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

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.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a self-reassembling snake robot with magnetic attraction and docking, and its control method. Background Technology

[0002] In the field of robotics, modular docking and self-reassembling snake robots are widely used in pipeline inspection, field exploration, and other scenarios due to their potential to flexibly adapt to complex tasks and environments. Existing technologies mainly include three types of docking structures: mechanical, magnetic, and a combination of mechanical and magnetic docking. Mechanical docking structures rely on high-precision manufacturing processes, and long-term operation is prone to wear due to friction and fatigue, resulting in low docking tolerance and a small error rate, making precise docking difficult. While magnetic docking structures offer the advantage of quick and accurate automatic alignment, their interface bonding is insufficient, their resistance to external disturbances is weak, and they are prone to unexpected separation. Furthermore, the electromagnetic drive module requires continuous current input to maintain the magnetic attraction state, resulting in high energy consumption, especially in humid or dusty environments. The failure rate in the environment increases significantly. Mechanical-magnetic composite docking structures suffer from simple composite logic and insufficient precision in component fit. The mechanical locking mechanism is prone to wear and tear due to friction between moving parts, leading to decreased clamping force and limited structural strength. The electromagnetic connection uses a single docking mode and lacks redundant protection mechanisms; failure of any set of electromagnets can cause the entire docking system to lose functionality, resulting in low robustness. Furthermore, existing technologies generally suffer from poor compatibility of composite docking structures, limited magnetic attraction methods, docking accuracy dependent on mechanical tolerances, poor environmental adaptability, and a lack of functional module differentiation and task adaptability, severely restricting the working stability, endurance, and application range of self-reassembling snake robots. Therefore, those skilled in the art propose a magnetic composite docking self-reassembling snake robot and its control method to address these problems. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a self-recombining snake robot with magnetic attraction and docking and its control method, solving the problems mentioned in the background section.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a self-reassembling snake robot with magnetic composite docking, comprising articulated servo motors and single-segment snake bodies, characterized in that the articulated servo motors and single-segment snake bodies are arranged alternately and are fixed to each other through screw holes in the servo motor fixing plates on the single-segment snake bodies; the single-segment snake body includes a passive self-reassembly module and an active self-reassembly module, which can realize autonomous mechanical-magnetic composite docking and separation; the robot's head hole space integrates an ultrasonic sensor and a wide-angle camera, and the sides of the body are equipped with infrared thermal imaging sensors, all sensor data are wirelessly transmitted to a remote terminal;

[0005] The active self-reassembly module is equipped with a composite deformable hook system and a Halbach array electromagnet system. The Halbach array electromagnet system is fixed to the first support base, the second support base, the third support base, and the fourth support base via four connecting rods. The composite deformable hook system is fixed to the first support base, the second support base, the third support base, and the fourth support base via a motor fixing plate. The first rear connecting rod, the second rear connecting rod, the third rear connecting rod, and the fourth rear connecting rod are respectively connected and fixed to the corresponding support base via L-shaped supports, and are also connected and fixed to the first rear outer shell and the second rear outer shell via screw holes. The first rear outer shell and the second rear outer shell are fixed via reserved screw holes.

[0006] The composite deformable hook system has four deformable hook bodies on its upper part, each containing four deformable hook segments. Each segment has holes for the control rope to pass through. Adjacent segments are connected by alternating deformable shape memory alloy sheets, each with multiple semi-cylindrical structures on its inner side. The head segment is equipped with a hook-top electromagnet, while the tail segment is fixed to the sides in a square configuration. The joints of the two opposite hook bodies twist in opposite directions. The upper four corners of the motor mounting plate are fixed to the tail segment via sliding rods, and the other end is fixed to the lead screw motor. The lower end of the lead screw is fixed to the power output end of the lead screw motor and constrained by a lead screw constraint seat. The sliding plate has round holes at its four corners that fit the outer diameter of the sliding rods, and a hole with a spiral groove in its center, which meshes with the lead screw. One end of the control rope is fixed to the upper end of the sliding plate, and the other end passes through the corresponding hole in the head segment and connects to the head segment. Friction plates are fixed inside each hook segment.

[0007] Preferably, the passive self-reassembly module is provided with a funnel-shaped slot. At the small-diameter end of the funnel-shaped slot, a first deformable hook slot, a second deformable hook slot, a third deformable hook slot, and a fourth deformable hook slot are fixed in a square pattern. At the large-diameter end, a first passive guide magnet, a second passive guide magnet, a third passive guide magnet, and a fourth passive guide magnet are fixed in a circular pattern. The magnetic poles of adjacent passive guide magnets are opposite in polarity. The first front connecting rod, the second front connecting rod, the third front connecting rod, and the fourth front connecting rod are distributed at the four corners and are connected and fixed to the first front shell and the second front shell through screw holes. The first front shell and the second front shell are fixed through reserved screw holes.

[0008] Preferably, the Halbach array electromagnet system includes a Hall sensor, a magnetic base, four active guide magnets and twelve circular electromagnets, wherein the four active guide magnets are a first active guide magnet, a second active guide magnet, a third active guide magnet and a fourth active guide magnet, and the twelve circular electromagnets are a first circular electromagnet to a twelfth circular electromagnet.

[0009] The four active guiding magnets are evenly distributed in a circular shape and fixed to the upper surface of the magnetic base, and the magnetic poles of two adjacent active guiding magnets are opposite in polarity;

[0010] The Hall sensor is embedded and fixed inside the groove of the magnetic base for detecting magnetic field signals;

[0011] The twelve circular electromagnets are fixed to the outer wall of the magnetic base according to the Halbach array rule, and the included angle between the central axes of the bases of two adjacent circular electromagnets is 30°.

[0012] Among them, the inclination angle between the central axis of the second, third, fifth, sixth, eighth, ninth, eleventh and twelfth circular electromagnets and the horizontal plane is 45°, and the central axis of the first, fourth, seventh and tenth circular electromagnets is perpendicular to the horizontal plane.

[0013] The arrangement of the twelve circular electromagnets is marked by arrows, with the arrow pointing in the direction of the positive pole of the electromagnet and the tail of the arrow pointing in the direction of the negative pole. Through the magnetic field focusing effect of the Halbach array, the magnetic field strength of the first, fourth, seventh, and tenth circular electromagnets is significantly enhanced compared to the traditional array arrangement.

[0014] Preferably, a piezoelectric generator is integrated at the connection between the joint servo and the single-section snake body. The piezoelectric generator converts the mechanical energy of the joint servo's swing into electrical energy to power the ultrasonic sensor.

[0015] Preferably, a small triboelectric nanogenerator is installed on the outside of the first front shell, the second front shell, the first rear shell, and the second rear shell. The triboelectric nanogenerator converts electrical energy through the friction between the snake's body and the ground.

[0016] Preferably, the internal cavity of the single snake body is equipped with a lithium battery, which integrates a charging management module. The charging management module stabilizes the generator output voltage, prioritizes powering the sensor, and stores the remaining power in the lithium battery.

[0017] Preferably, the deformable hook segment is made of titanium alloy.

[0018] A control method for a self-reassembling snake robot using magnetic attraction composite docking, characterized in that it is applied to the self-reassembling snake robot using magnetic attraction composite docking as described in any one of claims 1 to 7, and the docking control steps are as follows:

[0019] In the first step, the composite deformable hook system deforms from a bent state to a straight state. The first passive guide magnet to the fourth passive guide magnet and the first active guide magnet to the fourth active guide magnet are energized. The Hall sensor detects the magnetic field generated by the passive guide magnet and sends a signal to the control module. The control module adjusts the joint servo motor so that the passive self-reassembly module and the passive self-reassembly module are at the same angle and move closer to each other.

[0020] The second step is that the joint servo motor continues to drive the passive self-reassembly module to approach the passive self-reassembly module, and the deformable hook segment at the head and the hook top electromagnet extend into the passive self-reassembly module along the funnel-shaped slot.

[0021] The third step is that after the entire deformable hook body enters the passive self-reassembly module, the screw motor reverses and drives the screw to reverse, the sliding plate moves down along the sliding rod, the tension of the control rope increases, the memory alloy sheet bends from the straight state to 60° and drives the deformable hook segment to twist, the composite deformable hook system deforms from the straight state to the bent state, and the friction plate engages with the first deformable hook slot to the fourth deformable hook slot.

[0022] The fourth step involves simultaneously energizing the four hook-top electromagnets and the first to second circular electromagnets. The four hook-top electromagnets attract the first, fourth, seventh, and tenth circular electromagnets respectively. The docking is completed after the Hall sensor confirms that the magnetic field is stable.

[0023] The separation control steps are as follows:

[0024] The first step is to simultaneously de-energize the four hook-top electromagnets and the first to second circular electromagnets, so that the four hook-top electromagnets and their corresponding circular electromagnets stop attracting each other.

[0025] The second step is that the screw motor rotates forward, causing the screw to rotate forward. The sliding plate moves upward along the sliding rod, reducing the tension of the control rope. The shape memory alloy sheet returns from the bent state to 0° and drives the deformable hook segment to return to the straight state. The composite deformable hook system deforms from the bent state to the straight state.

[0026] In the third step, the four first active guiding magnets to the fourth active guiding magnets are switched on with opposite currents, and the first passive guiding magnets to the fourth passive guiding magnets and the corresponding active guiding magnets change from a state of attraction to a state of repulsion, and the deformable hook body separates from the passive self-reassembly module.

[0027] The fourth step involves the Hall sensor working in conjunction with the joint servo motor to control and adjust the system, causing the passive self-reassembly module and the passive self-reassembly module to completely separate. The lead screw motor then reverses to drive the composite deformation hook system from a straight state to a bent state.

[0028] This invention provides a self-reassembling snake robot with magnetic attraction and docking capabilities, and its control method. It offers the following advantages:

[0029] 1. This invention achieves dual connection constraints between individual segments of a snake robot through a mechanical-magnetic composite docking structure of a passive self-reassembly module and an active self-reassembly module. This is achieved by combining the mechanical engagement of the deformable hook slot and the composite deformable hook system with the magnetic attraction and fixation of the Halbach array electromagnet and the hook top electromagnet. This effectively improves the structural stability and load-bearing capacity after docking. At the same time, the funnel-shaped slot and the guide magnet significantly reduce the alignment difficulty during docking and improve the efficiency and success rate of self-reassembly operation.

[0030] 2. This invention integrates piezoelectric generators and triboelectric nanogenerators at the joints and shell of the snake robot, respectively, and, together with the lithium battery charging management module, constructs an autonomous power supply system. This system can convert and store the mechanical energy and frictional energy generated during the robot's movement, reducing dependence on external power supply and extending the robot's continuous working time. It is especially suitable for long-term operation scenarios in complex environments.

[0031] 3. The control method of this invention uses Hall sensors to detect the magnetic field state in real time, combined with joint servo motors and lead screw motors to precisely control docking and separation actions, thereby realizing the automation and intelligence of the self-reassembly process. It not only ensures coaxial alignment and locking during docking, but also achieves smooth separation by controlling the reverse current of the guiding magnet. The operation process is clear and highly controllable, improving the adaptive adjustment capability of the snake robot in multi-task scenarios. Attached Figure Description

[0032] Figure 1 This is a perspective view of the present invention;

[0033] Figure 2 This is a schematic diagram of the single-segment snake body structure of the present invention;

[0034] Figure 3 This is a schematic diagram of the active self-reassembly module structure of the present invention;

[0035] Figure 4 This is a schematic diagram of the front connecting rod structure of the present invention;

[0036] Figure 5 This is a schematic diagram of the passive guiding magnet structure of the present invention;

[0037] Figure 6 This is a schematic diagram of the rear outer shell structure of the present invention;

[0038] Figure 7 This is a schematic diagram of the shape memory alloy sheet structure of the present invention;

[0039] Figure 8 This is a schematic diagram of the hook-top electromagnet structure of the present invention;

[0040] Figure 9 This is a schematic diagram of the active guiding magnet structure of the present invention;

[0041] Figure 10 This is a schematic diagram showing the arrangement of circular electromagnets in the active self-reassembly module of the magnetic composite docking self-reassembly snake robot of the present invention.

[0042] The system comprises: 1. Jointed servo motor; 2. Single-section snake body; 2.1. Passive self-reassembly module; 2.2. Active self-reassembly module; 3.1. First front housing; 3.2. Second front housing; 4.1. First front connecting rod; 4.2. Second front connecting rod; 4.3. Third front connecting rod; 4.4. First deformable hook slot; 5.1. Second deformable hook slot; 5.2. Third deformable hook slot; 5.4. Fourth deformable hook slot; 6.1. First passive guide magnet; 6.2. Second passive guide magnet; 6.3. Fourth passive guide magnet; 6.4. Funnel-shaped slot; 7. Composite deformable hook system; 8. Halbach array electromagnet system; 9. First rear housing; 10.1. Second rear housing; 10.2. First support base; 11.1. Second support base; 11.2. Third support base; 11.4. First rear connecting rod; 12.2. Third... Rear connecting rod 12.3; Fourth rear connecting rod 12.4; Shape memory alloy sheet 13; Friction plate 14; Control rope 15; Sliding plate 16; Motor fixing plate 17; Lead screw motor 18; Slide rod 19; Lead screw 20; Hook top electromagnet 21; Deformable hook segment 22; Lead screw constraint seat 23; Hall sensor 24; Magnetic base 25; First active guide magnet 26.1; Second active guide magnet 26.2; Third active guide magnet 26.3; Fourth active guide magnet 26.4; First circular electromagnet 27.1; Second circular electromagnet 27.2; Third circular electromagnet 27.3; Fourth circular electromagnet 27.4; Fifth circular electromagnet 27.5; Sixth circular electromagnet 27.6; Seventh circular electromagnet 27.7; Eighth circular electromagnet 27.8; Ninth circular electromagnet 27.9; Tenth circular electromagnet 27.10; Eleventh circular electromagnet 27.11; Twelfth circular electromagnet 27.12. Detailed Implementation

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Please see the appendix Figure 1 - Appendix Figure 10This invention provides a self-recombining snake robot with magnetic attraction composite docking, including joint servo motors (1) and single-segment snake bodies (2). The joint servo motors (1) and single-segment snake bodies (2) are arranged alternately and are fixed to each other through the screw holes of the servo motor fixing plate on the single-segment snake body (2). The single-segment snake body (2) includes a passive self-recombining module (2.1) and an active self-recombining module (2.2). The passive self-recombining module (2.1) and the active self-recombining module (2.2) can realize autonomous mechanical-magnetic composite docking and separation. The robot's head hole space integrates an ultrasonic sensor and a wide-angle camera, and the sides of the body are equipped with infrared thermal imaging sensors. All sensor data are wirelessly transmitted to a remote terminal.

[0045] Specifically, through a modular structure in which joint servo motors (1) and single-section snake bodies (2) are arranged alternately and fixed by screw holes on the servo motor mounting plate on the single-section snake body (2), the single-section snake body (2) is driven by the coordinated swing of the joint servo motors (1) to complete the snake-like motion. The passive self-reassembly module (2.1) and active self-reassembly module (2.2) contained in the single-section snake body (2) achieve autonomous docking and separation between modules by a combination of mechanical engagement and magnetic adsorption, forming a dual connection constraint to ensure structural stability. At the same time, the ultrasonic sensor, wide-angle camera and infrared thermal imaging sensors integrated in the hole space of the robot's head respectively realize distance measurement and obstacle avoidance, environmental image acquisition and heat source identification. All sensor data are wirelessly transmitted to the remote terminal to provide environmental perception data support for the robot's motion control, path planning and self-reassembly decision.

[0046] The passive self-reassembly module (2.1) is provided with a funnel-shaped slot (7). At the small diameter end of the funnel-shaped slot (7), there are fixed first deformable hook slots (5.1), second deformable hook slots (5.2), third deformable hook slots (5.3), and fourth deformable hook slots (5.4) distributed in a square pattern. At the large diameter end, there are fixed first passive guide magnets (6.1), second passive guide magnets (6.2), third passive guide magnets (6.3), and fourth passive guide magnets (6.4) distributed in a circular pattern. The magnetic poles of adjacent passive guide magnets are opposite in polarity. The first front connecting rod (4.1), second front connecting rod (4.2), third front connecting rod (4.3), and fourth front connecting rod (4.4) are distributed at the four corners and are connected and fixed to the first front shell (3.1) and the second front shell (3.2) through screw holes. The first front shell (3.1) and the second front shell (3.2) are fixed through reserved screw holes.

[0047] Specifically, the first front connecting rod (4.1), the second front connecting rod (4.2), the third front connecting rod (4.3), and the fourth front connecting rod (4.4) are distributed at the four corners to connect and fix the first front shell (3.1), the second front shell (3.2), and the internal core components through screw holes. The first front shell (3.1) and the second front shell (3.2) are further reinforced through reserved screw holes to form a stable overall modular structure. The funnel-shaped slot (7) is provided, and the first passive guiding magnet (6.1) and the second passive guiding magnet (6.2) are fixed at one end of the large diameter hole and are distributed in a circular shape with opposite positive and negative magnetic poles. Iron (6.2), third passive guide magnet (6.3), and fourth passive guide magnet (6.4) can generate magnetic attraction and guidance with the corresponding guide components of the passive self-reassembly module (2.2) to achieve precise positioning when the modules are docked; the funnel-shaped slot (7) has a small diameter fixed end with a square four-sided distribution of the first deformable hook slot (5.1), second deformable hook slot (5.2), third deformable hook slot (5.3), and fourth deformable hook slot (5.4), which are used to support the hook structure of the composite deformable hook system (8) in the passive self-reassembly module (2.2). Through mechanical engagement and magnetic attraction, the modules are docked stably.

[0048] The active self-reassembly module (2.2) is equipped with a composite deformable hook system (8) and a Halbach array electromagnet system (9); the Halbach array electromagnet system (9) is fixed to the first support base (11.1), the second support base (11.2), the third support base (11.3), and the fourth support base (11.4) via four connecting rods; the composite deformable hook system (8) is fixed to the first support base (11.1), the second support base (11.2), and the third support base (11.4) via a motor fixing plate (17). The support (11.3) and the fourth support (11.4) are fixed; the first rear connecting rod (12.1), the second rear connecting rod (12.2), the third rear connecting rod (12.3), and the fourth rear connecting rod (12.4) are respectively connected and fixed to the corresponding support through L-shaped brackets, and are connected and fixed to the first rear shell (10.1) and the second rear shell (10.2) through screw holes. The first rear shell (10.1) and the second rear shell (10.2) are fixed through reserved screw holes.

[0049] Specifically, the first rear connecting rod (12.1), the second rear connecting rod (12.2), the third rear connecting rod (12.3), and the fourth rear connecting rod (12.4) are connected and fixed to the first support base (11.1), the second support base (11.2), the third support base (11.3), and the fourth support base (11.4) via L-shaped supports, and are fixed to the first rear outer shell (10.1) and the second rear outer shell (10.2) through screw holes, and the first rear outer shell (10.1) and the second rear outer shell (10.2) are connected through reserved screw holes. One step of reinforcement forms a stable foundation for module installation; the Halbach array electromagnet system (9) is fixed to the support base group through four connecting rods, and the composite deformation hook system (8) is fixed to the support base group through the motor fixing plate (17). The two work together to form the core component of mechanical-magnetic composite docking. The Halbach array electromagnet system (9) provides magnetic attraction force to realize module pre-alignment and reinforcement, and the composite deformation hook system (8) realizes mechanical engagement through controllable deformation, jointly ensuring the stability and reliability of docking with the passive self-reassembly module (2.1).

[0050] The upper part of the composite deformable hook system (8) is provided with four deformable hook bodies, each containing four deformable hook segments (22). The deformable hook segments (22) have holes for the control rope (15) to pass through. Adjacent deformable hook segments (22) are connected by deformable shape memory alloy sheets (13) in an alternating manner. The shape memory alloy sheets (13) have multiple semi-cylindrical structures on their inner side. The head deformable hook segment (22) is equipped with a hook top electromagnet (21), and the tail deformable hook segment (22) is fixed tightly to the side in a square distribution. The joints of the two deformable hook bodies on opposite sides twist in opposite directions. The upper four corners of the motor fixing plate (17) are connected to the motor fixing plate (17) by sliding rods (19). The tail section (22) is fixed, and the other end of the motor fixing plate (17) is fixed to the lead screw motor (18); the lower end of the lead screw (20) is fixed to the power output end of the lead screw motor (18) and constrained by the lead screw constraint seat (23); the four corners of the sliding plate (16) are provided with round holes that fit with the outer diameter of the sliding rod (19), and the center is provided with a hole engraved with a spiral groove, which meshes with the lead screw (20); one end of the control rope (15) is fixed to the upper end of the sliding plate (16), and the other end passes through the corresponding deformable hook section (22) and is connected to the deformable hook section (22) at the head; the friction plate (14) is fixed inside each deformable hook section (22).

[0051] Specifically, the motor mounting plate (17) serves as the mounting base. Its upper four corners are fixed to the deformable hook segments (22) with square sides distributed at the tail end via slide rods (19). The other end is fixed to the screw motor (18). The screw (20) is constrained by the screw constraint seat (23) and meshes with the spiral groove in the center of the sliding plate (16). The sliding plate (16) is clearance-fitted with the slide rods (19) through the four corner round holes. When the screw motor (18) drives the screw (20) to rotate, it can drive the sliding plate (16) to move up and down along the slide rods (19), thereby pulling or loosening the control of the head deformable hook segment (22), which is fixed at the upper end of the sliding plate (16) and passes through the internal hole of the deformable hook segment (22). Rope (15); The four deformable hook segments (22) of each deformable hook body are connected by multiple deformable memory alloy plates (13) with semi-cylindrical structures on the inside. The tension change of the rope (15) can drive the memory alloy plates (13) to bend or straighten, and drive the deformable hook segments (22) to twist, so as to achieve 180° controllable deformation of the hook body. The twisting direction of the joint of the deformable hook body on the opposite side is opposite. The hook top electromagnet (21) installed on the head deformable hook segment (22) can cooperate with the magnetic attraction component to enhance docking stability. The friction plate (14) fixed on the inside of each deformable hook segment (22) can improve the anti-slip performance after engagement, and finally achieve precise engagement and smooth disengagement with the passive self-reassembly module (2.1).

[0052] The Halbach array electromagnet system (9) includes a Hall sensor (24), a magnetic base (25), four active guide magnets and twelve circular electromagnets. The four active guide magnets are the first active guide magnet (26.1), the second active guide magnet (26.2), the third active guide magnet (26.3), and the fourth active guide magnet (26.4). The twelve circular electromagnets are the first circular electromagnet (27.1) to the twelfth circular electromagnet (27.12).

[0053] The four active guiding magnets are evenly distributed in a circular shape and fixed on the upper surface of the magnetic base (25), and the magnetic poles of two adjacent active guiding magnets are opposite in polarity;

[0054] The Hall sensor (24) is embedded and fixed inside the groove of the magnetic base (25) for detecting magnetic field signals;

[0055] The twelve circular electromagnets are fixed to the outer wall of the magnetic base (25) according to the Halbach array rule, and the included angle between the central axes of the bases of two adjacent circular electromagnets is 30°.

[0056] Among them, the central axes of the second circular electromagnet (27.2), the second circular electromagnet (27.3), the fifth circular electromagnet (27.5), the sixth circular electromagnet (27.6), the eighth circular electromagnet (27.8), the ninth circular electromagnet (27.9), the eleventh circular electromagnet (27.11), and the twelfth circular electromagnet (27.12) are inclined at an angle of 45° to the horizontal plane, while the central axes of the first circular electromagnet (27.1), the fourth circular electromagnet (27.4), the seventh circular electromagnet (27.7), and the tenth circular electromagnet (27.10) are perpendicular to the horizontal plane;

[0057] The arrangement of the twelve circular electromagnets is marked by arrows, with the arrow pointing in the direction of the positive pole of the electromagnet and the tail of the arrow pointing in the direction of the negative pole of the electromagnet, and the magnetic field focusing effect of the Halbach array is utilized.

[0058] Specifically, using the magnetic base (25) as the mounting carrier, the upper end of which is fixed in a circular pattern with adjacent active guiding magnets (26.1, 26.2, 26.3, and 26.4 of opposite polarity, can generate magnetic attraction and guidance with the passive guiding magnet of the passive self-reassembly module (2.1), assisting in coarse positioning during module docking; the Hall sensor (24) fixed inside the groove of the magnetic base (25) can detect the magnetic field signal of the passive guiding magnet in real time, providing feedback for docking attitude adjustment; the outer side of the magnetic base (25) is fixed with twelve first circular electromagnets (27.1) to second circular electromagnets (27.2) in a Halbach array, with the base spacing angle of each electromagnet being 30°, the second circular electromagnets (27.2), the second The central axis of the circular electromagnets (27.3), (27.5), (27.6), (27.8), (27.9), (27.11), and (27.12) is tilted at an angle of 45° to the horizontal plane. The central axis of the first circular electromagnet (27.1), (27.4), (27.7), and (27.10) is perpendicular to the horizontal plane. The magnetic field strength in a specific direction is enhanced by the magnetic field focusing effect of the Halbach array, which not only improves the adsorption force and shear resistance of the docking surface, but also reduces the system energy consumption. It works in conjunction with the hook top electromagnet (21) of the composite deformable hook system (8) to achieve magnetic reinforcement and ensure the stability of the module docking.

[0059] A piezoelectric generator is integrated at the connection between the joint servo (1) and the single-section snake body (2). The piezoelectric generator converts the mechanical energy of the joint servo (1) into electrical energy to power the ultrasonic sensor. Small triboelectric nanogenerators are installed on the outside of the first front shell (3.1), the second front shell (3.2), the first rear shell (10.1), and the second rear shell (10.2). The triboelectric nanogenerators convert electrical energy into electrical energy through the friction between the snake body and the ground.

[0060] The single-segment snake body (2) has an internal cavity equipped with a lithium battery. The lithium battery integrates a charging management module, which stabilizes the generator output voltage, prioritizes powering the sensor, and stores the remaining power in the lithium battery. The deformable hook segment (22) is made of titanium alloy.

[0061] A control method for a self-reassembling snake robot using magnetic attraction and composite docking, comprising the following docking control steps:

[0062] In the first step, the composite deformable hook system (8) deforms from a bent state to a straight state. The first passive guide magnet (6.1) to the fourth passive guide magnet (6.4) and the first active guide magnet (26.1) to the fourth active guide magnet (26.4) are energized. The Hall sensor (24) detects the magnetic field generated by the passive guide magnet and sends a signal to the control module. The control module adjusts the joint servo motor (1) so that the active self-reassembly module (2.2) and the passive self-reassembly module (2.1) are at the same angle and close to each other.

[0063] In the second step, the joint servo motor (1) continues to drive the active self-reassembly module (2.2) to approach the passive self-reassembly module (2.1), and the deformable hook segment (22) of the head and the hook top electromagnet (21) extend into the passive self-reassembly module (2.1) along the funnel-shaped slot (7);

[0064] In the third step, after the entire deformable hook body enters the passive self-reassembly module (2.1), the screw motor (18) reverses and drives the screw (20) to reverse, the sliding plate (16) moves downward along the sliding rod (19), the tension of the control rope (15) increases, the memory alloy sheet (13) bends from the straight state to 60° and drives the deformable hook segment (22) to twist, the composite deformable hook system (8) deforms from the straight state to the bent state, and the friction plate (14) engages with the first deformable hook slot (5.1) to the fourth deformable hook slot (5.4);

[0065] In the fourth step, the four hook-top electromagnets (21) and the first circular electromagnet (27.1) to the second circular electromagnet (27.2) are simultaneously energized. The four hook-top electromagnets (21) are attracted to the first circular electromagnet (27.1), the fourth circular electromagnet (27.4), the seventh circular electromagnet (27.7), and the tenth circular electromagnet (27.10) respectively. After the Hall sensor (24) confirms that the magnetic field is stable, the docking is completed.

[0066] The separation control steps are as follows:

[0067] In the first step, the four hook-top electromagnets (21) and the first circular electromagnet (27.1) to the second circular electromagnet (27.2) are simultaneously de-energized, and the four hook-top electromagnets (21) stop attracting the corresponding circular electromagnets;

[0068] In the second step, the screw motor (18) rotates forward, driving the screw (20) to rotate forward. The sliding plate (16) moves upward along the sliding rod (19), reducing the tension of the control rope (15). The memory alloy sheet (13) returns from the bent state to 0° and drives the deformable hook segment (22) to return to the straight state. The composite deformable hook system (8) deforms from the bent state to the straight state.

[0069] In the third step, the four first active guiding magnets (26.1) to the fourth active guiding magnets (26.4) are switched on with opposite currents, and the first passive guiding magnets (6.1) to the fourth passive guiding magnets (6.4) and the corresponding active guiding magnets change from a state of attraction to a state of repulsion, and the deformable hook body separates from the passive self-reassembly module (2.1).

[0070] In the fourth step, the Hall sensor (24) and the joint servo motor (1) work together to control and adjust, so that the passive self-reassembly module (2.1) and the active self-reassembly module (2.2) are completely separated, and the screw motor (18) reverses to drive the composite deformation hook system (8) to deform from the straight state to the bent state.

[0071] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-reassembling snake robot with magnetic attraction composite docking, comprising joint servo motors (1) and a single-segment snake body (2), characterized in that, The joint servo motor (1) and the single-section snake body (2) are arranged alternately and are fixed to each other through the screw holes of the servo motor fixing plate on the single-section snake body (2); the single-section snake body (2) includes a passive self-reassembly module (2.1) and an active self-reassembly module (2.2), which can realize autonomous mechanical-magnetic composite docking and separation; the robot's head hole space integrates an ultrasonic sensor and a wide-angle camera, and the sides of the body are equipped with infrared thermal imaging sensors, and all sensor data are wirelessly transmitted to a remote terminal; The active self-reassembly module (2.2) is equipped with a composite deformable hook system (8) and a Halbach array electromagnet system (9). The Halbach array electromagnet system (9) is fixed to the first support base (11.1), the second support base (11.2), the third support base (11.3), and the fourth support base (11.4) via four connecting rods. The composite deformable hook system (8) is fixed to the first support base (11.1), the second support base (11.2), the third support base (11.3), and the fourth support base (11.4) via a motor fixing plate (17). The three support bases (11.3) and the fourth support base (11.4) are fixed; the first rear connecting rod (12.1), the second rear connecting rod (12.2), the third rear connecting rod (12.3), and the fourth rear connecting rod (12.4) are respectively connected and fixed to the corresponding support bases through L-shaped brackets, and are connected and fixed to the first rear outer shell (10.1) and the second rear outer shell (10.2) through screw holes. The first rear outer shell (10.1) and the second rear outer shell (10.2) are fixed through reserved screw holes. The upper part of the composite deformable hook system (8) is provided with four deformable hook bodies, each containing four deformable hook segments (22). The deformable hook segments (22) have holes for the control rope (15) to pass through. Adjacent deformable hook segments (22) are connected by deformable shape memory alloy sheets (13) in an alternating manner. The inner side of the shape memory alloy sheets (13) has multiple semi-cylindrical structures. The head deformable hook segment (22) is equipped with a hook top electromagnet (21). The tail deformable hook segment (22) is fixed tightly to the side in a square distribution. The joints of the two deformable hook bodies on the opposite side twist in opposite directions. The upper four corners of the motor fixing plate (17) are connected to the motor fixing plate (17) by sliding rods (19). The tail section (22) is fixed, and the other end of the motor fixing plate (17) is fixed to the lead screw motor (18); the lower end of the lead screw (20) is fixed to the power output end of the lead screw motor (18) and constrained by the lead screw constraint seat (23); the four corners of the sliding plate (16) are provided with round holes that are clearance-fitted with the outer diameter of the sliding rod (19), and the center is provided with a hole engraved with a spiral groove, which meshes with the lead screw (20); one end of the control rope (15) is fixed to the upper end of the sliding plate (16), and the other end passes through the corresponding deformable hook section (22) and is connected to the deformable hook section (22) at the head; the friction plate (14) is fixed inside each deformable hook section (22).

2. The self-reassembling snake robot with magnetic composite docking according to claim 1, characterized in that, The passive self-reassembly module (2.1) is provided with a funnel-shaped slot (7). At the small diameter end of the funnel-shaped slot (7), there are fixed first deformable hook slots (5.1), second deformable hook slots (5.2), third deformable hook slots (5.3), and fourth deformable hook slots (5.4) distributed in a square pattern. At the large diameter end, there are fixed first passive guide magnets (6.1), second passive guide magnets (6.2), third passive guide magnets (6.3), and fourth passive guide magnets (6.4) distributed in a circular pattern. The magnetic poles of adjacent passive guide magnets are opposite in polarity. The first front connecting rod (4.1), second front connecting rod (4.2), third front connecting rod (4.3), and fourth front connecting rod (4.4) are distributed at the four corners and are connected and fixed to the first front shell (3.1) and the second front shell (3.2) through screw holes. The first front shell (3.1) and the second front shell (3.2) are fixed through reserved screw holes.

3. The self-reassembling snake robot with magnetic composite docking according to claim 1, characterized in that, The Halbach array electromagnet system (9) includes a Hall sensor (24), a magnetic base (25), four active guide magnets and twelve circular electromagnets. The four active guide magnets are the first active guide magnet (26.1), the second active guide magnet (26.2), the third active guide magnet (26.3), and the fourth active guide magnet (26.4). The twelve circular electromagnets are the first circular electromagnet (27.1) to the twelfth circular electromagnet (27.12). The four active guiding magnets are evenly distributed in a circular shape and fixed on the upper surface of the magnetic base (25), and the magnetic poles of two adjacent active guiding magnets are opposite in polarity; The Hall sensor (24) is embedded and fixed inside the groove of the magnetic base (25) for detecting magnetic field signals; The twelve circular electromagnets are fixed to the outer wall of the magnetic base (25) according to the Halbach array rule, and the included angle between the central axes of the bases of two adjacent circular electromagnets is 30°. Among them, the central axes of the second circular electromagnet (27.2), the third circular electromagnet (27.3), the fifth circular electromagnet (27.5), the sixth circular electromagnet (27.6), the eighth circular electromagnet (27.8), the ninth circular electromagnet (27.9), the eleventh circular electromagnet (27.11), and the twelfth circular electromagnet (27.12) are inclined at an angle of 45° to the horizontal plane, while the central axes of the first circular electromagnet (27.1), the fourth circular electromagnet (27.4), the seventh circular electromagnet (27.7), and the tenth circular electromagnet (27.10) are perpendicular to the horizontal plane; The arrangement direction of the twelve circular electromagnets is marked by arrows, with the arrow pointing in the direction of the positive pole of the electromagnet and the tail of the arrow pointing in the direction of the negative pole of the electromagnet. Through the magnetic field focusing effect of the Halbach array, the magnetic field strength of the first circular electromagnet (27.1), the fourth circular electromagnet (27.4), the seventh circular electromagnet (27.7), and the tenth circular electromagnet (27.10) is significantly enhanced compared with the traditional array arrangement.

4. The self-reassembling snake robot with magnetic composite docking according to claim 1, characterized in that, A piezoelectric generator is integrated at the connection between the joint servo motor (1) and the single-section snake body (2). The piezoelectric generator converts the mechanical energy of the joint servo motor (1) into electrical energy to power the ultrasonic sensor.

5. The self-reassembling snake robot with magnetic composite docking according to claim 2, characterized in that, Small triboelectric nanogenerators are installed on the outside of the first front shell (3.1), the second front shell (3.2), the first rear shell (10.1), and the second rear shell (10.2). The triboelectric nanogenerators convert electrical energy into electrical energy through the friction between the snake's body and the ground.

6. The self-reassembling snake robot with magnetic composite docking according to claim 1, characterized in that, The internal cavity of the single snake body (2) is equipped with a lithium battery. The lithium battery integrates a charging management module. The charging management module stabilizes the generator output voltage, prioritizes power supply to the sensor, and stores the remaining power in the lithium battery.

7. The self-reassembling snake robot with magnetic composite docking according to claim 1, characterized in that, The deformable hook segment (22) is made of titanium alloy.

8. A control method for a self-reassembling snake robot using magnetic attraction composite docking, characterized in that, The self-reassembling snake robot applied to the magnetic attraction composite docking as described in any one of claims 1 to 7 has the following docking control steps: In the first step, the composite deformable hook system (8) deforms from a bent state to a straight state. The first passive guide magnet (6.1) to the fourth passive guide magnet (6.4) and the first active guide magnet (26.1) to the fourth active guide magnet (26.4) are energized. The Hall sensor (24) detects the magnetic field generated by the passive guide magnet and sends a signal to the control module. The control module adjusts the joint servo motor (1) so that the active self-reassembly module (2.2) and the passive self-reassembly module (2.1) are at the same angle and close to each other. In the second step, the joint servo motor (1) continues to drive the active self-reassembly module (2.2) to approach the passive self-reassembly module (2.1), and the deformable hook segment (22) of the head and the hook top electromagnet (21) extend into the passive self-reassembly module (2.1) along the funnel-shaped slot (7); In the third step, after the entire deformable hook body enters the passive self-reassembly module (2.1), the screw motor (18) reverses and drives the screw (20) to reverse, the sliding plate (16) moves downward along the sliding rod (19), the tension of the control rope (15) increases, the memory alloy sheet (13) bends from the straight state to 60° and drives the deformable hook segment (22) to twist, the composite deformable hook system (8) deforms from the straight state to the bent state, and the friction plate (14) engages with the first deformable hook slot (5.1) to the fourth deformable hook slot (5.4); In the fourth step, the four hook-top electromagnets (21) and the first circular electromagnet (27.1) to the second circular electromagnet (27.2) are simultaneously energized. The four hook-top electromagnets (21) are attracted to the first circular electromagnet (27.1), the fourth circular electromagnet (27.4), the seventh circular electromagnet (27.7), and the tenth circular electromagnet (27.10) respectively. After the Hall sensor (24) confirms that the magnetic field is stable, the docking is completed. The separation control steps are as follows: In the first step, the four hook-top electromagnets (21) and the first circular electromagnet (27.1) to the second circular electromagnet (27.2) are simultaneously de-energized, and the four hook-top electromagnets (21) stop attracting the corresponding circular electromagnets; In the second step, the screw motor (18) rotates forward, driving the screw (20) to rotate forward. The sliding plate (16) moves upward along the sliding rod (19), reducing the tension of the control rope (15). The memory alloy sheet (13) returns from the bent state to 0° and drives the deformable hook segment (22) to return to the straight state. The composite deformable hook system (8) deforms from the bent state to the straight state. In the third step, the four first active guiding magnets (26.1) to the fourth active guiding magnets (26.4) are switched on with opposite currents, and the first passive guiding magnets (6.1) to the fourth passive guiding magnets (6.4) and the corresponding active guiding magnets change from a state of attraction to a state of repulsion, and the deformable hook body separates from the passive self-reassembly module (2.1). In the fourth step, the Hall sensor (24) and the joint servo motor (1) work together to control and adjust, so that the passive self-reassembly module (2.1) and the active self-reassembly module (2.2) are completely separated, and the screw motor (18) reverses to drive the composite deformation hook system (8) to deform from the straight state to the bent state.

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