CN104925159A - 一种侦察型可越障机器蛇 - Google Patents
一种侦察型可越障机器蛇 Download PDFInfo
- Publication number
- CN104925159A CN104925159A CN201510389090.2A CN201510389090A CN104925159A CN 104925159 A CN104925159 A CN 104925159A CN 201510389090 A CN201510389090 A CN 201510389090A CN 104925159 A CN104925159 A CN 104925159A
- Authority
- CN
- China
- Prior art keywords
- gear
- snake
- joint
- wheel
- new line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000270295 Serpentes Species 0.000 title claims abstract description 90
- 238000013461 design Methods 0.000 claims abstract description 27
- 238000001179 sorption measurement Methods 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims description 51
- 241000196324 Embryophyta Species 0.000 claims description 9
- 238000011835 investigation Methods 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 241000309551 Arthraxon hispidus Species 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 13
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000007689 inspection Methods 0.000 abstract description 2
- 230000003139 buffering effect Effects 0.000 abstract 1
- 230000007547 defect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 7
- 238000013508 migration Methods 0.000 description 5
- 230000005012 migration Effects 0.000 description 5
- 230000015556 catabolic process Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000006731 degradation reaction Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 239000003463 adsorbent Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 241001474977 Palla Species 0.000 description 1
- 241000271897 Viperidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510389090.2A CN104925159B8 (zh) | 2015-07-05 | 2015-07-05 | 一种侦察型可越障机器蛇 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510389090.2A CN104925159B8 (zh) | 2015-07-05 | 2015-07-05 | 一种侦察型可越障机器蛇 |
Publications (3)
Publication Number | Publication Date |
---|---|
CN104925159A true CN104925159A (zh) | 2015-09-23 |
CN104925159B CN104925159B (zh) | 2017-04-05 |
CN104925159B8 CN104925159B8 (zh) | 2017-06-20 |
Family
ID=54112661
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510389090.2A Active CN104925159B8 (zh) | 2015-07-05 | 2015-07-05 | 一种侦察型可越障机器蛇 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN104925159B8 (zh) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105945926A (zh) * | 2016-07-05 | 2016-09-21 | 成都理工大学 | 一种核退役管道可重构蛇形机器人 |
CN106741271A (zh) * | 2016-12-26 | 2017-05-31 | 同方威视技术股份有限公司 | 爬壁机器人 |
CN107200077A (zh) * | 2017-04-24 | 2017-09-26 | 郑宏远 | 一种三体式爬壁机器人及其越障方法 |
CN107416061A (zh) * | 2017-06-28 | 2017-12-01 | 成都圭目机器人有限公司 | 一种自主式可重构爬壁机器人检测系统及其使用方法 |
CN107416062A (zh) * | 2017-06-28 | 2017-12-01 | 成都圭目机器人有限公司 | 一种可重构的爬壁机器人及其检测方法 |
CN108818567A (zh) * | 2018-07-27 | 2018-11-16 | 河南理工大学 | 一种智能救援机器人及其控制方法 |
CN108945140A (zh) * | 2018-07-09 | 2018-12-07 | 胡俊 | 一种无障碍爬坡型战地机器人 |
CN109305244A (zh) * | 2018-10-23 | 2019-02-05 | 桂林电子科技大学 | 多构态挂接式轮式行走机构 |
CN109799819A (zh) * | 2019-01-18 | 2019-05-24 | 北京邮电大学 | 基于陀螺进动效应的蛇形机器人机构及运动控制方法 |
CN110744533A (zh) * | 2019-10-25 | 2020-02-04 | 东莞理工学院 | 一种家用具有缝隙中夹持功能的机器蛇 |
CN111345726A (zh) * | 2020-05-07 | 2020-06-30 | 西南石油大学 | 一种可自动越障玻璃幕墙清洁机器人及其使用方法 |
CN111687824A (zh) * | 2020-05-21 | 2020-09-22 | 天津大学 | 一种可全向移动的模块化蛇形多关节爬壁机器人 |
US11034026B2 (en) | 2019-01-10 | 2021-06-15 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
CN113198639A (zh) * | 2021-05-21 | 2021-08-03 | 中国林业科学研究院沙漠林业实验中心 | 一种可用于荒漠区复杂地形的可移动模拟降雨设备 |
CN114620161A (zh) * | 2022-03-31 | 2022-06-14 | 北京工业大学 | 一种具有多地形适应性的具有少自由度腿部结构的仿蜈蚣机器人 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102353804A (zh) * | 2011-06-30 | 2012-02-15 | 浙江工业大学 | P-p结构蛇形机器人的爬行速度测量方法 |
KR20130037056A (ko) * | 2011-10-05 | 2013-04-15 | 강릉원주대학교산학협력단 | 뱀형 탐사 로봇 및 그 구동 방법 |
US20140090506A1 (en) * | 2007-06-06 | 2014-04-03 | Cycogs, Llc | Modular hybrid snake arm |
CN203726486U (zh) * | 2014-03-13 | 2014-07-23 | 哈尔滨石油学院 | 蛇形侦查机器人 |
CN104002888A (zh) * | 2014-05-30 | 2014-08-27 | 东北大学 | 一种基于四边形机构的蛇形机器人 |
CN204223011U (zh) * | 2014-10-07 | 2015-03-25 | 邢鹏达 | 一种蛇形机器人 |
-
2015
- 2015-07-05 CN CN201510389090.2A patent/CN104925159B8/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140090506A1 (en) * | 2007-06-06 | 2014-04-03 | Cycogs, Llc | Modular hybrid snake arm |
CN102353804A (zh) * | 2011-06-30 | 2012-02-15 | 浙江工业大学 | P-p结构蛇形机器人的爬行速度测量方法 |
KR20130037056A (ko) * | 2011-10-05 | 2013-04-15 | 강릉원주대학교산학협력단 | 뱀형 탐사 로봇 및 그 구동 방법 |
CN203726486U (zh) * | 2014-03-13 | 2014-07-23 | 哈尔滨石油学院 | 蛇形侦查机器人 |
CN104002888A (zh) * | 2014-05-30 | 2014-08-27 | 东北大学 | 一种基于四边形机构的蛇形机器人 |
CN204223011U (zh) * | 2014-10-07 | 2015-03-25 | 邢鹏达 | 一种蛇形机器人 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105945926B (zh) * | 2016-07-05 | 2018-06-15 | 成都理工大学 | 一种核退役管道可重构蛇形机器人 |
CN105945926A (zh) * | 2016-07-05 | 2016-09-21 | 成都理工大学 | 一种核退役管道可重构蛇形机器人 |
CN106741271A (zh) * | 2016-12-26 | 2017-05-31 | 同方威视技术股份有限公司 | 爬壁机器人 |
CN107200077B (zh) * | 2017-04-24 | 2020-01-14 | 郑宏远 | 一种三体式爬壁机器人及其越障方法 |
CN107200077A (zh) * | 2017-04-24 | 2017-09-26 | 郑宏远 | 一种三体式爬壁机器人及其越障方法 |
CN107416061A (zh) * | 2017-06-28 | 2017-12-01 | 成都圭目机器人有限公司 | 一种自主式可重构爬壁机器人检测系统及其使用方法 |
CN107416062A (zh) * | 2017-06-28 | 2017-12-01 | 成都圭目机器人有限公司 | 一种可重构的爬壁机器人及其检测方法 |
CN108945140A (zh) * | 2018-07-09 | 2018-12-07 | 胡俊 | 一种无障碍爬坡型战地机器人 |
CN108945140B (zh) * | 2018-07-09 | 2021-11-30 | 詹晓丹 | 一种无障碍爬坡型战地机器人 |
CN108818567A (zh) * | 2018-07-27 | 2018-11-16 | 河南理工大学 | 一种智能救援机器人及其控制方法 |
CN109305244A (zh) * | 2018-10-23 | 2019-02-05 | 桂林电子科技大学 | 多构态挂接式轮式行走机构 |
US11034026B2 (en) | 2019-01-10 | 2021-06-15 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
CN109799819A (zh) * | 2019-01-18 | 2019-05-24 | 北京邮电大学 | 基于陀螺进动效应的蛇形机器人机构及运动控制方法 |
CN110744533A (zh) * | 2019-10-25 | 2020-02-04 | 东莞理工学院 | 一种家用具有缝隙中夹持功能的机器蛇 |
CN111345726A (zh) * | 2020-05-07 | 2020-06-30 | 西南石油大学 | 一种可自动越障玻璃幕墙清洁机器人及其使用方法 |
CN111687824A (zh) * | 2020-05-21 | 2020-09-22 | 天津大学 | 一种可全向移动的模块化蛇形多关节爬壁机器人 |
CN113198639A (zh) * | 2021-05-21 | 2021-08-03 | 中国林业科学研究院沙漠林业实验中心 | 一种可用于荒漠区复杂地形的可移动模拟降雨设备 |
CN114620161A (zh) * | 2022-03-31 | 2022-06-14 | 北京工业大学 | 一种具有多地形适应性的具有少自由度腿部结构的仿蜈蚣机器人 |
CN114620161B (zh) * | 2022-03-31 | 2023-09-01 | 北京工业大学 | 一种具有多地形适应性的具有少自由度腿部结构的仿蜈蚣机器人 |
Also Published As
Publication number | Publication date |
---|---|
CN104925159B8 (zh) | 2017-06-20 |
CN104925159B (zh) | 2017-04-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104925159A (zh) | 一种侦察型可越障机器蛇 | |
CN101898357B (zh) | 一种模块化的仿生爬壁机器人 | |
Kim et al. | FAMPER: A fully autonomous mobile robot for pipeline exploration | |
US8030873B2 (en) | Walk and roll robot | |
CN103192987B (zh) | 一种飞行和爬壁两栖机器人及其控制方法 | |
CN103909991B (zh) | 一种仿生式越障爬壁机器人及其越障方法 | |
CN203266635U (zh) | 轮式蛇形机器人 | |
CN201566718U (zh) | 一种球形机器人 | |
CN108313146B (zh) | 一种仿生机器人及其系统控制方法 | |
CN102773860B (zh) | 抛掷式变结构球形机器人 | |
CN103056876A (zh) | 变刚度并联关节蛇形机器人机构 | |
CN106741274B (zh) | 可调整步幅的吸盘式爬壁机器人及其移动方法 | |
CN101386173A (zh) | 环境探测球形机器人 | |
CN104443380B (zh) | 一种八字轨迹扑翼机构及微型扑翼飞行器 | |
CN110496836B (zh) | 仿壁虎通风管道清扫机器人 | |
CN201313307Y (zh) | 环境探测球形机器人 | |
CN104108431A (zh) | 履带式智能游壁平台 | |
CN205085966U (zh) | 一种自重构模块化可移动式机器人系统模块单元 | |
CN110065054A (zh) | 多段驱动主从式蛇形机器人 | |
CN106272542A (zh) | 仿蛇搜救机器人关节机构 | |
KR20140111162A (ko) | 험지 주행 가능한 다관절 로봇 | |
CN107351939B (zh) | 足式机器人腿部机构 | |
CN113492397B (zh) | 一种模块化的可拆卸的轮式蛇形机器人 | |
CN101417675B (zh) | 一种微小型轮足复合式爬壁机器人机构 | |
CN102476664A (zh) | 轮足式爬壁机器人机构 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Wang Jianhua Inventor after: Shi Shuojia Inventor after: Ma Danyue Inventor after: Lu Yuanshen Inventor after: Liu Zhifeng Inventor before: Shi Yejia Inventor before: Wang Jianhua Inventor before: Ma Danyue Inventor before: Lu Yuanshen Inventor before: Liu Zhifeng |
|
COR | Change of bibliographic data | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CI01 | Publication of corrected invention patent application |
Correction item: Inventor Correct: Wang Jianhua|Shi Yejia|Ma Danyue|Lu Yuanshen|Liu Zhifeng False: Wang Jianhua|Shi Shuojia|Ma Danyue|Lu Yuanshen|Liu Zhifeng Number: 03 Volume: 33 |
|
CI01 | Publication of corrected invention patent application | ||
CI01 | Publication of corrected invention patent application |
Correction item: Inventor Correct: Wang Jianhua|Shi Yejia|Ma Danyue|Lu Yuanshen|Liu Zhifeng False: Wang Jianhua|Shi Shuojia|Ma Danyue|Lu Yuanshen|Liu Zhifeng Number: 14 Volume: 33 |
|
CI01 | Publication of corrected invention patent application | ||
CI03 | Correction of invention patent |
Correction item: Inventor Correct: Wang Jianhua|Shi Yejia|Ma Danyue|Lu Yuanshen|Liu Zhifeng False: Wang Jianhua|Shi Shuojia|Ma Danyue|Lu Yuanshen|Liu Zhifeng Number: 14 Page: The title page Volume: 33 |
|
CI03 | Correction of invention patent | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190709 Address after: 066600 South of Xinkai Street and West of Zhengmingshan Road, Changli Industrial Park, Qinhuangdao City, Hebei Province Patentee after: Hebei sailing Technology Co., Ltd. Address before: No. 100, Chaoyang District flat Park, Beijing, Beijing Patentee before: Beijing University of Technology |
|
TR01 | Transfer of patent right |