure can be embedded in the sand layer to provide a stable reaction force to prevent the driving module and the snake-shaped robot from sinking deeply into the sand layer and affecting their continuous movement; moreover, the deformation of the scale structure is triggered passively by the ground force, without the need for additional control signal input, reducing the system complexity. Such as Figure 4, when the scale structure 10 is subjected to opposite acting forces Fx and -Fx along the x-axis (where the direction of the x-axis is parallel to the width direction of the scale structure 10), the first scale unit 11 rotates with the first end point R1 and the second end point R2 of the first rotation segment 111 as the turning points, forming a structure similar to the opening of scales; the second scale unit 12 rotates with the third end point R3 and the fourth end point R4 of the second rotation segment 121 as the inflection points; when each of the multiple drive modules is correspondingly provided with a scale structure, the movement of other scale structures is a repetitive structure of the first scale unit 11 and the second scale unit 12; as Fx increases, the degree of scale opening increases; the deformation of the scale structure after stretching is reversible, that is, after the pulling force is removed, the scale structure will return to its original state; taking the first rotation segment 111 as an example, the movement of the first rotation segment 111 is symmetric about the x-axis, and both sides of it are bent from the same straight line along the second end point R2, forming a trend that the included angle decreases from 180 degrees to 90 degrees.

[0039] In addition, it should be noted that: (i) The first rotation segment 111 corresponds to the virtual line segment at the connection between the first scale unit 11 and the second scale unit 12 in Figure 1 , and it is shown as a solid line in Figure 2 ; the second rotation segment 121 is still shown as a solid line in Figure 3 ; in order to ensure that the scale structure 10 has a better opening effect, the length of the first rotation segment 111 can be made less than the length of the first scale unit 10, and the length of the second rotation segment 121 can be made less than the length of the second scale unit 12, and at the same time, the length of the second rotation segment 121 needs to be greater than the length of the first rotation segment 111 and the distance between the second rotation segment 121 and the first rotation segment 111 is greater than 0. When the above structure is adopted, the first rotation segment 111 in the scale structure 10 rotates around its two end points (i.e., the first end point R1 and the second end point R2), which can drive the longer second rotation segment 121 to rotate at the same time, realizing the opening of the scale structure.

[0040] (ii) When the fourth scale sub-unit 12b rotates with the two end points (i.e., the third end point R3 and the fourth end point R4) of the second rotation segment 121 as the turning points, the process of its driving the fifth scale sub-unit 12c to rotate can refer to the process of the second scale sub-unit 11b driving the third scale sub-unit 12a to rotate.

[0041] (iii) For the area with a hollow structure or multiple serrated structures on the third sub-scale unit 12a in the second scale unit 12, the specific area and method of opening the hollow structure or having multiple serrated structures on the first sub-scale unit 11a in the first scale unit 11 can be referred to; for the area with a hollow structure or multiple serrated structures on the fourth sub-scale unit 12b in the second scale unit 12, the specific area and method of opening the hollow structure or having multiple serrated structures on the second sub-scale unit 11b in the first scale unit 11 can be referred to, which will not be elaborated here. When the second scale unit with the above structure is adopted, it can rotate and recover deformation more flexibly.

[0042] (iiii) The positioning method of the area between the sixth connecting segment 125 and the seventh connecting segment 126 in the fifth sub-scale unit 12c can refer to the specific positioning method of the area between the first connecting segment 112 and the second connecting segment 113 in the first sub-scale unit 11a; similarly, the area between the sixth connecting segment 125 and the seventh connecting segment 126 is a hollow structure or has multiple serrated structures; when the fifth sub-scale unit with the above structure is adopted, it can rotate and recover deformation flexibly.

[0043] Embodiment 2. Based on the same inventive concept as the scale structure described in Embodiment 1, this embodiment provides a snake-shaped robot, as Figure 5 and Figure 6 shown, including: A plurality of serially connected drive units 1, each of which includes the scale structure 10 described in the foregoing Embodiment 1, and further includes a drive module 20 that can perform telescopic and bending movements; Specifically, the scale structure is provided on the outer wall of the drive module 20; the length value range of the drive module 20 is [amin, amax], where amin = the width of the scale structure, and amax = [(2 * the length of the scale structure) - (the length of the first rotation segment of the first scale unit in the scale structure)] + [(2 * the length corresponding to the second rotation segment of the second scale unit in the scale structure) - (the length corresponding to the first rotation segment of the first scale unit in the scale structure)].

[0044] Specifically, a plurality of drive units are provided on the snake-shaped robot, and each drive module 20 in each drive unit 1 can perform movements such as elongation, contraction, and bending in all directions, and each drive module 20 can be regarded as a multi-degree-of-freedom drive unit; as Figure 6As shown, when the driving module 20 performs an elongation or contraction movement, causing the scale structure 10 to receive opposite forces along the x-axis, the force received will cause the scale structure to open. If the scale structure is in contact with a hard ground, the scale structure will stand up within a small range through each scale unit, increasing the contact angle with the ground and enhancing the friction. If the scale structure is in contact with sandy ground, the scale structure can adapt to the terrain through its own elastic deformation, and its edge structure can be embedded in the sand layer to provide a stable reaction force, preventing the driving module and the snake-shaped robot from sinking deeply into the sand layer and affecting its continuous movement. Among them, the deformation of the scale structure 10 is triggered passively by the ground force, without the need for additional control signal input, reducing the system complexity. The scale structure 10 cooperates with the driving module 20 to move. The opening and contraction of the scale structure 10 change with the movement of the driving module 20 as follows: when the driving module 20 is at its maximum length, the scales are fully open; when the driving module 20 is at its minimum length, the scales are fully contracted.

[0045] It should be noted that the above examples are only for explaining the present invention and should not limit the protection scope of the present invention accordingly.

[0046] Different from the prior art, by adopting a scale structure and a snake-shaped robot of the present application, the deformation of the scale structure can be directly triggered passively by the ground force, without relying on additional control signal input, realizing the natural feedback from the environment to the robot structure, and significantly reducing the overall complexity of the system. The scale structure can respond to the reaction force of the ground and autonomously adjust its shape to adapt to different terrain conditions, reducing the dependence on external control signals, improving the robot's instant response ability to the environment, reducing energy consumption, helping to enhance the overall stability and reliability of the system, and enhancing the robot's adaptability and interaction efficiency in complex environments.

[0047] It should also be understood that in the embodiments herein, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0048] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this article.

[0049] In several embodiments provided in this document, it should be understood that the disclosed systems and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices or units, and can also be electrical, mechanical or other forms of connection.

[0050] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments in this document.

[0051] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. All equivalent structural or equivalent process transformations made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are equally included in the patent protection scope of the present invention.

Claims

1. A scale structure, applied to a snake-like robot, characterized in that: The scale structure (10) comprises: a first scale unit (11) and a second scale unit (12) which are parallel to each other and connected in sequence; A first rotating section (111) is provided on a side of the first scale unit (11) close to the second scale unit (12); the first scale unit (11) is connected to the second scale unit (12) via the first rotating section (111); and a first hollow area is provided on the first scale unit (11) at a position on one side of the first rotating section (111); A second rotating section (121) along the length direction of the second scale unit (12) is provided on the second scale unit (12) at a position close to the first scale unit (11), and a second hollow area is provided on the second scale unit (12) at a position between the second rotating section (121) and the first rotating section (111); The length of the first scale unit (11) matches the length of the second scale unit (12), and the width of the first scale unit (11) is smaller than the width of the second scale unit (12); when the scale structure (10) is subjected to a force in the width direction of the scale structure (10), the first scale unit (11) rotates with the two ends of the first rotating section (111) as turning points, and drives the second scale unit (12) to rotate with the two ends of the second rotating section (121) as turning points; when the first scale unit (11) and the second scale unit (12) rotate, they respectively drive the first hollow area and the second hollow area to deform; the first scale unit (11) and the second scale unit (12) recover their deformation as the force in the width direction of the scale structure (10) disappears.

2. The scale structure according to claim 1, characterized in that: The first scale unit (11) comprises: a first scale sub-unit (11a) and a second scale sub-unit (11b) which are parallel to each other and connected in sequence; The first scale sub-unit (11a) has two ends in the length direction thereof respectively comprising a first connecting section (112) and a second connecting section (113); the area between the first connecting section (112) and the second connecting section (113) on the first scale sub-unit (11a) is the first hollow area; The first rotating section (111) is provided on one side of the second scale sub-unit (11b), and the other side of the second scale sub-unit (11b) is connected to the first connecting section (112) and the second connecting section (113) on the same side of the first hollow area; The length of the first scale subunit (11a) is equal to the length of the second scale subunit (11b), and the length of the first rotating section (111) is smaller than the length of the first scale unit (11).

3. The scale structure according to claim 2, characterized in that: A pair of sawtooth regions are also provided on the second scale subunit (11b) at the same side of the first rotating section (111), and the pair of sawtooth regions are respectively located at the upper and lower ends of the first rotating section (111).

4. The scale structure according to claim 3, characterized in that: The second scale unit (12) comprises: a third scale group having the same structure as the first scale unit (11), and a fifth scale sub-unit (12c) having the same structure as the first scale sub-unit (11a); The third scale group is arranged close to the first scale unit (11); the orientation of the third scale group is the same as that of the first scale unit (11); and a side of the third scale group close to the first scale unit (11) is connected to the first rotating section (111) of the first scale unit (11); the side of the second scale sub-unit (11b) of the third scale group that is not the first rotating section (111) is the second rotating section (121); and the area between the first scale sub-unit (11a) of the third scale group and the second rotating section (121) is the second hollow area; A side of the fifth scale sub-unit (12c) that is not the first hollowed-out area is connected to the first rotating section (111) of the third scale group.

5. The scale structure according to claim 4, characterized in that: The third scale group comprises: a third scale sub-unit (12a) and a fourth scale sub-unit (12b); The third scale sub-unit (12a) has the same structure as the first scale sub-unit (11a), and the fourth scale sub-unit (12b) has the same structure as the second scale sub-unit (11b); The third scale subunit (12a) has a third connecting section (122) and a fourth connecting section (123) at two ends in the length direction respectively; The area on the third scale sub-unit (12a) located between the third connecting section (122) and the fourth connecting section (123) is the second hollow area; The second rotating section (121) of the fourth scale sub-unit (12b) is connected to the third connecting section (122) and the fourth connecting section (123) on the same side of the second hollow area.

6. The scale structure according to claim 5, characterized in that: The side of the fourth scale sub-unit (12b) not provided with the second rotating section (121) is the first rotating section (111) side of the fourth scale sub-unit (12b), and the first rotating section (111) side of the fourth scale sub-unit (12b) is the fifth connecting section (124); One side of the fifth scale subunit (12c) is connected to the fifth connecting segment (124), and two ends of the other side of the fifth scale subunit (12c) in the length direction are respectively the sixth connecting segment (125) and the seventh connecting segment (126); The upper and lower ends of the fourth scale sub-unit (12b) located on the same side of the five connecting segments are respectively a pair of sawtooth regions, and the area between the sixth connecting segment (125) and the seventh connecting segment (126) on the fifth scale sub-unit (12c) is the sawtooth region.

7. The scale structure according to claim 6, characterized in that: The length of the third scale sub-unit (12a), the length of the fourth scale sub-unit (12b), and the length of the fifth scale sub-unit (12c) are all the same as those of the first scale sub-unit (11a); The length of the second rotating section (121) is smaller than the length of the second scale unit (12), and the length of the second rotating section (121) is larger than the length of the first rotating section (111).

8. The scale structure according to claim 7, characterized in that: The first hollow area and the second hollow area respectively include: a sawtooth hollow area; A plurality of sawtooth structures are respectively disposed in the sawtooth-shaped hollow area and the sawtooth area, and the directions of the plurality of sawtooth structures are the same.

9. The scale structure according to claim 8, characterized in that: The first scale unit (11) and the second scale unit (12) are both made of stainless steel; The sawtooth structure adopts a stainless steel pick structure.

10. A snake-like robot, characterized in that: It comprises a plurality of drive units (1) connected in series, each of the drive units (1) comprising a scale structure (10) according to any one of claims 1 to 9.

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