Snakelike robot with belly scales

Abstract

The snakelike robot with the belly scales comprises a snakelike head, a snakelike tail and a snakelike body, the snakelike head and the snakelike tail are arranged on the two sides of the snakelike body respectively, the snakelike body comprises a plurality of vertical joints and a plurality of transverse joints, and the vertical joints and the transverse joints are alternately connected in series. The opposite sides of the snake head and the snake tail are rotationally connected with the adjacent vertical joints respectively. According to the snakelike robot with the belly scales, the vertical joints and the transverse joints are adopted for generating orthogonal sine wave driving, when the bionic robot snake moves forwards, sine waves generated by the transverse joints are matched with rotation of the belly scales driven by rotation of steering engines in the vertical joints, the belly scales rotate to the working face, and large friction force is formed between the belly scales and the ground; at the moment, the snake body swings up and down to realize forward movement of the bionic robot snake.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic robots, in particular to a snake-shaped robot with abdominal scales. Background Art

[0002] Snake robots have the advantages of reasonable structure, flexible control, reliable performance and strong scalability. They have broad application prospects in many fields, such as performing reconnaissance missions in radiation, dust, toxic environments and on battlefields; searching for wounded people in ruins after earthquakes, landslides and fires; and surveying and clearing pipes in narrow and dangerous environments.

[0003] The transmission structure or joint module of the traditional bionic robot snake is difficult to meet the bionic needs, and the appearance does not meet the requirements of "imitation". At the same time, the traditional bionic snake has low mobility and is difficult to meet the bionic needs. There are ways to increase the driven wheel to reduce the tangential friction, thereby effectively avoiding lateral sliding during movement. However, due to the obstruction of the driven wheel, the bionic robot snake can adapt to fewer road conditions and can only move forward on flat and suitable friction surfaces. On sandy or smooth surfaces, it can only slip on the spot. In order to avoid such problems, a snake-like robot with abdominal scales is proposed to solve the existing problems. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a snake-like robot with abdominal scales, which solves the problems that traditional bionic snakes have low movement ability, poor environmental adaptability, and difficulty in meeting bionic needs.

[0005] To achieve the above purpose, the utility model is implemented through the following technical solutions: a snake-like robot with abdominal scales, comprising a snake head, a snake tail and a snake body, the snake head and the snake tail are respectively arranged on both sides of the snake body, the snake body comprises a vertical joint and a transverse joint, the vertical joint and the transverse joint are arranged in a plurality, and the plurality of vertical joints and transverse joints are alternately connected in series, the opposite sides of the snake head and the snake tail are respectively rotatably connected with adjacent vertical joints, the vertical joint comprises a first joint seat and a first steering gear, the first steering gear is fixedly arranged at the top of the inner cavity of the first joint seat, and the front and rear ends of the first steering gear are fixedly connected with the abdominal scales at the opposite ends, the transverse joint comprises a second joint seat and a second steering gear, the front and rear sides of the inner cavity of the second joint seat are respectively fixedly connected with the front and rear sides of the abdominal scales, the second steering gear is fixedly arranged on the inner wall of the second joint seat, and the double shafts of the second steering gear respectively penetrate to the top and bottom of the second joint seat, and the opposite sides of the double shafts of the second steering gear are respectively fixedly connected with the top and bottom of the inner cavity of the adjacent first joint seat.

[0006] Preferably, the bottom of the abdominal scales is provided with a smooth plane, and both sides of the abdominal scales are provided with rough surfaces.

[0007] Preferably, the rough surface is an inclined surface, and the angle between the smooth plane and the rough surface is 28°-32°.

[0008] Preferably, the top and bottom of the inner cavity of the first joint seat located on the far left are rotatably connected to the top and bottom of the snake head respectively.

[0009] Preferably, the front side and the rear side of the abdominal scale located on the far right are rotationally connected to the front side and the rear side of the inner cavity of the snake's tail respectively.

[0010] Beneficial Effects

[0011] The utility model provides a snake-like robot with abdominal scales. Compared with the existing technology, the utility model has the following beneficial effects: the utility model adopts vertical joints and transverse joints to generate orthogonal sine wave drive. When the bionic robot snake moves forward, the sine wave generated by the transverse joint cooperates with the rotation of the servo in the vertical joint to drive the abdominal scales to rotate. The abdominal scales turn to the working surface and form a large friction force with the ground. At this time, the snake body swings up and down to realize the forward movement of the bionic robot snake. The servo of the transverse joint drives the first joint seat to swing left and right in the horizontal direction, and the swing is flexible, so as to adapt to different environments. The outer bottom surface of the abdominal scales is a smooth surface, and the working surface is a rough surface. The back and forth alternating movement of the bottom surface and the working surface realizes the force on the ground, which is beneficial to realize the anisotropy of the force on the abdomen of the snake body on the surface of different materials. The transmission mechanism in the designed bionic robot snake forms a large friction force with the ground, thereby realizing the forward movement of the bionic robot snake, thereby greatly improving the movement ability of the snake body. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the external structure of the utility model;

[0013] Figure 2 It is a schematic diagram of the snake head structure of the utility model;

[0014] Figure 3 It is a schematic diagram of the snake tail structure of the utility model;

[0015] Figure 4 It is a schematic diagram of the vertical joint and the transverse joint structure of the utility model;

[0016] Figure 5 It is a schematic diagram of the vertical joint structure of the utility model;

[0017] Figure 6 It is a schematic diagram of the vertical joint structure of the utility model;

[0018] Figure 7 It is a schematic diagram of the abdominal scale structure of the utility model;

[0019] Figure 8 It is a schematic diagram of the first joint seat structure of the utility model;

[0020] Fig. 9 It is a schematic diagram of the second joint seat structure of the utility model.

[0021] In the figure: 1. first joint seat; 2. first servo; 3. abdominal scales; 31. smooth surface; 32. rough surface; 4. snake head; 5. snake tail; 6. snake body; 7. second joint seat; 8. second servo; 15. vertical joint; 16. transverse joint. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0023] See also Figure 1-9 The utility model provides a technical solution: a snake-shaped robot with abdominal scales, comprising a snake head 4, a snake tail 5 and a snake body 6, wherein the snake head 4 and the snake tail 5 are respectively arranged on both sides of the snake body 6.

[0024] Furthermore, in order to improve the movement ability and environmental adaptability of the bionic snake, the snake body 6 includes a vertical joint 15 and a transverse joint 16, and a plurality of vertical joints 15 and transverse joints 16 are provided, and the plurality of vertical joints 15 and transverse joints 16 are alternately connected in series, the vertical joint 15 includes a first joint seat 1, a first steering gear 2, the first steering gear 2 is fixedly arranged at the top of the inner cavity of the first joint seat 1, and the front axis and the rear axis of the first steering gear 2 are fixedly connected with the abdominal scales 3 at the opposite ends, the transverse joint 16 includes a second joint seat 7 and a second steering gear 8, and the second The front and rear sides of the inner cavity of the joint seat 7 are fixedly connected to the front and rear sides of the abdominal scale 3, respectively. The second steering gear 8 is fixedly arranged on the inner wall of the second joint seat 7, and the double shafts of the second steering gear 8 respectively penetrate the top and bottom of the second joint seat 7, and the opposite sides of the double shafts of the second steering gear 8 are fixedly connected to the top and bottom of the inner cavity of the adjacent first joint seat 1, respectively. As a detailed explanation: the material of the abdominal scale 3 is stainless steel, and the use of stainless steel material makes the tensile strength, bending strength, shear strength, and rigidity sufficient to meet the use, thereby extending the service life of the parts;

[0025] Furthermore, in order to reasonably improve the climbing performance of the bionic snake, a smooth plane 31 is provided at the bottom of the abdominal scale 3, and rough surfaces 32 are provided on both sides of the abdominal scale 3. The rough surface 32 is an inclined surface, and the angle between the smooth plane 31 and the rough surface 32 is 28°-32°.

[0026] As a detailed explanation: the opposite sides of the snake head 4 and the snake tail 5 are rotationally connected to the adjacent vertical joints 15 respectively, the top and bottom of the inner cavity of the first joint seat 1 on the far left are rotationally connected to the top and bottom of the snake head 4 respectively, and the front and rear sides of the abdominal scales 3 on the far right are rotationally connected to the front and rear sides of the inner cavity of the snake tail 5 respectively.

[0027] When in use, the double axes of the first servo 2 are arranged horizontally to the horizontal ground, and the abdominal scales 3 are caused to swing back and forth through repeated rotation of the double axes. During the swinging of the abdominal scales 3, the smooth surface 31 and the rough surface 32 are alternately in contact with the ground. The double axes of the second servo 8 are arranged vertically to the horizontal ground, and the left and right swinging of the first joint seat 1 is achieved through repeated rotation of the double axes of the second servo 8, thereby forming an orthogonal sinusoidal wave drive.

Claims

1. A snake-like robot with abdominal scales, comprising a snake head (4), a snake tail (5) and a snake body (6), wherein the snake head (4) and the snake tail (5) are respectively arranged on both sides of the snake body (6), characterized in that: The snake body (6) comprises a vertical joint (15) and a transverse joint (16), wherein a plurality of the vertical joints (15) and the transverse joints (16) are provided, and the plurality of vertical joints (15) and the transverse joints (16) are alternately connected in series, and the opposite sides of the snake head (4) and the snake tail (5) are respectively rotatably connected to adjacent vertical joints (15), and the vertical joint (15) comprises a first joint seat (1) and a first steering gear (2), wherein the first steering gear (2) is fixedly arranged at the top of the inner cavity of the first joint seat (1), and the front axle and the rear axle of the first steering gear (2) are connected to the first joint seat (1). The opposite ends are fixedly connected to an abdominal scale (3), the transverse joint (16) comprises a second joint seat (7) and a second steering gear (8), the front side and the rear side of the inner cavity of the second joint seat (7) are respectively fixedly connected to the front side and the rear side of the abdominal scale (3), the second steering gear (8) is fixedly arranged on the inner wall of the second joint seat (7), and the double axes of the second steering gear (8) respectively penetrate to the top and the bottom of the second joint seat (7), and the opposite sides of the double axes of the second steering gear (8) are respectively fixedly connected to the top and the bottom of the inner cavity of the adjacent first joint seat (1).

2. A snake-like robot with abdominal scales according to claim 1, characterized in that: The bottom of the abdominal scale (3) is provided with a smooth plane (31), and both sides of the abdominal scale (3) are provided with rough surfaces (32).

3. A snake-like robot with abdominal scales according to claim 2, characterized in that: The rough surface (32) is arranged as an inclined surface, and the angle between the smooth plane (31) and the rough surface (32) is 28°-32°.

4. The snake-like robot with abdominal scales according to claim 1, characterized in that: The top and bottom of the inner cavity of the first joint seat (1) located on the far left are rotatably connected to the top and bottom of the snake head (4) respectively.

5. The snake-like robot with abdominal scales according to claim 1, characterized in that: The front side and the rear side of the abdominal scale (3) located on the far right are rotatably connected to the front side and the rear side of the inner cavity of the snake tail (5) respectively.

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