Snakelike robot with auxiliary steering module

Abstract

The utility model discloses a snakelike robot with an auxiliary steering module. The snakelike robot comprises a snakelike head assembly and a snakelike tail assembly. A steering auxiliary structure and a snake body structure are installed on the snake head assembly, the snake body structure is installed on the snake tail assembly, and a snake tail structure is installed on the snake tail assembly; the steering auxiliary structure comprises a snake head steering engine, and the snake head steering engine is movably installed on the snake head assembly; according to the snakelike robot, the turning capacity of the snakelike robot in a dead environment or a narrow environment can be enhanced through the steering auxiliary structure, so that the capacity of the snakelike robot for adapting to a complex environment is greatly improved, and the snakelike robot can be separated from the state of colliding with an obstacle to a certain extent; when auxiliary steering operation does not need to be carried out, the steering connecting rod can be arranged at the position flush with the snake head to prevent interference of movement of the snake-shaped robot in the normal environment, the camera can be used for achieving the functions of environment perception, navigation and the like, and the snake-shaped robot can better adapt to the complex environment and complete various tasks.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic robots, in particular to a snake-like robot with an auxiliary steering module. Background Art

[0002] The snake robot is a biomimetic robot designed with inspiration from the dynamics of snakes. It imitates the movement and body structure of snakes, and achieves high maneuverability and environmental adaptability through segmented mechanical structure and adaptive control. Snake robots have potential applications in many fields, including search and rescue missions, pipeline inspection, flexible operation and environmental monitoring.

[0003] In the prior art, snake-like robots will inevitably encounter dead ends or narrow environments when facing complex environments. Existing snake-like robots may encounter problems such as limited turning radius, difficult posture control, and inefficient turning strategies in dead ends or narrow environments. Therefore, a snake-like robot with an auxiliary steering module is needed to meet people's needs. Utility Model Content

[0004] The purpose of the utility model is to provide a snake-like robot with an auxiliary steering module to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a snake-like robot with an auxiliary steering module, comprising a snake head component and a snake tail component; a steering auxiliary structure and a snake body structure are installed on the snake head component, the snake body structure is installed on the snake tail component, and the snake tail structure is installed on the snake tail component;

[0006] The steering assist structure comprises a snake-head steering servo, which is movably mounted on the snake-head assembly, a servo connecting rod is fixedly mounted on the output end of the snake-head steering servo, a steering connecting rod is fixedly mounted on the servo connecting rod, the steering connecting rod has a rotation angle range of 270 degrees, a flexible connecting rod is fixedly mounted on one end of the steering connecting rod, a first mounting groove is provided on the inner wall of the snake-head assembly, a first dual-axis servo is fixedly mounted in the first mounting groove, first steering discs are fixedly mounted on both output ends of the first dual-axis servo, and a camera is fixedly mounted on the snake-head assembly;

[0007] The snake body structure includes a plurality of first snake body components and a plurality of second snake body components, the first snake body components and the second snake body components are both provided with a third mounting groove, the two third mounting grooves are both fixedly mounted with a second dual-axis servo, the two output ends of the two second dual-axis servo are both fixedly mounted with a second steering disc, the first snake body components and the second snake body components are both fixedly mounted with two second connecting members, and the corresponding four second connecting members are respectively mounted on the two second steering discs and the two first steering discs;

[0008] The serpentine structure includes two first connecting members, both of which are fixedly mounted on the serpentine assembly, and the two first connecting members are respectively mounted on two corresponding second steering discs, and a second mounting groove is provided on the inner wall of the serpentine assembly.

[0009] Preferably, the snake head assembly is provided with a steering servo slot, the snake head steering servo is movably installed in the steering servo slot, two mounting seats are symmetrically fixedly installed on the snake head steering servo, two mounting seats are provided with two mounting holes, and four screw holes are provided on the snake head assembly, and the four mounting holes correspond to the four screw holes respectively.

[0010] Preferably, both sides of the flexible connecting rod are designed to be arc-shaped, and a plurality of serrated grooves are provided on the flexible connecting rod.

[0011] Preferably, the first steering plate is provided with a plurality of first threaded holes, the second connecting member is provided with a plurality of second connecting holes, the second steering plate is provided with a plurality of second threaded holes, the first threaded holes are connected with the corresponding second connecting holes, and the second threaded holes are connected with the corresponding second connecting holes.

[0012] Preferably, a first steering wheel groove is formed on the first connecting member, and a corresponding second steering wheel is movably installed in the first steering wheel groove. A plurality of first connecting holes are formed on the first connecting member, and the first connecting holes are communicated with the corresponding second threaded holes.

[0013] Preferably, the two second connecting members are each provided with a second steering wheel slot, the two second steering wheel slots are respectively movably connected to the corresponding first steering wheel and second steering wheel, and the first snake body component and the second snake body component are each provided with a plurality of fixing holes.

[0014] Preferably, two U-shaped grooves are provided on the snake head assembly, the first snake body assembly and the second snake body assembly, and the second steering disc and the first steering disc are movably mounted in the two corresponding U-shaped grooves respectively.

[0015] Preferably, the snake head assembly, the snake tail assembly, the first snake body assembly and the second snake body assembly are all fixedly mounted with bottom wheel frames, and two bottom wheels are rotatably mounted on the four bottom wheel frames.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] (1) The utility model can enhance the turning ability of the snake-like robot in a dead end or a narrow environment through a steering assist structure, thereby greatly increasing the ability of the snake-like robot to adapt to complex environments. It can also, to a certain extent, enable the snake-like robot to escape from the state of colliding with obstacles. When auxiliary steering operation is not required, the steering link can be placed in a position flush with the snake head to prevent interference with the movement of the snake-like robot in a normal environment. The camera can be used to perform environmental perception and navigation functions, so that the snake-like robot can better adapt to complex environments and complete various tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a snake-like robot with an auxiliary steering module proposed by the utility model;

[0019] Figure 2 This is a partial structural schematic diagram of a snake-like robot with an auxiliary steering module proposed by the utility model;

[0020] Figure 3 This is a schematic structural diagram of a first dual-axis servo part of a snake-like robot with an auxiliary steering module proposed in the utility model;

[0021] Figure 4 This is a structural schematic diagram of the snake head steering servo part of a snake-like robot with an auxiliary steering module proposed by the utility model;

[0022] Figure 5 This is a schematic structural diagram of a snake tail component of a snake-like robot with an auxiliary steering module proposed by the utility model;

[0023] Figure 6 This is a schematic structural diagram of a first snake body component of a snake-like robot with an auxiliary steering module proposed in the utility model;

[0024] Figure 7 This is a schematic structural diagram of a second snake body component of a snake-like robot with an auxiliary steering module proposed by the utility model;

[0025] Figure 8 This is a schematic structural diagram of a U-shaped groove portion of a snake-like robot with an auxiliary steering module proposed in the utility model;

[0026] Fig. 9 This is a schematic diagram of the communication structure of a snake-like robot with an auxiliary steering module proposed in the utility model;

[0027] Fig.10 This is a schematic diagram of a control system of a snake-like robot with an auxiliary steering module proposed by the utility model.

[0028] In the figure: 1. snake head assembly; 11. snake head steering servo; 12. servo connecting rod; 13. steering connecting rod; 14. flexible connecting rod; 15. first mounting groove; 16. first dual-axis servo; 17. first steering disc; 18. steering servo slot; 19. mounting seat; 110. mounting hole; 111. screw hole; 112. sawtooth groove; 113. first threaded hole; 114. camera; 2. snake tail assembly; 21. first connecting piece; 22. first steering disc slot; 23. first connecting hole; 24. second mounting groove; 3. first snake body assembly; 31. second snake body assembly; 32. third mounting groove; 33. second dual-axis servo; 34. second steering disc; 35. second connecting piece; 36. second connecting hole; 37. second threaded hole; 38. second steering disc slot; 39. fixing hole; 310. U-shaped groove; 4. bottom wheel frame; 41. bottom wheel. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] See also Figure 1-10 The utility model provides a technical solution: a snake-like robot with an auxiliary steering module, comprising a snake head component 1 and a snake tail component 2; the snake head component 1 is equipped with a steering auxiliary structure and a snake body structure, the snake body structure is installed on the snake tail component 2, and the snake tail component 2 is equipped with a snake tail structure;

[0031] The steering assist structure includes a snake head steering servo 11, which is movably mounted on the snake head assembly 1, a servo connecting rod 12 is fixedly mounted on the output end of the snake head steering servo 11, a steering connecting rod 13 is fixedly mounted on the servo connecting rod 12, the steering connecting rod 13 has a rotation angle range of 270 degrees, a flexible connecting rod 14 is fixedly mounted on one end of the steering connecting rod 13, a first mounting groove 15 is provided on the inner wall of the snake head assembly 1, a first dual-axis servo 16 is fixedly mounted in the first mounting groove 15, a first steering wheel 17 is fixedly mounted on both output ends of the first dual-axis servo 16, and a camera 114 is fixedly mounted on the snake head assembly 1;

[0032] The snake body structure includes a plurality of first snake body components 3 and a plurality of second snake body components 31. The first snake body components 3 and the second snake body components 31 are each provided with a third mounting groove 32. A second dual-axis servo motor 33 is fixedly mounted in each of the two third mounting grooves 32. A second steering disc 34 is fixedly mounted at each of the two output ends of the two second dual-axis servo motors 33. Two second connecting members 35 are fixedly mounted on each of the first snake body components 3 and the second snake body components 31. The corresponding four second connecting members 35 are respectively mounted on the two second steering discs 34 and the two first steering discs 17.

[0033] The snake tail structure includes two first connecting members 21, both of which are fixedly mounted on the snake tail assembly 2, and the two first connecting members 21 are respectively mounted on two corresponding second steering discs 34. The inner wall of the snake tail assembly 2 is provided with a second mounting groove 24. The image collected by the camera 114 is used to realize the positioning of the snake robot and the mapping of the surrounding environment through the control system. When it is recognized that the robot enters a dead end or a narrow environment, and it is difficult to exit the dead end or pass through the narrow environment through the turning strategy in the algorithm, the system controls the snake head steering servo 11 in the steering auxiliary structure, and then connects the servo to the steering gear. The connecting rod 12 and the steering link 13 control the flexible link 14 at the end to interact with the surrounding environment and assist in steering. The steering link 13 has a rotation angle range of 270 degrees, and the two sides of the flexible link 14 are designed to be arc-shaped, and the outward contact surface appropriately adopts serrated grooves 112 to increase friction. At the same time, the snake robot can also be remotely controlled through the terminal, and instructions and task updates can be sent to the snake robot to achieve flexible task scheduling and dynamic behavior control. By increasing the use of steering auxiliary structures, the snake robot's autonomous decision-making ability can be enhanced and the scope of search in complex environments can be expanded.

[0034] In order to facilitate the assembly of various components of the snake-like robot and ensure the normal operation of the snake-like robot, a steering servo slot 18 is provided on the snake head component 1, and the snake head steering servo 11 is movably installed in the steering servo slot 18. Two mounting seats 19 are symmetrically fixedly installed on the snake head steering servo 11, and two mounting seats 19 are provided with two mounting holes 110. Four screw holes 111 are provided on the snake head component 1, and the four mounting holes 110 correspond to the four screw holes 111 respectively. A plurality of first threaded holes 113 are provided on the first steering disc 17, a plurality of second connecting holes 36 are provided on the second connecting member 35, and a plurality of second threaded holes 37 are provided on the second steering disc 34. The first threaded holes 113 and the corresponding second connecting holes 36 is connected, the second threaded hole 37 is connected with the corresponding second connecting hole 36, a first steering disc slot 22 is provided on the first connecting member 21, and a corresponding second steering disc 34 is movably installed in the first steering disc slot 22, a plurality of first connecting holes 23 are provided on the first connecting member 21, and the first connecting holes 23 are connected with the corresponding second threaded holes 37, a second steering disc slot 38 is provided on each of the two second connecting members 35, and the two second steering disc slots 38 are movably connected to the corresponding first steering disc 17 and the second steering disc 34, a plurality of fixing holes 39 are provided on the first snake body component 3 and the second snake body component 31, and two U-shaped slots 39 are provided on the snake head component 1, the first snake body component 3 and the second snake body component 31 10, the second steering disc 34 and the first steering disc 17 are movably installed in the two corresponding U-shaped grooves 310 respectively, the second steering disc groove 38 of the second connecting member 35 on the first snake body component 3 is aligned with the second steering disc 34 on the second snake body component 31 and is sleeved, and the bolt is passed through the second connecting hole 36 on the second connecting member 35 and screwed into the second threaded hole 37 of the second steering disc 34, so that the second steering disc 34 and the second connecting member 35 can be connected. On the other hand, the second connecting member 35 of the second snake body component 31 can also be sleeved on the second steering disc 34 on the first snake body component 3 for installation, so that multiple first snake body components 3 and second snake body components 31 can be cross-connected, and finally the snake tail component 2 is connected by the first connecting member 21, the first The steering wheel slot 22 and the first connecting hole 23 are connected to the first snake body component 3 or the second snake body component 31 at the end, and the snake head component 1 can utilize the two first steering wheels 17 and the first threaded hole 113 and use bolts to connect them in the corresponding second connecting hole 36 to achieve installation on the first snake body component 3 or the second snake body component 31 at the front end to form a whole. By setting the U-shaped groove 310, space can be left for the installation of the first steering wheel 17 and the second steering wheel 34. The steering servo slot hole 18 is used for the installation of the snake head steering servo 11. The snake head steering servo 11 is placed in the steering servo slot hole 18 and bolts are passed through the mounting hole 110 on the mounting seat 19. The bolts are screwed into the corresponding screw holes 111 to complete the fixation.

[0035] In order to prevent the flexible link 14 from loosening during the process of assisting steering and contacting the surrounding environment, both sides of the flexible link 14 are designed in an arc shape, and a plurality of serrated grooves 112 are opened on the flexible link 14. The flexible link 14 at the end is controlled to interact with the surrounding environment through the servo connecting rod 12 and the steering link 13 to assist steering. The rotation angle range of the steering link 13 is 270 degrees, and both sides of the flexible link 14 are designed in an arc shape, and serrated grooves 112 are appropriately used on the outward contact surface to increase friction.

[0036] In order to make the snake-like robot move more smoothly, bottom wheel frames 4 are fixedly installed on the snake head component 1, the snake tail component 2, the first snake body component 3 and the second snake body component 31. Two bottom wheels 41 are rotatably installed on the four bottom wheel frames 4. When the snake-like robot moves, the bottom wheels 41 on the bottom side will roll, thereby improving the movement speed and smoothness of the snake-like robot.

[0037] The working principle is as follows: the snake body structure is orthogonally connected by a plurality of first snake body components 3 and a second snake body component 31. The second steering disc groove 38 of the second connecting member 35 on the first snake body component 3 is aligned with the second steering disc 34 on the second snake body component 31 and is sleeved thereon. The bolt is passed through the second connecting hole 36 on the second connecting member 35 and screwed into the second threaded hole 37 of the second steering disc 34, so that the second steering disc 34 and the second connecting member 35 can be connected. On the other hand, the second connecting member 35 of the second snake body component 31 can also be sleeved on the second steering disc 34 on the first snake body component 3 for installation, so that a plurality of first snake body components 3 and the second snake body components 31 can be cross-connected. Finally, the snake tail component 2 is connected to the first snake body component 3 or the second snake body component 3 at the end by using the first connecting member 21, the first steering disc groove 22 and the first connecting hole 23. The snake head assembly 1 can be mounted on the first snake body assembly 31, and the snake head assembly 1 can utilize the two first steering discs 17 and the first threaded hole 113 and use bolts to connect them in the corresponding second connecting hole 36 to achieve installation on the first snake body assembly 3 or the second snake body assembly 31 at the front end, so that they form a whole. By setting the U-shaped groove 310, space can be left for the installation of the first steering disc 17 and the second steering disc 34. The steering servo slot hole 18 is used for the installation of the snake head steering servo 11. The snake head steering servo 11 is placed in the steering servo slot hole 18 and bolts are passed through the mounting hole 110 on the mounting seat 19. The bolts are screwed into the corresponding screw holes 111 to complete the fixation. When auxiliary steering operation is not required, the steering link 13 and the flexible link 14 can be placed flush with the snake head assembly 1 to prevent interference with the movement of the snake-like robot under normal conditions.

[0038] See Figure 9-10When the snake-like robot is in the initial state of performing a task, the steering link 13 and the flexible link 14 in the steering auxiliary structure are placed flush with the snake head component 1, and then the image captured by the camera 114 is transmitted to the robot controller for data processing, and then the motion command is generated by the controller and transmitted to the terminal. The terminal sends the motion command to the robot to control the output end of the snake head steering servo 11, the first dual-axis servo 16 and the second dual-axis servo 33 to rotate, drive the corresponding first snake body component 3, the second snake body component 31 and the snake tail component 2 to swing, so as to control the movement of the robot. At the same time, the robot performs status reporting, data transmission and remote monitoring through communication with the terminal to realize remote control and real-time monitoring of the robot, so that the snake-like robot completes a series of work tasks.

[0039] The images collected by the camera 114 are used by the control system to realize the positioning of the snake robot and the mapping of the surrounding environment. When it is recognized that the robot enters a dead end or a narrow environment, and it is difficult to exit the dead end or pass through the narrow environment through the turning strategy in the algorithm, the system controls the snake head steering servo 11 in the steering auxiliary structure, and then controls the flexible link 14 at the end to interact with the surrounding environment through the servo connecting rod 12 and the steering link 13, and assists in changing the direction of the snake head component 1 by pressing against the wall or surrounding objects, thereby realizing auxiliary steering. The rotation angle range of the steering link 13 is 270 degrees, and the two sides of the flexible link 14 are designed to be arc-shaped, and the outward contact surface is appropriately equipped with a serrated groove 112 to increase the friction. At the same time, the snake robot can also be remotely controlled through the terminal, and instructions and task updates can be sent to the snake robot to realize flexible task scheduling and dynamic behavior control. By increasing the use of the steering auxiliary structure, the autonomous decision-making ability of the snake robot can be enhanced and the scope of search in complex environments can be expanded.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A snake-like robot with an auxiliary steering module, comprising a snake head component (1) and a snake tail component (2); characterized in that: The snake head component (1) is equipped with a steering assist structure and a snake body structure, the snake body structure is installed on the snake tail component (2), and the snake tail structure is installed on the snake tail component (2); The steering assist structure comprises a snake-head steering servo (11), the snake-head steering servo (11) is movably mounted on the snake-head assembly (1), a servo connecting rod (12) is fixedly mounted on the output end of the snake-head steering servo (11), a steering connecting rod (13) is fixedly mounted on the servo connecting rod (12), the steering connecting rod (13) has a rotation angle range of 270 degrees, a flexible connecting rod (14) is fixedly mounted on one end of the steering connecting rod (13), a first mounting groove (15) is provided on the inner wall of the snake-head assembly (1), a first dual-axis servo (16) is fixedly mounted in the first mounting groove (15), both output ends of the first dual-axis servo (16) are fixedly mounted with a first steering disc (17), and a camera (114) is fixedly mounted on the snake-head assembly (1); The snake body structure comprises a plurality of first snake body components (3) and a plurality of second snake body components (31); a third installation slot (32) is provided on each of the first snake body components (3) and the second snake body components (31); a second dual-axis steering gear (33) is fixedly installed in each of the two third installation slots (32); a second steering disc (34) is fixedly installed at each of the two output ends of the two second dual-axis steering gears (33); two second connecting members (35) are fixedly installed on each of the first snake body components (3) and the second snake body components (31); and the corresponding four second connecting members (35) are respectively installed on the two second steering discs (34) and the two first steering discs (17); The serpentine structure comprises two first connecting members (21), the two first connecting members (21) are fixedly mounted on the serpentine assembly (2), the two first connecting members (21) are respectively mounted on two corresponding second steering discs (34), and the inner wall of the serpentine assembly (2) is provided with a second mounting groove (24).

2. A snake-like robot with an auxiliary steering module according to claim 1, characterized in that: The snake head assembly (1) is provided with a steering servo slot (18), the snake head steering servo (11) is movably mounted in the steering servo slot (18), two mounting seats (19) are symmetrically fixedly mounted on the snake head steering servo (11), two mounting seats (19) are each provided with two mounting holes (110), and the snake head assembly (1) is provided with four screw holes (111), and the four mounting holes (110) respectively correspond to the four screw holes (111).

3. The snake-like robot with an auxiliary steering module according to claim 1, characterized in that: Both sides of the flexible connecting rod (14) are designed to be arc-shaped, and a plurality of sawtooth grooves (112) are provided on the flexible connecting rod (14).

4. The snake-like robot with an auxiliary steering module according to claim 1, characterized in that: The first steering disc (17) is provided with a plurality of first threaded holes (113), the second connecting member (35) is provided with a plurality of second connecting holes (36), the second steering disc (34) is provided with a plurality of second threaded holes (37), the first threaded holes (113) are connected to the corresponding second connecting holes (36), and the second threaded holes (37) are connected to the corresponding second connecting holes (36).

5. The snake-like robot with an auxiliary steering module according to claim 1, characterized in that: The first connecting member (21) is provided with a first steering wheel groove (22), a corresponding second steering wheel (34) is movably mounted in the first steering wheel groove (22), and the first connecting member (21) is provided with a plurality of first connecting holes (23), the first connecting holes (23) being in communication with the corresponding second threaded holes (37).

6. The snake-like robot with an auxiliary steering module according to claim 1, characterized in that: The two second connecting members (35) are each provided with a second steering wheel slot (38), and the two second steering wheel slots (38) are respectively movably connected to the corresponding first steering wheel (17) and the second steering wheel (34), and the first snake body component (3) and the second snake body component (31) are each provided with a plurality of fixing holes (39).

7. The snake-like robot with an auxiliary steering module according to claim 1, characterized in that: The snake head component (1), the first snake body component (3) and the second snake body component (31) are each provided with two U-shaped grooves (310), and the second steering disc (34) and the first steering disc (17) are respectively movably mounted in the two corresponding U-shaped grooves (310).

8. The snake-like robot with an auxiliary steering module according to claim 1, characterized in that: The snake head assembly (1), the snake tail assembly (2), the first snake body assembly (3) and the second snake body assembly (31) are all fixedly mounted with bottom wheel frames (4), and two bottom wheels (41) are rotatably mounted on the four bottom wheel frames (4).

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