Magnetic composite butt joint self-reorganization snake robot and control method thereof

By using a mechanical-magnetic composite docking structure combining passive and active self-reassembly modules, along with deformable hook slots and Halbach array electromagnets, the problems of low docking tolerance and insufficient docking force in existing self-reassembly snake robots are solved. This achieves efficient and stable docking and autonomous power supply, improving the robot's working stability and endurance.

CN121608122BActive Publication Date: 2026-06-16CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY +1
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Patent Information

Application Number
CN202610020474.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2026-01-08
Publication Date
2026-06-16
Estimated Expiration
2046-01-08

AI Technical Summary

Technical Problem

Existing self-reassembling snake robots suffer from problems such as low docking tolerance, insufficient interface bonding force, weak resistance to external disturbances, high power consumption, limited structural strength, simple composite logic, insufficient precision in component matching, poor environmental adaptability, and insufficient functional module differences and task adaptability in mechanical, magnetic, and mechanical-magnetic composite docking structures. These issues affect their working stability, endurance, and application scope.

Method used

It adopts a mechanical-magnetic composite docking structure with passive self-reassembly module and active self-reassembly module, combined with deformable hook slot and composite deformable hook system, and uses Halbach array electromagnet and hook top electromagnet to achieve dual connection constraint. It also constructs an autonomous power supply system through piezoelectric generator and triboelectric nanogenerator, and integrates Hall sensor for magnetic field detection and control.

Benefits of technology

It improves the structural stability and load-bearing capacity after docking, reduces the alignment difficulty during docking, extends the robot's continuous working time, improves the efficiency and success rate of self-reassembly operation, realizes the automation and intelligence of the self-reassembly process, and enhances the adaptive adjustment capability in complex environments.

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Abstract

The application relates to the technical field of robots, and discloses a magnetic-attracting composite butt joint self-recombination snake-shaped robot and a control method thereof. The robot comprises joint rudders and single-section snake bodies, the joint rudders and the single-section snake bodies are alternately arranged, and are fixed to each other through rudder fixing plate screw holes on the single-section snake bodies; the single-section snake bodies comprise passive self-recombination modules and active self-recombination modules, the passive self-recombination modules and the active self-recombination modules can realize self-recombination mechanical-magnetic-attracting composite butt joint and separation, and the robot head hole space is integrated with an ultrasonic sensor and a wide-angle camera. Through the mechanical-magnetic-attracting composite butt joint structure of the passive self-recombination modules and the active self-recombination modules, mechanical clamping of a deformation hook slot and a composite deformation hook system, and magnetic-attracting fixing of a Halbach array electromagnet and a hook top electromagnet, double connection constraints between single sections of the snake-shaped robot are realized, and the structural stability and the bearing capacity after butt joint are effectively improved.
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