All-terrain snakelike reconnaissance robot

Abstract

The invention relates to the technical field of robots, and provides an all-terrain snakelike reconnaissance robot which comprises a snakelike head mechanism, a snakelike tail mechanism and a plurality of trunk units. According to the all-terrain snakelike reconnaissance robot provided by the invention, each trunk unit is provided with a swing motor, a swing mechanism, a trunk framework, a telescopic wheel mechanism and a double-shaft steering engine; the swing mechanism comprises a swing part, a roller and a swing fixing part, and the roller is rotationally connected to the swing part, so that the trunk units can swing in the first direction, and the force transmission stability between the trunk units is improved; the double-shaft steering engine is arranged on the telescopic supporting piece, the double-shaft steering engine is connected to the next adjacent swing mechanism and drives the swing mechanism to swing in the second direction, the first direction is perpendicular to the second direction, the trunk unit can swing in the second direction, and the swing mechanism can swing in the first direction and the double-shaft steering engine in the second direction. The robot can move forwards in a winding mode on complex terrains and is suitable for more terrains and more complete terrains.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to an all-terrain snake-shaped reconnaissance robot. Background Art

[0002] The snake-like robot is a highly redundant motion robot that can adopt flexible and varied motion modes to complete movement on a variety of complex terrains. It has good motion stability and strong environmental adaptability, and has broad application prospects in military, medical, disaster relief and other fields.

[0003] Snake robots can also be used in special environments, such as search and rescue activities at earthquake disaster sites, planetary surface exploration in the aerospace field, underwater exploration missions, etc.; they can also be used as pipeline robots, special mobile robots in special environments, etc.

[0004] However, in related snake-like robot technology, the torque that can be transmitted by the trunk unit is small, resulting in unstable force transmission between the trunk units, making it difficult to move forward in a winding manner on complex terrain, and having few applicable terrains. Summary of the Invention

[0005] In response to the above-mentioned defects of the prior art, the present invention provides an all-terrain snake-like reconnaissance robot to solve at least one of the above-mentioned technical defects in the prior art, so that the torque that can be transmitted by the trunk unit is larger, the force transmission between the trunk units is more stable, and it can move forward in a winding manner on complex terrain, and is suitable for all-terrain use.

[0006] In order to achieve the purpose of the present invention, the present invention provides an all-terrain snake-like reconnaissance robot, comprising:

[0007] Human traffickers;

[0008] Snake tail mechanism;

[0009] A plurality of trunk units, wherein the first trunk unit is connected to the snake head mechanism, the last trunk unit is connected to the snake tail mechanism, and adjacent trunk units are connected to each other;

[0010] Each trunk unit includes a swing motor, a swing mechanism, a trunk frame, a telescopic wheel mechanism and a dual-axis steering gear.

[0011] The swing mechanism includes a swing member, a roller and a swing fixing member. The swing motor drives the roller to rotate and is connected to the swing member. The roller drives the swing member to swing along a first direction. The swing member is provided on the trunk frame.

[0012] The telescopic wheel mechanism includes a plurality of telescopic wheels and a telescopic support member, wherein the telescopic support member is provided on the trunk frame, and each of the telescopic wheels telescopes along the radial direction of the telescopic support member.

[0013] The first end of the biaxial servo is arranged on the trunk frame, and the second end of the biaxial servo is connected to the swing mechanism in the adjacent next trunk unit to drive the adjacent next trunk unit to swing along the second direction, and the first direction and the second direction are perpendicular to each other.

[0014] Preferably, the rocking mechanism further includes a flat head sliding key and a rocking pin.

[0015] The swing fixing member is provided with a rotation hole, the swing member has a rotation part and a swing part, the swing part is provided on the trunk frame, the rotation part matches the rotation hole and the roller, the rotation part is sleeved on the rotation hole, the roller is sleeved on the rotation part and rotatably connected to the rotation hole,

[0016] A sliding groove is provided on the side wall along the axial direction of the rotating hole, an inclined pin groove is provided on the roller, and an inclined pin hole corresponding to the inclined pin groove is provided on the rotating part.

[0017] The flat head sliding key is slidably connected to the sliding groove and the inclined pin groove at the same time, and the rocking pin shaft passes through the inclined pin hole and is connected to the flat head sliding key.

[0018] When the roller rotates in the rotating hole, the flat-head sliding key slides back and forth along the sliding groove, driving the rocking pin shaft to reciprocate in the inclined pin hole, causing the rotating part to rotate back and forth in the rotating hole, thereby driving the swinging part to swing back and forth.

[0019] Preferably, each of the trunk units further comprises a swing connection and a driving gear, and the swing mechanism further comprises a driven gear.

[0020] The driven gear is provided on the drum.

[0021] The swing motor is provided on the swing connecting piece, and the driving gear is provided on the swing motor.

[0022] The driving gear is meshed and transmission-connected with the driven gear.

[0023] Preferably, the telescopic wheel mechanism further includes a telescopic motor and a rotary adjustment plate.

[0024] The rotary adjustment plate is drivingly connected to each of the telescopic wheels, and the telescopic motor drives the rotary adjustment plate to rotate forward or reverse, so that each of the telescopic wheels telescopes along the radial direction of the telescopic support.

[0025] Preferably, the telescopic wheel mechanism further comprises a plurality of telescopic driving members, each of the telescopic wheels comprising a telescopic rod and a friction wheel.

[0026] Each of the telescopic driving members corresponds to each of the telescopic rods,

[0027] The telescopic support is provided with a plurality of telescopic holes along its own radial direction, and a plurality of telescopic slots along its own axial direction, each of the telescopic slots is connected to each of the telescopic holes, and the telescopic rod is slidably connected to the telescopic holes.

[0028] The rotary adjustment plate is provided with a plurality of adjustment holes, each of which is arc-shaped and curved in the same direction, and the first end of each telescopic driving member passes through each telescopic slot and is connected to each telescopic rod located in each telescopic hole.

[0029] The rotary adjustment plate is drivingly connected to the second end of each telescopic driving member through each adjustment hole.

[0030] Preferably, each of the trunk units further includes a steering gear connection member,

[0031] The trunk frame includes a columnar frame and a support frame, wherein the support frame is arranged in the columnar frame, and the columnar frame is provided with through holes in the radial direction around its own axis.

[0032] The first end of the steering gear connecting member is arranged on the support frame, and the second end of the steering gear connecting member is fixedly connected to the first end of the dual-axis steering gear.

[0033] The telescopic motor is arranged on the support frame, the through hole matches the telescopic wheel, and the telescopic wheel passes through the through hole during telescopic movement.

[0034] Preferably, it also includes multiple dust-proof soft films and multiple bionic scales.

[0035] Each bionic scale is sleeved on the outside of each trunk frame, and each dustproof soft film is arranged between each adjacent trunk frame.

[0036] Preferably, the snake head mechanism includes a head frame, a camera, a detection light, a power supply, a snake head connector and a packaging box.

[0037] The head frame is provided with a receiving cavity, the power supply, the packaging box and the snake head connector are all provided in the receiving cavity, and the snake head connector is connected to the first torso unit.

[0038] The camera and the detection light are arranged at the front end of the head frame.

[0039] Preferably, the tail mechanism comprises a plurality of tail units, and the diameter of each tail unit decreases from the first tail unit to the last tail unit.

[0040] Each of the tail units includes a tail frame, a stepped connecting rod, a Fourier gear set and a straight connecting rod. The straight connecting rod is hinged to the lower part of the tail frame, the stepped side rod is hinged to the upper part of the tail frame, and the Fourier gear set is rotatably connected to the tail frame.

[0041] Each adjacent step connecting rod is hinged, each adjacent straight connecting rod is hinged, and each adjacent Fourier gear set is hinged.

[0042] The first tail unit is provided with a tail connector, and the tail connector is connected to the last trunk unit.

[0043] Preferably, it also includes a monitoring system, a master control system and a slave control system.

[0044] The main control system has a core processor, which is electrically connected to the camera and the detection light.

[0045] The slave control system is electrically connected to the master control system, and the slave control system is electrically connected to the swing motor, the dual-axis steering gear and the telescopic wheel mechanism.

[0046] The monitoring system is electrically connected to the master control system and the slave control system.

[0047] The beneficial effects of the present invention are as follows: the all-terrain snake-like reconnaissance robot provided by the present invention is configured by providing each trunk unit with a swing motor, a swing mechanism, a trunk frame, a telescopic wheel mechanism and a biaxial servo; wherein the swing mechanism includes a swinging member, a roller and a swing fixing member, and the swing motor drives the roller to rotate and be connected to the swinging member, so that the roller drives the swinging member to swing along a first direction, thereby enabling the trunk unit to swing along the first direction, making the torque transferable between the trunk units larger and improving the force transmission stability between the trunk units; in addition, the first end of the biaxial servo is provided on the telescopic support member of the trunk frame, and the second end of the biaxial servo is connected to the swing mechanism in the adjacent next trunk unit, driving the adjacent next trunk unit to swing along a second direction, and the first direction and the second direction are perpendicular to each other, thereby enabling the trunk unit to swing along the second direction, and combining the swing movement of the swing mechanism along the first direction and the swing movement of the biaxial servo along the second direction, so that the snake-like reconnaissance robot can move forward in a winding manner on complex terrain, and is applicable to more and more comprehensive terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of the preferred embodiments of the present invention as shown in the accompanying drawings. Like reference numerals indicate like parts throughout the accompanying drawings, and the drawings are not drawn to scale with actual size, but rather are intended to illustrate the subject matter of the present application.

[0049] Figure 1 A schematic diagram of the overall structure of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0050] Figure 2 This is one of the structural exploded views of a single trunk unit in the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0051] Figure 3 This is the second structural exploded view of a single trunk unit in the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0052] Figure 4 A schematic structural diagram of a swing mechanism in an all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0053] Figure 5 An exploded schematic diagram of the swing mechanism of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0054] Figure 6 An exploded schematic diagram of the retractable wheel mechanism of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0055] Figure 7 A schematic structural diagram of the snake head mechanism of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0056] Figure 8 An exploded schematic diagram of the snake tail mechanism of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0057] Figure 9 A block diagram of the connection relationship between the monitoring system, the master control system, and the slave control system in the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0058] Figure 10 A circuit diagram of the STM32RCT6 in the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0059] Figure 11 A schematic diagram of the STM32RCT6 integrated circuit ISP download circuit in the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0060] Figure 12 A schematic diagram of a power supply circuit for an all-terrain snake-like reconnaissance robot provided in an embodiment of the present invention;

[0061] Figure 13 A schematic diagram of a driving circuit for a motor in an all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0062] Figure 14 A control circuit for a detection light in an all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0063] Figure 15 A schematic diagram of the control circuit of a dual-axis servo in an all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0064] Figure 16 A schematic diagram of an interface circuit for an external module of an all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0065] Figure 17 A schematic diagram of motion control and data display of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0066] Figure 18 A schematic diagram of a video surveillance display of an all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0067] Figure 19 Different serpentine curve schematic diagrams are obtained when the parameter a of the Serpenoid curve in the all-terrain serpentine reconnaissance robot provided by the embodiment of the present invention takes different values;

[0068] Figure 20 Different serpentine curve schematic diagrams are obtained when the parameter b of the Serpenoid curve in the all-terrain serpentine reconnaissance robot provided by the embodiment of the present invention takes different values;

[0069] Figure 21 Different serpentine curve schematic diagrams are obtained when the parameter c of the Serpenoid curve in the all-terrain serpentine reconnaissance robot provided by the embodiment of the present invention takes different values;

[0070] Figure 22 Schematic diagram of the amplitude and period of the function when α is 30°;

[0071] Figure 23 Schematic diagram of the amplitude and period of the function when α is 15°;

[0072] Figure 24 A schematic diagram of the creeping process of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0073] Figure 25 A schematic diagram of the lateral movement angle time function of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention;

[0074] Figure 26 The motion trajectory of the first trunk unit of the all-terrain snake-like reconnaissance robot in the XY plane when α is 15°;

[0075] Figure 27 The motion trajectory of the first trunk unit of the all-terrain snake-like reconnaissance robot in the XY plane when α is 30°;

[0076] Figure 28 The motion trajectory of the first trunk unit of the all-terrain snake-like reconnaissance robot in the XY plane when α is 45°;

[0077] Figure 29 The motion trajectory of the first trunk unit of the all-terrain snake-like reconnaissance robot in the XY plane when α is 60°;

[0078] Figure 30 The swing curve of the all-terrain snake-like reconnaissance robot when α is 15°;

[0079] Figure 31 The swing curve of the all-terrain snake-like reconnaissance robot when α is 30°;

[0080] Figure 32 The swing curve of the all-terrain snake-like reconnaissance robot when α is 45°;

[0081] Figure 33 The swing curve of the all-terrain snake-like reconnaissance robot when α is 60°;

[0082] Figure 34 When β is 22.5°, the motion trajectory of the center point of the all-terrain snake-like reconnaissance robot in the XY plane;

[0083] Figure 35 When β is 45°, the motion trajectory of the center point of the all-terrain snake-like reconnaissance robot in the XY plane;

[0084] Figure 36 When β is 60°, the motion trajectory of the center point of the all-terrain snake-like reconnaissance robot in the XY plane;

[0085] Figure 37 When ω = π, the swing trajectory of the center of the all-terrain snake-shaped reconnaissance robot;

[0086] Figure 38 When ω = 2π, the swing trajectory of the center of the all-terrain snake-like reconnaissance robot;

[0087] Figure 39 Schematic diagram of the swing curve of the all-terrain snake-like reconnaissance robot when γ = 15°;

[0088] Figure 40 Schematic diagram of the swing curve of the all-terrain snake-like reconnaissance robot when γ = 30°;

[0089] Figure 41 Schematic diagram of the swing curve of the all-terrain snake-like reconnaissance robot when γ = -15°;

[0090] Figure 42Schematic diagram of the swing curve of the all-terrain snake-like reconnaissance robot when γ = -30°;

[0091] Figure 43 This is the motion trajectory of the tail of the all-terrain snake-like reconnaissance robot provided by an embodiment of the present invention as it moves forward in a serpentine manner.

[0092] 100, snake head mechanism; 110, head frame; 111, accommodating cavity; 120, camera; 130, detection light; 140, power supply; 150, snake head connector; 160, packaging box;

[0093] 200, snake tail mechanism; 210, snake tail unit; 211, tail frame; 212, stepped connecting rod; 213, Fourier gear set; 2131, first Fourier gear; 2132, second Fourier gear; 2133, gear connecting rod; 214, straight connecting rod; 220, snake tail connecting piece; 230, first snake tail unit; 231, first tail frame; 240, last snake tail unit; 241, last tail frame; 250, terminal frame;

[0094] 300, trunk unit;

[0095] 310, swing motor;

[0096] 320, rocking mechanism; 321, rocking member; 3211, rotating portion; 3212, rocking portion; 3213, tilting pin hole; 322, roller; 3221, tilting pin slot; 323, rocking fixing member; 3231, rotating hole; 3232, slide slot; 3233, first rocking cover; 3234, second rocking cover; 324, flat-head sliding key; 325, rocking pin shaft; 326, bearing; 327, driven gear;

[0097] 330, trunk frame; 331, columnar frame; 3311, through hole; 332, support frame;

[0098] 340, telescopic wheel mechanism; 341, telescopic wheel; 3411, telescopic rod; 3412, friction wheel; 342, telescopic support member; 3421, telescopic hole; 3422, telescopic slot; 343, telescopic motor; 344, rotary adjustment plate; 3441, adjustment hole; 345, telescopic drive member;

[0099] 350, dual-axis servo;

[0100] 360, swing connector;

[0101] 370, driving gear;

[0102] 380, steering gear connector;

[0103] 400, dustproof soft film;

[0104] 500, Bionic Scales;

[0105] 600, monitoring system;

[0106] 700, main control system;

[0107] 800, slave control system. DETAILED DESCRIPTION

[0108] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings.

[0109] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element. The terms "mounted", "one end", "the other end" and similar expressions used herein are for illustrative purposes only.

[0110] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this document pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0111] The following combination Figures 1 to 43 It should be understood that the following description is merely an illustrative embodiment of the present invention and does not constitute any limitation to the present invention.

[0112] Combine Figures 1 to 9 An embodiment of the present invention provides an all-terrain snake-like reconnaissance robot, which includes a snake head mechanism 100, a snake tail mechanism 200 and a plurality of trunk units 300.

[0113] The first trunk unit 300 is connected to the snake head mechanism 100, the last trunk unit 300 is connected to the snake tail mechanism 200, and the remaining adjacent trunk units 300 are connected to each other head to tail to form a snake-shaped robot.

[0114] Each trunk unit 300 includes a swing motor 310 , a swing mechanism 320 , a trunk frame 330 , a telescopic wheel mechanism 340 and a dual-axis servo 350 .

[0115] The swing mechanism 320 includes a swing member 321, a roller 322, and a swing fixing member 323. The swing motor 310 drives the roller 322 to rotate and connect to the swing member 321. The roller 322 drives the swing member 321 to swing in a first direction. The swing member 321 is mounted on the trunk frame 330. Using the swing motor 310 to drive the swing member 321 to swing in the first direction by rotating the roller 322 on the swing member 321 can significantly increase the torque exerted by the swing motor 310 on the swing member 321, thereby increasing the transferable torque between the trunk units 300 and making the force transmission between the trunk units 300 more stable.

[0116] The telescopic wheel mechanism 340 includes a plurality of telescopic wheels 341 and a telescopic support member 342 . The telescopic support member 342 is disposed on the trunk frame 330 . Each telescopic wheel 341 telescopically moves along the radial direction of the telescopic support member 342 .

[0117] The first end of the dual-axis servo 350 is set on the trunk frame 330, and the second end of the dual-axis servo 350 is connected to the swing mechanism 320 in the adjacent next trunk unit 300, which can drive the adjacent next trunk unit 300 to swing along the second direction. The first direction and the second direction are perpendicular to each other, so that the snake-like machine can achieve winding motion by swinging each trunk unit 300 in the first direction and the second direction.

[0118] When each retractable wheel 341 is in a state of being retracted into the retractable support member 342, the swing motor 310 drives the roller 322 to rotate, driving the swing member 321 to swing in a first direction, thereby causing the all-terrain snake-like reconnaissance robot to perform lateral winding movement; at the same time, the dual-axis servo 350 also swings in a second direction. The swinging movement of the swing member 321 in the first direction and the swinging movement of the dual-axis servo 350 in the second direction are combined to enable the all-terrain snake-like reconnaissance robot to roll sideways.

[0119] When each retractable wheel 341 is extended out of the retractable support member 342, the retractable wheel 341 can move on the ground, and the swing motor 310 drives the roller 322 to rotate, so that the driving swing member 321 swings along the first direction. At this time, the swinging movement of the driving swing member 321 in the first direction is combined with the ground movement of the retractable wheel 341, so that the all-terrain snake-like reconnaissance robot can move forward in a serpentine motion; combined with the swinging movement of the dual-axis servo 350 in the second direction, the all-terrain snake-like reconnaissance robot can crawl forward.

[0120] The all-terrain snake-like reconnaissance robot can move in complex terrain through four basic snake-like gaits: lateral serpentine motion, lateral rolling, serpentine motion and creeping motion, thereby enabling all-terrain reconnaissance work.

[0121] It can be understood that the all-terrain snake-like reconnaissance robot provided by the embodiment of the present invention is configured by providing each trunk unit 300 with a swing motor 310, a swing mechanism 320, a trunk skeleton 330, a telescopic wheel mechanism 340 and a biaxial servo 350; wherein the swing mechanism 320 includes a swinging member 321, a roller 322 and a swing fixing member 323, and the swing motor 310 drives the roller 322 to rotate and connect to the swinging member 321, so that the roller 322 drives the swinging member 321 to swing along the first direction, thereby enabling the trunk unit 300 to swing along the first direction, making the torque that can be transmitted between the trunk units 300 larger, and improving the trunk unit 3 00; in addition, the first end of the dual-axis servo 350 is arranged on the telescopic support 342 of the trunk skeleton 330, and the second end of the dual-axis servo 350 is connected to the swing mechanism 320 in the adjacent next trunk unit 300, driving the adjacent next trunk unit 300 to swing along the second direction, and the first direction and the second direction are perpendicular to each other, so that the trunk unit 300 can swing along the second direction. Combined with the swing movement of the swing mechanism 320 along the first direction and the swing movement of the dual-axis servo 350 along the second direction, the snake-like reconnaissance robot can move forward in a winding manner on complex terrain, and is applicable to more and more complete terrains.

[0122] Specifically, combined Figure 5 In some embodiments of the present invention, the rocking mechanism 320 further includes a flat head sliding key 324 and a rocking pin 325 .

[0123] Among them, the rocking fixing part 323 is provided with a rotating hole 3231, the swinging part 321 has a rotating part 3211 and a swinging part 3212, the swinging part 3212 is connected to the trunk frame 330, the rotating part 3211 matches the rotating hole 3231 and the roller 322, the rotating part 3211 is sleeved in the rotating hole 3231, and the roller 322 is also sleeved in the rotating part 3211 and rotatably connected to the rotating hole 3231.

[0124] The swinging fixing member 323 includes a first swinging cover 3233 and a second swinging cover 3234, which are detachably connected to form a rotation hole 3231. When the swinging member 321 needs to be connected to the rotation hole 3231, the first swinging cover 3233 and the second swinging cover 3234 are removed, allowing the rotating portion 3211 to be mounted on the rotation hole 3231.

[0125] A sliding groove 3232 is provided along the side wall of the rotating hole 3231 in the axial direction. An inclined pin groove 3221 is provided on the roller 322 . The rotating portion 3211 is provided with an inclined pin hole 3213 corresponding to the inclined pin groove 3221 .

[0126] The flat head sliding key 324 is slidably connected to the sliding groove 3232 and the inclined pin groove 3221 at the same time. The rocking pin shaft 325 passes through the inclined pin hole 3213 and is connected to the flat head sliding key 324 .

[0127] When the swing motor 310 drives the roller 322 to rotate in the rotating hole 3231, the flat-headed sliding key 324 slides back and forth along the chute 3232, driving the swing pin 325 to reciprocate in the inclined pin hole 3213, causing the rotating portion 3211 to rotate back and forth in the rotating hole 3231, thereby driving the swing portion 3212 to swing back and forth. The use of the roller 322 in the rotating hole 3231 to drive the flat-headed sliding key 324 to slide back and forth along the chute 3232 and the swing pin 325 to reciprocate along the inclined pin hole 3213 increases the swing torque transmitted by the swing motor 310 to the swing member 321, making the swing motion more stable.

[0128] Moreover, in order to reduce the rotational friction of the roller 322 and increase the rotational torque, the trunk unit 300 can further transmit a larger torque; the swing mechanism 320 is also provided with a bearing 326, the bearing 326 is arranged in the swing fixing member 323, and the roller 322 is sleeved on the bearing 326.

[0129] In addition, combined Figure 3 In some embodiments of the present invention, each trunk unit 300 further includes a swing connection 360 and a driving gear 370 , and the swing mechanism 320 further includes a driven gear 327 .

[0130] The driven gear 327 is disposed on the roller 322 and can be integrally connected to the roller 322 through an interference fit. The swing motor 310 is disposed on the swing connector 360, and the driving gear 370 is disposed on the swing motor 310. The swing connector 360 is connected to the second end of the dual-axis servo 350 in the previous trunk unit 300.

[0131] The driving gear 370 is meshed and connected to the driven gear 327. The swing motor 310 transmits torque to the roller 322 through gear transmission, which improves the transmission efficiency and transmission accuracy, and has a stronger load-bearing capacity, thereby further improving the swing accuracy and driving torque between each trunk unit 300, making the swing motion more stable.

[0132] Combine Figure 6 In some embodiments of the present invention, the telescopic wheel mechanism 340 further includes a telescopic motor 343 and a rotation adjustment plate 344 .

[0133] The rotary adjustment plate 344 is drivingly connected to each telescopic wheel 341 , and the telescopic motor 343 drives the rotary adjustment plate 344 to rotate forward or reverse, so that each telescopic wheel 341 telescopically moves along the radial direction of the telescopic support member 342 .

[0134] When the telescopic motor 343 drives the rotary adjustment plate 344 to rotate in the forward direction, each telescopic wheel 341 contracts along the radial direction of the telescopic support member 342 , and the telescopic wheel 341 retracts into the telescopic support member 342 .

[0135] When the telescopic motor 343 drives the rotary adjustment plate 344 to rotate in the reverse direction, each telescopic wheel 341 extends along the radial direction of the telescopic support member 342 , and the telescopic wheel 341 extends out of the telescopic support member 342 .

[0136] The retractable motor 343 is used to drive the rotation adjustment plate 344 to rotate forward and reverse, so that the retractable movement of each retractable wheel 341 is more flexible and precise, providing a more flexible winding movement guarantee for the all-terrain snake-like reconnaissance robot.

[0137] Combine Figure 6 In some embodiments of the present invention, the telescopic wheel mechanism 340 further includes a plurality of telescopic driving members 345 , each telescopic wheel 341 includes a telescopic rod 3411 and a friction wheel 3412 , and the friction wheel 3412 is arranged at the second end of each telescopic rod 3411 .

[0138] The rim of the friction wheel 3412 adopts an asymmetric serrated design to provide the all-terrain snake-like reconnaissance robot with better forward friction. The radial distribution of the serrations can also enhance its circumferential grip. The surface is treated with micro-convex textures to increase the contact surface friction coefficient, thereby providing a strong guarantee for the all-terrain snake-like reconnaissance robot to travel on all terrains.

[0139] Each telescopic driving member 345 corresponds to each telescopic rod 3411 , and each telescopic driving member 345 is connected to the first end of each telescopic rod 3411 .

[0140] The telescopic support member 342 is provided with multiple telescopic holes 3421 along its own radial direction, and multiple telescopic slots 3422 along its own axial direction. Each telescopic slot 3422 is connected to each telescopic hole 3421, and the telescopic rod 3411 is slidably connected to the telescopic hole 3421.

[0141] The rotary adjustment plate 344 is provided with a plurality of adjustment holes 3441, each adjustment hole 3441 is arc-shaped and bent in the same direction (that is, it is arranged in a circular distribution with the center of the rotary adjustment plate 344), and the first end of each telescopic driving member 345 passes through each telescopic slot 3422 and is connected to each telescopic rod 3411 located in each telescopic hole 3421.

[0142] The rotary adjustment plate 344 is drivingly connected to the second end of each telescopic driving member 345 through each adjustment hole 3441 .

[0143] When the telescopic motor 343 drives the rotary adjustment plate 344 to rotate forward, the rotary adjustment plate 344 drives the telescopic drive member 345 to slide along the telescopic slot 3422 toward the center of the telescopic support member 342, and the telescopic drive member 345 pulls the telescopic rod 3411 to retract toward the center of the telescopic support member 342, thereby causing each telescopic wheel 341 to retract along the radial direction of the telescopic support member 342, and the telescopic wheel 341 to retract into the telescopic support member 342.

[0144] When the telescopic motor 343 drives the rotary adjustment plate 344 to rotate in the opposite direction, the rotary adjustment plate 344 drives the telescopic driving member 345 to slide along the telescopic slot 3422 away from the center direction of the telescopic support member 342, and the telescopic driving member 345 pushes the telescopic rod 3411 to extend away from the center direction of the telescopic support member 342, so that each telescopic wheel 341 extends along the radial direction of the telescopic support member 342, and the telescopic wheel 341 extends outside the telescopic support member 342.

[0145] The telescopic motor 343 drives the telescopic driving member 345 to reciprocate along the radial direction of the telescopic support member 342 by rotating the adjustment hole 3441 in the adjustment plate 344, thereby driving the telescopic movement of the telescopic wheel 341, making the telescopic movement of the telescopic wheel 341 more stable and the torque driving the telescopic wheel 341 greater.

[0146] In addition, combined Figure 3 In some embodiments of the present invention, each trunk unit 300 further includes a servo connection 380 .

[0147] The trunk frame 330 includes a columnar frame 331 and a support frame 332 . The support frame 332 is disposed in the columnar frame 331 . The columnar frame 331 is provided with a through hole 3311 along a radial direction around its own axis.

[0148] The first end of the servo connection member 380 is disposed on the support frame 332 , and the second end of the servo connection member 380 is fixedly connected to the first end of the dual-axis servo 350 .

[0149] The telescopic motor 343 is mounted on the support frame 332 and is drivingly connected to the rotary adjustment plate 344, providing a more stable fixation for the telescopic motor 343. This further ensures that the telescopic motor 343 drives the rotary adjustment plate 344 to rotate, thereby maintaining the stability of the telescopic wheel mechanism 340. The through hole 3311 matches the telescopic wheel 341. The telescopic wheel 341 passes through the through hole 3311 during telescopic movement, allowing the telescopic wheel 341 to easily extend and retract from the torso frame 330.

[0150] Combine Figure 2 and Figure 3 In some embodiments of the present invention, the all-terrain snake-like reconnaissance robot further includes a plurality of dust-proof soft films 400 and a plurality of bionic scales 500 .

[0151] Each bionic scale 500 is mounted on the outside of each trunk frame 330. The bionic scale 500 can be made of thermoplastic polyurethane (TPU), giving the snake-like robot advantages such as high wear resistance, high tear resistance, and lightweight. The snake-like robot's outer shell has a higher friction coefficient, allowing it to move by friction, making its movement more stable. The trunk frame 330 can be made of aluminum alloy.

[0152] Each dustproof soft film 400 is disposed between adjacent trunk frames 330 . The dustproof soft film 400 may be made of microfiber leather, so that the snake-like robot has dustproof and waterproof properties.

[0153] Combine Figure 1 and Figure 7 In some embodiments of the present invention, the snake head mechanism 100 in the all-terrain snake-like reconnaissance robot includes a head skeleton 110, a camera 120, a detection light 130, a power supply 140, a snake head connector 150 and a packaging box 160.

[0154] The head frame 110 is provided with a receiving cavity 111. The power supply 140, the packaging box 160 and the snake head connector 150 are all provided in the receiving cavity 111. The snake head connector 150 is connected to the first torso unit 300. The power supply 140 can supply power to the entire all-terrain snake-like reconnaissance robot.

[0155] The camera 120 and the detection light 130 are disposed at the front end of the head frame 110 .

[0156] Camera 120 can be used to transmit real-time video of the all-terrain snake-like reconnaissance robot's surroundings to monitoring system 600, facilitating real-time on-site imagery. Mounted at the very front of the snake's head, camera 120 enables the snake-like robot to autonomously identify specific targets, such as injured personnel, explosives, and cultural relics. This allows operators to make decisions and take appropriate actions based on the transmitted video images in specific situations.

[0157] The detection light 130 can be used for lighting in a dark environment, so that the camera 120 can also obtain high-definition images in a dark environment.

[0158] Combine Figure 8 In some embodiments of the present invention, the tail mechanism 200 in the all-terrain snake-like reconnaissance robot includes a plurality of tail units 210 , and the diameter of each tail unit 210 decreases successively from the first tail unit 230 to the last tail unit 240 .

[0159] Each tail unit 210 includes a tail frame 211, a stepped connecting rod 212, a Fourier gear set 213, and a straight connecting rod 214. The straight connecting rod 214 is hinged to the lower part of the tail frame 211, the stepped side rod is hinged to the upper part of the tail frame 211, and the Fourier gear set 213 is rotatably connected to the tail frame 211.

[0160] The tail unit 210 can be configured as four, with the diameters of the four tail frames 211 decreasing from the first frame 231 to the last frame 241. The lower portions of the four tail frames 211 are on the same horizontal line, with the straight connecting rods 214 forming an I-shape. The straight connecting rods 214 are also on the same horizontal line. The four stepped connecting rods 212 are Z-shaped. The tail unit 210 also includes an end frame 250, which is connected to the last frame 241.

[0161] Adjacent stepped connecting rods 212 are hinged to each other, adjacent straight connecting rods 214 are hinged to each other, and adjacent Fourier gear sets 213 are hinged to each other.

[0162] The first tail unit 230 is provided with a tail connector 220 , which is connected to the last trunk unit 300 .

[0163] Each Fourier gear set 213 includes a first Fourier gear 2131, a second Fourier gear 2132 and a gear connecting rod 2133. The first Fourier gear 2131 and the second Fourier gear 2132 are connected side by side and meshed with each other. The first Fourier gear 2131 and the second Fourier gear 2132 can be rotatably connected to each gear connecting rod 2133 through a bearing 326. The gear connecting rod 2133 is fixed to the tail frame 211.

[0164] The second Fourier gear 2132 in the previous tail unit 210 is coaxially arranged with the first Fourier gear 2131 in the next tail unit 210, so that each Fourier gear set 213 can transmit torque in steps, thereby driving each tail unit 210 to swing.

[0165] Specifically, each Fourier gear set 213 is designed to better simulate the swinging of a snake's tail, and its design principle is as follows:

[0166] The tooth profiles of the gears in the Fourier gear set 213 are described by the Fourier series:

[0167] in:

[0168] θ is the angle parameter

[0169] a n ,b n is the Fourier coefficient, which determines the tooth profile characteristics

[0170] Define the basic parameters of the gear:

[0171] Modulus (m): m = 2

[0172] Number of teeth (z): z = 13

[0173] Pressure angle (α): 20°

[0174] Fourier coefficient: a n =0.5,b n =0.2

[0175] Combine Figure 9 In some embodiments of the present invention, the all-terrain snake-like reconnaissance robot further includes a monitoring system 600 , a master control system 700 and a slave control system 800 .

[0176] The main control system 700 has a core processor, which is electrically connected to the camera 120 and the detection light 130 .

[0177] The slave control system 800 is electrically connected to the master control system 700 , and the slave control system 800 is electrically connected to the swing motor 310 , the dual-axis steering gear 350 , and the telescopic wheel mechanism 340 .

[0178] The monitoring system 600 is electrically connected to the master control system 700 and the slave control system 800 .

[0179] Specifically, the main control system 700 also includes peripheral sensor equipment. The core processor primarily integrates a servo drive module and the I / O interfaces for the corresponding peripheral devices. The peripheral sensor equipment primarily consists of terminal sensors such as air pressure sensors, temperature and humidity sensors, infrared sensors, CO sensors, ultrasonic sensors, detection light sensors, gyroscope sensors, and a camera module. The servo drive module is primarily used to drive the dual-axis servos 350 on each trunk unit 300 of the snake-like robot. The camera module is electrically connected to the camera 120, enabling real-time monitoring to help make appropriate decisions based on specific circumstances.

[0180] The slave control system 800 can be a motion control system, which cooperates with the autonomous detection function of the main control system 700 and the wireless communication module to adjust and control the movement gait. The slave control system 800 uses Bluetooth wireless transmission to communicate with the main control system 700, and controls the rotation angle of the dual-axis servo 350 through PWM waves to complete the rotational movement of each torso unit 300, thereby realizing the winding, creeping, lateral and other movement modes of the all-terrain snake-like reconnaissance robot.

[0181] Monitoring system 600, the upper-level control system, is primarily responsible for the overall control and monitoring of the all-terrain snake-like reconnaissance robot. Equipped with WiFi and Bluetooth modules, it enables real-time image transmission and multi-sensor information display with master control system 700. The seamless integration of master control system 700, slave control system 800, and monitoring system 600 effectively ensures the stable operation and information collection of the snake-like robot.

[0182] The snake-like robot's main control system 700 primarily consists of a core processor, a wireless communication module, a camera 120 module, and peripheral sensor devices. The main control system 700 receives control commands from the monitoring system 600 and obtains parameters from various peripheral sensors via a WiFi module. Based on these commands, the monitoring system 600 determines the all-terrain snake-like reconnaissance robot's gait and displays the sensor parameters on the upper-level monitoring system 600. The main control system 700 communicates with the monitoring system 600 using a Bluetooth module and acquires real-time image information from the camera 120. The main control system 700 is equipped with an illumination circuit to facilitate high-definition image capture even in dark environments. The main control system 700 receives control commands from the monitoring system 600 and obtains data collected from various sensors via the Bluetooth module. Based on these commands, the main control system 700 directs the snake-like robot to perform corresponding gaits and displays the sensor data on the upper-level monitoring system 600's mobile app.

[0183] The main control system 700 uses a module to communicate with the monitoring system 600 and can obtain image information from the camera 120 in real time.

[0184] The packaging box 160 of the main control system 700 is equipped with a core processor, which can be an STM32 main control board. The STM32 main control board is equivalent to the human brain, which can efficiently process various received data and respond quickly. It has the excellent characteristics of high integration, strong performance and low power consumption.

[0185] Peripheral sensor devices include air pressure sensor, temperature and humidity sensor, infrared sensor, CO sensor, detection light sensor and gyroscope sensor.

[0186] The following describes the purpose of each peripheral sensor device:

[0187] The servo drive module and motor drive module are responsible for receiving control information from the STM32, and controlling the dual-axis servo 350 of the all-terrain snake-like reconnaissance robot efficiently and with low latency.

[0188] The air pressure sensor is used to obtain the atmospheric pressure and altitude in the environment.

[0189] The temperature and humidity sensors are responsible for detecting the real-time temperature inside and outside the packaging box 160: by detecting the temperature inside the packaging box 160, it can be known whether the internal components are overheating abnormally; by detecting the temperature and humidity outside the packaging box 160, the temperature and humidity conditions in the environment can be known.

[0190] Infrared sensors are used for human body sensing to determine whether there is someone in front.

[0191] The CO sensor is used to measure the CO concentration in the environment.

[0192] The ultrasonic sensor is used to measure the distance of objects and obstacles in front. The movement direction and posture of the all-terrain snake-like reconnaissance robot can be adjusted in real time according to the obtained obstacle distance. It can effectively improve the snake-like reconnaissance robot's ability to perceive the surrounding environment, autonomously avoid dangerous paths, and enhance the snake-like reconnaissance robot's survivability in complex environments.

[0193] The detection light 130 sensor is used for lighting in dark environments so that the camera 120 can also obtain high-definition images in dark environments.

[0194] The gyroscope sensor is used to read the snake's movement posture, such as heading angle, roll angle, and pitch angle.

[0195] The camera module 120 is used to transmit real-time video footage of the on-site environment to the monitoring system 600, facilitating real-time on-site image information. Mounted at the very front of the snakehead mechanism 100, the detection camera 120 enables the snake-like reconnaissance robot to autonomously identify specific targets, such as injured personnel, explosives, and cultural relics. This allows the operator to make decisions and take appropriate actions based on the transmitted video images in special circumstances.

[0196] This integrated circuit system uses a dual power supply system solution based on STMRCT6. The following describes the principles of each circuit part.

[0197] Combine Figure 10 The main controller is the STM32RCT6 of a semiconductor company, with a clock frequency of up to 72MHz, a program memory capacity of 256KB, a program memory type of FLASH, and a RAM capacity of 48K, which can perfectly meet the operation and performance requirements of the complex program of the all-terrain snake-like reconnaissance robot.

[0198] Combine Figure 11 After the STM32RCT6 is equipped with the circuit ISP to download the circuit, it has the functions of real-time debugging and burning, which greatly facilitates the development and maintenance of developers; in actual use, it can also be used to upload programs in case of sudden needs, which can save rescue time.

[0199] Combine Figure 12 The power supply part adopts a dual power management solution, which includes a high-power dual-circuit power supply system based on XL4015 and a low-power low-ripple power supply system based on ASM1117.

[0200] The snake robot is equipped with 15 digital servos operating at 7.11V and a 7.11V DC motor, generating a full-load power draw of 56.88W. The high-power dual-circuit power supply system provides a single 7.11V motion power supply with a maximum power draw of 60W, ensuring the proper functioning of the robot and preventing system failures due to insufficient power. The system also includes a 5V low-power circuit, which powers everything except the servos and DC motor, also with a maximum power draw of 60W.

[0201] The low-power, low-ripple power supply system has the characteristics of low output power but strong stability, making it very suitable for powering the STM32RCT6. It ensures the stable operation of the STM32RCT6 main control to the greatest extent and effectively prevents the ripple current impact generated by the bypass high-power power supply from damaging the STM32RCT6 main control.

[0202] Combine Figure 13 The motor drive circuit, based on the tb6612, features a four-channel H-bridge, offering high control power and low heat generation. The STM32RCT6 generates two PWM waveforms to control speed, and four digital signals to control motor direction.

[0203] Combine Figure 14 , based on the high-power IDE control circuit of AOD4184, the PWM wave generated by STM32RCT6 controls the LED switch and brightness, that is, controls the switch and brightness of the detection light 130.

[0204] Combine Figure 15 The PCA9685-based servo control circuit system generates 16 PWM signals via a two-wire I2C interface to control the motion of the dual-axis servo 350. Compared to directly generating 16 PWM signals via the STM32RCT6, the PCA9685 only occupies two I / O ports, while direct control requires 16, significantly conserving microcontroller system resources.

[0205] Combine Figure 16 ,The all-terrain snake-like reconnaissance robot also provides an external module interface ,circuit diagram, which facilitates the integration of the external module and ,the circuit board interface.

[0206] Combine Figure 17 and Figure 18 , the design of monitoring system 600 is as follows:

[0207] The monitoring system 600 part of the all-terrain snake-like reconnaissance robot is a mobile phone based on the Android platform and with human-computer interaction.

[0208] The design of the monitoring system 600 for the all-terrain snake-like reconnaissance robot includes motion control for the snake-like robot, real-time display of information collected by each sensor, communication status display, video monitoring display, etc. The upper computer interface is divided into the following two interfaces:

[0209] Combine Figure 17 Motion Control and Data Display: This interface is mainly used to control the movement of the snake robot. You can change the snake's movement mode by pressing buttons, and adjust the posture of the snake's head and body by pressing corresponding buttons. It is mainly used to display various data collected by sensors, such as temperature, humidity, obstacle distance, atmospheric pressure, etc.

[0210] Combine Figure 18 , Video monitoring display: This interface is mainly used to display the real-time video images collected by the camera 120 module.

[0211] The serpentine motion of the all-terrain serpentine reconnaissance robot provided by this invention is the most common form of movement found in biological snakes. Based on the curves proposed by Japanese Professor Hirose through extensive research on biological snakes, this paper establishes the shape control equations for the all-terrain serpentine reconnaissance robot, thereby deriving the time function of the joint angles during serpentine motion.

[0212] Definition of a serpenoid curve: In the xy plane, there is a curve passing through the origin. If any point on the curve can be expressed as an equation, then the curve is called a serpentine curve (Serpenoid Curve):

[0213]

[0214] Where ——the length of the arc from the starting point to the current point.

[0215] From the above formula, we can see that the Serpenoid curve is determined by three parameters a, b, and c. Different values ​​of a, b, and c can produce different curves. By simulating it with MATLAB, using the method of controlling variables, fixing two of the parameters and changing the remaining parameter, we can get different serpentine curves and analyze them. Figures 19 to 21 As can be seen from the figure, the meanings of parameters a, b, and c are:

[0216] Parameter a: determines the amplitude of the curve;

[0217] Parameter b: determines the frequency and amplitude of the curve;

[0218] Parameter c: determines the offset shape of the entire curve.

[0219] In addition, the following uses the Serpenoid curve to derive the time function of the torso unit 300 angle. The all-terrain snake-like reconnaissance robot is simplified into a system of n links, each of which is L / n in length. From the definition of s in the serpentine motion curve, we know that s = iL / n (i = 0, 1...n). Then, the following formula can be used to derive the approximate serpentine curve composed of n links:

[0220]

[0221] In this way, the serpentine curve can be fitted with n equal-length rods, where (x i ,y i ) is the intersection point between the rods. It can be seen that the angle θ between the i-th rod and the x-axis is i for

[0222]

[0223] Then you can get The angle between rod i and rod i-1 is

[0224]

[0225] Since the rear trunk unit 300 of the all-terrain snake-like reconnaissance robot has to repeat the posture of the front trunk unit 300 at the next moment during the movement, the above formula can be rewritten as a function of the trunk unit 300 angle with respect to time,

[0226] φ i =αsin(ωt+iβ)+γ

[0227] The meaning of each parameter in the formula is as follows:

[0228]

[0229] The all-terrain serpentine reconnaissance robot is often a straight line in its initial state. However, as can be seen from the above formula, at time 0, each trunk unit 300 of the serpentine curve has a certain angle. Therefore, the process of the serpentine reconnaissance robot from the initial straight line state to the serpentine curve should be planned. The planning idea is to multiply a time function by the joint angle time function. This paper adopts 1-e -λt The expression is used to plan it, and the function of the planned joint angle with respect to time is

[0230] ω i =(1-e -λt )[αsin(ωt+iβ)+γ]

[0231] It can be seen that when the above formula satisfies time 0, the all-terrain snake-like reconnaissance robot is in a straight line state, and as time increases, the function is approximately close to the angle function of the fitted snake-like curve trunk unit 300.

[0232] The propulsion waveform of a trunk unit 300 during peristalsis can be simplified into several periodic swings with different amplitudes, i.e., a smooth multi-segment sinusoidal function f k (t). The functions of adjacent trunk units 300 differ only in phase t′. Each trunk unit 300 is simplified into a planar linkage mechanism with n lengths of l. The initial state is assumed to be a straight line. The startup process can be expressed by the activation function w k (t′). In the same movement time t, the amplitude of the kth joint is w k (t′):

[0233] w k (t′)=α(1-e -Λt )f k (tk)

[0234]

[0235] Use MATLAB to simulate two different values ​​of α, 30° and 15°, and get the angle-time relationship diagram. Figure 22 , α is 30°; if Figure 23 , α is 30°. Different values ​​of α affect the amplitude of the function but have no effect on the period.

[0236] Combine Figure 24 , the three function segments of each trunk unit 300 are explained as follows:

[0237] (1) Forming a triangular wave: By driving and controlling the rotation of each motor in the trunk unit 300, the snake-like robot trunk units 300 are arched to form a triangular wave. The designed snake-like robot has a large coefficient of friction in the backward direction, which causes the tail to move forward when forming a triangular wave.

[0238] (2) A bow wave is formed by driving and controlling the rotation of each motor in the trunk unit 300 so that the peak of the triangular wave transitions from the connection point between each trunk unit 300, pushing the snake-like robot forward as a whole and pulling the tail forward at the same time. At this time, the snake-like robot will move forward a certain distance.

[0239] (3) A new triangle wave is formed. After the bow wave turns into a new triangle wave, the above process is repeated continuously until it finally returns to a straight line, completing a whole set of peristaltic process.

[0240] The lateral motion of the all-terrain snake-like robot can be regarded as a combination of two in-plane motion waveforms. Therefore, the joint angle time function of the lateral motion is:

[0241]

[0242] The meaning of the parameters is as follows:

[0243]

[0244] When α, α', ω and ω' are all 1, the diagram of the lateral motion angle time function of a joint is as follows Figure 25 .

[0245] It should be noted that the all-terrain snake-like robot provided by the present invention can be simulated and analyzed in the following ways:

[0246] Simplified models can be created in SOLIDWORKS.

[0247] Import the simplified 3D model into Adams, add constraints, kinematic pairs, drive parameters and other parameters, and finally write the drive function to complete the establishment of the simulation model.

[0248] The influence of the rotation angle amplitude α of each trunk unit 300 is as follows:

[0249] The remaining parameters take the following fixed values: ω = π, β = 90°, γ = 0, λ = 1, n = 8, Figures 26 to 29 The motion trajectory of the first trunk unit 300 of the all-terrain snake-like reconnaissance robot in the xy plane is shown when α is 15°, 30°, 45°, and 60°, respectively. As can be seen from the figure, the deflection angle of the robot is very small during the serpentine motion. It can be seen from different values ​​of α that α has no effect on the deflection of the snake body. Figures 30 to 33 The simulation results for a snake-like robot swinging in place are shown for angles α of 15°, 30°, 45°, and 60°, respectively. The figures show the impact of α on the swing amplitude: if α is too small, the swing amplitude of the serpentine motion is too small and inefficient, while if α is too large, serpentine motion is also unsuitable. After adjusting the values, it was found that when 30° ≤ α ≤ 45°, a better serpentine motion curve is obtained.

[0250] The influence of the phase difference β is as follows:

[0251] The remaining parameters take the following fixed values: α = 30°, ω = π, γ = 0, λ = 1, γ = 0, n = 8. When β is 22.5°, it is found that the center swing curve is offset and the snake body does not rotate; when β is 45°, the swing curve is basically not offset and the snake body rotates counterclockwise; when β is 60°, the center swing curve is offset and the snake body rotates counterclockwise. Figures 34 to 36Therefore, the phase difference not only affects the deviation of the central swing curve of the all-terrain snake-like reconnaissance robot, but also affects the rotation mode of the robot's snake body.

[0252] When different β values ​​are taken for analysis, the following table shows the experimental data obtained by simulation:

[0253]

[0254] When considering the effect of β on the center rotation curve offset and rotation mode of bionic snakes with different numbers of segments, we also built a model of a snake-like robot with six trunks and simulated it with different β values. The following table shows the experimental data obtained from the simulation:

[0255]

[0256] It can be seen that β has different effects on bionic snakes with different numbers of nodes.

[0257] Combining the data from the two simulation experiments, the relationship between the phase difference β and the bionic snake's winding motion is summarized as follows:

[0258] ① When nβ=2kπ (k is an integer, β∈[0,2π)), the center point trajectory does not deviate,

[0259] ②When nβ≠2kπ (k is an integer, β∈[0,2π)), the center point trajectory shifts.

[0260] ③When When k is an integer, β∈[0,2π), the snake body does not rotate.

[0261] ④When When k is an integer, β∈[0,2π), the snake body rotates counterclockwise.

[0262] when When k is an integer, β∈[0,2π), the snake rotates clockwise.

[0263] We define the rotational eigenvalue of the bionic snake's winding motion It turns out that:

[0264] ① When β=kΦ (k is an integer, β∈[0,2π)), the center point motion trajectory does not deviate,

[0265] ② When β≠kΦ (k is an integer, β∈[0,2π)), the center point trajectory shifts.

[0266] ③When (k is an integer, β∈[0,2π)), the snake body does not rotate,

[0267] ④When (k is an integer, β∈[0,2π)), the snake body rotates counterclockwise,

[0268] when (k is an integer, β∈[0,2π)), the snake rotates clockwise.

[0269] In order to verify the conclusions summarized above, the bionic snake models with n=9, n=10, and n=11 segments were simulated respectively. It was found that the above conclusions well summarize the influence of phase difference β on the movement of the bionic snake.

[0270] During the simulation process, we also found that as the phase difference β increases, the number of sinusoidal waveforms exhibited by the bionic snake in its serpentine motion simulation increases, while the swing amplitude decreases. This indicates that increasing the number of nodes is the key to achieving both a larger swing amplitude and more sinusoidal waveforms in the serpentine curve. When β = kΦ, the line connecting the centers of the snake's head and tail lies on the axis of its straight line. At this point, the center trajectory curve remains unchanged, resulting in a better serpentine motion simulation.

[0271] The influence of frequency ω is as follows:

[0272] The remaining parameters are fixed as follows: α = 30°, β = 90°, γ = 0, λ = 1, γ = 0. The simulation end time is set to 50 and the step size is set to 0.1. When ω = π and ω = 2π, the center swing curve trajectory of the snake-like reconnaissance robot is obtained as follows: Figure 37 and Figure 38 .

[0273] It can be seen that ω affects the speed of the bionic snake's swing, but does not cause the deviation, rotation or change of the snake's swing curve.

[0274] The influence of the deflection angle γ is as follows:

[0275] In the process of simulating γ, we found that the value of β has a great influence on it. (k is an integer, β∈[0,2π)), the snake body of the all-terrain snake-like reconnaissance robot does not rotate. At this time, no matter what value γ takes, the robot's steering will not change, so when testing γ, it is necessary to Therefore, we take fixed values ​​α=30°, β=60°, ω=π, and λ=1.

[0276] When γ>0, the bionic snake curls up to the left during the swing process, and when γ<0, the bionic snake curls up to the right during the swing process. We take γ=15°, γ=30°, γ=-15°, and γ=-30° as the values, and the resulting movements are as follows: Figures 39 to 42 .

[0277] It can be observed that the larger the absolute value of γ, the greater the degree of curling of the all-terrain snake-like reconnaissance robot. Therefore, γ can be used as the curling coefficient of the all-terrain snake-like reconnaissance robot. We can use the curling of the all-terrain snake-like reconnaissance robot to control its turning. When the all-terrain snake-like reconnaissance robot needs to move in a straight line, γ is 0; when the all-terrain snake-like reconnaissance robot needs to turn left, γ>0; when the all-terrain snake-like reconnaissance robot needs to turn right, γ<0.

[0278] The all-terrain snake-like reconnaissance robot can move forward due to the relative rotation between the trunk units 300 and the combined effect of friction with the ground.

[0279] Since the tangential friction coefficient and normal friction coefficient of the all-terrain snake-like reconnaissance robot in contact with the ground are different, the tangential friction force and normal friction force on each trunk unit 300 can be calculated and added to the trunk unit 300. Figure 43 It is the movement trajectory of the snake's tail as it moves forward in a winding manner.

[0280] In this specification, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0281] Furthermore, those skilled in the art may combine and integrate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0282] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An all-terrain snake-like reconnaissance robot, characterized in that: include: Human traffickers; Snake tail mechanism; A plurality of trunk units, wherein the first trunk unit is connected to the snake head mechanism, the last trunk unit is connected to the snake tail mechanism, and adjacent trunk units are connected to each other; Each trunk unit includes a swing motor, a swing mechanism, a trunk frame, a telescopic wheel mechanism and a dual-axis steering gear. The swing mechanism includes a swing member, a roller and a swing fixing member. The swing motor drives the roller to rotate and is connected to the swing member. The roller drives the swing member to swing along a first direction. The swing member is provided on the trunk frame. The telescopic wheel mechanism includes a plurality of telescopic wheels and a telescopic support member, wherein the telescopic support member is provided on the trunk frame, and each of the telescopic wheels telescopes along the radial direction of the telescopic support member. The first end of the biaxial servo is arranged on the trunk frame, and the second end of the biaxial servo is connected to the swing mechanism in the adjacent next trunk unit to drive the adjacent next trunk unit to swing along the second direction, and the first direction and the second direction are perpendicular to each other.

2. The all-terrain snake-like reconnaissance robot according to claim 1, characterized in that: The rocking mechanism also includes a flat head sliding key and a rocking pin. The swing fixing member is provided with a rotation hole, the swing member has a rotation part and a swing part, the swing part is provided on the trunk frame, the rotation part matches the rotation hole and the roller, the rotation part is sleeved on the rotation hole, the roller is sleeved on the rotation part and rotatably connected to the rotation hole, A sliding groove is provided on the side wall along the axial direction of the rotating hole, an inclined pin groove is provided on the roller, and an inclined pin hole corresponding to the inclined pin groove is provided on the rotating part. The flat head sliding key is slidably connected to the sliding groove and the inclined pin groove at the same time, and the rocking pin shaft passes through the inclined pin hole and is connected to the flat head sliding key. When the roller rotates in the rotating hole, the flat-head sliding key slides back and forth along the sliding groove, driving the rocking pin shaft to reciprocate in the inclined pin hole, causing the rotating part to rotate back and forth in the rotating hole, thereby driving the swinging part to swing back and forth.

3. The all-terrain snake-like reconnaissance robot according to claim 2, characterized in that: Each of the trunk units further comprises a swing connection and a driving gear, and the swing mechanism further comprises a driven gear. The driven gear is provided on the drum. The swing motor is provided on the swing connecting piece, and the driving gear is provided on the swing motor. The driving gear is meshed and transmission-connected with the driven gear.

4. The all-terrain snake-like reconnaissance robot according to claim 3, characterized in that: The telescopic wheel mechanism also includes a telescopic motor and a rotary adjustment plate. The rotary adjustment plate is drivingly connected to each of the telescopic wheels, and the telescopic motor drives the rotary adjustment plate to rotate forward or reverse, so that each of the telescopic wheels telescopes along the radial direction of the telescopic support.

5. The all-terrain snake-like reconnaissance robot according to claim 4, characterized in that: The telescopic wheel mechanism also includes a plurality of telescopic driving members, each of the telescopic wheels includes a telescopic rod and a friction wheel, Each of the telescopic driving members corresponds to each of the telescopic rods, The telescopic support is provided with a plurality of telescopic holes along its own radial direction, and a plurality of telescopic slots along its own axial direction, each of the telescopic slots is connected to each of the telescopic holes, and the telescopic rod is slidably connected to the telescopic holes. The rotary adjustment plate is provided with a plurality of adjustment holes, each of which is arc-shaped and curved in the same direction, and the first end of each telescopic driving member passes through each telescopic slot and is connected to each telescopic rod located in each telescopic hole. The rotary adjustment plate is drivingly connected to the second end of each telescopic driving member through each adjustment hole.

6. The all-terrain snake-like reconnaissance robot according to claim 5, characterized in that: Each of the trunk units also includes a steering gear connection member, The trunk frame includes a columnar frame and a support frame, wherein the support frame is arranged in the columnar frame, and the columnar frame is provided with through holes in the radial direction around its own axis. The first end of the steering gear connecting member is arranged on the support frame, and the second end of the steering gear connecting member is fixedly connected to the first end of the dual-axis steering gear. The telescopic motor is arranged on the support frame, the through hole matches the telescopic wheel, and the telescopic wheel passes through the through hole during telescopic movement.

7. The all-terrain snake-like reconnaissance robot according to claim 1, characterized in that: It also includes multiple dust-proof soft films and multiple bionic scales. Each bionic scale is sleeved on the outside of each trunk frame, and each dustproof soft film is arranged between each adjacent trunk frame.

8. The all-terrain snake-like reconnaissance robot according to claim 1, characterized in that: The snake head mechanism includes a head frame, a camera, a detection light, a power supply, a snake head connector and a packaging box. The head frame is provided with a receiving cavity, the power supply, the packaging box and the snake head connector are all provided in the receiving cavity, and the snake head connector is connected to the first torso unit. The camera and the detection light are arranged at the front end of the head frame.

9. The all-terrain snake-like reconnaissance robot according to claim 1, characterized in that: The tail mechanism includes a plurality of tail units, and the diameter of each tail unit decreases from the first tail unit to the last tail unit. Each of the tail units includes a tail frame, a stepped connecting rod, a Fourier gear set and a straight connecting rod. The straight connecting rod is hinged to the lower part of the tail frame, the stepped side rod is hinged to the upper part of the tail frame, and the Fourier gear set is rotatably connected to the tail frame. Each adjacent step connecting rod is hinged, each adjacent straight connecting rod is hinged, and each adjacent Fourier gear set is hinged. The first tail unit is provided with a tail connector, and the tail connector is connected to the last trunk unit.

10. The all-terrain snake-like reconnaissance robot according to claim 8, characterized in that: It also includes monitoring system, master control system and slave control system. The main control system has a core processor, which is electrically connected to the camera and the detection light. The slave control system is electrically connected to the master control system, and the slave control system is electrically connected to the swing motor, the dual-axis steering gear and the telescopic wheel mechanism. The monitoring system is electrically connected to the master control system and the slave control system.

Images